CN110182009A - The AGV trolley of AGV driving mechanism and the application mechanism - Google Patents
The AGV trolley of AGV driving mechanism and the application mechanism Download PDFInfo
- Publication number
- CN110182009A CN110182009A CN201910482940.1A CN201910482940A CN110182009A CN 110182009 A CN110182009 A CN 110182009A CN 201910482940 A CN201910482940 A CN 201910482940A CN 110182009 A CN110182009 A CN 110182009A
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- agv
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- coupled arm
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- 230000007246 mechanism Effects 0.000 title claims abstract description 42
- 238000009434 installation Methods 0.000 claims description 37
- 230000006978 adaptation Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 238000000465 moulding Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
- B60G15/06—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper
- B60G15/062—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper the spring being arranged around the damper
- B60G15/063—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper the spring being arranged around the damper characterised by the mounting of the spring on the damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
-
- 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
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/14—Independent suspensions with lateral arms
- B60G2200/144—Independent suspensions with lateral arms with two lateral arms forming a parallelogram
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/38—Low or lowerable bed vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Body Structure For Vehicles (AREA)
Abstract
AGV driving mechanism of the invention including main body of vehicle frame and is relatively installed on the driving structure of two opposite side of main body of vehicle frame；In addition, invention additionally discloses a kind of AGV trolleies using above-mentioned AGV driving mechanism.Compared with existing structure, driving mechanism of the invention connect the link mechanism to form parallelogram by the upper coupled arm, lower coupled arm, driving wheel device of driving structure with main body of vehicle frame, and the swingable amplitude of wheel is bigger；Due to the link mechanism using parallelogram, the case where wheel remains vertical with horizontal plane, can prevent lateral force and lead to AGV deviation route；In addition, it is mutually indepedent between two driving structures, AGV flexibility and stability when driving are further improved, it is made to be suitable for working under various orographic conditions.
Description
Technical field
The present invention relates to automated handling fields, and in particular to the AGV trolley of AGV driving mechanism and the application mechanism.
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.Traditional AGV driving structure since space is vertical structure, wheel concave-convex ground can fluctuation range compared with
It is small, and the horizontal distance between two sides wheel and car body is fixed, the range that wheel can fluctuate above and below with respect to car body is small.It is existing
AGV is driven by it the influence of structure, is only suitable for working in the place of ground even, encounters complicated landform then and will affect its traveling
Stability and flexibility, or even can not work normally, this disadvantage, which forms the popularization and use of AGV, to be hindered.
From the foregoing, it can be seen that existing AGV driving mechanism requires further improvement so that AGV under different surface conditions all
It can work normally.
Summary of the invention
First goal of the invention of the invention be to provide AGV driving mechanism, and AGV driving mechanism of the invention passes through structure
The flexibility and stability effectively improved when driving is improved, AGV is made to be suitable for working under various orographic conditions.
To realize that the above goal of the invention, the present invention take following technical scheme:
AGV driving mechanism including main body of vehicle frame and is relatively installed on the driving structure of main body of vehicle frame two sides, the vehicle
The middle part of frame body is equipped with connection frame, and driving structure includes upper coupled arm, lower coupled arm, driving wheel device and telescopic spring cylinder, institute
The inner end for stating coupled arm and the upside of the main body of vehicle frame are hinged, and the upside of the outer end of upper coupled arm and the driving wheel device is cut with scissors
It connects, the inner end of the lower coupled arm and the upside of the main body of vehicle frame are hinged, the outer end of lower coupled arm and the driving wheel device
Lower end is hinged, and one end of the telescopic spring cylinder and the outer end of the lower coupled arm are hinged, and the other end is connect with connection frame, described
Telescopic spring cylinder is inclined outwardly setting from top to bottom.
Compared with existing structure, driving mechanism of the invention is filled by the upper coupled arm, lower coupled arm, driving wheel of driving structure
The link mechanism for connecting with main body of vehicle frame and forming parallelogram is set, the swingable amplitude of wheel is bigger；Due to using parallel four
The link mechanism of side shape, wheel remain vertical with horizontal plane, can prevent lateral force and lead to the feelings of AGV deviation route
Condition；In addition, it is mutually indepedent between two driving structures, AGV flexibility and stability when driving are further improved, it is made
It is suitable for working under various orographic conditions.
