CN111115145B - AGV pulls framework and transports conveyor - Google Patents
AGV pulls framework and transports conveyor Download PDFInfo
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- CN111115145B CN111115145B CN202010114445.8A CN202010114445A CN111115145B CN 111115145 B CN111115145 B CN 111115145B CN 202010114445 A CN202010114445 A CN 202010114445A CN 111115145 B CN111115145 B CN 111115145B
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- 230000032258 transport Effects 0.000 title description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 238000003825 pressing Methods 0.000 claims abstract description 26
- 230000007704 transition Effects 0.000 claims abstract description 22
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 10
- 229910052757 nitrogen Inorganic materials 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 5
- 238000003466 welding Methods 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention provides an AGV traction framework transferring and conveying device which comprises a supporting main body frame, a floor locking assembly and a jacking mechanism, wherein the supporting main body frame comprises a first longitudinal beam, a second longitudinal beam, a connecting beam and a traveling wheel set, and the first longitudinal beam, the second longitudinal beam and the connecting beam form an H-shaped supporting main body structure; the floor locking assembly comprises a transition connecting plate and a floating support leg single piece, wherein the floating support leg single piece comprises a floating support leg and an elastic pressing mechanism; the jacking mechanism comprises at least one jacking single piece. By applying the technical scheme of the invention, the effects are as follows: the whole structure is simple; through the combined design of the supporting main body frame and the floor locking assembly, the state position of the conveying device is adjusted through the floor locking assembly, the AGV operation is facilitated, the automatic guided vehicle is suitable for the traction of the AGV, the labor intensity of staff is greatly reduced, and the working efficiency is improved; the jacking mechanism is designed, so that the assembly of the traction connecting rod parts is convenient according to the requirements of assembling parts at each station, the whole bogie is jacked, and the assembly of the parts is smoothly completed.
Description
Technical Field
The invention relates to the technical field of AGV mobile equipment, in particular to an AGV traction framework transferring and conveying device.
Background
At home, the existing frame production line is simple in vehicle falling tool, four support frames are supported, a fixed crown block is hung in, the frame is motionless after falling, the working height cannot be adjusted for different frames, and the labor intensity of staff is high.
The crane is needed for movement between stations, so that the production efficiency is low and the safety is not ensured.
Therefore, the device which is simple in structure, suitable for AGV traction, transportation and conveying and high in efficiency is designed to have important significance.
Disclosure of Invention
The invention aims to provide an AGV traction framework transferring and conveying device which has a simple structure, is suitable for AGV traction transferring and conveying, has high production efficiency and can greatly reduce labor intensity of staff, and the specific technical scheme is as follows:
An AGV traction framework transferring and conveying device comprises a supporting main body frame, a floor locking assembly and a jacking mechanism;
The support main body frame comprises a first longitudinal beam, a second longitudinal beam, a connecting beam and a traveling wheel set, wherein two ends of the connecting beam are respectively connected with the first longitudinal beam and the second longitudinal beam, and the first longitudinal beam, the second longitudinal beam and the connecting beam form an H-shaped support main body structure; the walking wheel set is arranged at the bottom of the H-shaped supporting main body structure and is used for driving the whole supporting main body frame to walk;
The landing locking assembly comprises a transition connecting plate and a floating support leg single piece, wherein the floating support leg single piece comprises a floating support leg and an elastic pressing mechanism, and the transition connecting plate is connected with the H-shaped supporting main body structure; the upper end of the elastic pressing mechanism is connected with the transition connecting plate, the lower end of the elastic pressing mechanism is connected with the floating support leg, and the floating support leg is contacted with the ground or separated from the ground through the action of the elastic pressing mechanism;
The jacking mechanism comprises at least one jacking single piece, the jacking single piece comprises a driving mechanism, a screw rod and a connecting support plate, the driving mechanism is arranged on the H-shaped support main body structure, an output shaft of the driving mechanism is meshed with a second gear sleeved on the screw rod through a first gear, the screw rod is connected with the connecting support plate, and the screw rod drives the connecting support plate to lift through the action of the driving mechanism.
In the above technical scheme, preferably, the walking wheel group comprises two groups of walking wheel singlets corresponding to the first longitudinal beam and the second longitudinal beam, and each walking wheel singlet comprises a plurality of walking wheels arranged along the length direction of the first longitudinal beam or the second longitudinal beam.
In the above technical scheme, preferably, the H-shaped supporting main body structure is an integrated structure formed by welding steel materials.
