CN109019434A - A kind of small-sized heavily loaded omnidirectional AGV trolley lifted - Google Patents

A kind of small-sized heavily loaded omnidirectional AGV trolley lifted Download PDF

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Publication number
CN109019434A
CN109019434A CN201810998809.6A CN201810998809A CN109019434A CN 109019434 A CN109019434 A CN 109019434A CN 201810998809 A CN201810998809 A CN 201810998809A CN 109019434 A CN109019434 A CN 109019434A
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CN
China
Prior art keywords
wheel
plate
lifting
bearing block
heavily loaded
Prior art date
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Granted
Application number
CN201810998809.6A
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Chinese (zh)
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CN109019434B (en
Inventor
王心成
吴玉永
包尊萍
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Work Union Precision Transmission Co Ltd
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Jiangsu Work Union Precision Transmission Co Ltd
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Priority to CN201810998809.6A priority Critical patent/CN109019434B/en
Publication of CN109019434A publication Critical patent/CN109019434A/en
Application granted granted Critical
Publication of CN109019434B publication Critical patent/CN109019434B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07513—Details concerning the chassis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07568—Steering arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07572—Propulsion arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07586—Suspension or mounting of wheels on chassis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Handcart (AREA)

Abstract

The invention discloses the small-sized heavily loaded omnidirectional AGV trolleies that one kind can lift, and belong to industrial automation and logistic storage technical field.There are four wheel group suspension for installation on the body shell, and are equipped with wheel mould group below each wheel group suspension, and the lifting mechanism is mounted on inside body shell；Accurate cycloid pin gear retarder is applied to wheel mould group by the small-sized heavily loaded omnidirectional's AGV trolley that can be lifted, improve the load-bearing capacity and torque of wheel, reduce the occupied installation space of wheel simultaneously, so that there is sufficiently large space for installing lifting mechanism in body shell, lifting mechanism is special duplex lifting mechanism, and compact-sized, the lifting force that multiple supporting arms work at the same time is larger, lifting movement is very steady, is suitable for automation and logistic storage.