Preferably, the driving wheel device includes attachment base, driving motor and wheel, is equipped with connection in the middle part of the attachment base
Hole, both ends are equipped with connecting pin, and the outer end of the upper coupled arm and the upper connecting pin of the attachment base are hinged, the lower coupled arm
Outer end and the attachment base lower connecting pin it is hinged, the driving motor be arranged on the attachment base and be located at it is described it is upper,
Between lower coupled arm, the outside of the attachment base is arranged in the wheel, and the output shaft of the driving motor passes through the connection
Hole is connect with the wheel drive.The driving wheel device of this programme installs driving motor and wheel by attachment base, and realize with it is upper,
The connection of lower transmission arm.
Preferably, minimum ground pressure N2 >=(G1+G2) * 20%, G1 of telescopic spring cylinder is the weight of main body of vehicle frame, G2
For ultimate load.
Further, the weight G1≤2000kg, the ultimate load G2≤G1*5 of main body of vehicle frame.
To enable the vertical direction component of telescopic spring cylinder to provide enough ground pressures, telescopic spring cylinder and company for wheel
It connects the angle between frame and is set as 25-40 degree.
Preferably, upper coupled arm inner end is equipped with the first installation protrusion, and first installation of first connecting portion cooperation protrusion is set
There is the first mounting groove, first installation protrusion is installed in rotation in the first mounting groove；The inner end of lower coupled arm is equipped with the
Two installation protrusions, the second installation of first connecting portion cooperation protrusion installation are equipped with the second mounting groove, second installation protrusion
It is installed in rotation in the second mounting groove.
Preferably, the upper coupled arm outer end is equipped with the first link slot, and the inner end adaptation of the driving wheel device is equipped with the
One Connection protrusion, first Connection protrusion are installed in rotation on the first link slot, and the outer end of the lower coupled arm is equipped with
Second link slot, the inner end adaptation of the driving wheel device are equipped with the second Connection protrusion, and second Connection protrusion is rotationally
It is mounted on the first link slot.
Second goal of the invention of the invention is to provide a kind of AGV trolley using above-mentioned AGV driving mechanism, further includes vehicle
Body main body and controlling terminal, the vehicle body main body include the installation cavity of lower end opening and the first connection knot in installation cavity
Structure, the second connection structure, the first steering wheel group and the second steering wheel group, first connection structure be located at installation cavity before
Side, first steering wheel group are installed on the bottom of the first connection structure, and second connection structure is located at the rear side of installation cavity,
The upside of the second connecting portion is connect with the lower front of the second connection structure, and first steering wheel group is installed on the second company
The bottom rear of binding structure, the opposite two sidewalls of the installation cavity correspond to the driving wheel device and cross mouth, the control equipped with wheel
Terminal is installed in vehicle body main body and is electrically connected with the driving wheel device.AGV driving mechanism due to referring to above scheme has
There are all advantages of above scheme, can be suitble to work under various orographic conditions.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of AGV driving mechanism；
Fig. 2 is the structural schematic diagram of another angle of AGV driving mechanism
Fig. 3 is the exploded view of AGV driving mechanism；
Fig. 4 is the positive structure schematic of AGV driving mechanism；
Fig. 5 is the overlooking surface structural schematic diagram of AGV driving mechanism；
Fig. 6 is the structural schematic diagram of AGV trolley；
Fig. 7 is the partial structural diagram of AGV driving mechanism.
Label declaration:
AGV trolley 2: vehicle body main body 201, installation cavity 2011, the first connection structure 2012, the second connection structure 2013,
One steering wheel group 2014, the second steering wheel group 2015；
AGV driving mechanism 1: main body of vehicle frame 101, connection frame 1011, the first mounting groove 1012, the second mounting groove 1013,
One connecting hole 1014, first connecting portion 101a, second connecting portion 101b；Upper coupled arm 102, first installs protrusion 1021, first
Link slot 1022；Lower coupled arm 103, second installs protrusion 1031, the second link slot 1032, first positioning hole 1033；Driving wheel dress
It is fixed to set 104, attachment base 1041, driving motor 1042, wheel 1044, telescopic spring cylinder 1045, the second connecting hole 1046, second
Position hole 1047, the first Connection protrusion 1041a, the second Connection protrusion 1041b.
