CN111606248A - Omnidirectional forklift AGV device - Google Patents
Omnidirectional forklift AGV device Download PDFInfo
- Publication number
- CN111606248A CN111606248A CN202010427486.2A CN202010427486A CN111606248A CN 111606248 A CN111606248 A CN 111606248A CN 202010427486 A CN202010427486 A CN 202010427486A CN 111606248 A CN111606248 A CN 111606248A
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- CN
- China
- Prior art keywords
- forklift
- frame body
- module
- steering
- driving unit
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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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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07513—Details concerning the chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
Abstract
The invention relates to the technical field of AGV devices, in particular to an omnidirectional forklift AGV device which comprises a driving unit, a rear wheel steering driving motor, a speed reducer, an active steering module, a power transmission shaft, a side automatic charging module and a forklift frame body, wherein the driving unit is arranged in the middle of a plate body of the forklift frame body, mounting plates extending outwards are respectively arranged at the rear end of the forklift frame body close to two side edges, the two mounting plates are matched with the forklift frame body to form a U-shaped arrangement, the active steering module is respectively arranged on each mounting plate, the rear wheel steering driving motor is arranged on the plate body of the forklift frame body, the transmission force of the rear wheel steering driving motor is linked and connected to the active steering module through the speed reducer and the power transmission shaft, the side automatic charging module is arranged in the forklift frame body, one side of the forklift frame body is provided with, the vehicle body structure is compact; the steering mechanism can realize transverse operation, has simple control mode, can realize active steering of the rear wheels and has small turning radius.
Description
Technical Field
The invention relates to the technical field of AGV mechanical equipment, in particular to an omnidirectional forklift AGV device.
Background
Conventional omnidirectional forklift AGV adopts 2 steering wheels to realize omnidirectional operation of the forklift. However, the steering wheel has larger volume, which causes the forklift to have larger volume; 2 steering wheel driving modes are adopted, so that the control difficulty is high; the steering wheel drive has high requirements on installation precision and higher debugging difficulty. In summary, the invention designs an omnidirectional forklift AGV device.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an omnidirectional forklift AGV device.
In order to achieve the purpose, the invention provides the following technical scheme: an omnidirectional forklift AGV device comprises a driving unit, a rear wheel steering driving motor, a speed reducer, an active steering module, a power transmission shaft, a side automatic charging module and a forklift frame body, wherein the driving unit is arranged at the middle position of the plate body of the forklift frame body, the rear end of the forklift frame body is provided with mounting plates extending outwards respectively near the two sides, the two mounting plates are matched with the forklift frame body to form a U-shaped arrangement, each mounting plate is provided with the active steering module respectively, the rear wheel steering driving motor is arranged on the plate body of the forklift frame body, the transmission force of the rear wheel steering driving motor is connected to the active steering module through the speed reducer and the power transmission shaft in a linkage manner, the side automatic charging module is arranged in the forklift frame body, one side of the forklift frame body is provided with a mounting rack and a conducting strip, the mounting rack is, the conducting strip is fixed to be set up on the outside surface of mounting bracket, and the module of charging automatically in side is including charging module and battery module, and the output of the module of charging connects battery module's the end of charging, and the conducting strip is connected to charging module's input, and battery module is used for being connected drive unit and rear wheel steering driving motor power supply.
Preferably, the driving unit comprises a straight driving motor, a driving wheel, a reduction gear fixing plate and a reduction gear, wherein the straight driving motor, the driving wheel and the reduction gear fixing plate are respectively installed at corresponding positions of the forklift frame body, the reduction gear is installed on the reduction gear fixing plate, and the straight driving motor drives the driving wheel to rotate through the reduction gear.
Preferably, the straight driving motor, the driving wheel, the reduction gear fixing plate and the reduction gear are all provided with two, the driving wheel is symmetrically arranged at the middle position of the forklift frame body, each driving wheel runs through the corresponding straight driving motor, the corresponding reduction gear fixing plate and the corresponding reduction gear in a linkage mode, and the two sets of matched straight driving motors, the two sets of matched reduction gear fixing plates and the two sets of matched reduction gears are arranged on the forklift frame body in an angle symmetry mode.
Preferably, a driving module housing for wrapping the driving unit is arranged on the forklift frame body corresponding to the driving unit, and the driving module housing is wrapped on the reduction gear side.
Preferably, the front end of the forklift frame body is provided with an anti-collision strip.
