CN109383663A - A kind of automated guided vehicle - Google Patents
A kind of automated guided vehicle Download PDFInfo
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- CN109383663A CN109383663A CN201710677960.5A CN201710677960A CN109383663A CN 109383663 A CN109383663 A CN 109383663A CN 201710677960 A CN201710677960 A CN 201710677960A CN 109383663 A CN109383663 A CN 109383663A
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- 238000009434 installation Methods 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 9
- 230000035558 fertility Effects 0.000 description 4
- 239000002689 soil Substances 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000005266 casting Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000003967 crop rotation Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The embodiment of the present invention discloses a kind of automated guided vehicle, invents to improve ground adaptability.The automated guided vehicle is equipped with the first vehicle wheel component and the second vehicle wheel component in car body two sides；First vehicle wheel component includes: first connecting rod, and the first wheel is rotatably connected to one end of first connecting rod, and the second wheel is rotatably connected to the other end of first connecting rod, and first connecting rod is rotatably connected on car body by the first connecting portion between both ends；Second vehicle wheel component includes: second connecting rod, and third wheel is rotatably connected to one end of second connecting rod, and the 4th wheel is rotatably connected to the other end of second connecting rod, and second connecting rod is rotatably connected on car body by the second connecting portion between both ends；First wheel and third wheel are connected with driving assembly and/or the second wheel and the 4th wheel are connected with driving assembly.Reception, reprinting or transmission etc. of the present invention suitable for cargo on carrying of storing in a warehouse, express delivery sorting, apparatus for production line.
Description
Technical field
The present invention relates to homing guidance technical field of transportation more particularly to a kind of automated guided vehicles.
Background technique
AGV is the abbreviation of (Automated Guided Vehicle), implies that " automated guided vehicle ", refers to and be equipped with
Electricity magnetically or optically waits homing guidances device, it can be travelled along defined guide path, has safeguard protection and various transfers
The transport vehicle of function, AGV belong to the scope of wheeled mobile robot (WMR, Wheeled Mobile Robot).
In existing technology, AGV car body is typically provided with drive wheel assemblies and driven wheel assembly, driving wheel group therein
Rigid connection is generallyd use between part and car body.When drive wheel assemblies are connect with rigidity of vehicle body, although structure is simple, AGV pairs
It is poor that ground is applicable in ability.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of automated guided vehicle, there is preferable ground adaptability.
In a first aspect, the embodiment of the present invention provides a kind of automated guided vehicle, comprising: car body, and it is located at the vehicle
The first vehicle wheel component and the second vehicle wheel component of the two sides of body；First vehicle wheel component include: first connecting rod, the first wheel and
Second wheel；First wheel is rotatably connected to one end of the first connecting rod, and second wheel rotationally connects
The other end in the first connecting rod is connect, the first connecting rod is rotatably connected to institute by the first connecting portion between both ends
It states on car body；Second vehicle wheel component includes: second connecting rod, third wheel and the 4th wheel；The third wheel can be rotated
Ground is connected to one end of the second connecting rod, and the 4th wheel is rotatably connected to the other end of the second connecting rod, institute
Second connecting rod is stated to be rotatably connected on the car body by the second connecting portion between both ends；First wheel and third
Wheel is connected with driving assembly, and/or, second wheel and the 4th wheel are connected with driving assembly.
With reference to first aspect, it in the first embodiment of first aspect, first wheel and third wheel and drives
When dynamic component is connected, first wheel is disposed adjacent to the center position of the car body relative to second wheel, and/
Or the third wheel is disposed adjacent to the center position of the car body relative to the 4th wheel.
The first embodiment with reference to first aspect, in second of embodiment of first aspect, first vehicle
Distance of the installation site relative to the first connecting portion on the first connecting rod is taken turns, is less than second wheel described
Distance of the installation site relative to the first connecting portion on first connecting rod；And/or the third wheel connects described second
Distance of the installation site relative to the second connecting portion on bar, less than peace of the 4th wheel on the second connecting rod
Distance of the holding position relative to the second connecting portion.