Specific embodiment
Below according to attached drawing, further instruction technical solution of the present invention:
In the description of the present invention, it is to be understood that, the "upper", "lower", "front", "rear", "horizontal", "inner",
The orientation or positional relationship of the instructions such as "outside" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing this hair
Bright and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation
Construction and operation, therefore be not considered as limiting the invention.
Embodiment one:
Referring to shown in Fig. 1-7, the present embodiment discloses a kind of AGV driving mechanism 1, including main body of vehicle frame 101 and relatively
It is installed on the driving structure of 101 two sides of main body of vehicle frame, the middle part of main body of vehicle frame 101 is equipped with connection frame 1011, and driving structure includes
Upper coupled arm 102, lower coupled arm 103, driving wheel device 104 and telescopic spring cylinder 1045, the inner end of upper coupled arm 102 and vehicle frame master
The upside of body 101 is hinged, and the outer end of upper coupled arm 102 and the upside of driving wheel device 104 are hinged, the inner end of lower coupled arm 103 with
The upside of main body of vehicle frame 101 is hinged, and the outer end of lower coupled arm 103 and the lower end of driving wheel device 104 are hinged, telescopic spring cylinder 1045
One end and lower coupled arm 103 outer end it is hinged, the other end is connect with connection frame 1011, telescopic spring cylinder 1045 from top to bottom to
Outer incline setting.Specifically, the both ends of connection frame are respectively symmetrically equipped with the first connecting hole 1014, the upper end of telescopic spring cylinder is equipped with
Second connecting hole 1046 is connected between first connecting hole 1014 and the second connecting hole 1046 by screw-rod structure；On lower coupled arm
Equipped with first positioning hole 1033, the lower end of telescopic spring cylinder is equipped with second location hole 1047, and first positioning hole 1033 and second are determined
Position is connected between hole 1047 by screw-rod structure.
Above-mentioned driving wheel device 104 includes attachment base 1041, driving motor 1042 and wheel 1044, is set in the middle part of attachment base 1041
Have connecting hole (not showing on figure), both ends are equipped with connecting pin, and the outer end of upper coupled arm 102 and the upper connecting pin of attachment base 1041 are cut with scissors
It connects, the outer end of lower coupled arm 103 and the lower connecting pin of attachment base 1041 are hinged, and driving motor 1042 is arranged on attachment base 1041
And between upper coupled arm 102, lower coupled arm 103, the outside of attachment base 1041, driving motor 1042 is arranged in wheel 1044
Output shaft pass through connecting hole and wheel 1044 and be sequentially connected.The driving wheel device 104 of this programme is driven by the installation of attachment base 1041
Dynamic motor 1042 and wheel 1044, and realize the connection with upper coupled arm 102, lower transmission arm.
Minimum ground pressure N2 >=(G1+G2) * 20%, G1 of above-mentioned telescopic spring cylinder 1045 is the weight of main body of vehicle frame 101
Amount, G2 is ultimate load.Further, weight G1≤2000kg of main body of vehicle frame 101, ultimate load G2≤G1*5.
To enable the vertical direction component of telescopic spring cylinder 1045 to be that wheel 1044 provides enough ground pressures, to make bullet
The vertical direction component of spring telescoping cylinder 1045 can provide enough ground pressures for wheel 1044, telescopic spring cylinder 1045 with connect
Angle between frame 1011 is set as 25-40 degree.Further, maximum perpendicular dropping distance D≤L*20% of wheel 1044.This
In it should be noted that: maximum perpendicular dropping distance D be wheel 1044 when being recessed ground, 1044 bottom of wheel can far from level ground
The maximum distance reached, L are the wheel footpaths of wheel 1044.Example, L 100mm, then D≤20mm.