Description

A kind of small-sized heavily loaded omnidirectional AGV trolley lifted
Technical field
The present invention relates to the small-sized heavily loaded omnidirectional AGV trolleies that one kind can lift, and belong to industrial automation and logistic storage skill Art field.
Background technique
Nowadays with the development of industrial automation industry, AGV vehicle is increasingly becoming the core in logistic storage automation scheme Heart element.AGV vehicle traditional at present needs to combine other automated productions such as mechanical arm etc. real mostly without lifting function The carrying of existing material, and have the AGV vehicle of lifting function often structure is complicated, it is bulky, it cannot achieve Miniaturization Design.And Narrow, the complicated working space that AGV vehicle can be potentially encountered in actual use, therefore can realize the Mike of all-around mobile Na Mu takes turns AGV vehicle will be increasingly by the favor of user.
Summary of the invention
In view of the above-mentioned problems, the technical problem to be solved in the present invention is to provide the small-sized heavy duty omnidirectional AGV that one kind can lift Trolley.
The small-sized heavily loaded omnidirectional AGV trolley lifted of the invention, it includes body shell, wheel group suspension, wheel Mould group and lifting mechanism, there are four wheel group suspension for installation on the body shell, and below each wheel group suspension Wheel mould group is installed, the lifting mechanism is mounted on inside body shell；
The body shell includes top plate, side plate A, side plate B, bottom plate and support plate, two sides pair below the top plate Title is equipped with side plate A, and support plate is provided between side plate A, and the support plate is located at below top plate, between support plate and top plate Several bottom plates are provided with, two sides are symmetrically arranged with side plate B below the support plate；
The wheel group suspension include support base, linkage, shock absorber and fixed ear base, the support base with Linkage is hinged, and shock absorber is provided with above support base, hinged with fixed ear base above the shock absorber, under shock absorber Side and support seat hinge, the linkage are fixedly connected with side plate A, side plate B and bottom plate respectively, and fixed ear base and top plate are solid Fixed connection；
The wheel mould group includes wheel hub, roller, retarder and motor A, is equipped with several rollers on the wheel hub, And one side end face of wheel hub is fixedly connected with retarder, the retarder is fixedly mounted on support base, and with motor A output shaft It is direct-connected；
The lifting mechanism includes lifting supporting plate, active scissors supporting arm, driven scissors supporting arm, bearing block A, bearing Seat B, ball screw, guide post, motor B, screw and nut seat are equipped with two groups of active scissors supporting arms under the lifting supporting plate With two groups of driven scissors supporting arms, bearing block A is installed between two groups of active scissors supporting arm, described two groups driven is cut Bearing block B is installed between formula supporting arm, ball screw and two guide posts, institute are installed on the bearing block A and bearing block B The motor B stated is connected by synchronous pulley, synchronous belt and ball screw, and the screw is fixedly mounted on nut seat, screw Seat is fixedly mounted between two groups of active scissors supporting arms, and is moved along guide post.
Preferably, the retarder of the wheel mould group is accurate cycloid pin gear retarder.
Preferably, the lifting mechanism is duplex shearing type lifting mechanism structure, and lift positioning there are four installations on supporting plate Boss.
Compared with prior art, the beneficial effects of the present invention are: the small-sized heavily loaded omnidirectional AGV trolley that can be lifted will be accurate Cycloidal-pin gear speed reducer is applied to wheel mould group, improves the load-bearing capacity and torque of wheel, while it is occupied to reduce wheel Installation space, so that there is sufficiently large space to lift for installing lifting mechanism, lifting mechanism for special duplex in body shell Mechanism is risen, compact-sized, the lifting force that multiple supporting arms work at the same time is larger, and lifting movement is very steady, is suitable for certainly Dynamicization and logistic storage.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is car body frame structure schematic diagram of the invention；
Fig. 3 is wheel group suspension structure schematic diagram of the invention；
Fig. 4 is wheel modular structure schematic diagram of the invention；
Fig. 5 is lifting mechanism structural schematic diagram of the invention.
Appended drawing reference: body shell 1, top plate 101, side plate A102, side plate B103, bottom plate 104, support plate 105, wheel group are outstanding Extension system 2, support base 201, linkage 202, shock absorber 203, fixed ear base 204, wheel mould group 3, wheel hub 301, roller 302, retarder 303, motor A304, lifting mechanism 4, lifting supporting plate 401, active scissors supporting arm 402, driven scissors supporting arm 403, bearing block A404, bearing block B405, ball screw 406, guide post 407, motor B408, screw 409, nut seat 410.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
