CN110539807A - Traction and automatic dual-purpose AGV and control method thereof - Google Patents
Traction and automatic dual-purpose AGV and control method thereof Download PDFInfo
- Publication number
- CN110539807A CN110539807A CN201910838085.3A CN201910838085A CN110539807A CN 110539807 A CN110539807 A CN 110539807A CN 201910838085 A CN201910838085 A CN 201910838085A CN 110539807 A CN110539807 A CN 110539807A
- Authority
- CN
- China
- Prior art keywords
- wheel
- mecanum
- agv
- hydraulic
- wheels
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
- B62D53/04—Tractor-trailer combinations; Road trains comprising a vehicle carrying an essential part of the other vehicle's load by having supporting means for the front or rear part of the other vehicle
- B62D53/06—Semi-trailers
- B62D53/061—Semi-trailers of flat bed or low loader type or fitted with swan necks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/32—Ground or aircraft-carrier-deck installations for handling freight
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention discloses a traction and self-propelled dual-purpose AGV and a control method thereof, belongs to the field of industrial logistics, can realize two working modes, and solves the problems of independent self-propelled large-tonnage AGV equipment and a semitrailer platform. The device comprises a semi-trailer platform and an omnidirectional moving platform based on Mecanum wheels; the switching between the self-running mode and the traction mode can be completed. In the self-propelled mode, the AGV moves in all directions like a common AGV, and can finish the work of carrying and the like by manual control or autonomous navigation by using the power of a vehicle-mounted storage battery; in the towing mode, the AGV may be coupled to a standard semi-trailer tractor, may be transferred to other locations without load, or may be used as a common semi-trailer with a load.
Description
Technical Field
The invention belongs to the field of industrial logistics, and particularly relates to a traction and self-propelled dual-purpose AGV.
background
AGV that current industry commodity circulation field adopted is mostly self-propelled, relies on self power to carry promptly and the work of transition. Some AGVs are equipped with a traction operation in emergency mode, and when they are out of order or the external conditions are not allowed to move, they can be moved by traction or manual dragging by other devices. When transporting an AGV, a special vehicle and lifting equipment need to be prepared.
In addition, the dispatching and transition of the general semi-trailer platform adopted in the logistics field in a small range are realized by a tractor. For example, the logistics department of a large fast-moving consumer goods company adopts a delivery form of a goods distribution yard: the A goods yard near the factory is responsible for loading and unloading goods and is provided with a plurality of stacking openings; the remote goods yard B is responsible for outgoing and shuttled A, B by the outside tractor. Due to the limited number of the crenels in the goods yard A, a special driver is often required to be engaged to pull out the semitrailer which is subjected to the loading and unloading operation, so that the occupation of the crenels is avoided. An AGV is an automated guided vehicle (or automated guided vehicle).
The self-propelled AGV equipment and the semitrailer platform of present stage have following problem:
1. when the AGV needs to be transported, the AGV with small tonnage can be loaded to other vehicles, but the loading work of the AGV with large tonnage is very complicated. Although the AGV can carry out direct traction, the installed common rubber tires or Mecanum wheels cannot adapt to harsher road surfaces during long-distance transportation.
2. In the practice of small-scale yard dispatching, a factory needs to employ a professional driver to complete work, and transportation in a narrow space often needs more personnel to participate. This is detrimental to the need for labor cost reduction in the plant.
disclosure of Invention
The invention provides a traction and self-propelled dual-purpose AGV and a control method thereof, which can realize two working modes and solve the problems of single self-propelled large-tonnage AGV equipment and a semitrailer platform.
The invention discloses a traction and self-propelled AGV which is characterized by comprising a semitrailer platform and an omnidirectional moving platform based on Mecanum wheels; the semitrailer platform comprises a gooseneck, a frame, a hydraulic axis wheel and an axis wheel suspension; the omnidirectional moving platform based on the Mecanum wheels comprises the Mecanum wheels and a suspension; the Mecanum wheel is arranged on the suspension; the gooseneck is connected with the frame, and the frame is an installation platform; the hydraulic axis wheel is positioned between the front Mecanum wheel and the rear Mecanum wheel; an oil cylinder is arranged on the suspension of each Mecanum wheel, so that the lifting of the Mecanum wheels can be realized; the hydraulic axis wheel is arranged on the axis wheel suspension, and the hydraulic axis wheel is connected with the frame through the axis wheel suspension; an oil cylinder is installed on the axis wheel suspension, so that the lifting of the hydraulic axis wheel can be realized; the oil cylinder is used for supporting and retracting the hydraulic reel.
