CN111674488A - Storage AGV with automatic transverse avoidance walking device after fault - Google Patents
Storage AGV with automatic transverse avoidance walking device after fault Download PDFInfo
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- CN111674488A CN111674488A CN202010559948.6A CN202010559948A CN111674488A CN 111674488 A CN111674488 A CN 111674488A CN 202010559948 A CN202010559948 A CN 202010559948A CN 111674488 A CN111674488 A CN 111674488A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 57
- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 description 11
- 230000009471 action Effects 0.000 description 8
- 230000006835 compression Effects 0.000 description 8
- 238000007906 compression Methods 0.000 description 8
- 238000013461 design Methods 0.000 description 7
- 238000005265 energy consumption Methods 0.000 description 7
- 230000006872 improvement Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
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- 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
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
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- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
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Abstract
The invention discloses a storage AGV with an automatic transverse avoidance walking device after a fault, which comprises an AGV chassis assembly and a transverse walking device. The transverse walking device comprises a driving part, a lifting part and a walking part; the driving part comprises power transmission mechanisms such as a stepping motor, a belt wheel, a driving bevel gear and the like; the lifting part mainly comprises a second transmission mechanism, and the stepping motor drives the left rocker arm and the right rocker arm to swing through the second transmission mechanism so that the spare wheel locking joint sleeve and the driven bevel gear locking joint sleeve are coaxially and relatively attached or detached; the walking part comprises a spare wheel, a driven bevel gear shaft bracket, a driven bevel gear locking joint sleeve, a spare wheel locking joint sleeve and a driven bevel gear. This AGV simple structure, the cost is lower, can start by oneself after its breaks down and transversely dodge running gear and drive away from the road, avoids the back car crowd to walk around for keeping away the barrier, has improved the security and the operating efficiency of whole storage commodity circulation AGV system.
Description
Technical Field
The invention relates to the technical field of storage AGV, in particular to a storage AGV with an automatic transverse avoidance walking device after a fault.
Background
An Automated Guided Vehicle, also called AGV cart generally, is a transportation cart equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and requiring no driver's transportation cart in industrial application, and using a rechargeable battery as its power source. The route and behavior of the vehicle can be controlled by a computer. In the industrialization and commercialization of the AGVs, a plurality of AGVs generally work simultaneously to form a multi-AGV network, and the overall cost and efficiency of the multi-AGV network are always the key points of attention of many enterprises. The overall energy consumption is one of important factors influencing the cost of the multiple AGV network, and in addition to the necessary AGV running energy consumption, the obstacle avoidance condition usually occurs during the running of the multiple AGV network, so that redundant energy is consumed. In obstacle avoidance for storage AGV networks, besides dropping individual items, it is common for a single or multiple AGVs to be anchored in the operating system. Aiming at the condition that the front vehicle is anchored, the multi-AGV network can continuously run under two conditions, wherein the first condition is passive obstacle avoidance, namely the AGV group which normally runs behind the front vehicle bypasses the AGV which is anchored at the front side to continuously run, the second condition is active avoidance, namely the anchored AGV starts a standby device to run away from the road, and the rear vehicle group runs according to the original path. For the current research, passive obstacle avoidance is mostly realized by performing complex software and hardware design on a multiple AGV network, and the adoption of the active avoidance mode is rare. In keeping away the barrier passively, every AGV at rear all need keep away the barrier to the place ahead AGV that breaks down, and the AGV quantity in the network is more, and whole network keeps away the produced extra energy consumption of barrier and is higher more, and keeps away the barrier action and also is a test to the whole efficiency and the whole harmony of AGV network once producing. The active avoidance mode can enable a certain AGV to automatically drive away from a road after the AGV breaks down, so that the rear vehicle group does not need to avoid the obstacle of the broken AGV, and the energy consumption of the whole network is greatly reduced. Therefore, how to adopt a simple active avoidance manner rather than passive obstacle avoidance, so as to reduce the unnecessary obstacle avoidance of the multiple AGV network is in need of improvement.
Disclosure of Invention
The invention aims to provide a storage AGV with a fault automatic transverse avoidance walking device, which is simple in structure, reasonable in design and low in cost, can automatically start a standby avoidance device to drive away from a route after the AGV breaks down, and a rear AGV group does not need to generate obstacle avoidance action, so that the overall energy consumption of a multi-AGV network is reduced, the operation efficiency of the multi-AGV network is improved, and the design of a complex obstacle avoidance method can be avoided in the aspects of software and hardware.
In order to achieve the purpose, the invention adopts the technical scheme that:
a storage AGV with a post-fault automatic transverse avoidance walking device comprises an AGV chassis assembly and a transverse walking device; the AGV chassis assembly comprises a left hub motor 1 and a right hub motor 1 which are arranged on an AGV chassis 2; the transverse walking device comprises a driving part, a lifting part and a walking part;
the driving part comprises a driving group shell 3 arranged on the AGV chassis 2, a stepping motor 4 which is arranged on the driving group shell 3 and serves as a power source, and a driving bevel gear 26, wherein the stepping motor 4 drives the driving bevel gear 26 to rotate through a first transmission mechanism;
the walking part comprises a left spare wheel 11, a right spare wheel 11, a driven bevel gear locking joint sleeve 24, a spare wheel locking joint sleeve 25 and a driven bevel gear 27; the left spare wheel shaft and the right spare wheel shaft of the left spare wheel 11 and the right spare wheel 11 are respectively fixed with the left rocker arm 22 and the right rocker arm 19 in the axial direction and are connected with the left rocker arm and the right rocker arm in the circumferential direction in a rotating way; the driven bevel gear 27 is meshed with the driving bevel gear 26 and fixed on a driven bevel gear shaft, and two driven bevel gear locking joint sleeves 24 are respectively fixed at two ends of the driven bevel gear shaft; spare wheel locking joint sleeves 25 are respectively fixed on the left spare wheel shaft and the right spare wheel shaft; an unlocking mechanism is arranged in the driven bevel gear locking joint sleeve 24, and a locking mechanism is arranged in the spare wheel locking joint sleeve 25;
the locking mechanism comprises an outward extending locking rod 28 which can extend out of the spare wheel locking joint sleeve 25 and extend into the driven bevel gear locking joint sleeve 24, and the outward extending locking rod 28 is in force transmission connection with the spare wheel locking joint sleeve 25 and the driven bevel gear locking joint sleeve 24 at the same time in the circumferential direction;
the unlocking mechanism is used for pushing out the outward extending locking rod 28 extending into the driven bevel gear locking joint sleeve 24, so that the outward extending locking rod 28 retracts into the spare wheel locking joint sleeve 25;
the lifting part comprises a second transmission mechanism, and the stepping motor 4 drives the left rocker arm 22 and the right rocker arm 19 to swing through the second transmission mechanism, so that the spare wheel locking joint sleeve 25 and the driven bevel gear locking joint sleeve 24 are coaxially and relatively attached or separated.