In the above technical solution, preferably, the transition connection board is disposed with the connection Liang Cengdie; the number of the floating support leg single pieces is two, and the two groups of the floating support leg single pieces are respectively arranged at two ends of the transition connecting plate.
In the above technical solution, preferably, the elastic pressing mechanism is a nitrogen spring pressing member.
In the above technical scheme, preferably, the number of the jacking single pieces is four, and the four jacking single pieces are located at four positions of the H-shaped supporting main body structure to form a four-point synchronous jacking structure.
The technical scheme is that the mobile sliding table assembly comprises at least one group of mobile sliding table single pieces, each mobile sliding table single piece comprises a fixed connecting plate, a sliding supporting plate and a baffle, the fixed connecting plate is arranged on an H-shaped supporting main body structure, and the baffle is arranged on the fixed connecting plate through the sliding supporting plate in an adjustable mode.
In the above technical scheme, preferably, the fixed connection plate is provided with a sliding chute, a first end of the sliding support plate is inserted into the sliding chute and is arranged in an adjustable manner, and a second end of the sliding support plate is connected with the baffle.
In the above technical scheme, preferably, the fixed connection plate is further provided with a fastener for locking the sliding support plate.
The preferable technical scheme further comprises a controller, and the walking wheel set, the elastic pressing mechanism and the driving mechanism are all connected with the controller.
The technical scheme of the invention has the following beneficial effects:
(1) The AGV traction framework transferring and conveying device comprises a supporting main body frame, a floor locking assembly and a jacking mechanism, wherein the supporting main body frame comprises a first longitudinal beam, a second longitudinal beam, a connecting beam and a traveling wheel set, and the first longitudinal beam, the second longitudinal beam and the connecting beam form an H-shaped supporting main body structure; the floor locking assembly comprises a transition connecting plate and a floating support leg single piece, wherein the floating support leg single piece comprises a floating support leg and an elastic pressing mechanism; the jacking mechanism comprises at least one jacking single piece, and the jacking single piece comprises a driving mechanism, a screw rod and a connecting support plate. The whole structure is simple; through the combined design of the supporting main body frame and the floor locking assembly, the state position of the conveying device is adjusted through the floor locking assembly, the AGV operation is facilitated, the automatic guided vehicle is suitable for the traction of the AGV, the labor intensity of staff is greatly reduced, and the working efficiency is improved; the jacking mechanism is designed, so that the assembly of the traction connecting rod parts is convenient according to the requirements of assembling parts at each station, the whole bogie is jacked, and the assembly of the parts is smoothly completed.
(2) According to the invention, the first longitudinal beam, the second longitudinal beam and the connecting beam form an H-shaped supporting main body structure, and an integrated structure formed by welding steel is preferable, so that interference between the first longitudinal beam, the second longitudinal beam and the conveying device during assembling of the bogie accessory can be effectively avoided while bearing is met; the walking wheel group comprises two groups of walking wheel singlets corresponding to the first longitudinal beam and the second longitudinal beam, each walking wheel singlet comprises a plurality of walking wheels arranged along the length direction of the first longitudinal beam or the second longitudinal beam, the walking wheels are preferably universal wheels, and the walking is convenient and good in stability.
(3) According to the invention, the single floating support leg comprises the floating support leg and the elastic pressing mechanism, the elastic pressing mechanism is preferably a nitrogen spring pressing member, when the AGV leaves the transferring and conveying device, the floating support leg (the contact surface between the nitrogen spring pressing member and the ground is made of polyurethane, and larger static friction force can be provided) is locked under the action of the nitrogen spring pressing member, so that the whole transferring and conveying device is prevented from moving; when the AGV gets into below the transport conveyor, the AGV towing pin rises and holds up whole transport conveyor, and nitrogen spring compresses tightly the piece and resumes and whole landing leg that floats and leave ground, realizes locking mechanical system's loosening, and the AGV can pull whole transport conveyor to walk. In the present invention, the floor locking assembly is preferably located at a height above the ground level that is greater than the AGV height, which may pass under the transfer conveyor without obstruction.
(4) The jacking single piece comprises the driving mechanism, the screw rod and the connecting support plate, jacking is realized by adopting the combination of the driving mechanism (preferably a motor) and the screw rod, the structure is simplified, and the jacking process has good stability and high precision.
(5) The transition connecting plate is arranged with the connection Liang Cengdie; the number of the floating support leg single pieces is two, the two groups of the floating support leg single pieces are respectively arranged at two ends of the transition connecting plate to form symmetrical point locking support, and the stability is good; the number of the jacking single pieces is four, the four jacking single pieces are located at four positions of the H-shaped supporting main body structure, a four-point synchronous jacking structure is formed, stability is good, and assembly of parts is facilitated.