A traction and self-propelled AGV is characterized by comprising a semi-trailer platform and an omnidirectional moving platform based on Mecanum wheels; the semitrailer platform comprises a frame, a hydraulic axis wheel, an axis wheel electric shafting and an axis wheel suspension; the omnidirectional mobile platform based on the Mecanum wheels comprises the Mecanum wheels, an electric shafting and a suspension; the Mecanum wheel and the electric shaft system are arranged on the suspension; the frame is a mounting platform; the hydraulic axis wheel is positioned between the front Mecanum wheel and the rear Mecanum wheel; each Mecanum wheel and the electric shaft system are arranged on a suspension, and an oil cylinder is arranged on the suspension, so that the lifting of the Mecanum wheels can be realized; the hydraulic axis wheel and the axis wheel electric shafting are arranged on the suspension, and the hydraulic axis wheel is connected with the frame through the axis wheel suspension; an oil cylinder is installed on the axis wheel suspension, so that the lifting of the hydraulic axis wheel can be realized; the oil cylinder is used for realizing the support and the retraction of the hydraulic axis wheel; the shaft line wheel electric shaft system comprises a motor and a speed reducer; the hydraulic axis wheel is connected with the speed reducer by a flange, and the motor drives the Mecanum wheel.
A traction and self-propelled AGV comprises a semi-trailer platform and an omnidirectional moving platform based on Mecanum wheels; the semitrailer platform comprises a gooseneck, a frame, a hydraulic reel, an axis wheel electric shafting and an axis wheel suspension; the omnidirectional moving platform based on the Mecanum wheels comprises the Mecanum wheels, an electric shafting, a suspension, an electric control system and a hydraulic system; the Mecanum wheel and the electric shaft system are arranged on the suspension; the gooseneck is connected with the frame and is detachable; the frame is a mounting platform; the hydraulic axis wheel is positioned between the front Mecanum wheel and the rear Mecanum wheel; each Mecanum wheel and the electric shaft system are arranged on a suspension, and an oil cylinder is arranged on the suspension, so that the lifting of the Mecanum wheels can be realized; the hydraulic axis wheel and the axis wheel electric shafting are arranged on the suspension, and the hydraulic axis wheel is connected with the frame through the axis wheel suspension; an oil cylinder is installed on the axis wheel suspension, so that the lifting of the hydraulic axis wheel can be realized; the electric control system controls an oil cylinder of the hydraulic system to realize the support and the retraction of the hydraulic reel; the shaft line wheel electric shaft system comprises a motor and a speed reducer; the hydraulic axis wheel is connected with the speed reducer by a flange, and the motor receives signals of the electric control system 6 and drives the Mecanum wheel.
Further, the gooseneck is connected with the frame through screws. .
Furthermore, the brake air passage is connected through the tractor air passage interface to provide brake for the hydraulic reel.
Furthermore, the electric vehicle also comprises a battery, and the battery provides energy for the control and movement of the whole vehicle.
Furthermore, the electric shaft system comprises a motor and a speed reducer, the Mecanum wheel and the speed reducer are connected through a flange, and the motor drives the Mecanum wheel and the speed reducer.
A control method for a traction and Automatic Guided Vehicle (AGV) is characterized by comprising the following steps:
The device comprises two working modes, namely a self-running mode and a traction mode; a semi-trailer platform and an omnidirectional moving platform based on Mecanum wheels are adopted; the semitrailer platform is combined with an omnidirectional mobile platform based on Mecanum wheels;
The semitrailer platform comprises hydraulic axis wheels, the omnidirectional moving platform based on the Mecanum wheels comprises the Mecanum wheels, and the hydraulic axis wheels and the Mecanum wheels are respectively lifted through an electric control system and a hydraulic system to complete the switching between a self-running mode and a traction mode;
In the self-propelled mode, the hydraulic axis wheel rises to the ground, the Mecanum wheel presses down, and the whole vehicle is supported by the Mecanum wheel; the method is characterized in that a vehicle-mounted storage battery power is used for an AGV running mode, namely an automatic guided transport vehicle running mode; in a traction mode, the hydraulic axis wheel falls to the ground, the Mecanum wheel is lifted, and the whole vehicle is supported by the hydraulic axis wheel; the semi-trailer platform is connected with a semi-trailer tractor for traction running.