As a further improvement to the above-described storage AGV, the first transmission mechanism in the drive section includes a drive bevel gear shaft 12, a pair of pulleys 21, a V-belt 20, and a drive bevel gear 26; the driving bevel gear shaft 12 is rotatably mounted on the chassis 2 through a bearing, and the driving bevel gear 26 is mounted on the driving bevel gear shaft 12; the pair of belt pulleys 21 are respectively installed on the output shaft of the stepping motor 4 and the drive bevel gear shaft 12, and the V-shaped belt 20 is tightly sleeved on the pair of belt pulleys 21.
As a further improvement to the storage AGV, the second transmission mechanism in the lifting part includes a precession gear 5, a nut 6, a lead screw 7, a transmission assembly housing 8, a change gear 13, a left rocker gear 14, an intermediate gear 15, an upper gear 16, a tooth-shaped synchronous belt 17, and a right rocker gear 18; the transmission assembly shell 8 is fixed on the AGV chassis 2; the precession gear 5 is fixed with a nut 6; the nut 6 is connected with the lead screw 7, the lead screw 7 is fixed on the transmission assembly shell 8, and a spring 41 with two ends respectively contacted with the nut 6 and the transmission assembly shell 8 is sleeved on the lead screw 7; the intermediate gear 15 is fixed on an intermediate gear shaft fixedly connected with an output shaft of the stepping motor 4; the upper gear 16 is fixed on an upper gear shaft, the upper gear shaft is arranged on the transmission component shell 8 and/or the drive group shell 3 through a bearing, the direction-changing gear 13 is fixed on a direction-changing gear shaft, the direction-changing gear shaft is arranged on the transmission component shell 8 and/or the drive group shell 3 through a bearing, the left rocker arm gear 14 is meshed with the direction-changing gear 13, and one end of the left rocker arm gear shaft is arranged on the transmission component shell 8 and/or the drive group shell 3 through a bearing; the right rocker gear 18 and the left rocker gear 14 are symmetrically arranged, and a right rocker gear shaft of the right rocker gear is arranged on the transmission assembly shell 8 and/or the driving assembly shell 3 through a bearing; one ends of the right rocker arm 19 and the left rocker arm 22 are symmetrically arranged on a right rocker arm gear shaft and a left rocker arm gear shaft respectively, and the tooth-shaped synchronous belt 17 is meshed with the change gear 13, the upper gear 16 and the right rocker arm gear 18.
As a further improvement to the above storage AGV, the second transmission mechanism in the lifting part further includes a small turntable 37 rotatably mounted on the transmission assembly housing 8, and the lead screw 7 passes through the center of the small turntable 37; the two ends of the spring 41 are respectively connected with the nut 6 and the small turntable 37.
As a further improvement to the above storage AGV, the locking mechanism further includes a retractable locking rod 29, a locking ball 30, and a saw-tooth locking groove 33; the saw-toothed locking groove 33 has a section at each of opposite ends of the driven bevel gear locking sleeve 24 and the spare wheel locking sleeve 25; the outward extending locking rod 28 is composed of two sections and is axially connected in the spare wheel locking joint sleeve 25 in a sliding manner through an outer locking rod pressure spring 45, the front half section is a sawtooth-shaped part matched with the sawtooth-shaped locking groove 33, the rear half section is a cylindrical part, and a first locking ball groove 31 and a second locking ball groove 32 which are axially arranged are formed in the cylindrical surface; the retracted locking lever 29 is slidably provided on the spare wheel lock engaging sleeve 25 via an internal locking lever compression spring 49 and is located on the outer peripheral portion of the extended locking lever 28; the locking ball 30 is movably disposed in a cylindrical groove 44 formed in the retractable locking lever 29, and a locking ball compression spring 43 for contacting the locking ball 30 with the first locking ball groove 31 or the second locking ball groove 32 in a normal state is disposed in the cylindrical groove 44.
As a further improvement to the above storage AGV, the unlocking mechanism includes a driving unlocking nut wedge 34, a driven unlocking wedge 35 and an unlocking screw rod 36, and the driving unlocking nut wedge 34 is slidably disposed in a radial guide groove 46 on the driven bevel gear locking joint sleeve 24; the front half section of the driven unlocking wedge block 35 is a cylindrical part 351, and the rear part is a wedge-shaped sliding part 352; the horizontal groove 48 is divided into a hole groove and a square groove, the aperture size of the hole groove is smaller than that of the square groove, the square groove is communicated with the radial guide groove 46, and the hole groove of the horizontal groove 48 is communicated with the sawtooth-shaped locking groove 33; the cylindrical portion 351 of the driven unlocking wedge passes through the hole slot of the horizontal slot 48; a driven unlocking wedge pressure spring 47 is arranged between the driven unlocking wedge sliding part 352 and the step surface of the horizontal groove 48; the unlocking screw rod 36 and the driven bevel gear locking joint sleeve 24 are axially positioned and circumferentially and rotatably connected on the unlocking screw rod 36, and the lower end of the unlocking screw rod 36 is in threaded fit with the upper end of the driving unlocking nut wedge block 34.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention discloses a storage AGV with a fault automatic transverse avoidance walking device, which is developed and designed by combining the current situation of storage logistics. When the storage AGV normally operates, the hub motor 1 arranged on the AGV chassis 2 rotates to drive the whole storage AGV to longitudinally move. When the AGV breaks down, the transverse avoiding walking device can be automatically started, the safety and the operation efficiency of the whole warehouse logistics AGV system are improved, the energy consumption cost is reduced, the design of a complex obstacle avoiding system is avoided from the aspect of software and hardware, the structure is simple, and the design is reasonable.
