CN111232092B - 组合使用的两轮自动导引车辆 - Google Patents
组合使用的两轮自动导引车辆 Download PDFInfo
- Publication number
- CN111232092B CN111232092B CN201911191335.5A CN201911191335A CN111232092B CN 111232092 B CN111232092 B CN 111232092B CN 201911191335 A CN201911191335 A CN 201911191335A CN 111232092 B CN111232092 B CN 111232092B
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- China
- Prior art keywords
- automated guided
- guided vehicle
- links
- robotic transport
- transport apparatus
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- 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.)
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Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
- B62D53/005—Combinations with at least three axles and comprising two or more articulated parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/009—Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/48—Traction couplings; Hitches; Draw-gear; Towing devices characterised by the mounting
- B60D1/488—Traction couplings; Hitches; Draw-gear; Towing devices characterised by the mounting mounted directly to the chassis of the towing vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- 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
- B62D63/025—Modular vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Robotics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
Abstract
Description
Claims (9)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1819352.4A GB2579248B (en) | 2018-11-28 | 2018-11-28 | Two wheel automatic guided vehicles used in combination |
GB1819352.4 | 2018-11-28 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111232092A CN111232092A (zh) | 2020-06-05 |
CN111232092B true CN111232092B (zh) | 2023-03-31 |
Family
ID=65024629
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201911191335.5A Active CN111232092B (zh) | 2018-11-28 | 2019-11-28 | 组合使用的两轮自动导引车辆 |
Country Status (6)
Country | Link |
---|---|
US (1) | US11529863B2 (zh) |
EP (1) | EP3660619B1 (zh) |
JP (1) | JP2020107329A (zh) |
KR (1) | KR20200064008A (zh) |
CN (1) | CN111232092B (zh) |
GB (1) | GB2579248B (zh) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111924752B (zh) * | 2020-08-12 | 2022-04-01 | 深圳市佳顺智能机器人股份有限公司 | 一种叉车式自动导引运输车 |
CN112373597A (zh) * | 2020-11-18 | 2021-02-19 | 北京理工大学 | 一种可重构智能汽车最小移动单元系统 |
CN112590971A (zh) * | 2020-12-21 | 2021-04-02 | 苏州寻迹智行机器人技术有限公司 | 一种重载agv运输车 |
JP7499202B2 (ja) * | 2021-03-08 | 2024-06-13 | 三菱重工業株式会社 | 移動体、移動体の制御方法及びプログラム |
WO2022196817A1 (en) * | 2021-03-19 | 2022-09-22 | Omron Corporation | System and method for controlling movement of a payload |
JP2024518321A (ja) * | 2021-04-26 | 2024-05-01 | シェフラー テクノロジーズ アー・ゲー ウント コー. カー・ゲー | 無人搬送車、システム、agvによる積載物の搬送方法、システムによる積載物の搬送方法 |
US11685253B2 (en) * | 2021-06-15 | 2023-06-27 | Arvinmeritor Technology, Llc | Drive axle system |
CN113443047B (zh) * | 2021-07-15 | 2022-08-23 | 上海库茂机器人有限公司 | 一种智慧物流机器人 |
CN115320748B (zh) * | 2022-08-19 | 2023-07-14 | 诸城兴贸玉米开发有限公司 | 一种用于玉米加工用的运输装置 |
CN115303385B (zh) * | 2022-09-19 | 2023-12-26 | 河南卫特机器人有限公司 | 一种重载agv车辆 |
CN116135492B (zh) * | 2023-04-20 | 2023-09-05 | 成都盛锴科技有限公司 | 一种轨道车辆车门自动拆装装置及方法 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS58224870A (ja) * | 1982-06-24 | 1983-12-27 | Toshiba Corp | 走行装置 |
CN2157108Y (zh) * | 1992-09-27 | 1994-02-23 | 盖书俊 | 可变宽和高的汽车 |
US5559696A (en) * | 1994-02-14 | 1996-09-24 | The Regents Of The University Of Michigan | Mobile robot internal position error correction system |
CN1150406A (zh) * | 1994-06-16 | 1997-05-21 | 罗尔工业公司 | 有角度控制器的联接机构 |
DE69607299T2 (de) * | 1995-11-29 | 2000-08-31 | Thomson Csf | Antriebsverfahren für ein Fahrzeug mit schlängelnder Fortbewegung und Fahrzeug zur Durchführung des Verfahrens |
FR2850610A1 (fr) * | 2003-02-04 | 2004-08-06 | Daniel Rouland | Dispositif de liaison entre un vehicule et une remorque, muni de moyens pour mouvoir une charge sur ladite remorque |