With reference to first aspect, in the third embodiment of first aspect, third vehicle is equipped in one end of the car body
Wheel assembly；The third vehicle wheel component includes: third connecting rod, the 5th wheel and the 6th wheel；5th wheel is rotationally
It is connected to one end of the third connecting rod, the 6th wheel is rotatably connected to the other end of the third connecting rod, described
Third connecting rod is rotatably connected on the car body by the third interconnecting piece between both ends.
The third embodiment with reference to first aspect, in the 4th kind of embodiment of first aspect, described first connects
The link position of socket part, second connecting portion and third interconnecting piece on the car body is triangularly arranged.
The third embodiment with reference to first aspect, in the 5th kind of embodiment of first aspect, described first connects
The length direction of bar and second connecting rod, it is parallel with the direction of travel of the car body；The length direction of the third connecting rod and institute
The direction of travel for stating car body is perpendicular.
The third embodiment with reference to first aspect, in the 6th kind of embodiment of first aspect, described first connects
Socket part, second connecting portion and third interconnecting piece are respectively axis hole or pin shaft.
The third embodiment with reference to first aspect, in the 7th kind of embodiment of first aspect, the 5th vehicle
Wheel and the 6th wheel are universal wheel or direction-caster.
With reference to first aspect or the 7th kind of embodiment of first aspect, in the 8th kind of embodiment of first aspect,
When first wheel and third wheel are connected with driving assembly, second wheel and the 4th wheel are universal wheel or orientation foot
Wheel.
With reference to first aspect, it in the 9th kind of embodiment of first aspect, first wheel and third wheel and drives
When dynamic component is connected, the axis of first wheel and third wheel passes through the center of the car body.
A kind of automated guided vehicle provided in an embodiment of the present invention, the two sides of the car body be equipped with the first vehicle wheel component and
Second vehicle wheel component, the driving wheel in each vehicle wheel component are rotatably coupled on car body by connecting rod, in the process of running,
When encountering uneven ground, first connecting rod and second connecting rod can be swung up and down relative to vehicle frame, thus can make with first connecting rod and
The connected driving wheel of second connecting rod is kept in contact with ground always, has preferable ground adaptability；Further, by institute
Stating connecting rod itself is rigid member, and at the ground for encountering recess, connecting rod (such as first connecting rod) rotation makes driving wheel (ratio
Such as the first wheel) while keep preferably contacting with ground, driving wheel (such as first wheel) can also be made there is biggish pressure
Power, load is bigger, and the pressure soil fertility of driving wheel is also bigger, and then driving wheel is made to have biggish driving force, correspondingly AGV is had
There is higher load capacity, for comprehensive, the present embodiment can make AGV have preferable ground adaptability and high load
Energy.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is that the overlooking structure diagram of automated guided vehicle of the embodiment of the present invention (eliminates car body above section knot
Structure)；
Fig. 2 is the main view of automated guided vehicle in Fig. 1；
Fig. 3 is the left view of automated guided vehicle in 1；
Fig. 4 is the top view of the first vehicle wheel component in Fig. 1；
Fig. 5 is the main view of the first vehicle wheel component in Fig. 1.
Specific embodiment
The embodiment of the present invention is described in detail with reference to the accompanying drawing.