(2) In the invention, a single stepping motor is adopted to control two motions of the transverse avoidance walking device, namely lifting and walking, so that the manufacturing cost and the overall weight of the device are greatly reduced.
(3) The lifting part of the invention adopts a lifting mode of double rocker arms, the principle is simple and easy to realize, the whole power transmission mode adopts synchronous cog belt transmission, not only can the power be stably transmitted, but also the rotating angular speeds of all gears can be kept consistent all the time. The lifting part adopts a precession mechanism composed of a precession gear 5, a nut 6, a screw rod 7 and the like, and after the lifting movement is finished, the precession gear can be disengaged from the upper gear, so that the movement decoupling is realized, and the movement interference of the whole system in the walking stage is avoided. Adopt change gear can make about rocking arm gear turn to conversely, and the AGV barycenter when rotating with two rocking arm gears syntropy removes in its place vertical plane and compares, and the AGV barycenter when two rocking arm gears counter-rotating moves on the vertical line at its place for the lift process is more steady.
(4) The invention adopts a reversible lock mechanism, so that the device can be repeatedly used. Reversible lock mechanisms include both locking and unlocking mechanisms. The locking mechanism arranged in the walking part can play a role in locking, and meanwhile, an extending locking rod and a sawtooth-shaped locking groove in the locking mechanism are also important parts for power transmission from the driven bevel gear to the spare wheel. The locking ball is arranged in the locking mechanism, so that the positioning and locking effects on the extending locking rod are achieved, the internal self-locking of the locking mechanism can be realized, and the locking joint sleeve of the driven bevel gear and the locking joint sleeve of the spare wheel can be firmly jointed. Meanwhile, an unlocking mechanism matched with the locking mechanism is arranged in the walking part, when the whole system needs to reset, the unlocking is achieved without complex dismounting steps, and only a wrench is needed to rotate the unlocking screw rod to complete the unlocking, so that time and labor are saved.
Drawings
FIG. 1 is a front view of a storage transporter;
FIG. 2 is a top view of the storage transporter;
FIG. 3 is a view of the attitude of the lifting portion during the lifting phase;
FIG. 4 is a view of the attitude of the lifting portion during the walking phase;
FIG. 5 is an enlarged bottom view of the driven bevel gear locking sleeve, the spare wheel locking sleeve, the drive bevel gear, etc.;
FIG. 6 is an exploded view of the locking mechanism and the like;
FIG. 7 is a schematic view of the driven bevel gear locking sleeve, the idler locking sleeve, etc. when locking of the locking mechanism has not begun;
FIG. 8 is a schematic view of the locking mechanism after locking is complete;
FIG. 9 is a schematic view of an unlocking mechanism and the like;
FIG. 10 is a schematic view of the relative positions of the precession gear, the intermediate gear, the upper gear, etc. in the precession mechanism of the elevating section;
FIG. 11 is a schematic view of the precession mechanism in the lifting section before precession begins;
3 FIG. 3 12 3 is 3 a 3 cross 3- 3 sectional 3 view 3 A 3- 3 A 3 ( 3 in 3 the 3 direction 3 of 3 the 3 precession 3 axis 3) 3 of 3 FIG. 3 11 3; 3
FIG. 13 is a schematic view of the precession mechanism in the lifting section after precession is complete;
FIG. 14 is a perspective view of a storage transporter;
fig. 15 is a bottom view of the storage transporter.
In the figure: 1-hub motor, 2-AGV chassis, 3-drive group shell, 4-stepping motor, 5-precession gear, 6-nut, 7-lead screw, 8-transmission component shell, 9-spring connector, 10-universal wheel, 11-spare wheel, 12-driving bevel gear shaft, 13-direction changing gear, 14-left rocker arm gear, 15-middle gear, 16-upper gear, 17-tooth-shaped synchronous belt, 18-right rocker arm gear, 19-right rocker arm, 20-V-shaped belt, 21-belt wheel, 22-left rocker arm, 23-driven bevel gear shaft bracket, 24-driven bevel gear locking joint sleeve, 25-spare wheel locking joint sleeve, 251-axial groove, 252-column groove, 253-column groove end face, 26-driving bevel gear, 27-driven bevel gear, 28-overhanging locking lever, 281-overhanging locking lever sawtooth part, 282-overhanging locking lever saw cylinder part, 29-retracting locking lever, 291-first cylinder, 292 second cylinder, 293-thrust surface, 30-locking ball, 31-first locking ball groove, 32-second locking ball groove, 33-sawtooth locking groove, 34-driving unlocking nut wedge block, 35-driven unlocking wedge block, 351-driven unlocking wedge block column part, 352-driven unlocking wedge block sliding part, 36-unlocking screw rod, 37-small turntable, 40-motor output shaft belt wheel, 41-spring, 42-standby wheel shaft, 43-locking ball pressure spring, 44-column groove, 45-external locking lever pressure spring, 46-radial guide groove, 47-driven unlocking wedge pressure spring, 48-stepped hole and 49-internal locking rod pressure spring.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for a person skilled in the art to obtain other drawings based on the drawings without inventive exercise.
Referring to fig. 1 to 7, the technical means adopted by the embodiment of the present invention are as follows: a storage AGV with a fault-back automatic transverse avoidance traveling device comprises an AGV chassis assembly and a transverse traveling device.
The AGV chassis assembly 2 comprises a left single-shaft hub motor 1, a right single-shaft hub motor 1, four spring connecting pieces 9 and four universal wheels 10; two unipolar in-wheel motor 1 fixed mounting are on AGV chassis 2 left and right sides both sides, and four universal wheels 10 are respectively through four moderate spring coupling 9 of rigidity in AGV chassis 2's four sides symmetry installation.
The transverse walking device comprises a driving part, a lifting part and a walking part.
The driving part comprises a driving group shell 3, a stepping motor 4, a driving bevel gear shaft 12, a pair of belt wheels 21, a V-shaped belt 20 and a driving bevel gear 26; the driving group shell 3 is welded on the AGV chassis 2, and the stepping motor 4 is fixed on the driving group shell 3; the driving bevel gear shaft 12 is mounted on the chassis 2 through a bearing, and the driving bevel gear 26 is mounted at the tail end of the driving bevel gear shaft 12; the pair of belt pulleys 21 are positioned in the same vertical plane and are respectively installed on the output shaft of the stepping motor 4 and the middle section of the driving bevel gear shaft 12, and the V-shaped belt 20 is tightly sleeved on the pair of belt pulleys 21.