further, the control method of the AGV with the traction and self-propelled dual-purpose type is characterized in that the semitrailer platform comprises hydraulic axis wheels and a gooseneck, and the gooseneck is connected with the omnidirectional moving platform based on the Mecanum wheels; in the self-propelled mode, the gooseneck is disassembled; the whole vehicle is operated in an AGV running mode.
further, the control method of the AGV with the traction and self-propelled dual-purpose type is characterized in that the semitrailer platform comprises hydraulic axis wheels and a gooseneck, and the gooseneck is connected with the omnidirectional moving platform based on the Mecanum wheels; when the AGV enters a traction working mode, the gooseneck is connected with the tractor to carry out traction driving.
Further, a control method of the AGV with traction and self-propelled dual-purpose is characterized in that an oil cylinder is arranged between a hydraulic axis wheel and a vehicle body, so that the hydraulic axis wheel can be lifted off the ground and pressed down;
Further, the control method of the traction and self-propelled AGV is characterized in that an oil cylinder is installed between the Mecanum wheels and the AGV body, and lifting, lifting and pressing of the Mecanum wheels are achieved.
compared with the prior art, the invention has the beneficial effects that:
1. Switch through going up and down and can become the highway transportation platform with AGV, can transport AGV or load fast and travel, realize that the whole car is multi-purpose.
2. The freight yard scheduling of short distance can directly be controlled the AGV by the manual work and accomplish, need not special tractor, and the professional degree requirement to personnel reduces.
3. The AGV is driven by electric power when driving, and is safe, reliable, environment-friendly and pollution-free.
Drawings
FIG. 1: AGV overall layout.
Detailed Description
The present invention is described in further detail below.
the invention adopts a universal semitrailer platform, hydraulic axis wheels and Mecanum wheels are installed, and the switching between a self-propelled mode and a traction mode can be completed by respectively lifting two groups of wheels through an electric control system and a hydraulic system. In the self-propelled mode, the AGV is the same as a common AGV, and can complete the work of carrying and the like by manual control or autonomous navigation by using the power of a vehicle-mounted storage battery and depending on the omnidirectional moving technology; in the towing mode, the AGV may be coupled to a standard semi-trailer tractor, may be transferred to other locations without load, or may be used as a common semi-trailer with a load.
The invention discloses a traction and self-propelled AGV which is characterized by adopting a semitrailer platform and an omnidirectional moving platform based on Mecanum wheels. The semitrailer platform consists of a detachable gooseneck 1, a frame 2 and a hydraulic reel 3; the omnidirectional moving platform consists of Mecanum wheels 4, an electric shafting 5, a suspension, an electric control system 6, a hydraulic system 7 and a battery 8.
The gooseneck 1 is arranged on the frame through bolts; install proximity switch on the gooseneck 1, proximity switch is used for judging whether tractor and gooseneck 1 link to each other, ensures that AGV does not have when going certainly and pulls the locomotive and connect, has strengthened the security.
The frame is the mounting platform of whole car all parts, also is the supporting platform that AGV held in the palm the burden goods.
the electric control system is used as a core center of the whole AGV and is responsible for controlling the Kenahme wheel 4, the electric shafting and suspension 5 and the hydraulic system 7 to work.
A digital output potential is arranged in the electric control system 6, so that the starting and stopping of a motor in the hydraulic system 7 and the on and off of the hydraulic valve bank can be controlled, and the support and the retraction of the reel are realized; the motor acts on the hydraulic pump.
When the pump motor starts: the forward oil inlet electromagnetic valve is driven to be opened through a digital output point position, so that hydraulic oil enters the oil cylinder to jack up; the reverse oil inlet electromagnetic valve is driven to be opened through digital output potential, so that hydraulic oil enters the oil cylinder to shrink.
A high-precision servo driver is arranged in the electric control system 6 and drives the Mecanum wheel 4 to rotate according to the required speed and direction; the electric shafting comprises a motor and a speed reducer.
Mecanum wheel 4 and the speed reducer are connected through a flange, and the motor receives signals of electric control system 6 and drives Mecanum wheel 4, so that omnidirectional movement in an AGV mode is achieved.
the battery provides energy for the control and movement of the whole vehicle.