As Figure 1-Figure 5, present embodiment uses following technical scheme: it includes body shell 1, the suspension of wheel group System 2, wheel mould group 3 and lifting mechanism 4, installation is there are four wheel group suspension 2 on the body shell 1, and each wheel Wheel mould group 3 is installed below group suspension 2, the lifting mechanism 4 is mounted on inside body shell 1.
The body shell 1 includes top plate 101, side plate A102, side plate B103, bottom plate 104 and support plate 105, described 101 lower section two sides of top plate be symmetrically equipped with side plate A102, and support plate 105 is provided between side plate A102, the support plate 105 are located at the lower section of top plate 101, are provided with several bottom plates 104 between support plate 105 and top plate 101, under the support plate 105 Square two sides are symmetrically arranged with side plate B103.
The wheel group suspension 2 includes support base 201, linkage 202, shock absorber 203 and fixed ear base 204, The support base 201 and linkage 202 is hinged, and shock absorber 203 is provided with above support base 201, the shock absorber 203 tops and fixed ear base 204 are hinged, and 203 lower section of shock absorber and support base 201 are hinged, the linkage 202 respectively with Side plate A102, side plate B103 are fixedly connected with bottom plate 104, and fixed ear base 204 is fixedly connected with top plate 101.
The wheel mould group 3 includes wheel hub 301, roller 302, retarder 303 and motor A304, the wheel hub 301 On several rollers 302 are installed, and 301 1 side end face of wheel hub is fixedly connected with retarder 303, and the retarder 303 is fixed It is mounted on support base 201, and direct-connected with motor A304 output shaft, the retarder 303 of the wheel mould group 3 is accurate cycloid Pinwheel reducer, wheel mould group 3 are divided into left-handed wheel mould group and dextrorotation wheel mould group according to the motion principle of Mecanum wheel, left It is identical with dextrorotation wheel module mounting structure to revolve wheel mould group.
The lifting mechanism 4 includes lifting supporting plate 401, active scissors supporting arm 402, driven scissors supporting arm 403, axis Hold an A404, bearing block B405, ball screw 406, guide post 407, motor B408, screw 409 and nut seat 410, the act It rises and two groups of active scissors supporting arms 402 and two groups of driven scissors supporting arms 403, two groups of active scissors is installed under supporting plate 401 Bearing block A404 is installed between supporting arm 402, bearing block is installed between described two groups of driven scissors supporting arm 403 Ball screw 406 and two guide posts 407, the motor are installed on B405, the bearing block A404 and bearing block B405 B408 is connected by synchronous pulley, synchronous belt and ball screw 406, and the screw 409 is fixedly mounted on nut seat 410, Nut seat 410 is fixedly mounted between two groups of active scissors supporting arms 402, and is moved along guide post 407, the lifting mechanism 4 be duplex shearing type lifting mechanism structure, and multiple supporting arms work at the same time, and larger lifting force can be obtained, and lifting process is more steady, and is lifted Rising installation on supporting plate 401, there are four positioning convex platforms, can be used for the simple positioning of logistics transportation case.
The wheel mould group 3 of present embodiment is existing prior proprietary technologies, and it is practical new to have obtained the patent at present Type people's associated authorization.The utility model patent number that the patent has authorized is 201720958548.6, and the utility model in substantive examination is special Benefit number is 201710653738.1.
Working principle: the motor A304 in four wheel mould groups 3 is revolved by 303 deceleration torque increase zone of action motor car wheel of retarder Turn, according to the kinetic characteristic of Mecanum wheel it is found that by the rotation speed and direction of rotation of four wheels of change, it can be achieved that small The all-around mobile of vehicle；Secondly in trolley moving process or when stopping, motor B408 can be incited somebody to action by synchronous pulley and synchronous belt Rotary motion passes to ball screw 406, since 406 both ends of ball screw are respectively supported at bearing block A404 and bearing block B405 On, so that screw 409 drives nut seat 410 to move in a straight line along guide post 407, nut seat 410 drives two active scissors branch Bearing arm 402 does the lifting campaign up and down of vertical direction, and the driven scissors supporting arm 403 being fixedly connected with lifting supporting plate 401 is also same Step carries out lifting movement up and down, and due to being that multiple supporting arms work at the same time, lifting force is larger and lifting movement is very steady.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding And modification, the scope of the present invention is defined by the appended.