The lifting part comprises a precession gear 5, a nut 6, a screw rod 7, a transmission assembly shell 8, a change gear 13, a left rocker arm gear 14, a middle gear 15, an upper gear 16, a tooth-shaped synchronous belt 17, a right rocker arm gear 18, a right rocker arm 19, a left rocker arm 22 and a small turntable 37; the transmission assembly shell 8 is fixed on the AGV chassis 2, the precession gear 5 is fixed with the nut 6 and is simultaneously meshed with the middle gear 15 and the upper gear 16 during installation; the nut 6 is connected with the lead screw 7, the lead screw 7 passes through a central hole on the small turntable 37, the bottom end of the lead screw is fixed on the transmission assembly shell 8, a spring 41 is sleeved on the lead screw to connect the nut 6 and the small turntable 37, and the small turntable 37 is connected with the transmission assembly shell 8 through a bearing; the intermediate gear 15 is fixed on an intermediate gear shaft, one end of the intermediate gear shaft is fixed on an output shaft of the stepping motor 4, and the other end of the intermediate gear shaft is arranged on the transmission assembly shell 8 through a bearing; the upper gear 16 is fixed on an upper gear shaft, one end of the upper gear shaft is arranged on the transmission assembly shell 8 through a bearing, the other end of the upper gear shaft is arranged on the driving assembly shell 3 through a bearing, and the distance between the central line of the upper gear shaft of the upper gear 16 and the central line of the middle gear shaft of the middle gear 15 is equal to the sum of the reference circle radiuses of the two gears when the upper gear shaft and the middle gear shaft are arranged, but the upper gear shaft and the middle gear; the direction-changing gear 13 is fixed on a direction-changing gear shaft, one end of the direction-changing gear shaft is arranged on the transmission assembly shell 8 through a bearing, and the other end of the direction-changing gear shaft is arranged on the driving group shell 3 through a bearing; the left rocker gear 14 is meshed with the change gear 13, one end of the left rocker gear shaft is arranged on the transmission component shell 8 through a bearing, and the other end of the left rocker gear shaft is arranged on the driving component shell 3 through a bearing; the right rocker gear 18 and the left rocker gear 14 are symmetrically arranged, one end of a right rocker gear shaft is arranged on the transmission assembly shell 8 through a bearing, and the other end of the right rocker gear shaft is arranged on the driving assembly shell 3 through a bearing; one ends of the right rocker arm 19 and the left rocker arm 22 are symmetrically arranged on a right rocker arm gear shaft and a left rocker arm gear shaft respectively, and the tooth-shaped synchronous belt 17 is always kept in a tensioning state and is meshed with the direction changing gear 13, the upper gear 16 and the right rocker arm gear 18.
The walking part mainly comprises a left spare wheel 11, a right spare wheel 11, a driven bevel gear shaft bracket 23, a driven bevel gear locking joint sleeve 24, a spare wheel locking joint sleeve 25 and a driven bevel gear 27; the left spare wheel 11 and the right spare wheel 11 are single-shaft wheels, the other ends of the left spare wheel shaft and the right spare wheel shaft are provided with spare wheel locking joint sleeves 25, and the left spare wheel shaft and the right spare wheel shaft are respectively arranged at the other ends of the left rocker arm 22 and the right rocker arm 19 through bearings; the driven bevel gear 27 is meshed with the driving bevel gear 26 and fixed on a driven bevel gear shaft, the driven bevel gear shaft is arranged on the driven bevel gear shaft bracket 23 through a bearing, and two driven bevel gear locking joint sleeves 24 are respectively fixed at two ends of the driven bevel gear shaft; the driven bevel gear shaft bracket 23 is riveted on the lower surface of the transmission component shell 8; an unlocking mechanism is arranged in the driven bevel gear locking joint sleeve 24, and a locking mechanism is arranged in the spare wheel locking joint sleeve 25.
The locking mechanism comprises an outward extending locking rod 28, an inward extending locking rod 29, a locking ball 30 and a sawtooth-shaped locking groove 33; the saw-toothed locking groove 33 has a section at each of opposite ends of the driven bevel gear locking sleeve 24 and the spare wheel locking sleeve 25; the outward extending locking rod 28 is composed of two sections and is connected in the spare wheel locking joint sleeve 25 through a spring, the front half section is a sawtooth-shaped part 281, the rear half section is a cylindrical part 282, and the surface of the cylindrical section is provided with a first locking ball groove 31 and a second locking ball groove 32; the extending lock lever 28 is slidably disposed within an axial slot 252 formed in the fifth wheel lock engagement sleeve 25. the axial slot 252 includes a leading zigzag lock slot 33 for engaging the extending lock lever zigzag portion 281 and a trailing cylindrical slot for engaging the extending lock lever saw cylindrical portion 282. The number of the retraction locking rods 29 in each locking mechanism is three, the main body of the retraction locking rod 29 is composed of a first cylinder 291 and a second cylinder 292 which have different diameters, the axes of the two cylinders are parallel but not on a straight line, a thrust surface 293 is formed between the first cylinder 291 and the second cylinder 292, and the front end of the first cylinder 291 is hemispherical. Three first cylinders 291 are slidably disposed within the three cylinder slots 252 on the fifth wheel locking sleeve 25. The column groove 252 on the spare wheel locking collar is located at the outer periphery of the axial groove 251, and a column groove end face 253 is formed where the rear end of the column groove 252 and the rear end of the axial groove 251 communicate. The outwardly extending locking bar saw cylindrical portion 282 and the second cylinder 292 are both located in the space where the rear end of the post groove 252 communicates with the rear end of the axial groove 251. An inner lock lever pressure spring 49 is provided between the rear end of the second cylinder 292 and the spare wheel lock sleeve 25, and an outer lock lever pressure spring 45 is provided between the rear end of the outwardly extending lock lever saw cylinder portion 282 and the spare wheel lock sleeve 25. When the opposite ends of the driven bevel gear lock engaging sleeve 24 and the idler lock engaging sleeve 25 are not in contact, the push-stop surface 293 is in contact with the cylinder groove end surface 253 under the action of the inner lock lever compression spring 49 of the retracted lock lever 29 to ensure that the retracted lock lever 29 does not fall off from the idler lock engaging sleeve 25, and at this time, the hemispherical shape of the front end of the first cylinder 291 is exposed at the front end surface of the idler lock engaging sleeve 25 opposite to the driven bevel gear lock engaging sleeve 24, and the lock ball 30 is in contact with the first lock ball groove 31 under the action of the lock ball compression spring 43, and the front end surface of the outward extending lock lever serrated portion 281 is flush with the front end surface of the idler lock engaging sleeve 25 in the two cylindrical grooves on the retracted lock lever 29.