A traction and self-propelled AGV is characterized in that the working mode of the AGV is switched. When the AGV is required to enter a self-propelled working mode, the hydraulic axis wheel 3 is lifted off the ground, the Mecanum wheel 4 is pressed down, and the whole AGV is supported by the Mecanum wheel. Meanwhile, the gooseneck can be disassembled as required, and the whole vehicle is operated in a traditional AGV running mode; when the AGV enters a traction working mode, the hydraulic axis wheel falls to the ground, the Mecanum wheel is lifted, and the whole AGV is supported by the hydraulic axis wheel. And the gooseneck is arranged and then connected with a tractor, so that the whole vehicle can be dragged and driven.
in the lift-off process of the hydraulic reel 3, an electric control system 6 drives a pump motor to retract an axis wheel oil cylinder through a hydraulic system 7, and the wheat wheel oil cylinder bears the downward pressure.
A traction and self-propelled AGV characterized in that it can be towed and the gooseneck can be removed as required. When AGV carries out highway and pulls and traveles, accessible gooseneck 1 links to each other with the tractor, and gooseneck and towing pin design according to national standard can satisfy the road and pull the requirement. The AGV is not started, and the braking gas circuit and the lighting circuit are taken from the tractor by the universal interface. When the towing work is finished, the gooseneck can be removed. The brake gas circuit provides brake for the hydraulic axis wheel 3 in a traction mode through a tractor gas circuit interface.
The utility model provides a pull dual-purpose AGV by oneself which characterized in that adopts hydraulic system, controls mecanum wheel and hydraulic pressure axis wheel respectively, realizes the switching of operational mode.
Each Mecanum wheel and the electric shaft system are arranged on an independent suspension, and the oil cylinder is arranged on the suspension, so that the independent lifting of the Mecanum wheels can be realized; the hydraulic system 7 controls all the suspensions (oil cylinders) to complete the lifting and leveling of the AGV; an axis wheel oil cylinder and an axis wheel cantilever are arranged on the hydraulic axis wheel, so that the axis wheel group is lifted, and the axis wheel group and the Mecanum wheel alternately support the whole vehicle.
Claims (10)
1. A traction and self-propelled AGV is characterized by comprising a semi-trailer platform and an omnidirectional moving platform based on Mecanum wheels; the semitrailer platform comprises a frame (2), a hydraulic axis wheel (3) and an axis wheel suspension; the omnidirectional moving platform based on the Mecanum wheels comprises Mecanum wheels (4) and a suspension; the Mecanum wheel is arranged on the suspension; the frame is a mounting platform; the hydraulic axis wheel (3) is positioned between the front and the rear Mecanum wheels (4); an oil cylinder is arranged on the suspension of each Mecanum wheel, so that the lifting of the Mecanum wheels can be realized; the hydraulic axis wheel (3) is arranged on the axis wheel suspension, and the hydraulic axis wheel (3) is connected with the frame through the axis wheel suspension; an oil cylinder is arranged on the axis wheel suspension, so that the hydraulic axis wheel (3) can be lifted; the oil cylinder is used for supporting and retracting the hydraulic reel.
2. A traction and self-propelled AGV is characterized by comprising a semi-trailer platform and an omnidirectional moving platform based on Mecanum wheels; the semitrailer platform comprises a gooseneck (1), a frame (2), a hydraulic reel (3), an axis wheel electric shafting and an axis wheel suspension; the omnidirectional mobile platform based on the Mecanum wheels comprises the Mecanum wheels (4), an electric shafting, a suspension, an electric control system (6) and a hydraulic system (7); the Mecanum wheel and the electric shaft system are arranged on the suspension;
The gooseneck (1) is connected with the frame and is detachable; the frame is a mounting platform; the hydraulic axis wheel (3) is positioned between the front and the rear Mecanum wheels (4);
Each Mecanum wheel and the electric shaft system are arranged on a suspension, and an oil cylinder is arranged on the suspension, so that the lifting of the Mecanum wheels can be realized;
The hydraulic axis wheel (3) and the axis wheel electric shafting are arranged on the suspension, and the hydraulic axis wheel (3) is connected with the frame through the axis wheel suspension; an oil cylinder is arranged on the axis wheel suspension, so that the hydraulic axis wheel (3) can be lifted;
The electric control system (6) controls an oil cylinder of the hydraulic system (7) to realize the support and the retraction of the hydraulic axis wheel;
The shaft line wheel electric shaft system comprises a motor and a speed reducer; the hydraulic axis wheel (3) is connected with the speed reducer by a flange, and the motor receives signals of the electric control system and drives the Mecanum wheel (4).