Illustrate the principle of above-mentioned angular arrangements below in conjunction with attached drawing 7:
(1) since the upper end of telescopic spring cylinder 1045 is connect with connection frame 1011, the outer end of lower end and lower coupled arm 103
Hingedly, the inner end of lower coupled arm 103 is connect with main body of vehicle frame 101, therefore, between telescopic spring cylinder 1045 and connection frame 1011
With having tie point C, lower coupled arm and main body of vehicle frame 101 between tie point Q, telescopic spring cylinder 1045 and lower coupled arm 103
Between there is tie point A, will connect A, Q, C with virtual line connection can form triangle, and the length of AQ, AC are respectively indicated with a, c
Degree, ∠ A indicate that angle between AQ and AC, ∠ a indicate the angle between AQ and QC, when the length of a, ∠ A initial angle
Determine, according to triangular function formula, initial length A1, c of QC can be determined by the initial angle of setting setting ∠ a it is whole, into
One step, the maximum length A2 of QC can be determined by the way that the minimum angles of ∠ a are arranged；
(2) tie point A, Q is fixed position, and at level ground, AC is parallel with level ground, therefore, tie point A,
The height of C is equal, it is assumed that Q point coordinate (X1, Y1), A point coordinate (X0, Y2), C initial coordinate P1 (X2, Y2), elastic force is at this time
F1, then A1=√ [(X1-X2) ^2+ (Y1-Y2) ^2], and initial ground pressure N1=F1* [(Y1-Y2)/A1]；
(3) when wheel 1044 drops to minimum point, the vertical dropping distance of wheel is D, according to trigonometric function E=
√ (c^2-D^2), P2 point coordinate are (X2-c+E, Y2-D), then can find out telescopic spring cylinder length A2=√ [(X1-X2+ at this time
C-E) ^2+ (Y1-Y2+D) ^2], it is μ * (A2-A1) according to the elastic force of elastic force formula reduction, ground pressure is N2=at this time
[F1-μ*(A2-A1)]*[(Y1-Y2+D)/A2]；
It (4), can be and anti-according to triangle according to the value of above-mentioned formula reasonable set c, A2, A1 after determining the value of N2, D
Function formula calculates the initial angle and minimum angles of ∠ a.It should be noted that " initial " refers to that AGV is located at horizontally
State when face.
Above-mentioned 102 inner end of upper coupled arm is equipped with the first installation protrusion 102, and the first installation of first connecting portion 101a cooperation is convex
Portion 102 is equipped with the first mounting groove 1012, and the first installation protrusion 102 is installed in rotation in the first mounting groove 1012；Lower gearing
The inner end of arm 103 is equipped with the second installation protrusion 1031, and first connecting portion 101a cooperation the second installation installation of protrusion 1031 is equipped with the
Two mounting grooves 1013, the second installation protrusion 1031 are installed in rotation in the second mounting groove 1013.
Above-mentioned 102 outer end of upper coupled arm is equipped with the first link slot 1022, and the inner end adaptation of driving wheel device 104 is equipped with first
Connection protrusion 1041a, the first Connection protrusion 1041a is installed in rotation on the first link slot 1022, outside lower coupled arm 103
End is equipped with the second link slot 1032, and the inner end adaptation of driving wheel device 104 is equipped with the second Connection protrusion 1041b, and the second connection is convex
Portion 1041b is installed in rotation on the first link slot 1022.
Compared with existing structure, the driving mechanism of the present embodiment passes through upper coupled arm 102, the lower coupled arm of driving structure
103, driving wheel device 104 connect the link mechanism to form parallelogram, the swingable amplitude of wheel 1044 with main body of vehicle frame 101
It is bigger；Due to the link mechanism using parallelogram, wheel 1044 remains vertical with horizontal plane, can prevent lateral
Power and the case where lead to AGV deviation route；In addition, it is mutually indepedent between two driving structures, further improve AGV
Flexibility and stability when driving make it be suitable for working under various orographic conditions.