Claims (4)

1. the small-sized heavily loaded omnidirectional AGV trolley that one kind can lift, it is characterised in that: it includes body shell (1), wheel group suspension system It unites (2), wheel mould group (3) and lifting mechanism (4), wheel group suspension (2) there are four installations on the body shell (1), And wheel mould group (3) is installed below each wheel group suspension (2), the lifting mechanism (4) is mounted on body shell (1) It is internal；
The body shell (1) includes top plate (101), side plate A (102), side plate B (103), bottom plate (104) and support plate (105), two sides are symmetrically equipped with side plate A (102) below the top plate (101), and are provided with support plate between side plate A (102) (105), the support plate (105) is located at below top plate (101), is provided between support plate (105) and top plate (101) several Bottom plate (104), the support plate (105) lower section two sides are symmetrically arranged with side plate B (103)；
The wheel group suspension (2) includes support base (201), linkage (202), shock absorber (203) and fixed ear base (204), the support base (201) and linkage (202) hingedly, and are provided with shock absorber above support base (201) (203), the shock absorber (203) top and fixed ear base (204) hingedly, are cut with scissors below shock absorber (203) with support base (201) It connects, the linkage (202) is fixedly connected with side plate A (102), side plate B (103) and bottom plate (104) respectively, fixed ear base (204) it is fixedly connected with top plate (101)；
The wheel mould group (3) includes wheel hub (301), roller (302), retarder (303) and motor A (304), the wheel It is equipped on hub (301) several rollers (302), and (301) one side end face of wheel hub is fixedly connected with retarder (303), it is described Retarder (303) is fixedly mounted on support base (201), and direct-connected with motor A (304) output shaft；
The lifting mechanism (4) includes lifting supporting plate (401), active scissors supporting arm (402), driven scissors supporting arm (403), bearing block A (404), bearing block B (405), ball screw (406), guide post (407), motor B (408), screw (409) With nut seat (410), two groups of active scissors supporting arms (402) are installed under the lifting supporting plate (401) and two groups driven are cut Formula supporting arm (403) is equipped with bearing block A (404) between two groups of active scissors supporting arm (402), described two groups from It is equipped with bearing block B (405) between dynamic scissors supporting arm (403), pacifies on the bearing block A (404) and bearing block B (405) Equipped with ball screw (406) and two guide posts (407), the motor B (408) passes through synchronous pulley, synchronous belt and ball wire Bar (406) connection, the screw (409) are fixedly mounted on nut seat (410), and nut seat (410) is fixedly mounted on two groups Between active scissors supporting arm (402), and moved along guide post (407).
2. the small-sized heavily loaded omnidirectional AGV trolley that one kind according to claim 1 can lift, it is characterised in that: the vehicle The retarder (303) of wheel model group (3) is accurate cycloid pin gear retarder.
3. the small-sized heavily loaded omnidirectional AGV trolley that one kind according to claim 1 can lift, it is characterised in that: the act Rising mechanism (4) is duplex shearing type lifting mechanism structure, and there are four positioning convex platforms for installation in lifting supporting plate (401).
4. the small-sized heavily loaded omnidirectional AGV trolley that one kind according to claim 1 can lift, it is characterised in that: described can The working principle of the small-sized heavily loaded omnidirectional AGV trolley of lifting are as follows: the motor A (304) on four wheel mould groups (3) passes through retarder (303) deceleration torque increase zone of action motor car wheel rotates, according to the kinetic characteristic of Mecanum wheel it is found that by changing four wheels Rotation speed and direction of rotation, it can be achieved that trolley all-around mobile；Secondly in trolley moving process or when stopping, motor B (408) rotary motion can be passed into ball screw (406) by synchronous pulley and synchronous belt, due to ball screw (406) two End is respectively supported on bearing block A (404) and bearing block B (405), so that screw (409) drives nut seat (410) along guide post (407) it moves in a straight line, the lifting up and down that nut seat (410) drives two active scissors supporting arms (402) to do vertical direction is transported Dynamic, also lifting moves up and down for synchronous progress with the driven scissors supporting arm (403) that supporting plate (401) are fixedly connected is lifted, due to being Multiple supporting arms work at the same time, and lifting force is larger and lifting movement is very steady.
CN201810998809.6A 2018-08-23 2018-08-23 Small-size heavy load qxcomm technology AGV dolly that can lift Active CN109019434B (en)

Priority Applications (1)

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Application Number Priority Date Filing Date Title
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CN109019434B CN109019434B (en) 2024-04-02