(6) The invention further comprises a movable sliding table assembly, the movable sliding table assembly comprises at least one group of movable sliding table single pieces, each movable sliding table single piece comprises a fixed connecting plate, a sliding supporting plate and a baffle, the fixed connecting plate is arranged on the H-shaped supporting main body structure, and the baffle is adjustably arranged on the fixed connecting plate through the sliding supporting plate. The movable sliding table single piece is arranged on the first longitudinal beam and/or the second longitudinal beam, and the supporting points in the transferring and conveying device can be adaptively adjusted along the bogie axial distance direction and the bogie track distance direction so as to adapt to compatible production of components of different models, and the practicality is strong. The fastener is further arranged, the position of the single piece of the movable sliding table can be effectively limited, and the assembly production requirement is met.
(7) The invention further comprises a controller, preferably a PLC controller, and the walking wheel set, the elastic pressing mechanism and the driving mechanism are all connected with the PLC controller, so that the automatic production requirement is met.
In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a schematic view of the overall structure of an AGV traction frame transport in accordance with example 1;
FIG. 2 is a schematic view of the structure of the lift-off unit of FIG. 1;
FIG. 3 is a schematic view of the structure of the mobile slipway unit of FIG. 1;
The novel sliding table comprises a supporting main body frame, 1.1, a first longitudinal beam, 1.2, a second longitudinal beam, 1.3, a connecting beam, 1.4, a walking wheel set, 2, a floor locking assembly, 2.1, a transition connecting plate, 2.2, a floating supporting leg, 3, a lifting mechanism, 3.1, a driving mechanism, 3.2, a screw rod, 3.3, a connecting supporting plate, 3.4, a first gear, 3.5, a second gear, 4, a movable sliding table single piece, 4.1, a fixed connecting plate, 4.2, a sliding supporting plate, 4.3, a baffle, 5 and a controller.
Detailed Description
Embodiments of the invention are described in detail below with reference to the attached drawings, but the invention can be implemented in a number of different ways, which are defined and covered by the claims.
Examples:
The utility model provides a conveyor is transported to AGV traction frame, includes support main part frame 1, falls to the ground locking subassembly 2, climbing mechanism 3 and removes slip table subassembly, see fig. 1 in detail, and the details are as follows:
The support main body frame 1 comprises a first longitudinal beam 1.1, a second longitudinal beam 1.2, a connecting beam 1.3 and a walking wheel set 1.4, wherein two ends of the connecting beam 1.3 are respectively connected with the first longitudinal beam 1.1 and the second longitudinal beam 1.2, and the first longitudinal beam 1.1, the second longitudinal beam 1.2 and the connecting beam 1.3 form an H-shaped support main body structure; the walking wheel set 1.4 is arranged at the bottom of the H-shaped supporting main body structure and is used for driving the whole supporting main body frame 1 to walk. Preferably, the H-shaped supporting main body structure is an integrated structure formed by welding steel materials; the running gear set 1.4 comprises two sets of running gear singlets corresponding to the first longitudinal beam 1.1 and the second longitudinal beam 1.2, the running gear singlets comprising a plurality of running gears (four are illustrated in fig. 1) arranged along the length direction of the first longitudinal beam 1.1 or the second longitudinal beam 1.2.
The floor locking assembly 2 comprises a transition connecting plate 2.1 and a floating support leg single piece, wherein the floating support leg single piece comprises a floating support leg 2.2 and an elastic pressing mechanism, and the transition connecting plate 2.1 is connected with the H-shaped support main body structure; the upper end of the elastic pressing mechanism is connected with the transition connecting plate 2.1, the lower end of the elastic pressing mechanism is connected with the floating support leg 2.2, and the floating support leg 2.2 is contacted with the ground or separated from the ground through the action of the elastic pressing mechanism. Preferably, the transition connecting plates 2.1 and the connecting beams 1.3 are stacked; the number of the floating support leg single pieces is two, the two groups of the floating support leg single pieces are respectively arranged at the two ends of the transition connecting plate 2.1, so that two-point locking is formed, and the stability is good; the elastic pressing mechanism is a nitrogen spring pressing piece (refer to the prior art).