Embodiment two:
Refering to what is shown in Fig. 6, further including vehicle invention additionally discloses a kind of AGV trolley 2 using above-mentioned AGV driving mechanism 1
Body main body 201 and controlling terminal (not showing on figure), the installation cavity 2011 of vehicle body main body 201 including lower end opening and being set to are installed
The first connection structure 2012, the second connection structure 2013, the first steering wheel group 2014 and the second steering wheel group in chamber 2011
2015, the front side positioned at installation cavity 2011 of the first connection structure 2012, the first steering wheel group 2014 is installed on the first connection knot
The bottom of structure 2012, the second connection structure 2013 are located at the rear side of installation cavity 2011, the upside of second connecting portion 101b and second
The lower front of connection structure 2013 connects, and the first steering wheel group 2014 is installed on the bottom rear of the second connection structure 2013,
The opposite two sidewalls of installation cavity 2011 correspond to driving wheel device 104 and cross mouth equipped with wheel 1044, and controlling terminal is installed on vehicle body main body
It is electrically connected on 201 and with driving wheel device 104.
Compared with prior art, AGV driving mechanism 1 of the AGV trolley 2 of the present embodiment due to referring to above-described embodiment,
Therefore, have the advantages that all of above scheme, can be suitble to work under various orographic conditions.
According to the disclosure and teachings of the above specification, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and is modified.Therefore, the invention is not limited to the specific embodiments disclosed and described above, to of the invention
Some modifications and changes should also be as falling into the scope of the claims of the present invention.In addition, although being used in this specification
Some specific terms, these terms are merely for convenience of description, does not limit the present invention in any way.
Claims (9)
1.AGV driving mechanism, it is characterised in that: including main body of vehicle frame and be relatively installed on the driving knot of main body of vehicle frame two sides
The middle part of structure, the main body of vehicle frame is equipped with connection frame, and driving structure includes upper coupled arm, lower coupled arm, driving wheel device and spring
Telescoping cylinder, the inner end of the upper coupled arm and the upside of the main body of vehicle frame are hinged, and the outer end of upper coupled arm and the driving wheel fill
The upside set is hinged, and the inner end of the lower coupled arm and the upside of the main body of vehicle frame are hinged, the outer end of lower coupled arm with it is described
The lower end of driving wheel device is hinged, and one end of the telescopic spring cylinder and the outer end of the lower coupled arm are hinged, the other end with connect
Frame connection, the telescopic spring cylinder are inclined outwardly setting from top to bottom.
2. AGV driving mechanism according to claim 1, it is characterised in that: the driving wheel device includes attachment base, driving electricity
Machine and wheel, the attachment base middle part are equipped with connecting hole, and both ends are equipped with connecting pin, the outer end of the upper coupled arm and the company
The upper connecting pin of joint chair is hinged, and the outer end of the lower coupled arm and the lower connecting pin of the attachment base are hinged, the driving motor
It is arranged on the attachment base and between the upper and lower coupled arm, the outside of the attachment base, institute is arranged in the wheel
The output shaft for stating driving motor passes through the connecting hole and connect with the wheel drive.
3. AGV driving mechanism according to claim 1, it is characterised in that: the minimum ground pressure of the telescopic spring cylinder
N2 >=(G1+G2) * 20%, G1 is the weight of main body of vehicle frame, and G2 is ultimate load.
4. AGV driving mechanism according to claim 3, it is characterised in that: weight G1≤2000kg of main body of vehicle frame, it is described
Ultimate load G2≤G1*5.
5. AGV driving mechanism according to claim 3, it is characterised in that: the angle between telescopic spring cylinder and connection frame
It is set as 25-40 degree.
6. AGV driving mechanism according to claim 1, it is characterised in that: the main body of vehicle frame includes connecting with driving structure
The first connecting portion connect and the second connecting portion for being connect with AGV vehicle body, the first connecting portion and second connecting portion one
Molding.
7. AGV driving mechanism according to claim 6, it is characterised in that: upper coupled arm inner end is equipped with the first installation protrusion,
The first installation of first connecting portion cooperation protrusion is equipped with the first mounting groove, and first installation protrusion is installed in rotation on the
In one mounting groove；The inner end of lower coupled arm is equipped with the second installation protrusion, the second installation of first connecting portion cooperation protrusion installation
Equipped with the second mounting groove, second installation protrusion is installed in rotation in the second mounting groove.