3. a traction-automatic AGV according to claim 2, where the brake air channel is connected to the air channel via the tractor air channel interface to provide braking to the hydraulic reel (3).
4. A traction-drive AGV according to claim 1 or 2, characterised by a battery (8) which provides the energy for the control and movement of the vehicle.
5. A traction-drive AGV according to claim 1 or 2 wherein the electric drive shaft comprises a motor and a reducer, the mecanum wheel (4) and the reducer being flange-mounted and the motor being driven.
6. A control method for a traction and Automatic Guided Vehicle (AGV) is characterized by comprising the following steps:
The device comprises two working modes, namely a self-running mode and a traction mode; a semi-trailer platform and an omnidirectional moving platform based on Mecanum wheels are adopted; the semitrailer platform is combined with an omnidirectional mobile platform based on Mecanum wheels;
The semitrailer platform comprises hydraulic axis wheels, the omnidirectional moving platform based on the Mecanum wheels comprises the Mecanum wheels, and the hydraulic axis wheels and the Mecanum wheels are respectively lifted through an electric control system and a hydraulic system to complete the switching between a self-running mode and a traction mode;
In the self-propelled mode, the hydraulic axis wheel rises to the ground, the Mecanum wheel presses down, and the whole vehicle is supported by the Mecanum wheel; the method is characterized in that a vehicle-mounted storage battery power is used for an AGV running mode, namely an automatic guided transport vehicle running mode; in a traction mode, the hydraulic axis wheel falls to the ground, the Mecanum wheel is lifted, and the whole vehicle is supported by the hydraulic axis wheel; the semi-trailer platform is connected with a semi-trailer tractor for traction running.
7. The method of claim 6, wherein the semi-trailer platform includes hydraulic axis wheels, and further includes a gooseneck coupled to the omni-directional mobile platform based on mecanum wheels; in the self-propelled mode, the gooseneck is disassembled; the whole vehicle is operated in an AGV running mode.
8. the method of claim 6, wherein the semi-trailer platform includes hydraulic axis wheels, and further includes a gooseneck coupled to the omni-directional mobile platform based on mecanum wheels; when the AGV enters a traction working mode, the gooseneck is connected with the tractor to carry out traction driving.
9. The method of claim 6, wherein cylinders are installed between the hydraulic axis wheels and the vehicle body to lift and lower the hydraulic axis wheels off the ground.
10. The AGV controlling method according to claim 6, wherein a cylinder is installed between the Mecanum wheel (4) and the vehicle body to lift and press the Mecanum wheel (4) off the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910838085.3A CN110539807A (en) | 2019-09-05 | 2019-09-05 | Traction and automatic dual-purpose AGV and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910838085.3A CN110539807A (en) | 2019-09-05 | 2019-09-05 | Traction and automatic dual-purpose AGV and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110539807A true CN110539807A (en) | 2019-12-06 |
Family
ID=68712556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910838085.3A Pending CN110539807A (en) | 2019-09-05 | 2019-09-05 | Traction and automatic dual-purpose AGV and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110539807A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246745A (en) * | 2021-05-19 | 2021-08-13 | 河南科技大学 | Auxiliary drive control method of new energy semitrailer and new energy semitrailer |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2183167C2 (en) * | 2000-07-10 | 2002-06-10 | Марийский государственный технический университет | Pole-trailer |
| DE202004020580U1 (en) * | 2004-07-07 | 2005-08-25 | Kurt Dinkel Karosserie-Fahrzeugbau Gmbh | Vehicle for transporting over-wide goods |
| CN203318242U (en) * | 2013-06-22 | 2013-12-04 | 吉林市长久专用车有限公司 | Semitrailer used for transporting stacked vehicles on three layers of platforms and provided with independent movable lifting platforms |