CN107615056A (zh) * | 2015-02-18 | 2018-01-19 | 沙特阿拉伯石油公司 | 用于使探针相对于表面被动法向化的部署机构 |
DE102016123005A1 (de) * | 2016-11-29 | 2018-05-30 | Lke Gesellschaft Für Logistik- Und Kommunikations-Equipment Mbh | Transportanhängerverbund und Transportanhängerzug mit mindestens zwei solchen Transportanhängerverbunden |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2450573A1 (de) * | 1974-10-24 | 1976-05-06 | Kaelble Gmbh C | Transportfahrzeug fuer untertageeinsatz |
IT1221187B (it) * | 1986-07-30 | 1990-06-21 | Silvio Marino | Assetto romboidale per autoveicolo |
WO2009009468A1 (en) * | 2007-07-06 | 2009-01-15 | University Of Pittsburgh-Of The Commonwealth System Of Higher Education | Powered vehicle convoying systems and methods of convoying powered vehicles |
WO2012044663A1 (en) * | 2010-09-30 | 2012-04-05 | Schlee Keith L | Multi-unit mobile robot |
EP2681149B1 (en) * | 2011-02-28 | 2014-12-17 | TTS Port Equipment AB | Method and device to stabilize an agv during transport of elevated loads |
DE202012102062U1 (de) * | 2012-06-05 | 2013-09-12 | Nikolaus Berzen Ratzel | Crawler und System zum Transport von Lasten |
US20160306360A1 (en) * | 2015-04-17 | 2016-10-20 | Electro-Motive Diesel, Inc. | System and method for autonomous control of locomotives |
US10838419B2 (en) | 2017-03-07 | 2020-11-17 | The Texas A&M University System | Method and apparatus for controlled omnidirectional movement of payloads |
WO2018211481A1 (en) * | 2017-05-19 | 2018-11-22 | Newell Gregory | Low profile robotic pallet mover |
-
2018
- 2018-11-28 GB GB1819352.4A patent/GB2579248B/en active Active
-
2019
- 2019-11-26 US US16/696,579 patent/US11529863B2/en active Active
- 2019-11-27 EP EP19211971.7A patent/EP3660619B1/en active Active
- 2019-11-27 JP JP2019214652A patent/JP2020107329A/ja active Pending
- 2019-11-27 KR KR1020190154702A patent/KR20200064008A/ko unknown
- 2019-11-28 CN CN201911191335.5A patent/CN111232092B/zh active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58224870A (ja) * | 1982-06-24 | 1983-12-27 | Toshiba Corp | 走行装置 |
CN2157108Y (zh) * | 1992-09-27 | 1994-02-23 | 盖书俊 | 可变宽和高的汽车 |
US5559696A (en) * | 1994-02-14 | 1996-09-24 | The Regents Of The University Of Michigan | Mobile robot internal position error correction system |
CN1150406A (zh) * | 1994-06-16 | 1997-05-21 | 罗尔工业公司 | 有角度控制器的联接机构 |
DE69607299T2 (de) * | 1995-11-29 | 2000-08-31 | Thomson Csf | Antriebsverfahren für ein Fahrzeug mit schlängelnder Fortbewegung und Fahrzeug zur Durchführung des Verfahrens |
FR2850610A1 (fr) * | 2003-02-04 | 2004-08-06 | Daniel Rouland | Dispositif de liaison entre un vehicule et une remorque, muni de moyens pour mouvoir une charge sur ladite remorque |
CN107615056A (zh) * | 2015-02-18 | 2018-01-19 | 沙特阿拉伯石油公司 | 用于使探针相对于表面被动法向化的部署机构 |
DE102016123005A1 (de) * | 2016-11-29 | 2018-05-30 | Lke Gesellschaft Für Logistik- Und Kommunikations-Equipment Mbh | Transportanhängerverbund und Transportanhängerzug mit mindestens zwei solchen Transportanhängerverbunden |
Also Published As
Publication number | Publication date |
---|---|
US11529863B2 (en) | 2022-12-20 |
EP3660619A1 (en) | 2020-06-03 |
US20200164737A1 (en) | 2020-05-28 |
GB201819352D0 (en) | 2019-01-09 |
GB2579248A (en) | 2020-06-17 |
JP2020107329A (ja) | 2020-07-09 |
KR20200064008A (ko) | 2020-06-05 |
GB2579248B (en) | 2021-05-12 |
CN111232092A (zh) | 2020-06-05 |
EP3660619B1 (en) | 2022-06-15 |
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Effective date of registration: 20200820 Address after: England Atsushi Applicant after: ARRIVAL Ltd. Address before: England Atsushi Applicant before: Approaching robot Co.,Ltd. |
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Effective date of registration: 20240328 Address after: michigan Patentee after: Magna New Travel USA Country or region after: U.S.A. Address before: London Patentee before: Reach UK Ltd. Country or region before: United Kingdom |
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