The jacking mechanism 3 comprises four jacking single pieces, the jacking single pieces comprise a driving mechanism 3.1, a screw rod 3.2 and a connecting support plate 3.3, the driving mechanism 3.1 is arranged on the H-shaped support main body structure, an output shaft of the driving mechanism 3.1 is meshed with a second gear 3.5 sleeved on the screw rod 3.2 through a first gear 3.4, the screw rod 3.2 is connected with the connecting support plate 3.3, and in detail, the screw rod 3.2 drives the connecting support plate 3.3 to lift through the action of the driving mechanism 3.1, and the lifting action is realized through the action of the driving mechanism 3.1. Preferably, the four jacking singlets are positioned at four positions of the H-shaped supporting main body structure to form a four-point synchronous jacking structure. Preferably, the drive mechanism employs a high power servo drive, such as a servo motor. And a speed reducer and synchronous detection of four jacking singlets can be also provided. The jacking single piece can be further provided with a guide assembly, the guide assembly can comprise a guide seat and a guide bearing for ensuring the assembly precision requirement between parts, the guide seat adopts high-quality steel, the guide bearing adopts a cylindrical roller bearing, and a single bearing can bear radial force of about 5 tons so as to ensure the impact during hoisting.
The movable sliding table assembly comprises at least one group of movable sliding table single pieces 4 (two are schematically shown in fig. 1), each movable sliding table single piece 4 comprises a fixed connecting plate 4.1, a sliding supporting plate 4.2 and a baffle plate 4.3, the fixed connecting plates 4.1 are arranged on an H-shaped supporting main body structure, and the baffle plates 4.3 are adjustably arranged on the fixed connecting plates 4.1 through the sliding supporting plates 4.2. Preferably, a sliding chute is arranged on the fixed connecting plate 4.1, a first end of the sliding supporting plate 4.2 is inserted into the sliding chute and is arranged in an adjustable manner, and a second end of the sliding supporting plate 4.2 is connected with the baffle plate 4.3; the fixed connection plate 4.1 is also provided with a fastener for locking the sliding support plate 4.2.
The embodiment further comprises a controller 5, preferably a PLC controller, and the walking wheel set 1.4, the elastic pressing mechanism and the driving mechanism 3.1 are all connected with the controller.
The scheme of applying the embodiment specifically comprises the following steps:
assembling the AGV traction framework transferring and conveying device; the whole transferring and conveying device walks through the walking wheel set 1.4.
AGV gets into below the transportation conveyor, and AGV towing pin rises to get into transition connecting plate 2.1 and AGV towing pin's butt joint interface to hold up transition connecting plate, whole floor locking subassembly 2 is held up and is left ground, locking mechanism loosens, and AGV can pull whole transportation conveyor to walk.
When AGV leaves the transportation conveyor, elastic hold-down mechanism action in the locking subassembly 2 falls to the ground for floating landing leg 2.2 compresses tightly ground, realizes locking mechanism's locking, prevents that whole transportation conveyor from taking place to remove.
According to the specification of the processing parts, the relative positions of the sliding support plate 4.2 and the sliding chute are adjusted, so that the position adjustment of the movable sliding table single piece 4 is realized, and the requirements of the processing parts are met.
According to the needs of assembling parts at each station, the jacking single piece is adjusted, and the smooth completion of the assembly of the parts is ensured.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The AGV traction framework transferring and conveying device is characterized by comprising a supporting main body frame (1), a floor locking assembly (2) and a jacking mechanism (3);
The support main body frame (1) comprises a first longitudinal beam (1.1), a second longitudinal beam (1.2), a connecting beam (1.3) and a walking wheel set (1.4), wherein two ends of the connecting beam (1.3) are respectively connected with the first longitudinal beam (1.1) and the second longitudinal beam (1.2), and the first longitudinal beam (1.1), the second longitudinal beam (1.2) and the connecting beam (1.3) form an H-shaped support main body structure; the walking wheel set (1.4) is arranged at the bottom of the H-shaped supporting main body structure and is used for driving the whole supporting main body frame (1) to walk;
The floor locking assembly (2) comprises a transition connecting plate (2.1) and a floating support leg single piece, wherein the floating support leg single piece comprises a floating support leg (2.2) and an elastic pressing mechanism, and the transition connecting plate (2.1) is connected with the H-shaped supporting main body structure; the upper end of the elastic pressing mechanism is connected with the transition connecting plate (2.1), the lower end of the elastic pressing mechanism is connected with the floating support leg (2.2), and the floating support leg (2.2) is contacted with the ground or separated from the ground through the action of the elastic pressing mechanism;
The lifting mechanism (3) comprises at least one lifting single piece, the lifting single piece comprises a driving mechanism (3.1), a screw rod (3.2) and a connecting support plate (3.3), the driving mechanism (3.1) is arranged on the H-shaped supporting main body structure, an output shaft of the driving mechanism (3.1) is meshed with a second gear (3.5) sleeved on the screw rod (3.2) through a first gear (3.4), the screw rod (3.2) is connected with the connecting support plate (3.3), and the screw rod (3.2) drives the connecting support plate (3.3) to lift through the action of the driving mechanism (3.1).