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
The embodiment of the present invention provides a kind of automated guided vehicle, the carrying that can be used for storing in a warehouse, express delivery sorting, apparatus for production line
The occasions such as reception, reprinting or the transmission of upper cargo.Referring to Fig. 1 to Fig. 5, the present embodiment automated guided vehicle includes: car body 1,
And it is located at the first vehicle wheel component 2 and the second vehicle wheel component 3 of the two sides of the car body 1；First vehicle wheel component 2 includes:
First connecting rod 21, the first wheel 22 and the second wheel 23；First wheel 22 is rotatably connected to the first connecting rod 21
One end, second wheel 23 is rotatably connected to the other end of the first connecting rod 21, and the first connecting rod 21 passes through
First connecting portion 211 between both ends is rotatably connected on the car body 1；Second vehicle wheel component 3 includes: the second company
Bar 31, third wheel 32 and the 4th wheel 33；The third wheel 32 is rotatably connected to one end of the second connecting rod 31,
4th wheel 33 is rotatably connected to the other end of the second connecting rod 31, and the second connecting rod 31 passes through between both ends
Second connecting portion 311 be rotatably connected on the car body 1；First wheel 22 and third wheel 32 and driving assembly
It is connected.
In the present embodiment, the car body, and can be described as vehicle frame or chassis, it is the basis as carrying and the installation of other components
Structure can be made up of modes such as machining, the welding of component, can also be made by way of casting.It can be equipped with and lift on car body
Rise mechanism or shifting carrying platform, the table top of the shifting carrying platform be equipped with conveyer belt with realize the reception of cargo or basket, delivery and
It sends.The automated guided vehicle can the component with vision guided navigation or other navigation features；The vision guided navigation can be
It is navigated by the two dimensional code of identification arrangement on the ground.In the present embodiment, the two sides of the car body 1 refer to 1 direction of travel of car body
Two sides.Shell mountable on the car body to have shell, as AGV.It is also mountable on the car body to there is camera to be used to acquire
The image informations such as the two dimensional code of ground.
In the present embodiment, the first vehicle wheel component 2 and the second vehicle wheel component 3 can be symmetrical structure.First wheel, 22 He
Third wheel 32 is connected with driving assembly, and the first wheel 22 and third wheel 32 are run as drive wheel car body.For reality
The differential control of existing first wheel 22 and third wheel 32, first wheel 22 connected driving assembly D1 and the third vehicle
The connected driving assembly D2 of wheel 32 is two driving assemblies, and each driving assembly independently drives a wheel.
In the present embodiment, the two sides of the car body 1 are equipped with the first vehicle wheel component 2 and the second vehicle wheel component 3, each wheel group
Driving wheel in part is rotatably coupled on car body by connecting rod, and in the process of running, when encountering uneven ground, first connects
Bar and second connecting rod can be swung up and down relative to vehicle frame 1, and the driving wheel being connected with first connecting rod and second connecting rod thus can be made to begin
It is kept in contact eventually with ground, there is preferable ground adaptability；Further, since described connecting rod itself is rigid member,
At the ground for encountering recess, connecting rod (such as first connecting rod) rotation keeps driving wheel (such as first wheel) and ground
It while preferably contact, can also make driving wheel (such as first wheel) that there is biggish pressure soil fertility, load bigger, the pressure of driving wheel
Soil fertility is also bigger, and then driving wheel is made to have biggish driving force, correspondingly makes AGV load capacity with higher, comprehensive
For, the present embodiment can make AGV have preferable ground adaptability and high-load performance.
Referring to Fig. 1, in the present embodiment, when first wheel and third wheel are connected with driving assembly, the first wheel and
Third wheel is preferably placed at the central symmetry position of AGV car body or so, and the axis of the first wheel and third wheel passes through
The center of car body, in this way, convenient for the first wheel and the various course changing controls of third wheel realization as driving wheel, for example be convenient for
Realize the control of car body original place rotation.
It, can be by the second wheel 23 and the 4th vehicle as an optional embodiment about the setting of driving wheel in the present embodiment
Wheel 33 is used as driving wheel, i.e., described second wheel 23 and the 4th wheel 33 are connected with driving assembly；As another optional embodiment party
Formula can regard the first wheel, the second wheel 23, third wheel 32 and the 4th wheel 33 as driving wheel, that is to say, that can be by institute
It states the first wheel 22 and third wheel 32 is connected with driving assembly, by second wheel 23 and the 4th wheel 33 and driving assembly
It is connected.