| CN205802159U (en) * | 2016-07-05 | 2016-12-14 | 福建信邦物流科技有限公司 | A kind of supporting automatic rising-sinking platform of tiered warehouse facility pipeline |
| CN205952337U (en) * | 2016-07-30 | 2017-02-15 | 深圳市劲拓自动化设备股份有限公司 | Mecanum wheel aircraft qxcomm technology does not have pole tractor |
| CN107065853A (en) * | 2016-12-21 | 2017-08-18 | 深圳若步智能科技有限公司 | A kind of merchandising machine people system and its method of work |
| CN208216861U (en) * | 2018-05-07 | 2018-12-11 | 湖州宏威新能源汽车有限公司 | A kind of delivery separation new energy logistic car |
-
2019
- 2019-09-05 CN CN201910838085.3A patent/CN110539807A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2183167C2 (en) * | 2000-07-10 | 2002-06-10 | Марийский государственный технический университет | Pole-trailer |
| DE202004020580U1 (en) * | 2004-07-07 | 2005-08-25 | Kurt Dinkel Karosserie-Fahrzeugbau Gmbh | Vehicle for transporting over-wide goods |
| CN203318242U (en) * | 2013-06-22 | 2013-12-04 | 吉林市长久专用车有限公司 | Semitrailer used for transporting stacked vehicles on three layers of platforms and provided with independent movable lifting platforms |
| CN205802159U (en) * | 2016-07-05 | 2016-12-14 | 福建信邦物流科技有限公司 | A kind of supporting automatic rising-sinking platform of tiered warehouse facility pipeline |
| CN205952337U (en) * | 2016-07-30 | 2017-02-15 | 深圳市劲拓自动化设备股份有限公司 | Mecanum wheel aircraft qxcomm technology does not have pole tractor |
| CN107065853A (en) * | 2016-12-21 | 2017-08-18 | 深圳若步智能科技有限公司 | A kind of merchandising machine people system and its method of work |
| CN208216861U (en) * | 2018-05-07 | 2018-12-11 | 湖州宏威新能源汽车有限公司 | A kind of delivery separation new energy logistic car |
Non-Patent Citations (1)
| Title |
|---|
| 上海市松江区委宣传部，上海市松江区科学技术委员会: "OMV全向移动车", 《创新之光 引领松江高质量发展》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246745A (en) * | 2021-05-19 | 2021-08-13 | 河南科技大学 | Auxiliary drive control method of new energy semitrailer and new energy semitrailer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109625123B (en) | Spliced type carrying vehicle, carrying system and carrying method | |
| CN110539808A (en) | heavy load is transported and is docked AGV equipment | |
| CN106671857B (en) | Central axle train for vehicle transportation | |
| CN203975002U (en) | Overlength can Self-loading-unloading integral type transport trolley | |
| CN205601529U (en) | Four -wheel individual drive turns to electronic combined car | |
| CN201943008U (en) | Polycarbonate (PC) rail track beam erecting equipment | |
| CN110539652B (en) | Extended-range type traction Automatic Guided Vehicle (AGV) | |
| CN110539807A (en) | Traction and automatic dual-purpose AGV and control method thereof | |
| CN107487740A (en) | A kind of shelter transfer car(buggy) of lift cart and its composition | |
| CN114771337A (en) | Movable top heavily blocks trades power station | |
| CN208429169U (en) | Heavy holding track free tractor | |
| CN205312909U (en) | Two roof beam double small car bridge crane | |
| CN207877135U (en) | A kind of wheel-track type girder gantry crane | |
| CN204037419U (en) | A kind of steel plate transport car | |
| CN209972287U (en) | AGV (automatic guided vehicle) for transporting railway carriage | |
| CN203529824U (en) | New energy driving tyre type gantry crane | |
| CN218431510U (en) | Omnidirectional axle mounting trolley based on laser navigation | |
| CN104071702B (en) | A kind of axis type hoisting crane | |
| CN215867594U (en) | Automatic logistics trolley transfer device for special-shaped heavy-weight plate | |
| CN216034361U (en) | Self-propelled unmanned steel scrap tipping vehicle | |
| CN213921307U (en) | Multi-platform mixed line production chassis assembling and lifting mechanism | |
| CN110550118A (en) | increase journey and transport butt joint AGV equipment | |
| CN210478296U (en) | Automatic vehicle that traveles of commodity circulation transportation | |
| CN203623812U (en) | Trailer axle lifting mechanism | |
| CN104773088A (en) | Electric vehicle control system for civil aviation airport cargo logistics and luggage transport |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191206 |