2. The AGV traction frame transport as set forth in claim 1 wherein said travel wheelset (1.4) includes two sets of travel wheel singlets corresponding to a first stringer (1.1) and a second stringer (1.2), the travel wheel singlets including a plurality of travel wheels disposed along a length of either the first stringer (1.1) or the second stringer (1.2).
3. The AGV traction frame transport as set forth in claim 1 wherein said H-shaped support body structure is an integrated structure formed by welding steel.
4. The AGV traction frame transfer conveyor according to claim 1, wherein the transition web (2.1) is stacked with a connecting beam (1.3); the number of the floating support leg single pieces is two, and the two groups of the floating support leg single pieces are respectively arranged at two ends of the transition connecting plate (2.1).
5. The AGV traction frame transport as set forth in claim 4 wherein said resilient hold down mechanism is a nitrogen spring hold down.
6. The AGV traction frame transfer conveyor of claim 1 wherein the number of lift-up singlets is four, the four lift-up singlets being located at four locations of the H-shaped support body structure to form a four-point synchronized lift-up structure.
7. The AGV traction frame transport as set forth in any one of claims 1-6 further comprising a mobile slipway assembly including at least one set of mobile slipway singlets (4), said mobile slipway singlets (4) including a fixed connection plate (4.1), a sliding support plate (4.2) and a baffle plate (4.3), the fixed connection plate (4.1) being disposed on an H-shaped support body structure, the baffle plate (4.3) being adjustably disposed on said fixed connection plate (4.1) through the sliding support plate (4.2).
8. The transfer conveyor of an AGV traction frame according to claim 7, wherein a sliding chute is provided on the fixed connection plate (4.1), a first end of the sliding support plate (4.2) is inserted into the sliding chute and is adjustably disposed, and a second end of the sliding support plate (4.2) is connected to the baffle plate (4.3).
9. The AGV traction frame transfer conveyor of claim 8 wherein said fixed connection plate (4.1) is further provided with fasteners for locking said sliding support plate (4.2).
10. The AGV traction frame transport as set forth in claim 7 further comprising a controller (5) wherein said travel wheel sets (1.4), elastic compression mechanism and drive mechanism (3.1) are all connected to said controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010114445.8A CN111115145B (en) | 2020-02-25 | 2020-02-25 | AGV pulls framework and transports conveyor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010114445.8A CN111115145B (en) | 2020-02-25 | 2020-02-25 | AGV pulls framework and transports conveyor |
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| Publication Number | Publication Date |
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| CN111115145A CN111115145A (en) | 2020-05-08 |
| CN111115145B true CN111115145B (en) | 2024-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010114445.8A Active CN111115145B (en) | 2020-02-25 | 2020-02-25 | AGV pulls framework and transports conveyor |
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| CN (1) | CN111115145B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9944469B2 (en) * | 2011-08-31 | 2018-04-17 | Rhodes Patent Holdings, Llc | Systems, methods, and apparatus for improved conveyor system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2793481A1 (en) * | 1999-05-14 | 2000-11-17 | Tsubakimoto Chain Co | Storage conveyor for hybrid transporter wagon comprises several modules, each comprising two rails in contact with wagon wheels, and driving roller in contact with wagon runners |
| JP2007112552A (en) * | 2005-10-19 | 2007-05-10 | Nippon Sharyo Seizo Kaisha Ltd | Storage type supporting unit |
| WO2010066101A1 (en) * | 2008-12-08 | 2010-06-17 | 杭州西子石川岛停车设备有限公司 | Ultra thin car parking device with full-floating manipulators |
| EP2500233A1 (en) * | 2011-03-16 | 2012-09-19 | Bombardier Transportation GmbH | Rail vehicle unit with a traction linkage |
| KR101328131B1 (en) * | 2013-03-28 | 2013-11-08 | (주)금강오토텍 | Flexible driving system |
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| CN211687029U (en) * | 2020-02-25 | 2020-10-16 | 株洲中车特种装备科技有限公司 | AGV pulls framework and transports conveyor |
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| CN111115145A (en) | 2020-05-08 |
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