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109823444A (en) * 2019-03-08 2019-05-31 江苏驰众智能装备制造有限公司 A kind of heavy duty AGV
CN110002163A (en) * 2019-04-27 2019-07-12 安徽凌坤智能科技有限公司 A kind of intelligent carriage for the composite machine people that stores in a warehouse
CN110001767A (en) * 2019-03-27 2019-07-12 科大智能机器人技术有限公司 A kind of novel driving transfer of Intelligent Mobile Robot
CN110002162A (en) * 2019-04-27 2019-07-12 安徽凌坤智能科技有限公司 A kind of novel storage composite machine people
CN110803235A (en) * 2019-11-16 2020-02-18 朱首红 Automatic guide transport vechicle
CN111268586A (en) * 2020-01-16 2020-06-12 深圳前海达闼云端智能科技有限公司 Lifting device and robot
CN111391938A (en) * 2020-03-09 2020-07-10 西安理工大学 AGV (automatic guided vehicle) for conveying copper foil spools
CN111619697A (en) * 2020-05-11 2020-09-04 广州百士臣科技有限公司 Transfer robot with antiskid function
EP3715314A1 (en) * 2019-03-29 2020-09-30 Arrival Limited Lifting apparatus supported by two wheel automatic guided vehicles
CN111776990A (en) * 2020-07-08 2020-10-16 合肥井松智能科技股份有限公司 Unmanned carrying automatic guided vehicle and guiding method thereof
WO2020238493A1 (en) * 2019-05-30 2020-12-03 北京京东乾石科技有限公司 Lifting mechanism of automated guided vehicle and automated guided vehicle
KR102274498B1 (en) * 2020-01-31 2021-07-07 (주)퓨전이엔씨 Lift type Omni-directional Robot
CN113264481A (en) * 2021-06-09 2021-08-17 科派股份有限公司 Fork type all-dimensional heavy-load carrier
CN114212469A (en) * 2021-11-12 2022-03-22 山东新华医疗器械股份有限公司 Special transport AGV for transporting sterilization rack in disinfection supply center
KR20220072294A (en) * 2020-11-25 2022-06-02 주식회사 삼미정공 AGV with Lifting Device

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US6357770B1 (en) * 1999-10-07 2002-03-19 CARPIAUX ANDRé In-wheel suspension
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CN107160130A (en) * 2017-06-19 2017-09-15 江西洪都航空工业集团有限责任公司 A kind of aircraft engine installs equipment
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Publication number Priority date Publication date Assignee Title
US6357770B1 (en) * 1999-10-07 2002-03-19 CARPIAUX ANDRé In-wheel suspension
CN204752099U (en) * 2015-06-17 2015-11-11 杭州轰驰科技有限公司 AGV trolley structure
CN105417434A (en) * 2016-01-05 2016-03-23 北京航空航天大学 Carrying trolley with lifting device
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CN111747352A (en) * 2019-03-29 2020-10-09 来临机器人有限公司 Lifting device supported by two-wheeled automatic guided vehicle
CN110002162A (en) * 2019-04-27 2019-07-12 安徽凌坤智能科技有限公司 A kind of novel storage composite machine people
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WO2020238493A1 (en) * 2019-05-30 2020-12-03 北京京东乾石科技有限公司 Lifting mechanism of automated guided vehicle and automated guided vehicle
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CN111268586A (en) * 2020-01-16 2020-06-12 深圳前海达闼云端智能科技有限公司 Lifting device and robot
KR102274498B1 (en) * 2020-01-31 2021-07-07 (주)퓨전이엔씨 Lift type Omni-directional Robot
CN111391938A (en) * 2020-03-09 2020-07-10 西安理工大学 AGV (automatic guided vehicle) for conveying copper foil spools
CN111619697A (en) * 2020-05-11 2020-09-04 广州百士臣科技有限公司 Transfer robot with antiskid function
CN111776990A (en) * 2020-07-08 2020-10-16 合肥井松智能科技股份有限公司 Unmanned carrying automatic guided vehicle and guiding method thereof
KR20220072294A (en) * 2020-11-25 2022-06-02 주식회사 삼미정공 AGV with Lifting Device
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CN113264481B (en) * 2021-06-09 2022-07-08 科派股份有限公司 Fork type all-dimensional heavy-load carrier
CN113264481A (en) * 2021-06-09 2021-08-17 科派股份有限公司 Fork type all-dimensional heavy-load carrier
CN114212469A (en) * 2021-11-12 2022-03-22 山东新华医疗器械股份有限公司 Special transport AGV for transporting sterilization rack in disinfection supply center

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