In the present embodiment, the wheel being connected with driving assembly is known as driving wheel, and the wheel of not connected driving assembly can be described as
Auxiliary wheel, support wheel or driven wheel.The driving component includes motor and transmission component.Motor provides the walking power of AGV, passes
Dynamic component is not limited to the driving forms such as retarder, synchronous belt or chain.Driving wheel is not limited to polyurethane wheel, rubber wheel etc..It is driven
Wheel assembly can be universal caster wheel and be also possible to direction-caster etc..
In the present embodiment, when first wheel 22 and third wheel 32 are connected with driving assembly, further, referring to figure
1, first wheel 22 is disposed adjacent to the center position of the car body 1 relative to second wheel 23, and described
Third wheel 32 is disposed adjacent to the center position of the car body 1 relative to the 4th wheel 33, can make to drive in this way
Crop rotation is main carrying roller and ground face contact, has better ground adaptability and high bearing capacity.The embodiment of the present invention is not
It is limited to this, it in a particular application, can be only by described when first wheel 22 and third wheel 32 are connected with driving assembly
One wheel 22 is disposed adjacent to the center position of the car body 1 relative to second wheel 23, so that first wheel
22, as main carrying rollers and ground face contact, have better ground adaptability and high bearing capacity, can also be only by described the
Three wheels 32 are disposed adjacent to the center position of the car body 1 relative to the 4th wheel 33, so that the third wheel
32, as main carrying roller and ground face contact, have better ground adaptability and high bearing capacity.
Further, referring to Fig. 1, installation site of first wheel 22 on the first connecting rod 21 is relative to institute
The distance for stating first connecting portion 211, less than installation site of second wheel 23 on the first connecting rod 21 relative to institute
State the distance of first connecting portion 211；Also, installation site of the third wheel 32 on the second connecting rod 31 is relative to institute
The distance for stating second connecting portion 311, less than installation site of the 4th wheel 33 on the second connecting rod 31 relative to institute
State the distance of second connecting portion 311.In this way, making driving wheel different with the carrying ratio of driven wheel, it can effectively increase driving
The carrying ratio of wheel, reduces the carrying ratio of driven wheel, to effectively lower driven wheel drag, guarantees the driven wheel service life, is promoted
AGV power performance.The embodiment of the present invention is without being limited thereto, in a particular application, can only make first wheel 22 described first
Distance of the installation site relative to the first connecting portion 211 on connecting rod 21 is less than second wheel 23 described first
Distance of the installation site relative to the first connecting portion 211 on connecting rod 21, using effective the first vehicle increased as driving wheel
The carrying ratio of wheel 22, reduces the carrying ratio of the second wheel 23 as driven wheel, to effectively lower the resistance of the second wheel 23
Power guarantees the service life of the second wheel 23；Installation position of the third wheel 32 on the second connecting rod 31 can also only be made
The distance relative to the second connecting portion 311 is set, less than installation position of the 4th wheel 33 on the second connecting rod 31
The distance relative to the second connecting portion 311 is set, increases the carrying ratio as the third wheel 32 of driving wheel using effective, subtracts
The carrying ratio of small the 4th wheel 33 as driven wheel guarantees the 4th wheel 33 to effectively lower 33 resistance of the 4th wheel
Service life.
In order to form stable support to the car body, auxiliary wheel can be set in the front end of the car body 1 or rear end, institute
Stating auxiliary wheel can be rigidly connected on car body 1, can also be resiliently connected on car body 1.In order to overcome the auxiliary wheel and car body
Bring ground adaptability is poor and the auxiliary wheel with what car body elastic connection was brought is easy to cause car body to occur for rigid connection
Front and back the problem of trembleing up and down, in the present embodiment, in car body one end, the auxiliary wheel of setting is passed through rotatable using two wheels
The structure type of connecting rod connection on the car body specifically referring to Fig. 1 and Fig. 3, is equipped with third wheel in one end of the car body 1
Component 4；
The third vehicle wheel component 4 includes: third connecting rod 41, the 5th wheel 42 and the 6th wheel 43；5th wheel
42 are rotatably connected to one end of the third connecting rod 41, and the 6th wheel 43 is rotatably connected to the third connecting rod
41 other end, the third connecting rod 41 are rotatably connected to the car body 1 by the third interconnecting piece 411 between both ends
On.