Preferably, the active steering module comprises a first conical gear assembly, a linkage bearing, a steering wheel fixing frame and two steering wheels, the two steering wheels are respectively rotatably installed at two ends of the steering wheel fixing frame, the linkage bearing is vertically rotatably installed on the installation plate, the upper end of the linkage bearing is fixedly connected with the first conical gear assembly, and the lower end of the linkage bearing is fixedly connected with the middle position of the steering wheel fixing frame.
Preferably, the power transmission shaft comprises a main transmission rod, two secondary transmission rods and two bevel gear assemblies, the main transmission rod is connected with an output shaft of the speed reducer, the two conical gear assemblies are arranged at two ends of the main transmission rod respectively, the two secondary transmission rods are arranged, the primary transmission rods are rotatably arranged on the two mounting plates respectively, one end of each secondary transmission rod is in linkage fit with the corresponding two conical gear assemblies, and the other end of each secondary transmission rod is in linkage fit with the corresponding one conical gear assembly.
Preferably, the first conical gear component and the second conical gear component are both two conical gears which are meshed in a matched manner;
two meshed bevel gears of a bevel gear assembly, one bevel gear is fixedly arranged on the linkage bearing, and the other bevel gear is fixedly arranged on the secondary transmission rod;
and one conical gear is fixedly arranged on the main transmission rod, and the other conical gear is fixedly arranged on the secondary transmission rod.
Preferably, the operation steps of the omnidirectional forklift AGV device comprise a traversing operation, a straight-going operation and a turning operation;
the transverse moving operation is that when the AGV device of the omnidirectional forklift is in transverse moving operation, the driving unit and the active steering module can respectively rotate to 90 degrees, and the transverse error and the course error generated in transverse moving can realize path tracking control through different speeds of the left differential unit and the right differential unit in the driving unit;
the straight-going operation is that when the AGV device of the omnidirectional forklift is in straight going, the active steering module (5) is kept at 0 degrees, the driving unit freely rotates, the driving unit realizes rotation by depending on different speeds of the left differential unit and the right differential unit, the function of the driving unit is a single steering wheel mechanism at the moment, and the transverse error and the course error in straight going adjust the angle of the whole driving unit through different speeds of the left differential unit and the right differential unit in the driving unit, so that the AGV device of the omnidirectional forklift is driven to a reference path;
the turning operation is that when the AGV device of the omnidirectional forklift is turning, the driving unit and the active steering module track the current transverse error and course error according to the difference of the curvature of the path, and adjust the angle of the driving unit and the active steering module in real time, so that the required steering of the AGV device of the omnidirectional forklift is realized.
Compared with the prior art, the invention has the beneficial effects that: the forklift body has a compact structure; the transverse operation can be realized; the control mode is simple; the rear wheel can realize active steering; the turning radius is small, the AGV provides forward and steering power for the AGV through a pair of differential units, and the power unit mode of the AGV is according to the power unit of the lifting plate; the rear wheels of the omnidirectional forklift AGV do not have forward power, but can realize active steering, and the rotation of 90 degrees can be realized to the maximum extent; the rear wheel active steering mechanism is connected with the speed reducer through a motor and is connected with the transmission shaft, conical gears are arranged at two ends of the transmission shaft, and power is rotated by 90 degrees through transmission among the gears and is transmitted to the second-stage transmission shaft; the second-stage transmission shaft is connected to the rear wheel through a gear, so that independent steering of the rear wheel is realized. Because the rear wheel carries out power transmission through the same shaft, the rear wheel can be ensured to rotate at the same angle.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an exploded view of the driving unit of the present invention;
FIG. 3 is a schematic view of the rear wheel steering drive motor, reducer and final drive rod configuration of the present invention;
FIG. 4 is a schematic structural diagram of an active steering module according to the present invention;
FIG. 5 is a schematic view of a power transmission shaft according to the present invention;
FIG. 6 is a diagram of a mounting frame and a conductive sheet according to the present invention;
FIG. 7 is a schematic view of the AGV turning during a traversing operation of the present invention;
FIG. 8 is a schematic diagram of the AGV device of the present invention turning during straight operation;
FIG. 9 is a schematic view of the AGV turning operation of the present invention.