The working principle of the storage AGV is as follows: when the storage AGV breaks down and stops advancing, the transverse avoidance device starts to work, and the movement of the transverse avoidance device is divided into two stages of lifting movement and walking movement.
The stepping motor 4 starts to operate, and drives the pulley 40 and the intermediate gear 15 mounted on the output shaft of the motor to rotate clockwise. The motor output shaft belt wheel 40 drives the driving bevel gear shaft 12 fixed with the belt wheel 21 to rotate through the V-shaped belt 20 and the belt wheel 21, the driving bevel gear 26 fixed on the driving bevel gear shaft 12 rotates, the driven bevel gear 27 meshed with the driving bevel gear 26 rotates, and the two driven bevel gear locking joint sleeves 24 which are positioned at two sides of the driven bevel gear 27 and fixed on the same shaft with the driven bevel gear 27 rotate along with the driven bevel gear locking joint sleeves.
The intermediate gear 15 drives the precession gear 5 engaged with the intermediate gear, and because the precession gear 5 and the nut 6 are in a connected integrated structure, and the nut 6 is in threaded fit with the screw 7 fixed on the transmission component shell 7, the precession gear 5 rotates anticlockwise around the central line of the precession gear and moves towards the transmission component shell 8 along the axial direction of the screw 7, and the distance between the precession gear 5 and the transmission component shell 8 is gradually reduced; a spring (pressure spring) 41 which is sleeved on the lead screw 7 and connects the nut 6 with the small turntable 37 rotates anticlockwise and moves axially along with the precession gear 5 and rotates anticlockwise while being compressed; since the small turntable 37 is in rotational connection with the transmission housing 8 and can rotate about the axis of the spindle 7, the small turntable 37 and the spring 41 also rotate together.
The precession gear 5 drives the upper gear 16 engaged with the precession gear to rotate clockwise, the change gear 13 and the right rocker arm gear 18 rotate clockwise along with the upper gear 16 through the synchronous cog belt 17 engaged with the upper gear 16, the left rocker arm gear 14 engaged with the change gear 13 rotates anticlockwise synchronously to drive the left rocker arm 22 fixed on the left rocker arm gear shaft to swing downwards anticlockwise, the right rocker arm 19 fixed on the right rocker arm gear shaft swings downwards clockwise, and the spare wheel shaft 42 is connected with the left rocker arm 22 and the right rocker arm 19 in a structure capable of positioning along the spare wheel shaft axially and rotating circumferentially. The spare wheel 11 fixed on the spare wheel shaft 42 gradually contacts the ground, the single-shaft hub motor 1 gradually leaves the ground, the driven bevel gear locking joint sleeve 24 and the spare wheel locking joint sleeve 25 fixed on the spare wheel shaft 42 tend to be attached, and the spring connecting piece 9 with moderate rigidity between the AGV chassis 2 and the universal wheel 10 stretches due to stress change, so that the universal wheel 10 always keeps complete contact with the ground, and a stable supporting effect is achieved in the lifting process.
In the process from the beginning of fitting to the complete fitting of the driven bevel gear locking engaging sleeve 24 and the spare wheel locking engaging sleeve 25, the front end of the retraction locking rod 29 is pressed by the fitting surface of the driven bevel gear locking engaging sleeve 24 to retract inwards, the locking balls 30 overcome the elasticity of the locking ball compression springs 43 to move outwards in the radial direction in the retraction process of the retraction locking rod 29, the locking balls are separated from the corresponding first locking ball grooves 31 on the outward extending locking rod 28 and enter the cylindrical grooves 44 formed in the retraction locking rod 29, and at the moment, the outward extending locking rod 28 is in an unlocking state and tends to pop out from the spare wheel locking engaging sleeve 25 due to the action of the outer locking rod compression springs 45 at the tail ends. When the driven bevel gear lock engaging sleeve 24 is fully engaged with the backup gear lock engaging sleeve 25 and the driven bevel gear lock engaging sleeve 24 is rotationally aligned with the respective saw-toothed locking grooves 33 of the backup gear lock engaging sleeve 25, the first half of the leading saw-toothed portion 281 of the extended lock lever 28 is caused by the spring force of the distal end external lock lever pressure spring 45 to rapidly enter the driven bevel gear lock engaging sleeve 24 from the backup gear lock engaging sleeve 25, the extended lock lever tooth portion 281 simultaneously engages with the saw-toothed locking grooves 33 of the driven bevel gear lock engaging sleeve 24 and the backup gear lock engaging sleeve 25, and at the completion of the entry of the leading end of the extended lock lever 28 into the driven bevel gear lock engaging sleeve 24, the lock ball 30 is aligned with the second lock ball groove 32 of the extended lock lever 28, and the lock ball 30 rebounds into the second lock ball groove 32 by the spring force of the distal end lock ball pressure spring 43, and (4) completing locking. At the moment, the nut 6 on the precession gear 5 axially moves to the position without a transmission thread of the screw 7 along the screw 7, the nut 6 is not matched with the thread on the screw any more, the precession gear 5 just axially moves to a position disengaged from the upper gear 16 at the position, the upper gear 16 does not rotate any more, the tooth-shaped synchronous belt 17 does not move any more, the left rocker arm 22 and the right rocker arm 19 also stop swinging, the lifting part is not influenced by the movement of the stepping motor 4 any more, and the motion decoupling is completed. At this time, although the precession gear 5 still rotates with the intermediate gear 15, the two forces are offset by the spring force of the spring 41 with the same magnitude and opposite direction and the resistance of the transmission thread on the lead screw 7 in the direction of the central line, the nut 6 only rotates at the bottom of the lead screw 7 without the transmission thread and does not axially move, the compression amount of the spring 41 between the nut 6 and the small turntable 37 does not change any more, after the lifting movement is completed, the rotating driven bevel gear 27 rotates through the driven bevel gear locking joint sleeve 24, the outward extending locking rod 28, the spare wheel locking joint sleeve 25 and the spare wheel shaft 42, and the spare wheel 11 rotates to start the walking movement.