8. AGV driving mechanism according to claim 5, it is characterised in that: the upper coupled arm outer end is equipped with the first connection
Slot, the inner end adaptation of the driving wheel device are equipped with the first Connection protrusion, and first Connection protrusion is installed in rotation on the
On one link slot, the outer end of the lower coupled arm is equipped with the second link slot, and the inner end adaptation of the driving wheel device is equipped with second
Connection protrusion, second Connection protrusion are installed in rotation on the first link slot.
9. the AGV trolley of the application described in any item AGV driving mechanisms of claim 1-8, it is characterised in that: further include vehicle body master
Body and controlling terminal, the vehicle body main body include the installation cavity of lower end opening and the first connection structure in installation cavity,
Second connection structure, the first steering wheel group and the second steering wheel group, the front side positioned at installation cavity of first connection structure, institute
The bottom that the first steering wheel group is installed on the first connection structure is stated, second connection structure is located at the rear side of installation cavity, described
The upside of second connecting portion is connect with the lower front of the second connection structure, and first steering wheel group is installed on the second connection knot
The bottom rear of structure, the opposite two sidewalls of the installation cavity correspond to the driving wheel device and cross mouth, the controlling terminal equipped with wheel
It is installed in vehicle body main body and is electrically connected with the driving wheel device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910482940.1A CN110182009A (en) | 2019-06-04 | 2019-06-04 | The AGV trolley of AGV driving mechanism and the application mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910482940.1A CN110182009A (en) | 2019-06-04 | 2019-06-04 | The AGV trolley of AGV driving mechanism and the application mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110182009A true CN110182009A (en) | 2019-08-30 |
Family
ID=67720319
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910482940.1A Pending CN110182009A (en) | 2019-06-04 | 2019-06-04 | The AGV trolley of AGV driving mechanism and the application mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN110182009A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111169241A (en) * | 2020-03-03 | 2020-05-19 | 长沙猎空智能科技有限公司 | Trolley chassis with wheels driven independently |
| US20220402567A1 (en) * | 2021-06-16 | 2022-12-22 | Huazhong University Of Science And Technology | Planetary wheel type obstacle crossing robot |
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| US6491127B1 (en) * | 1998-08-14 | 2002-12-10 | 3Com Corporation | Powered caster wheel module for use on omnidirectional drive systems |
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| CN207481998U (en) * | 2017-10-25 | 2018-06-12 | 上海一坤电气工程有限公司 | Steering mechanism of robot |
| CN208855772U (en) * | 2018-08-20 | 2019-05-14 | 广东上川智能装备股份有限公司 | A kind of holding type AGV |
| CN210733729U (en) * | 2019-06-04 | 2020-06-12 | 广东嘉腾机器人自动化有限公司 | AGV driving mechanism and AGV trolley using same |
-
2019
- 2019-06-04 CN CN201910482940.1A patent/CN110182009A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6491127B1 (en) * | 1998-08-14 | 2002-12-10 | 3Com Corporation | Powered caster wheel module for use on omnidirectional drive systems |
| CN107225926A (en) * | 2017-06-14 | 2017-10-03 | 电子科技大学 | Suspension |
| CN207481998U (en) * | 2017-10-25 | 2018-06-12 | 上海一坤电气工程有限公司 | Steering mechanism of robot |
| CN208855772U (en) * | 2018-08-20 | 2019-05-14 | 广东上川智能装备股份有限公司 | A kind of holding type AGV |
| CN210733729U (en) * | 2019-06-04 | 2020-06-12 | 广东嘉腾机器人自动化有限公司 | AGV driving mechanism and AGV trolley using same |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111169241A (en) * | 2020-03-03 | 2020-05-19 | 长沙猎空智能科技有限公司 | Trolley chassis with wheels driven independently |
| CN111169241B (en) * | 2020-03-03 | 2023-09-19 | 湖南天开智能装备有限公司 | Trolley chassis with wheels independently driven |
| US20220402567A1 (en) * | 2021-06-16 | 2022-12-22 | Huazhong University Of Science And Technology | Planetary wheel type obstacle crossing robot |
| US11945527B2 (en) * | 2021-06-16 | 2024-04-02 | Huazhong University Of Science And Technology | Planetary wheel type obstacle crossing robot |
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