In the figure: 1: a drive unit; 2: an anti-collision strip; 3. 17: a rear wheel steering drive motor; 4. 16: a speed reducer; 5: an active steering module; 6. 14: a power transmission shaft; 7: a lateral automatic charging module; 8. 10: a drive motor; 9: a drive wheel; 11: a reduction gear fixing plate; 12: a reduction gear; 13: a drive module housing; 15: a coupling module; 18: a steering wheel; 19: an active steering module mounting plate; 20. 23: a hammer gear assembly; 21: a steering wheel fixing frame; 22: a linkage bearing; 24: a secondary transmission rod; 25: a bevel gear assembly; 26: a main drive rod; 27: a mounting frame; 28: a conductive sheet; 29: fork truck support body.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 6, the present invention provides a technical solution: an omnidirectional forklift AGV device comprises a driving unit, a rear wheel steering driving motor, a speed reducer, an active steering module, a power transmission shaft, a side automatic charging module and a forklift frame body, wherein the driving unit is arranged at the middle position of the plate body of the forklift frame body, the rear end of the forklift frame body is provided with mounting plates extending outwards respectively near the two sides, the two mounting plates are matched with the forklift frame body to form a U-shaped arrangement, each mounting plate is provided with the active steering module respectively, the rear wheel steering driving motor is arranged on the plate body of the forklift frame body, the transmission force of the rear wheel steering driving motor is connected to the active steering module through the speed reducer and the power transmission shaft in a linkage manner, the side automatic charging module is arranged in the forklift frame body, one side of the forklift frame body is provided with a mounting rack and a conducting strip, the mounting rack is, the conducting strip is fixed to be set up on the outside surface of mounting bracket, and the module of charging automatically in side is including charging module and battery module, and the output of the module of charging connects battery module's the end of charging, and the conducting strip is connected to charging module's input, and battery module is used for being connected drive unit and rear wheel steering driving motor power supply.
The driving unit comprises straight driving motor, drive wheel, reduction gear fixed plate and reduction gear, and straight driving motor, drive wheel and reduction gear fixed plate are installed respectively in the corresponding position department of fork truck support body, and reduction gear installs on the reduction gear fixed plate, and straight driving motor passes through reduction gear and drives the drive wheel rotation operation.
The straight driving motor, the driving wheel, the reduction gear fixing plate and the reduction gear are all provided with two, the driving wheel is symmetrically arranged at the middle position of the forklift frame body, each driving wheel runs in a linkage mode through the corresponding straight driving motor, the corresponding reduction gear fixing plate and the corresponding reduction gear, and the two sets of matched straight driving motors, the two sets of matched reduction gear fixing plates and the two sets of matched reduction gears are arranged on the forklift frame body in an angle symmetry mode.
A driving module shell used for wrapping the driving unit is arranged on the forklift frame body corresponding to the driving unit, and the driving module shell is wrapped on the reduction gear side.
The front end of the forklift frame body is provided with an anti-collision strip.
The active steering module comprises a conical gear assembly, a linkage bearing, a steering wheel fixing frame and two steering wheels, wherein the two steering wheels are respectively rotatably installed at two ends of the steering wheel fixing frame, the linkage bearing is vertically rotatably installed on the installation plate, the upper end of the linkage bearing is fixedly connected with the conical gear assembly, and the lower end of the linkage bearing is fixedly connected with the middle position of the steering wheel fixing frame.
The power transmission shaft comprises a main transmission rod, two secondary transmission rods and two bevel gear assemblies, the main transmission rod is connected with an output shaft of the speed reducer, the two conical gear assemblies are arranged at two ends of the main transmission rod respectively, the two secondary transmission rods are arranged, the primary transmission rods are rotatably arranged on the two mounting plates respectively, one end of each secondary transmission rod is in linkage fit with the corresponding two conical gear assemblies, and the other end of each secondary transmission rod is in linkage fit with the corresponding one conical gear assembly.
The first conical gear assembly and the second conical gear assembly are both two conical gears which are matched and meshed;
two meshed bevel gears of a bevel gear assembly, one bevel gear is fixedly arranged on the linkage bearing, and the other bevel gear is fixedly arranged on the secondary transmission rod;
and one conical gear is fixedly arranged on the main transmission rod, and the other conical gear is fixedly arranged on the secondary transmission rod.
7-9, an omnidirectional forklift AGV apparatus, the steps of which include a traversing operation, a straight traveling operation and a turning operation;
as shown in fig. 7, in the traversing operation, when the omnidirectional forklift AGV apparatus performs traversing operation, the driving unit and the active steering module can respectively rotate to 90 ° first, and the lateral error and the heading error generated in traversing realize path tracking control through different speeds of the left and right differential units in the driving unit;
as shown in fig. 8, the straight-ahead operation is that when the omnidirectional forklift AGV device is running straight, the active steering module (5) is kept at 0 °, the driving unit rotates freely, the driving unit rotates at different speeds of the left and right differential units, the function of the driving unit is a single steering wheel mechanism, the transverse error and the heading error during the straight-ahead operation adjust the angle of the whole driving unit through the different speeds of the left and right differential units in the driving unit, so that the omnidirectional forklift AGV device runs to the reference path;
as shown in fig. 9, during the turning operation, when the omnidirectional forklift AGV device is turning, the driving unit and the active steering module track the current transverse error and the current heading error according to the difference of the curvature of the path, and adjust the angle of the driving unit and the active steering module in real time, so that the requirement steering of the omnidirectional forklift AGV device is realized.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a fork truck AGV device of qxcomm technology which characterized in that: the forklift comprises a driving unit, a rear wheel steering driving motor, a speed reducer, an active steering module, a power transmission shaft, a side automatic charging module and a forklift frame body, wherein the driving unit is arranged at the middle position of a plate body of the forklift frame body, the rear end of the forklift frame body is provided with mounting plates which extend outwards and are close to two side edges respectively, the two mounting plates are matched with the forklift frame body to be arranged in a U shape, the active steering module is arranged on each mounting plate respectively, the rear wheel steering driving motor is arranged on the plate body of the forklift frame body, the transmission force of the rear wheel steering driving motor is connected to the active steering module through the speed reducer and the power transmission shaft in a linkage manner, the side automatic charging module is arranged in the forklift frame body, one side of the forklift frame body is provided with a mounting rack and a conducting strip, the mounting rack is fixed on, the automatic side charging module comprises a charging module and a storage battery module, the output end of the charging module is connected with the charging end of the storage battery module, the input end of the charging module is connected with the conducting strip, and the storage battery module is used for supplying power to the driving unit and the rear wheel steering driving motor for connection.
2. An omnidirectional forklift AGV device according to claim 1, wherein: the driving unit comprises straight driving motor, drive wheel, reduction gear fixed plate and reduction gear, and straight driving motor, drive wheel and reduction gear fixed plate are installed respectively in the corresponding position department of fork truck support body, and reduction gear installs on the reduction gear fixed plate, and straight driving motor passes through reduction gear and drives the drive wheel rotation operation.
3. An omnidirectional forklift AGV apparatus according to claim 2, further comprising: the straight driving motor, the driving wheel, the reduction gear fixing plate and the reduction gear are all provided with two, the driving wheel is symmetrically arranged at the middle position of the forklift frame body, each driving wheel runs in a linkage mode through the corresponding straight driving motor, the corresponding reduction gear fixing plate and the corresponding reduction gear, and the two sets of matched straight driving motors, the two sets of matched reduction gear fixing plates and the two sets of matched reduction gears are arranged on the forklift frame body in an angle symmetry mode.
4. An omnidirectional forklift AGV apparatus according to claim 3, wherein: a driving module shell used for wrapping the driving unit is arranged on the forklift frame body corresponding to the driving unit, and the driving module shell is wrapped on the reduction gear side.
5. An omnidirectional forklift AGV device according to claim 1, wherein: the front end of the forklift frame body is provided with an anti-collision strip.
6. An omnidirectional forklift AGV device according to claim 1, wherein: the active steering module comprises a conical gear assembly, a linkage bearing, a steering wheel fixing frame and two steering wheels, wherein the two steering wheels are respectively rotatably installed at two ends of the steering wheel fixing frame, the linkage bearing is vertically rotatably installed on the installation plate, the upper end of the linkage bearing is fixedly connected with the conical gear assembly, and the lower end of the linkage bearing is fixedly connected with the middle position of the steering wheel fixing frame.
7. An omnidirectional forklift AGV apparatus according to claim 6, wherein: the power transmission shaft comprises a main transmission rod, two secondary transmission rods and two bevel gear assemblies, the main transmission rod is connected with an output shaft of the speed reducer, the two conical gear assemblies are arranged at two ends of the main transmission rod respectively, the two secondary transmission rods are arranged, the primary transmission rods are rotatably arranged on the two mounting plates respectively, one end of each secondary transmission rod is in linkage fit with the corresponding two conical gear assemblies, and the other end of each secondary transmission rod is in linkage fit with the corresponding one conical gear assembly.
8. An omnidirectional forklift AGV apparatus according to claim 7, wherein said apparatus further comprises: the first conical gear assembly and the second conical gear assembly are both two conical gears which are matched and meshed;
two meshed bevel gears of a bevel gear assembly, one bevel gear is fixedly arranged on the linkage bearing, and the other bevel gear is fixedly arranged on the secondary transmission rod;
and one conical gear is fixedly arranged on the main transmission rod, and the other conical gear is fixedly arranged on the secondary transmission rod.
9. An omnidirectional forklift AGV according to any one of claims 1 to 8, wherein: the operation steps comprise transverse moving operation, straight moving operation and turning operation;
the transverse moving operation is that when the AGV device of the omnidirectional forklift is in transverse moving operation, the driving unit and the active steering module can respectively rotate to 90 degrees, and the transverse error and the course error generated in transverse moving can realize path tracking control through different speeds of the left differential unit and the right differential unit in the driving unit;
the straight-going operation is that when the AGV device of the omnidirectional forklift is in straight going, the active steering module (5) is kept at 0 degrees, the driving unit freely rotates, the driving unit realizes rotation by depending on different speeds of the left differential unit and the right differential unit, the function of the driving unit is a single steering wheel mechanism at the moment, and the transverse error and the course error in straight going adjust the angle of the whole driving unit through different speeds of the left differential unit and the right differential unit in the driving unit, so that the AGV device of the omnidirectional forklift is driven to a reference path;
the turning operation is that when the AGV device of the omnidirectional forklift is turning, the driving unit and the active steering module track the current transverse error and course error according to the difference of the curvature of the path, and adjust the angle of the driving unit and the active steering module in real time, so that the required steering of the AGV device of the omnidirectional forklift is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010427486.2A CN111606248A (en) | 2020-05-19 | 2020-05-19 | Omnidirectional forklift AGV device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010427486.2A CN111606248A (en) | 2020-05-19 | 2020-05-19 | Omnidirectional forklift AGV device |
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| CN111606248A true CN111606248A (en) | 2020-09-01 |
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| CN202010427486.2A Pending CN111606248A (en) | 2020-05-19 | 2020-05-19 | Omnidirectional forklift AGV device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112141956A (en) * | 2020-09-16 | 2020-12-29 | 中建材创新科技研究院有限公司 | Positioning system and method of laser navigation forklift |
| CN112158776A (en) * | 2020-09-25 | 2021-01-01 | 山河智能装备股份有限公司 | Thrust wheel structure and tool bogie |
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| CN101348221A (en) * | 2007-07-16 | 2009-01-21 | 浙江佳力科技股份有限公司 | Omnidirectional running type forklift |
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| CN110040195A (en) * | 2019-05-20 | 2019-07-23 | 山东洛杰斯特物流科技有限公司 | The chassis combined based on steering wheel with active universal wheel in omnidirectional fork truck AGV |
| CN209493268U (en) * | 2018-12-18 | 2019-10-15 | 珠海达明科技有限公司 | Submarine omnidirectional runs AGV vehicle |
| CN110775879A (en) * | 2018-07-25 | 2020-02-11 | 中西金属工业株式会社 | Transport vehicle |
| CN210174962U (en) * | 2019-05-13 | 2020-03-24 | 上海乔戈自动化科技有限公司 | Be applied to AGV's differential steering wheel |
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| CN101348221A (en) * | 2007-07-16 | 2009-01-21 | 浙江佳力科技股份有限公司 | Omnidirectional running type forklift |
| CN108639185A (en) * | 2018-05-24 | 2018-10-12 | 汇专科技集团股份有限公司 | A kind of single driving steering wheel type omnidirectional AGV vehicles |
| CN110775879A (en) * | 2018-07-25 | 2020-02-11 | 中西金属工业株式会社 | Transport vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112141956A (en) * | 2020-09-16 | 2020-12-29 | 中建材创新科技研究院有限公司 | Positioning system and method of laser navigation forklift |
| CN112141956B (en) * | 2020-09-16 | 2022-02-11 | 中建材创新科技研究院有限公司 | Positioning system and method of laser navigation forklift |
| CN112158776A (en) * | 2020-09-25 | 2021-01-01 | 山河智能装备股份有限公司 | Thrust wheel structure and tool bogie |
| CN112158776B (en) * | 2020-09-25 | 2021-10-01 | 山河智能装备股份有限公司 | Thrust wheel structure and tool bogie |
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Application publication date: 20200901 |
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