After the AGV finishes maintenance, the whole avoidance system needs to reset, and a maintenance worker only needs to screw the unlocking screw rod 36 in the unlocking mechanism by using a wrench. The unlocking screw rod 36 and the driven bevel gear locking joint sleeve 24 are positioned in the axial direction of the unlocking screw rod 36 (the radial direction of the driven bevel gear locking joint sleeve 24) and are connected in a circumferential rotating mode, and the driving unlocking nut wedge block 34 is arranged in a sliding mode in a radial guide groove 46 formed in the driven bevel gear locking joint sleeve 24. The bottom end of the driving unlocking nut wedge 34 is a ramp that mates with the driven unlocking wedge slide 352. The lower end of the unlocking screw rod 36 is in threaded fit with the upper end of the active unlocking nut wedge block 34. The driven unlocking wedge 35 includes a smaller diameter cylindrical portion 351 and a larger diameter wedge slide portion 352. The stepped horizontal slot 48 formed in the driven bevel gear lock engagement sleeve 24 includes a smaller sized bore slot and a larger sized square slot. The wedge-shaped sliding part 352 is slidably disposed in the larger-sized square groove, the square groove of the horizontal groove 48 is communicated with the radial guide groove 46, and the hole groove of the horizontal groove 48 is communicated with the zigzag-shaped locking groove 33. A driven unlocking wedge pressure spring 47 is provided between the wedge sliding portion 352 of the driven unlocking wedge and the step surface of the horizontal groove 48. After the AGV finishes overhauling, the whole avoiding system needs to reset, the overhauling personnel only need to screw the unlocking screw rod 36 in the unlocking mechanism by a wrench, the unlocking screw rod 36 rotates to drive the driving unlocking nut wedge block 34 to move downwards along the radial guide groove 46, the driving unlocking nut wedge block 34 moves downwards to push the driven unlocking wedge block 35 to overcome the elasticity of the driven unlocking wedge block pressure spring 47 and move horizontally relative to the driven bevel gear joint sleeve 24, and the cylindrical part 351 of the driven unlocking wedge block 35 extends out of a small hole of the horizontal groove 48. The extending lock lever 28 is pushed back into the idler lock sleeve 25 by the cylindrical portion 351 of the driven unlocking wedge 35 from the saw tooth shaped lock slot 33 in the driven bevel gear lock sleeve 24. When the driving unlocking nut wedge block 34 moves to the bottom surface to contact with the bottom surface of the radial guide groove 46, the length of the driven unlocking wedge block cylindrical part 351 extending into the spare wheel locking joint sleeve 25 reaches the maximum, and the maximum length of the driven unlocking wedge block cylindrical part 351 extending into the spare wheel locking joint sleeve 25 is equal to the length of the driven bevel gear locking joint sleeve 24 extending out of the spare wheel locking joint sleeve 25 when the driven bevel gear locking joint sleeve 24 and the spare wheel locking joint sleeve 25 are not attached and the locking ball 30 is located in the first locking ball groove 31. Therefore, when the active unlocking nut wedge 34 moves to the position where the bottom surface contacts the bottom surface of the radial guide groove 46, after the outward extending lock lever 28 is pushed into the spare wheel locking engaging sleeve 25 by the driven unlocking wedge 35, the first lock ball groove 31 corresponds to the position of the lock ball 30, and the lock ball 30 is engaged with the first lock ball groove 31 by the lock ball pressure spring 43, so that the outward extending lock lever 28 and the inward extending lock lever 29 are locked again relatively and cannot move relatively.
And reversely screwing the unlocking screw rod 36 to drive the driving unlocking nut wedge block 34 to move upwards along the radial guide groove 46, and the driven unlocking wedge block 35 moves along the axial direction of the horizontal groove under the action of the driven unlocking wedge block pressure spring 47, is separated from contact with the outwards extending locking rod 28, gradually enters the driven bevel gear locking joint sleeve 24, and finishes the resetting of the unlocking mechanism.
The stepping motor 4 rotates anticlockwise, the intermediate gear 15 drives the precession gear 5 to rotate clockwise, the spring 41 between the nut 6 and the small turntable 37 pushes the nut 6 to start to enter a transmission thread part on the lead screw 7, the precession gear 5 and the nut 6 rotate clockwise and move axially, the precession gear 5 also starts to be meshed with the upper gear 16 again, the lifting part moves reversely, the anticlockwise rotation upper gear 16 drives the left rocker gear 14 to rotate clockwise through the synchronous toothed belt 17 and the like, the right rocker gear 18 rotates anticlockwise, the left rocker 22 fixed on the left rocker gear shaft is driven to swing up clockwise, the right rocker 19 fixed on the right rocker gear shaft swings up anticlockwise, the driven bevel gear joint sleeve 24 is separated from the spare wheel locking joint sleeve 25, the retraction locking rod 29 moves axially under the action of the inner locking rod pressure spring 49 until the thrust surface 291 of the retraction locking rod 29 contacts with the end surface of the column groove on the spare wheel locking joint sleeve 25, at this time, the convex round part at the front end of the inward-contracting locking rod 29 extends out of the spare wheel locking joint sleeve 25; due to the relative locking relationship between the outwardly extending locking lever 28 and the inwardly extending locking lever 29, the outwardly extending locking lever 28 also moves with the inwardly extending locking lever 29 under the action of the outer locking lever compression spring 45, returning to the initial position. At this point the leading end surface of the outwardly extending detent lever serrated portion 281 is flush with the spare wheel detent engagement sleeve 25 and the overall device is reset.
Briefly, the invention discloses a storage AGV with an automatic transverse avoidance walking device after a fault, which comprises an AGV chassis assembly and a transverse walking device. The transverse walking device comprises a driving part, a lifting part and a walking part; the driving part comprises power transmission mechanisms such as a stepping motor, a belt wheel, a driving bevel gear and the like; the lifting part comprises a driving gear, a nut, a screw rod, a small turntable, a middle gear, a left rocker arm, a right rocker arm, a synchronous toothed belt, an upper gear, a turning gear and a right rocker arm gear which are meshed with the synchronous toothed belt, the left rocker arm gear is meshed with the turning gear, the driving gear is meshed with the middle gear and meshed with the upper gear in a lifting stage, and the driving gear is disengaged in a walking stage; the running part comprises a spare wheel, a driven bevel gear shaft bracket, a driven bevel gear locking joint sleeve, a spare wheel locking joint sleeve and a driven bevel gear, wherein a locking mechanism is arranged in the spare wheel locking joint sleeve, and an unlocking mechanism is arranged in the driven bevel gear locking joint sleeve; the locking mechanism comprises an outward extending locking rod, an inward contracting locking rod, a locking ball and a sawtooth-shaped locking groove, wherein the cylindrical section of the outward extending locking rod is provided with the locking ball groove, and the locking ball is movably arranged in the cylindrical groove on the inward contracting locking rod through a locking ball pressure spring; the unlocking mechanism comprises a driving unlocking nut wedge block, a driven unlocking wedge block and an unlocking screw rod. This AGV simple structure, the cost is lower, can start by oneself after its breaks down and transversely dodge running gear and drive away from the road, avoids the back car crowd to avoid the barrier and detour, has improved the security and the operating efficiency of whole warehouse logistics AGV system, has reduced the energy consumption cost, has avoided the design of complicated obstacle avoidance method in the aspect of software and hardware.
The above-mentioned embodiment is only one of the preferred embodiments of the present invention, and should not be used to limit the scope of the present invention, but all the insubstantial modifications or changes made within the spirit and scope of the main design of the present invention, which still conform to the technical problems of the present invention, should be included in the scope of the present invention.
Claims (6)
1. A storage AGV with a post-fault automatic transverse avoidance walking device is characterized by comprising an AGV chassis assembly and a transverse walking device; the AGV chassis assembly comprises a left hub motor (1) and a right hub motor (1) which are arranged on an AGV chassis (2); the transverse walking device comprises a driving part, a lifting part and a walking part;
the driving part comprises a driving group shell (3) arranged on the AGV chassis (2), a stepping motor (4) which is arranged on the driving group shell (3) and used as a power source, and a driving bevel gear (26), wherein the stepping motor (4) drives the driving bevel gear (26) to rotate through a first transmission mechanism;
the walking part comprises a left spare wheel and a right spare wheel (11), a driven bevel gear locking joint sleeve (24), a spare wheel locking joint sleeve (25) and a driven bevel gear (27); left and right spare wheel shafts of the left and right spare wheels (11) are respectively fixed with the left rocker arm (22) and the right rocker arm (19) in the axial direction and are connected in the circumferential direction in a rotating way; the driven bevel gear (27) is meshed with the driving bevel gear (26) and fixed on a driven bevel gear shaft, and two driven bevel gear locking joint sleeves (24) are respectively fixed at two ends of the driven bevel gear shaft; spare wheel locking joint sleeves (25) are respectively fixed on the left spare wheel shaft and the right spare wheel shaft; an unlocking mechanism is arranged in the driven bevel gear locking joint sleeve (24), and a locking mechanism is arranged in the spare wheel locking joint sleeve (25);
the locking mechanism comprises an outward extending locking rod (28) which can extend out of the spare wheel locking joint sleeve (25) and extend into the driven bevel gear locking joint sleeve (24), and the outward extending locking rod (28) is in force transmission connection with the spare wheel locking joint sleeve (25) and the driven bevel gear locking joint sleeve (24) in the circumferential direction;
the unlocking mechanism is used for pushing out an extending locking rod (28) extending into the driven bevel gear locking joint sleeve (24) so that the extending locking rod (28) retracts into the spare wheel locking joint sleeve (25);
the lifting part comprises a second transmission mechanism, and the stepping motor (4) drives the left rocker arm (22) and the right rocker arm (19) to swing through the second transmission mechanism, so that the spare wheel locking joint sleeve (25) and the driven bevel gear locking joint sleeve (24) are coaxially and relatively attached or separated.
2. The warehousing AGV of claim 1, characterized in that the first transmission in the drive section includes a drive bevel gear shaft (12), a pair of pulleys (21), a V-belt (20), and a drive bevel gear (26); the driving bevel gear shaft (12) is rotatably arranged on the chassis (2) through a bearing, and the driving bevel gear (26) is arranged on the driving bevel gear shaft (12); the pair of belt wheels (21) are respectively arranged on an output shaft of the stepping motor (4) and the driving bevel gear shaft (12), and the V-shaped belt (20) is tightly sleeved on the pair of belt wheels (21).
3. The storage AGV according to claim 1, characterised in that the second transmission in the lifting section comprises a precession gear (5), a nut (6), a lead screw (7), a transmission housing (8), a change gear (13), a left rocker gear (14), a middle gear (15), an upper gear (16), a toothed timing belt (17), a right rocker gear (18); the transmission assembly shell (8) is fixed on the AGV chassis (2); the precession gear (5) is fixed with the nut (6); the nut (6) is connected with the lead screw (7), the lead screw (7) is fixed on the transmission assembly shell (8), and a spring (41) with two ends respectively contacted with the nut (6) and the transmission assembly shell (8) is sleeved on the lead screw; the intermediate gear (15) is fixed on an intermediate gear shaft fixedly connected with an output shaft of the stepping motor (4); the upper gear (16) is fixed on an upper gear shaft, the upper gear shaft is installed on the transmission assembly shell (8) and/or the driving set shell (3) through a bearing, the direction-changing gear (13) is fixed on the direction-changing gear shaft, the direction-changing gear shaft is installed on the transmission assembly shell (8) and/or the driving set shell (3) through a bearing, the left rocker arm gear (14) is meshed with the direction-changing gear (13), and one end of the left rocker arm gear shaft is installed on the transmission assembly shell (8) and/or the driving set shell (3) through a bearing; the right rocker gear (18) and the left rocker gear (14) are symmetrically arranged, and a right rocker gear shaft of the right rocker gear is arranged on the transmission assembly shell (8) and/or the driving assembly shell (3) through a bearing; one ends of the right rocker arm (19) and the left rocker arm (22) are symmetrically arranged on a right rocker arm gear shaft and a left rocker arm gear shaft respectively, and the toothed synchronous belt (17) is meshed with the change gear (13), the upper gear (16) and the right rocker arm gear (18).
4. A storage AGV according to claim 3, characterised in that the second transmission in the lifting section further comprises a small turntable (37) rotatably mounted on the transmission assembly housing (8), the lead screw (7) passing through the centre of the small turntable (37); two ends of the spring (41) are respectively connected with the nut (6) and the small turntable (37).
5. The storage AGV according to claim 1, characterised in that the locking mechanism further comprises a retractable locking bar (29), a locking ball (30), a saw tooth shaped locking slot (33); the zigzag locking groove (33) has a section at each of opposite ends of the driven bevel gear locking engaging sleeve (24) and the spare wheel locking engaging sleeve (25); the outward extending locking rod (28) is composed of two sections and is axially and slidably connected in the spare wheel locking joint sleeve (25) through an external locking rod pressure spring (45), the front half section is a sawtooth-shaped part matched with the sawtooth-shaped locking groove (33), the rear half section is a cylindrical part, and a first locking ball groove (31) and a second locking ball groove (32) which are axially arranged are formed in the cylindrical surface; the retracted locking rod (29) is arranged on the periphery of the outward extending locking rod (28) in a sliding mode when the spare wheel locking joint sleeve (25) is arranged through an internal locking rod pressure spring (49); the locking ball (30) is movably arranged in a cylindrical groove (44) formed in the inward-contracting locking rod (29), and a locking ball pressure spring (43) which enables the locking ball (30) to be in contact with the first locking ball groove (31) or the second locking ball groove (32) in a normal state is arranged in the cylindrical groove (44).
6. The warehousing AGV of claim 1, characterized in that the unlocking mechanism comprises a driving unlocking nut wedge (34), a driven unlocking wedge (35) and an unlocking screw (36), the driving unlocking nut wedge (34) being slidingly disposed in a radial guide slot (46) on the driven bevel gear locking adapter sleeve (24); the front half section of the driven unlocking wedge-shaped block (35) is a cylindrical part (351), and the rear part of the driven unlocking wedge-shaped block is a wedge-shaped sliding part (352); the locking joint sleeve is arranged in a stepped horizontal groove (48) formed in the locking joint sleeve (24) of the driven bevel gear, the horizontal groove (48) is divided into a hole groove and a square groove, the aperture size of the hole groove is smaller than that of the square groove, the square groove is communicated with a radial guide groove (46), and the hole groove of the horizontal groove (48) is communicated with a sawtooth-shaped locking groove (33); the cylindrical part (351) of the driven unlocking wedge block penetrates through the hole groove of the horizontal groove (48); a driven unlocking wedge pressure spring (47) is arranged between the driven unlocking wedge-shaped sliding part (352) and the step surface of the horizontal groove (48); the unlocking screw rod (36) is axially positioned and circumferentially and rotatably connected with the driven bevel gear locking joint sleeve (24) on the unlocking screw rod (36), and the lower end of the unlocking screw rod (36) is in threaded fit with the upper end of the driving unlocking nut wedge-shaped block (34).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010559948.6A CN111674488B (en) | 2020-06-18 | 2020-06-18 | Storage AGV with automatic transverse avoidance walking device after fault |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010559948.6A CN111674488B (en) | 2020-06-18 | 2020-06-18 | Storage AGV with automatic transverse avoidance walking device after fault |
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| CN111674488B CN111674488B (en) | 2022-03-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113386560A (en) * | 2021-06-21 | 2021-09-14 | 海容(无锡)能源科技有限公司 | Gesture detection system of photovoltaic cleaning equipment |
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| GB875691A (en) * | 1957-07-16 | 1961-08-23 | Ernst Meili | Improvements in or relating to motor-driven vehicles |
| GB916857A (en) * | 1961-03-24 | 1963-01-30 | Erhard Lauster | Improved axle units for vehicles |
| CN103448832A (en) * | 2013-09-18 | 2013-12-18 | 许远新 | Horizontal and longitudinal moving device of automobile |
| CN105966495A (en) * | 2016-06-20 | 2016-09-28 | 南京航空航天大学 | Orthogonal bidirectional carrier and control method thereof |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB875691A (en) * | 1957-07-16 | 1961-08-23 | Ernst Meili | Improvements in or relating to motor-driven vehicles |
| GB916857A (en) * | 1961-03-24 | 1963-01-30 | Erhard Lauster | Improved axle units for vehicles |
| CN103448832A (en) * | 2013-09-18 | 2013-12-18 | 许远新 | Horizontal and longitudinal moving device of automobile |
| CN105966495A (en) * | 2016-06-20 | 2016-09-28 | 南京航空航天大学 | Orthogonal bidirectional carrier and control method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113386560A (en) * | 2021-06-21 | 2021-09-14 | 海容(无锡)能源科技有限公司 | Gesture detection system of photovoltaic cleaning equipment |
| CN113386560B (en) * | 2021-06-21 | 2022-05-27 | 海容(无锡)能源科技有限公司 | Gesture detection system of photovoltaic cleaning equipment |
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| CN111674488B (en) | 2022-03-29 |
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Application publication date: 20200918 Assignee: Nanjing Guanyun Aviation Technology Co.,Ltd. Assignor: NANJING FORESTRY University Contract record no.: X2023980044564 Denomination of invention: A storage AGV with automatic lateral collision avoidance walking device after failure Granted publication date: 20220329 License type: Common License Record date: 20231026 |
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Effective date of registration: 20231214 Address after: 211215 No. 368 zhe Ning Road, zhe Tang Town, Lishui District, Nanjing, Jiangsu Patentee after: Nanjing Guanyun Aviation Technology Co.,Ltd. Address before: Nanjing City, Jiangsu province 210037 Longpan Road No. 159 Patentee before: NANJING FORESTRY University |
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