In the present embodiment, the capacity of body is born jointly by three groups of vehicle wheel components, passes through this three groups of vehicle wheel components, i.e. the first vehicle
The wheel arrangement form that wheel assembly 2, the second vehicle wheel component 3 and third vehicle wheel component 4 complement each other to form, can simultaneously contentedly
Face is adaptable, high load capacity and the requirement to run smoothly.
In the present embodiment, the first connecting portion 211, second connecting portion 311 and third interconnecting piece 411 are in the car body 1
On link position can be triangularly arranged, can be promoted in this way AGV operation stability.
Referring to Fig. 1, in the present embodiment, the length direction of the first connecting rod 21 and second connecting rod 31, with the car body 1
Direction of travel is parallel；The length direction of the third connecting rod 41 and the direction of travel of the car body 1 are perpendicular, can pass through in this way
Each driving wheel and driven wheel provide stable support for car body, and can reduce the case where car body front and back is trembleed up and down, into one
Step promotes the stability of AGV operation.
Referring to Fig. 1 to Fig. 5, in the present embodiment, the first connecting portion 211, second connecting portion 311 and third coupling part
Not Wei axis hole, on the car body at corresponding position be equipped with pin shaft, the axis hole is matched with the pin shaft, so that the company
Bar can be rotated relative to the pin shaft.The setting position of the axis hole and pin shaft is also interchangeable.
In the present embodiment, the position of first connecting portion 211, second connecting portion 311 and third interconnecting piece 411 with respect to car body center
The size relationship for setting size a, b, c, d determines the load percentage that three interconnecting pieces can bear；First vehicle wheel component,
In second vehicle wheel component or third vehicle wheel component, the size of position dimension a, e or f of driving wheel or driven wheel opposing connections, g
Proportionate relationship further determines the load percentage that each wheel is shared.Therefore pass through the setting of these position proportional relationships
Can effectively increase the carrying ratio of driving wheel, reduce driven wheel and carry ratio, so that driven wheel drag be effectively reduced, guarantee from
The driving wheel service life promotes AGV power performance；Even if ground, usually driving wheel and driven wheel can also be with a level pressure soil fertility and ground
Contact, to make AGV that there is excellent ground adaptability and operation stability.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of automated guided vehicle characterized by comprising car body, and it is located at the first vehicle of the two sides of the car body
Wheel assembly and the second vehicle wheel component；
First vehicle wheel component includes: first connecting rod, the first wheel and the second wheel；First wheel is rotatably coupled
In one end of the first connecting rod, second wheel is rotatably connected to the other end of the first connecting rod, and described first
Connecting rod is rotatably connected on the car body by the first connecting portion between both ends；
Second vehicle wheel component includes: second connecting rod, third wheel and the 4th wheel；The third wheel is rotatably coupled
In one end of the second connecting rod, the 4th wheel is rotatably connected to the other end of the second connecting rod, and described second
Connecting rod is rotatably connected on the car body by the second connecting portion between both ends；
First wheel and third wheel are connected with driving assembly, and/or,
Second wheel and the 4th wheel are connected with driving assembly.
2. automated guided vehicle according to claim 1, which is characterized in that first wheel and third wheel and drive
When dynamic component is connected, first wheel is disposed adjacent to the center position of the car body relative to second wheel, and/
Or the third wheel is disposed adjacent to the center position of the car body relative to the 4th wheel.
3. automated guided vehicle according to claim 2, which is characterized in that first wheel is in the first connecting rod
On distance of the installation site relative to the first connecting portion, less than installation of second wheel on the first connecting rod
Distance of the position relative to the first connecting portion；And/or
Installation site distance relative to the second connecting portion of the third wheel on the second connecting rod is less than described
Installation site distance relative to the second connecting portion of 4th wheel on the second connecting rod.
4. automated guided vehicle according to claim 1, which is characterized in that be equipped with third vehicle in one end of the car body
Wheel assembly；
The third vehicle wheel component includes: third connecting rod, the 5th wheel and the 6th wheel；5th wheel is rotatably coupled
In one end of the third connecting rod, the 6th wheel is rotatably connected to the other end of the third connecting rod, the third
Connecting rod is rotatably connected on the car body by the third interconnecting piece between both ends.
5. automated guided vehicle according to claim 4, which is characterized in that the first connecting portion, second connecting portion
It is triangularly arranged with link position of the third interconnecting piece on the car body.
6. automated guided vehicle according to claim 4, which is characterized in that the length of the first connecting rod and second connecting rod
Direction is spent, it is parallel with the direction of travel of the car body；
The length direction of the third connecting rod and the direction of travel of the car body are perpendicular.
7. automated guided vehicle according to claim 4, which is characterized in that the first connecting portion, second connecting portion
It is respectively axis hole or pin shaft with third interconnecting piece.
8. automated guided vehicle according to claim 4, which is characterized in that the 5th wheel and the 6th wheel are ten thousand
To wheel or direction-caster.
9. automated guided vehicle according to claim 1 or 8, which is characterized in that first wheel and third wheel
When being connected with driving assembly, second wheel and the 4th wheel are universal wheel or direction-caster.
10. automated guided vehicle according to claim 1, which is characterized in that first wheel and third wheel with
When driving assembly is connected, the axis of first wheel and third wheel passes through the center of the car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710677960.5A CN109383663A (en) | 2017-08-09 | 2017-08-09 | A kind of automated guided vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710677960.5A CN109383663A (en) | 2017-08-09 | 2017-08-09 | A kind of automated guided vehicle |
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| CN201710677960.5A Pending CN109383663A (en) | 2017-08-09 | 2017-08-09 | A kind of automated guided vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109774819A (en) * | 2019-03-14 | 2019-05-21 | 航天通用技术(北京)有限公司 | Automated guided vehicle |
| CN111547160A (en) * | 2020-05-31 | 2020-08-18 | 长江岩土工程总公司（武汉） | Wide-wheel walking frame of small-sized exploration equipment and use method thereof |
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| CN102869559A (en) * | 2009-08-25 | 2013-01-09 | 昂维仲汽车工程诺瓦兹沃技术公司 | Modular and scaleable port vehicle |
| CN105314129A (en) * | 2014-07-02 | 2016-02-10 | 上海宇航系统工程研究所 | Active-passive combined type planet car suspension capable of being unfolded and folded and suspension system thereof |
| CN105730553A (en) * | 2016-02-05 | 2016-07-06 | 广东嘉腾机器人自动化有限公司 | AGV chassis structure capable of adapting to ground deformation |
| CN106427454A (en) * | 2016-11-07 | 2017-02-22 | 中国农业大学 | Self-adaptive leveling chassis |
| CN207015474U (en) * | 2017-08-09 | 2018-02-16 | 杭州海康机器人技术有限公司 | A kind of automatical pilot transportation vehicle |
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| CN109774819A (en) * | 2019-03-14 | 2019-05-21 | 航天通用技术(北京)有限公司 | Automated guided vehicle |
| CN111547160A (en) * | 2020-05-31 | 2020-08-18 | 长江岩土工程总公司（武汉） | Wide-wheel walking frame of small-sized exploration equipment and use method thereof |
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Address after: 310051 5th floor, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Applicant after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310051 5th floor, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Applicant before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |