CN112606211B - Stirring and transporting robot - Google Patents
Stirring and transporting robot Download PDFInfo
- Publication number
- CN112606211B CN112606211B CN202011498200.6A CN202011498200A CN112606211B CN 112606211 B CN112606211 B CN 112606211B CN 202011498200 A CN202011498200 A CN 202011498200A CN 112606211 B CN112606211 B CN 112606211B
- Authority
- CN
- China
- Prior art keywords
- shaft sleeve
- assembly
- lifting platform
- control module
- discharging
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
- B28C5/4203—Details; Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
- B28C5/4203—Details; Accessories
- B28C5/4206—Control apparatus; Drive systems, e.g. coupled to the vehicle drive-system
- B28C5/421—Drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
- B28C5/4203—Details; Accessories
- B28C5/4206—Control apparatus; Drive systems, e.g. coupled to the vehicle drive-system
- B28C5/422—Controlling or measuring devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
- B28C5/4203—Details; Accessories
- B28C5/4234—Charge or discharge systems therefor
- B28C5/4237—Charging, e.g. hoppers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
- B28C5/4203—Details; Accessories
- B28C5/4234—Charge or discharge systems therefor
- B28C5/4244—Discharging; Concrete conveyor means, chutes or spouts therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
- B28C5/4203—Details; Accessories
- B28C5/4268—Drums, e.g. provided with non-rotary mixing blades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
- B28C5/4272—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport with rotating drum rotating about a horizontal or inclined axis, e.g. comprising tilting or raising means for the drum
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a stirring and transporting robot.A route is automatically planned and a vehicle is automatically navigated by an electric control module of an AGV chassis assembly according to a loading address and a discharging address in a transporting task; during feeding, the control device controls the lifting platform to ascend or descend according to the height of the mixing station so as to realize butt joint of the mixing drum and the mixing station during feeding, and controls the lifting platform to ascend or descend according to the height of the receiving equipment during discharging so as to realize butt joint of the mixing drum and the receiving equipment during discharging; during feeding and transportation, the stirring cylinder is controlled to rotate forwards, so that rapid feeding and effective stirring can be ensured, and segregation of fluid such as cement and the like during transportation is prevented; during discharging, the mixing drum is controlled to rotate reversely to realize automatic discharging; need not artifical the participation in whole transportation, promoted the efficiency of construction greatly, alleviateed intensity of labour, ensured the steady quality of fluid body simultaneously.
Description
Technical Field
The invention belongs to the technical field of cement transportation tools, and particularly relates to a stirring and transporting robot.
Background
The transportation of cement and other fluid bodies in commercial markets generally adopts a large-scale stirring transport vehicle for transportation, and the technology is very mature; however, in scattered cement construction or fluid construction in the market at present, the transportation is generally carried out by manually hauling by a trolley or by a mixing drum type trailer, and more advanced, a small mixing drum trailer is adopted, for example, the publication number of the authority is CN208249400U, which is a patent document named as a novel dust-proof cement transportation tool for building construction, the mixing roller is driven to rotate by a driving device, the mixing blade breaks up the agglomerated cement, and the dust absorption and removal function is also provided; for example, patent document CN109352827A, entitled portable small cement mixer, is provided with a motor drive, and has the functions of forward rotation mixing and reverse rotation automatic discharging. Although the mechanical stirring can be realized to replace manual stirring, the manual stirring is required to participate in transportation, and the feeding and discharging heights are limited. Meanwhile, along with the application and popularization of the small building robot, the labor efficiency of building construction is greatly improved, the labor intensity is reduced, the material transportation and feeding still depend on manpower, the efficiency is low, the labor intensity is high, and the efficiency of the small building robot is seriously restricted. Therefore, there is an urgent need for a transportation machine that can facilitate the construction of fluid materials such as bulk cement and the like and can ensure stable quality of the fluid materials.
Disclosure of Invention
The invention aims to provide a stirring and transporting robot, which aims to solve the problems that scattered fluid construction materials need to be manually transported and the feeding and discharging heights are limited in the prior art.
One or more of the above objects are solved by the solution of the independent claims of the present invention.
The invention solves the technical problems through the following technical scheme: a stirring and transporting robot comprises a stirring drum assembly, a control device, a lifting platform and an AGV chassis assembly, wherein the lifting platform is arranged between the AGV chassis assembly and the stirring drum assembly; the control device is respectively in communication connection with a first driving control module of the mixing drum assembly, a second driving control module of the lifting platform and an electric control module of the AGV chassis assembly;
the AGV chassis assembly is used for automatically planning a route according to a loading address and a discharging address in a transportation task, automatically navigating and driving, and transporting the mixing drum assembly to the loading address and the discharging address;
the lifting platform is used for adjusting the height of the mixing drum assembly during feeding and discharging;
and the control device is used for coordinating the work among the mixing drum assembly, the lifting platform and the AGV chassis assembly.
According to the method, when a transportation task exists, a control device sends the transportation task to an electric control module of an AGV chassis assembly, the electric control module automatically plans a route and automatically navigates to drive according to a loading address and a discharging address in the transportation task, the electric control module automatically drives to the loading address, and then automatically drives to the discharging address to discharge after loading at the loading address; during feeding, the lifting platform is controlled to ascend or descend according to the height of the mixing station so as to realize butt joint of the mixing drum and the mixing station during feeding, and during discharging, the lifting platform is controlled to ascend or descend according to the height of the receiving equipment so as to realize butt joint of the mixing drum and the receiving equipment during discharging; during feeding and transportation, the stirring cylinder is controlled to rotate forwards, so that rapid feeding and effective stirring can be ensured, segregation of cement and other fluid bodies during transportation is prevented, and stable quality of the fluid bodies during transportation is ensured; during discharging, the mixing drum is controlled to rotate reversely to realize automatic discharging; this stirring transport robot can realize automatic feeding, transportation and the ejection of compact of fluid such as cement class, need not artifical the participation in whole transportation, has promoted the efficiency of construction greatly, has alleviateed intensity of labour, has ensured the steady quality of fluid simultaneously.
Further, the mixing drum assembly comprises a mixing drum, a mixing shaft arranged in the mixing drum, a mixing blade arranged on the mixing shaft, a feeding hopper and a discharging hopper arranged on the mixing drum, a chute assembly arranged below the discharging hopper and a first drive control module; the input end of the first drive control module is electrically connected with the control device, and the output end of the first drive control module is connected with the stirring shaft.
Under the control and the drive of the first drive control module, the forward rotation of the stirring shaft is controlled in the feeding and transporting processes, so that the rapid feeding and the effective stirring can be ensured, the segregation phenomenon of cement and other fluid bodies during the transportation is prevented, and the stable quality of the fluid bodies in the transporting process is ensured; the stirring shaft is controlled to rotate reversely in the discharging process, and automatic discharging is realized through the discharging hopper and the chute assembly.
Preferably, the stirring blade is a double helix stirring blade.
Further, the chute assembly comprises a driving motor, a first speed reducer, a supporting shaft and a chute; the input end of the driving motor is electrically connected with the first driving control module, the output end of the driving motor is electrically connected with the input end of the first speed reducer, the output end of the first speed reducer is connected with the supporting shaft, and the sliding groove is arranged on the supporting shaft.
The spout assembly designs to rotatable structure, and when traveling or transporting, the spout keeps perpendicular with the direction of travel, has reduced transport robot's whole length, and the spout is rotatory 90 when the ejection of compact, keeps unanimous with the direction of travel, is convenient for stretch out transport robot's spout part and material receiving equipment butt joint.
Furthermore, the lifting platform is a scissor-fork type lifting platform, a gear chain type lifting platform or a screw rod type lifting platform.
Furthermore, the AGV chassis assembly comprises a vehicle body, and an electric control module, a path planning module, a navigation positioning module, an obstacle avoidance module, a motion driving module and a power supply module which are arranged on the vehicle body;
the path planning module is used for generating an optimal path from a starting point of the mixing and transporting robot to the loading address and an optimal path from the loading address to the discharging address according to the loading address and the discharging address; the navigation positioning module is used for generating and acquiring track information between path points in the driving process and determining an accurate driving direction; the obstacle avoidance module is used for detecting obstacles; the motion driving module is used for driving the stirring and transporting robot to run according to the motion control instruction and avoiding the barrier; the electronic control module is used for sending a motion control instruction according to the optimal path, the driving direction and the obstacle information; and the power supply module is used for providing power supply for each module.
The AGV chassis assembly has the functions of automatically avoiding obstacles, automatically planning a path, automatically controlling running and the like.
Further, the motion driving module comprises a steering component and a driving wheel which are respectively electrically connected with the electronic control module, and a suspension mechanism which is respectively connected with the steering component and the driving wheel; each driving wheel is provided with a steering assembly and a suspension mechanism; each suspension mechanism comprises an outer shaft sleeve, an upper cover plate, a lower cover plate, an elastic assembly, a support frame, a sliding column and an inner shaft sleeve; the bottom of the sliding column is connected with a hub component of the driving wheel through a supporting frame, and the top of the sliding column is provided with a limiting piece; the inner shaft sleeve is coaxially sleeved outside the sliding column, the outer shaft sleeve is coaxially sleeved outside the inner shaft sleeve, and the outer shaft sleeve is fixedly arranged on the vehicle body; the bottom parts of the outer shaft sleeve and the inner shaft sleeve are provided with lower cover plates, the top part of the outer shaft sleeve and the middle upper part of the inner shaft sleeve are provided with upper cover plates, and the upper part of the inner shaft sleeve is fixedly connected with a corresponding steering assembly; the bottom end of the elastic component is connected with the supporting frame, and the top end of the elastic component is connected with the lower cover plate.
Under the control of the electric control module, the torque output by the steering assembly is transmitted to the inner shaft sleeve, the inner shaft sleeve transmits the torque to the sliding column, and the sliding column drives the driving wheel to steer, so that the independent steering control of each wheel is realized, and the steering is flexible. Every drive wheel all is equipped with independent suspension mechanism, and suspension mechanism is located the drive wheel directly over, has increased suspension mechanism's effective working distance, and lateral rigidity is good. When the sliding column is in a free state, the sliding column moves downwards in the inner shaft sleeve to enable the top of the inner shaft sleeve to be in contact with the limiting piece, so that the inner shaft sleeve is prevented from being separated from the sliding column, the elastic component plays a role in absorbing vibration and reducing vibration, and has better obstacle crossing capability; when the robot is fully loaded, the elastic component is compressed, the sliding column moves upwards in the inner shaft sleeve, the lower cover plate is in contact with the support frame, the suspension mechanism is in a rigid and incompressible state, each driving wheel has good ground attaching performance, the suspension phenomenon can be avoided, sufficient power performance can be ensured, and the robot has good stability and accurate positioning performance when fully loaded; when the sliding column is in half-load, certain travel distances are reserved between the inner shaft sleeve and the limiting piece and between the lower cover plate and the supporting frame, the sliding column moves up and down in the inner shaft sleeve, and the elastic component plays a role in absorbing vibration; the loading state and the speed of the transport robot are matched, namely the transport robot runs at a high speed when no load exists and runs at a low speed when the transport robot is fully loaded, so that the speed of the transport robot is increased, and the transport efficiency is improved.
Further, the elastic assembly comprises an inner spring, an outer spring and a guide shaft sleeve; the inner spring is sleeved outside the sliding column, the outer spring is sleeved outside the inner spring, and a guide shaft sleeve is arranged on the supporting frame between the inner spring and the outer spring.
When the steering wheel is fully loaded, the lower cover plate is in line contact with the guide shaft sleeve, so that the friction force is reduced, and the torsion of the inner spring and the outer spring due to the friction force during steering is avoided.
Further, the sliding column is a polygonal sliding column; or a convex block is arranged outside the sliding column, and a sliding groove matched with the convex block is arranged in the inner shaft sleeve; or a sliding groove is arranged outside the sliding column, and a convex block matched with the sliding groove is arranged in the inner shaft sleeve.
The structural form of the sliding column or the structural forms of the sliding column and the inner shaft sleeve not only ensures that the inner shaft sleeve transmits steering torque to the sliding column, so that the sliding column drives the driving wheel to steer, but also can enable the sliding column to move up and down in the inner shaft sleeve.
Further, the steering assembly comprises a steering motor, a second speed reducer, a pinion and a bull gear; the input of turning to the motor with automatically controlled module electric connection, the output of turning to the motor and the input electric connection of second reduction gear, the second reduction gear through the parallel key with the pinion is connected, the pinion with gear wheel toothing, the fixed cover of gear wheel is established on the inner shaft cover.
Further, the inner shaft sleeve is of a boss structure, and the boss structure is provided with a first boss, a second boss and a clamping groove; the outer shaft sleeve is coaxially sleeved on the second boss, the steering assembly is fixedly connected with the first boss, the upper cover plate is arranged on the top of the outer shaft sleeve and the first boss, and the clamping groove is formed in the first boss.
Advantageous effects
Compared with the prior art, the stirring and transporting robot provided by the invention has the advantages that the electric control module of the AGV chassis assembly automatically plans a route and automatically navigates to run according to the loading address and the discharging address in a transporting task, automatically runs to the loading address firstly, loads materials at the loading address and then automatically runs to the discharging address to discharge materials; during feeding, the lifting platform is controlled to ascend or descend according to the height of the mixing station so as to realize butt joint of the mixing drum and the mixing station during feeding, and during discharging, the lifting platform is controlled to ascend or descend according to the height of the receiving equipment so as to realize butt joint of the mixing drum and the receiving equipment during discharging; during feeding and transportation, the stirring cylinder is controlled to rotate forwards, so that rapid feeding and effective stirring can be ensured, segregation of cement and other fluid bodies during transportation is prevented, and stable quality of the fluid bodies during transportation is ensured; during discharging, the mixing drum is controlled to rotate reversely to realize automatic discharging; the stirring and transporting robot can realize automatic feeding, transportation and discharging of fluid such as cement and the like, does not need manual participation in the whole transportation process, greatly improves the construction efficiency, lightens the labor intensity and simultaneously ensures the stable quality of the fluid.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only one embodiment of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a running state of a mixing and transporting robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a discharge state of a stirring and transporting robot in an embodiment of the present invention;
FIG. 3 is a schematic diagram of the AGV chassis assembly configuration in an embodiment of the present invention;
FIG. 4 is a partial cross-sectional view of an AGV chassis assembly in an embodiment of the present invention;
FIG. 5 is a schematic structural view of a suspension mechanism in the embodiment of the invention;
FIG. 6 is a cross-sectional view of an inner hub in an embodiment of the present invention;
FIG. 7 is a schematic structural view of a strut and a support bracket according to an embodiment of the present invention;
FIG. 8 is a cross-sectional view of a guide sleeve in an embodiment of the present invention;
FIG. 9 is a schematic diagram of the suspension mechanism in a suspended state during idle operation in accordance with an embodiment of the present invention;
FIG. 10 is a schematic illustration of the suspension mechanism in a half-loaded condition under an embodiment of the present invention;
FIG. 11 is a schematic view of the suspension mechanism in a rigid full load condition when fully loaded in an embodiment of the present invention;
wherein, 100-a mixing drum assembly, 110-a discharge hopper, 120-a chute assembly, 121-a chute, 122-a driving motor, 123-a first reducer, 130-a mixing drum, 140-a first driving control module, 200-a lifting platform, 300-an AGV chassis assembly, 310-a laser radar, 320-a vehicle body, 330-a movement driving module, 331-a hub component, 332-a steering motor, 333-a second reducer, 334-a pinion, 335-a bull gear, 336-a suspension mechanism, 3361-a limiting sheet, 3362-a sliding column, 33621-a guide shaft sleeve, 3363-a positioning shaft sleeve, 3364-a clamp hoop, 3365-an outer shaft sleeve, 3366-an inner spring, 3367-an outer spring, 3368-a screw, 3369-a lower cover plate and 3370-a bearing, 3371-upper cover plate, 3372-inner shaft sleeve, 33721-first boss, 33722-second boss, 33723-clamping groove, 3373-supporting frame, 340-power module and 350-electric control module.
Detailed Description
The technical solutions in the present invention are 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.
As shown in fig. 1 and 2, the stirring transportation robot provided in this embodiment includes a stirring cylinder assembly 100, a control device, a lifting platform 200, and an AGV chassis assembly 300, wherein the lifting platform 200 is disposed between the AGV chassis assembly 300 and the stirring cylinder assembly 100; the control device is in communication connection with the first drive control module 140 of the mixing drum assembly 100, the second drive control module of the lifting platform 200, and the electronic control module 350 of the AGV chassis assembly 300.
The AGV chassis assembly 300 is used for automatically planning a route and automatically navigating according to a feeding address and a discharging address in a transportation task, and transporting the mixing drum assembly 100 to the feeding address and the discharging address; the lifting platform 200 is used for adjusting the height of the mixing drum assembly 100 during feeding and discharging; and the control device is used for coordinating the work among the mixing drum assembly 100, the lifting platform 200 and the AGV chassis assembly 300.
The mixing drum assembly 100 comprises a mixing drum 130, a mixing shaft arranged in the mixing drum 130, mixing blades arranged on the mixing shaft, a feeding hopper and a discharging hopper 110 arranged on the mixing drum 130, a chute assembly 120 arranged below the discharging hopper 110 and a first drive control module 140; the input end of the first driving control module 140 is electrically connected to the control device, and the output end of the first driving control module 140 is connected to the stirring shaft. Under the control and the drive of the first drive control module 140, the forward rotation of the stirring shaft is controlled in the feeding and transporting processes, so that the rapid feeding and the effective stirring can be ensured, the segregation phenomenon of fluid such as cement during transportation is prevented, and the stable quality of the fluid in the transporting process is ensured; the stirring shaft is controlled to rotate reversely in the discharging process, and automatic discharging is realized through the discharging hopper 110 and the chute assembly 120. In this embodiment, the stirring vanes are double helical stirring vanes.
The chute assembly 120 includes a driving motor 122, a first reducer 123, a support shaft, and a chute 121; the input end of the driving motor 122 is electrically connected to the first driving control module 140, the output end of the driving motor 122 is electrically connected to the input end of the first reducer 123, the output end of the first reducer 123 is connected to the supporting shaft, and the sliding groove 121 is disposed on the supporting shaft. The chute assembly 120 is designed to be a rotatable structure, when the vehicle runs or is transported, the chute 121 is perpendicular to the running direction, the overall length of the transport robot is reduced, the chute 121 rotates 90 degrees during discharging, the chute and the running direction are consistent, and the chute 121 extending out of the transport robot is conveniently butted with a receiving device.
In this embodiment, the lift platform 200 includes, but is not limited to, a conventional scissor lift platform, a gear-chain lift platform, and a lead screw lift platform. The platform with the lifting function is adopted to realize the lifting of the mixing drum assembly 100 so as to be respectively butted with the mixing station and the receiving equipment during feeding and discharging.
As shown in fig. 3, the AGV chassis assembly 300 includes a vehicle body 320, and an electronic control module 350, a path planning module, a navigation positioning module, an obstacle avoidance module, a motion driving module 330, and a power module 340 disposed on the vehicle body 320. And the path planning module is used for generating an optimal path from the starting point of the mixing and transporting robot to the loading address and an optimal path from the loading address to the discharging address according to the loading address and the discharging address. And the navigation positioning module is used for generating and acquiring track information among path points in the driving process and determining an accurate driving direction. And the obstacle avoidance module is used for detecting obstacles. The motion driving module 330 is configured to drive the blending transportation robot to travel according to the motion control command and avoid the obstacle. And the electronic control module 350 is configured to send a motion control instruction according to the optimal path, the driving direction, and the obstacle information. And a power supply module 340 for providing power to each module.
The AGV chassis assembly 300 has functions of automatic obstacle avoidance, automatic path planning, automatic driving control, and the like. The AGV chassis assembly 300 may also employ existing AGV carts. In order to solve the problems of low speed, low transportation efficiency, inflexible steering, poor obstacle crossing capability, poor positioning accuracy and the like of the conventional AGV, the embodiment is provided with a suspension mechanism 336 in a driving module, and the specific structure is as follows:
as shown in fig. 4 and 5, the motion driving module 330 includes a steering assembly and a driving wheel electrically connected to the electronic control module 350, respectively, and a suspension mechanism 336 connected to the steering assembly and the driving wheel, respectively; a steering assembly and a suspension mechanism 336 are provided for each drive wheel; each suspension mechanism 336 includes an outer bushing 3365, an upper plate 3371, a lower plate 3369, resilient members, a support frame 3373, a strut 3362, and an inner bushing 3372; the bottom of the sliding column 3362 is connected with a hub component 331 of the driving wheel through a support frame 3373, and the top of the sliding column 3362 is provided with a limiting piece 3361; the inner shaft sleeve 3372 is coaxially sleeved outside the sliding column 3362, the outer shaft sleeve 3365 is coaxially sleeved outside the inner shaft sleeve 3372, and the outer shaft sleeve 3365 is fixedly arranged on the vehicle body 320; the bottom parts of the outer shaft sleeve 3365 and the inner shaft sleeve 3372 are provided with a lower cover plate 3369, the top part of the outer shaft sleeve 3365 and the middle upper part of the inner shaft sleeve 3372 are provided with an upper cover plate 3371, and the upper part of the inner shaft sleeve 3372 is fixedly connected with a corresponding steering assembly; the bottom end of the elastic component is connected with the support frame 3373, and the top end of the elastic component is connected with the lower cover plate 3369.
Under the control of the electronic control module 350, the torque output by the steering assembly is transmitted to the inner shaft sleeve 3372, the inner shaft sleeve 3372 transmits the torque to the sliding column 3362, and the sliding column 3362 drives the driving wheels to steer, so that the independent steering control of each wheel is realized, and the steering is flexible. Each driving wheel is provided with an independent suspension mechanism 336, and the suspension mechanism 336 is located right above the driving wheel, so that the effective acting distance of the suspension mechanism 336 is increased, and the lateral rigidity is good. When the sliding block is unloaded, in order to enable the elastic component to be in a free state, the sliding column 3362 moves downwards in the inner shaft sleeve 3372, the top of the inner shaft sleeve 3372 is enabled to be in contact with the limiting piece 3361, the inner shaft sleeve 3372 is prevented from being separated from the sliding column 3362, the elastic component plays a role in absorbing vibration and reducing vibration, and has better obstacle crossing capability; when the robot is fully loaded, the elastic component is compressed, the sliding column 3362 moves upwards in the inner shaft sleeve 3372, the lower cover plate 3369 is in contact with the support frame 3373, the suspension mechanism 336 is in a rigid and incompressible state, each driving wheel has good ground-attaching performance, the suspension phenomenon can be avoided, the abundant power performance can be ensured, and the robot has good stability and accurate positioning performance when fully loaded; when the vehicle is in a half-load state, certain travel distances are reserved between the inner shaft sleeve 3372 and the limiting piece 3361 and between the lower cover plate 3369 and the support frame 3373, the sliding column 3362 moves up and down in the inner shaft sleeve 3372, and the elastic component plays a role in absorbing vibration; the loading state and the speed of the transport robot are matched, namely the transport robot runs at a high speed when no load exists and runs at a low speed when the transport robot is fully loaded, so that the speed of the transport robot is increased, and the transport efficiency is improved.
In this embodiment, the limiting piece 3361 is a thin nut. The upper cover plate 3371 and the lower cover plate 3369 are both of an annular structure, the annular upper cover plate 3371 is arranged at the top of the outer shaft sleeve 3365 and on the first boss 33721 of the inner shaft sleeve 3372, the annular lower cover plate 3369 is arranged at the bottoms of the outer shaft sleeve 3365 and the inner shaft sleeve 3372, the upper cover plate 3371 and the lower cover plate 3369 are both fixed on the outer shaft sleeve 3365 through a screw 3368 and a gasket, the outer shaft sleeve 3365 is fixedly connected with the vehicle body 320, so that the inner shaft sleeve 3372 can rotate between the upper cover plate 3371 and the lower cover plate 3369 in the process of transmitting steering torque, and the stability in steering is ensured.
As shown in fig. 5, the elastic assembly includes an inner spring 3366, an outer spring 3367, and a guide sleeve 33621; the inner spring 3366 and the outer spring 3367 are two concentric compression coil springs. The inner spring 3366 is sleeved outside the sliding column 3362, the outer spring 3367 is sleeved outside the inner spring 3366, the support frame 3373 between the inner spring 3366 and the outer spring 3367 is provided with the guide shaft sleeve 33621, and the structure of the guide shaft sleeve 33621 is shown in fig. 8. In order to prevent the inner spring 3366 and the outer spring 3367 from being twisted by friction force during steering, the guide bush 33621 is provided, and the guide bush 33621 makes the contact between the guide bush 33621 and the lower cover plate 3369 in a linear contact state during a rigid full load state, thereby reducing the friction force.
To facilitate smooth steering, the inner housing 3372 is coupled to the outer housing 3365 by a bearing 3370, the bearing 3370 includes an upper bearing 3370 and a lower bearing 3370, and a positioning housing 3364 is disposed between the upper bearing 3370 and the lower bearing 3370, as shown in fig. 5.
The outer shaft sleeve 3365 is fixed on the vehicle body 320, the large gear 335 of the steering assembly transmits steering torque to the inner shaft sleeve 3372, the inner shaft sleeve 3372 transmits the steering torque to the sliding column 3362, the sliding column 3362 drives the driving wheel to steer, and in order to realize the transmission of the steering torque from the inner shaft sleeve 3372 to the sliding column 3362, relative movement does not exist between the transverse sliding column 3362 and the inner shaft sleeve 3372, so the sliding column 3362 can be in a polygonal structure, the shape of the inner wall of the inner shaft sleeve 3372 is matched with the polygonal structure of the sliding column 3362, for example, the sliding column 3362 is in a square structure, and the inner wall of the inner shaft sleeve 3372 is also in a square shape; the sliding column 3362 may be provided with a protrusion, the inner shaft sleeve 3372 is provided with a sliding groove 121 adapted to the protrusion, or the sliding column 3362 is provided with a sliding groove 121, and the inner shaft sleeve 3372 is provided with a protrusion adapted to the sliding groove 121, so that the transmission of the steering torque to the sliding column 3362 can be ensured, and the sliding column 3362 can move up and down or vertically in the inner shaft sleeve 3372.
In this embodiment, the steering assembly may adopt a transmission form of a motor and a reducer driving gear, and may also adopt a transmission structural form of a worm gear. As shown in fig. 4, the steering assembly in the form of a motor + reducer drive gear includes a steering motor 332, a second reducer 333, a pinion gear 334, and a bull gear 335; the input end of the steering motor 332 is electrically connected with the electronic control module 350, the output end of the steering motor 332 is electrically connected with the input end of the second speed reducer 333, the second speed reducer 333 is connected with the small gear 334 through a flat key, the small gear 334 is in meshing transmission with the large gear 335, and the large gear 335 is coaxially and fixedly sleeved on the inner shaft sleeve 3372. Each driving wheel corresponds to a steering component and a suspension mechanism 336, and under the control of the electronic control module 350, independent steering control of each driving wheel can be realized.
As shown in fig. 6, the inner sleeve 3372 is a boss structure having a first boss 33721, a second boss 33722 and a locking groove 33723. The clamping groove 33723 is used for installing a clamp 3363, the clamp 3363 is used for limiting the large gear 335, and the large gear 335 is coaxially sleeved on a first boss 33721 close to the clamping groove 33723; the outer shaft sleeve 3365 is coaxially sleeved on the second boss 33722, the upper cover plate 3371 is arranged on the first boss 33721 close to the second boss 33722, the heights of the outer shaft sleeve 3365 and the second boss 33722 are consistent, so that the upper cover plate 3371 and the lower cover plate 3369 fixed on the outer shaft sleeve 3365 can limit the second boss 33722 between the upper cover plate 3371 and the lower cover plate 3369, the up-and-down movement of the inner shaft sleeve 3372 during steering is limited, and the stability during steering is ensured.
As shown in fig. 7, the spool 3362, the support 3373 and the guide sleeve 33621 are schematically illustrated, and the spool 3362 and the support 3373 may be an integral structure or a separate structure. The bottom of traveller 3362 and support frame 3373 fixed connection, the both ends of support frame 3373 and the wheel hub subassembly 331 fixed connection of drive wheel, the steering torque who transmits to traveller 3362 and support frame 3373 drives the drive wheel and rotates, realizes steering control.
In this embodiment, the obstacle avoidance module is a laser radar 310 disposed on a vehicle body 320. The electric control module 350 is configured to control the speed of the transportation robot according to the states of the different suspension mechanisms 336 or the load states, so that the speed is adapted to the states of the suspension mechanisms 336 or the load states, specifically, when the transportation robot is in a no-load state, the transportation robot runs at the highest speed, and the transportation speed and efficiency are improved; when the transport robot is in a full load state, the transport robot runs at a low speed, each driving wheel has good ground adhering performance, the suspension phenomenon can be avoided, the abundant power performance is ensured, and the robot has good stability and accurate positioning performance when being in the full load state.
Under the control of the electronic control module 350, the torque output by the large gear 335 is transmitted to the inner shaft sleeve 3372, the inner shaft sleeve 3372 transmits the torque to the sliding column 3362, and the sliding column 3362 drives the driving wheels to steer, so that the independent steering control of each wheel is realized, and the steering is flexible.
Each driving wheel is provided with an independent suspension mechanism 336, and the suspension mechanism 336 is located right above the driving wheel, so that the effective acting distance of the suspension mechanism 336 is increased, and the lateral rigidity is good. The sliding column 3362 type structure of the suspension mechanism 336 has the characteristics of simple and compact structure.
As shown in fig. 9, when the vehicle is unloaded, in order to keep the elastic component in a free state, the elastic force of the elastic component pushes the outer shaft sleeve 3365, the inner shaft sleeve 3372 and the vehicle body 320 to move upwards through the lower cover plate 3369, so that the sliding column 3362 moves downwards relatively in the inner shaft sleeve 3372 until the top of the inner shaft sleeve 3372 contacts with the limiting piece 3361, the inner shaft sleeve 3372 is prevented from being separated from the sliding column 3362, and the unloaded state of the vehicle body 320 or the transportation robot corresponds to the suspended state of the suspension mechanism 336, at this time, the transportation robot can run at high speed, the elastic component plays a role in vibration absorption and vibration reduction, and has better obstacle crossing capability.
As shown in fig. 11, when the robot is fully loaded, the gravity of the load compresses the elastic components through the lower cover plate 3369, so that the outer shaft sleeve 3365, the inner shaft sleeve 3372 and the vehicle body 320 move downward, thereby the sliding column 3362 moves upward relatively in the inner shaft sleeve 3372 until the lower cover plate 3369 is in line contact with the guide shaft sleeve 33621, the suspension mechanism 336 is in a rigid incompressible state, the fully loaded state of the vehicle body 320 or the transportation robot corresponds to the rigid fully loaded state of the suspension mechanism 336, at this time, the transportation robot can run at a low speed, each driving wheel has good ground-attaching performance, the suspension phenomenon can be avoided, sufficient power performance can be ensured, and the robot has good stability and accurate positioning performance when the robot is fully loaded.
As shown in fig. 10, when the vehicle is in a half-load state, a certain stroke distance exists between the inner shaft sleeve 3372 and the limiting piece 3361, and between the lower cover plate 3369 and the guide shaft sleeve 33621, the sliding column 3362 can move up and down in the inner shaft sleeve 3372, the elastic component plays a role in vibration absorption and vibration reduction, the half-load state of the vehicle body 320 or the transportation robot corresponds to the half-load state of the suspension mechanism 336, at this time, the transportation robot can run at a high speed, and the elastic component plays a role in vibration absorption and vibration reduction, so that the vehicle has good obstacle crossing capability.
The above disclosure is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or modifications within the technical scope of the present invention, and shall be covered by the scope of the present invention.
Claims (4)
1. A stirring and transporting robot comprises a stirring cylinder assembly; the method is characterized in that: the automatic stirring device is characterized by also comprising a control device, a lifting platform and an AGV chassis assembly, wherein the lifting platform is arranged between the AGV chassis assembly and the stirring cylinder assembly; the control device is respectively in communication connection with a first drive control module of the mixing drum assembly, a second drive control module of the lifting platform and an electric control module of the AGV chassis assembly;
the AGV chassis assembly is used for automatically planning a route and automatically navigating according to a feeding address and a discharging address in a transportation task, and transporting the mixing drum assembly to the feeding address and the discharging address;
the lifting platform is used for adjusting the height of the mixing drum assembly during feeding and discharging;
the control device is used for coordinating the work among the mixing drum assembly, the lifting platform and the AGV chassis assembly;
the AGV chassis assembly comprises a vehicle body, and an electric control module, a path planning module, a navigation positioning module, an obstacle avoidance module, a motion driving module and a power supply module which are arranged on the vehicle body;
the motion driving module comprises a steering component and a driving wheel which are respectively electrically connected with the electric control module, and a suspension mechanism which is respectively connected with the steering component and the driving wheel; each driving wheel is provided with a steering component and a suspension mechanism; each suspension mechanism comprises an outer shaft sleeve, an upper cover plate, a lower cover plate, an elastic assembly, a support frame, a sliding column and an inner shaft sleeve; the bottom of the sliding column is connected with a hub component of the driving wheel through a supporting frame, and the top of the sliding column is provided with a limiting piece; the inner shaft sleeve is coaxially sleeved outside the sliding column, the outer shaft sleeve is coaxially sleeved outside the inner shaft sleeve, and the outer shaft sleeve is fixedly arranged on the vehicle body; the bottom parts of the outer shaft sleeve and the inner shaft sleeve are provided with lower cover plates, the top part of the outer shaft sleeve and the middle upper part of the inner shaft sleeve are provided with upper cover plates, and the upper part of the inner shaft sleeve is fixedly connected with a corresponding steering assembly; the bottom end of the elastic component is connected with the supporting frame, and the top end of the elastic component is connected with the lower cover plate;
the elastic component comprises an inner spring, an outer spring and a guide shaft sleeve; the inner spring is sleeved outside the sliding column, the outer spring is sleeved outside the inner spring, and the guide shaft sleeve is arranged on the support frame between the inner spring and the outer spring;
when the transportation robot is in a suspended state, the suspension mechanism is in a suspended state, and the transportation robot runs at a high speed;
when the transportation robot is fully loaded, the gravity of the load compresses the elastic component through the lower cover plate, so that the outer shaft sleeve, the inner shaft sleeve and the vehicle body move downwards, the sliding column moves upwards relatively in the inner shaft sleeve until the lower cover plate is in line contact with the guide shaft sleeve, the suspension mechanism is in a rigid incompressible state, the fully loaded state of the vehicle body or the transportation robot corresponds to the rigid fully loaded state of the suspension mechanism, and the transportation robot runs at a low speed;
when the semi-load is carried, certain travel distances are reserved between the inner shaft sleeve and the limiting sheet and between the lower cover plate and the guide shaft sleeve, the sliding columns move up and down in the inner shaft sleeve, the semi-load state of the vehicle body or the transport robot corresponds to the semi-load state of the suspension mechanism, and the transport robot runs at a high speed.
2. The mixing and transporting robot according to claim 1, wherein: the mixing drum assembly comprises a mixing drum, a mixing shaft arranged in the mixing drum, mixing blades arranged on the mixing shaft, a feeding hopper and a discharging hopper arranged on the mixing drum, a chute assembly arranged below the discharging hopper and a first drive control module; the input end of the first drive control module is electrically connected with the control device, and the output end of the first drive control module is connected with the stirring shaft.
3. The mixing transport robot of claim 2, wherein: the sliding chute assembly comprises a driving motor, a first speed reducer, a supporting shaft and a sliding chute; the input end of the driving motor is electrically connected with the first driving control module, the output end of the driving motor is electrically connected with the input end of the first speed reducer, the output end of the first speed reducer is connected with the supporting shaft, and the sliding groove is arranged on the supporting shaft.
4. The mixing and transporting robot according to claim 1, wherein: the lifting platform is a scissor-fork type lifting platform, a gear chain type lifting platform or a screw rod type lifting platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011498200.6A CN112606211B (en) | 2020-12-17 | 2020-12-17 | Stirring and transporting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011498200.6A CN112606211B (en) | 2020-12-17 | 2020-12-17 | Stirring and transporting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112606211A CN112606211A (en) | 2021-04-06 |
| CN112606211B true CN112606211B (en) | 2022-09-30 |
Family
ID=75240284
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011498200.6A Active CN112606211B (en) | 2020-12-17 | 2020-12-17 | Stirring and transporting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112606211B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2621883A (en) * | 2022-08-26 | 2024-02-28 | Total Vehicle Solutions Group Ltd | Intelligent concrete delivery system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5129671A (en) * | 1991-01-25 | 1992-07-14 | Eaton Corporation | Vehicle suspension with auxiliary leaf spring with load control system |
| JPH10281205A (en) * | 1997-03-31 | 1998-10-23 | Kayaba Ind Co Ltd | Control device for car height regulation type hydraulic buffer |
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
| CN104330479A (en) * | 2014-11-27 | 2015-02-04 | 长沙理工大学 | Ultrasonic phased array automatic scanning device used for large-size curved-surface component |
| CN204726551U (en) * | 2015-06-17 | 2015-10-28 | 杭州轰驰科技有限公司 | A kind of AGV conveying arrangement |
| CN209505368U (en) * | 2019-02-21 | 2019-10-18 | 杭叉集团股份有限公司 | A kind of suspension and the tray carriage with the suspension |
| CN110802992A (en) * | 2019-11-22 | 2020-02-18 | 杭州国辰机器人科技有限公司 | Damping mechanism, chassis structure and mobile robot |
| KR102075793B1 (en) * | 2019-04-08 | 2020-03-02 | 김기선 | Concreate mixing truck have function for supplying concreate |
| CN111874084A (en) * | 2020-08-11 | 2020-11-03 | 湖南机电职业技术学院 | Automobile chassis structure capable of freely steering |
Family Cites Families (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5056641A (en) * | 1990-01-26 | 1991-10-15 | Mcneilus Truck And Manufacturing, Inc. | Extension chute and connection therefor |
| CN2889679Y (en) * | 2005-12-28 | 2007-04-18 | 重汽集团专用汽车公司 | Folding discharging sliding slot of concrete stirring and delivery vehicle |
| CN101428621B (en) * | 2008-05-06 | 2010-06-30 | 樊铁山 | Method for installing damping device on mine car |
| KR101166260B1 (en) * | 2010-01-18 | 2012-07-18 | 성균관대학교산학협력단 | Shut for mixer truck |
| US20180321678A1 (en) * | 2017-05-04 | 2018-11-08 | GM Global Technology Operations LLC | Notification System For Automotive Vehicle |
| CN207683656U (en) * | 2017-11-28 | 2018-08-03 | 天津青年职业学院 | AGV transport vehicles |
| CN208249400U (en) * | 2018-03-14 | 2018-12-18 | 青岛德泰建设工程有限公司 | A kind of building construction dust protection transport of cement tool |
| CN109352827A (en) * | 2018-09-26 | 2019-02-19 | 占行波 | A kind of Portable small cement mixer |
| CN109466312B (en) * | 2018-11-27 | 2020-11-06 | 合肥工业大学 | All-directional mobile robot and wheel device thereof |
| CN209757322U (en) * | 2019-02-01 | 2019-12-10 | 广东博智林机器人有限公司 | Chassis of automatic guided vehicle and automatic guided vehicle |
| CN110147106A (en) * | 2019-05-29 | 2019-08-20 | 福建（泉州）哈工大工程技术研究院 | Has the intelligent Mobile Service robot of laser and vision fusion obstacle avoidance system |
| CN210791539U (en) * | 2019-08-01 | 2020-06-19 | 广东博智林机器人有限公司 | Feeding robot |
| CN111619013A (en) * | 2020-06-16 | 2020-09-04 | 李永红 | Concrete transfer car (buggy) that prevents to solidify |
| CN111805746A (en) * | 2020-07-28 | 2020-10-23 | 中国重汽集团青岛重工有限公司 | Agitating lorry with adjustable discharging chute |
| CN112026910A (en) * | 2020-08-12 | 2020-12-04 | 上海龙创汽车设计股份有限公司 | Wire-controlled chassis platform applied to unmanned full-freedom steering |
-
2020
- 2020-12-17 CN CN202011498200.6A patent/CN112606211B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5129671A (en) * | 1991-01-25 | 1992-07-14 | Eaton Corporation | Vehicle suspension with auxiliary leaf spring with load control system |
| JPH10281205A (en) * | 1997-03-31 | 1998-10-23 | Kayaba Ind Co Ltd | Control device for car height regulation type hydraulic buffer |
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
| CN104330479A (en) * | 2014-11-27 | 2015-02-04 | 长沙理工大学 | Ultrasonic phased array automatic scanning device used for large-size curved-surface component |
| CN204726551U (en) * | 2015-06-17 | 2015-10-28 | 杭州轰驰科技有限公司 | A kind of AGV conveying arrangement |
| CN209505368U (en) * | 2019-02-21 | 2019-10-18 | 杭叉集团股份有限公司 | A kind of suspension and the tray carriage with the suspension |
| KR102075793B1 (en) * | 2019-04-08 | 2020-03-02 | 김기선 | Concreate mixing truck have function for supplying concreate |
| CN110802992A (en) * | 2019-11-22 | 2020-02-18 | 杭州国辰机器人科技有限公司 | Damping mechanism, chassis structure and mobile robot |
| CN111874084A (en) * | 2020-08-11 | 2020-11-03 | 湖南机电职业技术学院 | Automobile chassis structure capable of freely steering |
Non-Patent Citations (1)
| Title |
|---|
| 复合式移动探测机器人行驶平顺性研究与分析;尚伟燕等;《机械工程学报》;20130405(第07期);155-161 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112606211A (en) | 2021-04-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105857116B (en) | The driving mechanism of homing guidance formula handling device | |
| CN105946548B (en) | Homing guidance formula handling device | |
| CN201042980Y (en) | Castor floating structure for wheeled mobile welding robot | |
| CN112606211B (en) | Stirring and transporting robot | |
| CN210526700U (en) | Novel AGV dolly parks | |
| CN111224346B (en) | High tension transmission line inspection robot with multiple motion modes | |
| WO2022144029A1 (en) | Mobile device, control method, control apparatus, storage medium, mobile platform, and accessory | |
| CN109911060A (en) | A kind of universal chassis of mobile robot | |
| CN211688123U (en) | AGV fork truck that qxcomm technology traveles | |
| CN112110384A (en) | Auxiliary stacking robot | |
| CN112622049B (en) | Stirring transportation robot with automatically, keep away barrier function | |
| CN216784578U (en) | Four-direction vehicle jacking reversing transmission mechanism | |
| CN211731111U (en) | Transport robot and battery replacing device | |
| CN109234812B (en) | Automatic batch car of monocrystalline silicon block re-feeder | |
| CN209921372U (en) | Multifunctional cargo carrying device capable of being applied to complex terrain | |
| CN112249195B (en) | AGV (automatic guided vehicle) of transport robot | |
| CN209776616U (en) | Universal chassis of mobile robot | |
| CN210363539U (en) | Electric driving universal transport cart | |
| CN2455688Y (en) | Progamme controlled crane | |
| CN110155138B (en) | Multifunctional cargo carrying device capable of being applied to complex terrain and control method thereof | |
| CN108750979B (en) | Double-helix type crane | |
| CN113894518A (en) | Top-mounted mechanism for assembling missile under airplane belly and control method thereof | |
| CN208039945U (en) | Avoidance needless type stereoscopic garage | |
| JPS6348565Y2 (en) | ||
| CN220078500U (en) | Lifting device and AGV trolley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |