CN112896543A - AGV platform for carrying numerical control positioner - Google Patents
AGV platform for carrying numerical control positioner Download PDFInfo
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- CN112896543A CN112896543A CN202110156798.9A CN202110156798A CN112896543A CN 112896543 A CN112896543 A CN 112896543A CN 202110156798 A CN202110156798 A CN 202110156798A CN 112896543 A CN112896543 A CN 112896543A
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- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
Abstract
The invention relates to an AGV (automatic guided vehicle) platform for carrying a numerical control positioner, and belongs to the technical field of aircraft assembly and manufacturing. The method comprises the following steps: the chassis is provided with a main body and bearing arms positioned at two ends of the main body to form a U-shaped structure, the U-shaped structure is matched with the appearance of the numerical control positioner, and the two bearing arms can extend to two sides of the numerical control positioner; the lifting mechanisms are arranged on the inner sides of the two bearing arms, can be matched with the grooves on the outer wall of the numerical control positioner and slide along the grooves; the lifting mechanism is used for controlling the lifting mechanism to lift; the driving wheel set is arranged at the bottom of the chassis; the system comprises a navigation system and a control system, wherein the control system controls the AGV platform to walk according to the position information of the navigation system. And after moving to a preset position along with the AGV platform, the lifting mechanism drives the lifting mechanism to move downwards, so that the numerical control positioner falls back to the bottom surface. The whole device has strong adaptability and high working efficiency.
Description
Technical Field
The invention relates to the technical field of aircraft assembly and manufacturing, in particular to an AGV platform for carrying a numerical control positioner.
Background
During the general assembly of an aircraft, it is required that the major components of the aircraft have the correct position and attitude. The traditional aircraft assembly ensures the spatial position and the attitude of each large part of the aircraft through a rigid model frame, and the assembly method has low efficiency and unstable assembly quality. In order to overcome the defects of the rigid frame, advanced airplane digital assembly systems are developed in advanced aviation countries in the world, most parts of an airplane are supported by a plurality of three-coordinate numerical control locators, and the attitude adjustment of the parts is realized through the coordinated motion of the three-coordinate numerical control locators.
The main task of aircraft assembly is to achieve positioning and connection between the components. In a digital assembly system, measurement and pose calculation of large aircraft components are usually realized by using a laser or photogrammetry technology, an aircraft assembly generalized size chain with data as nodes is constructed, and a numerical control positioner is used as an execution mechanism to realize pose adjustment.
The numerical control positioner is a modular unit capable of realizing X, Y, Z numerical control movement in three coordinate directions, and a plurality of numerical control positioners in the same component positioning system can realize synchronous coordinated movement. A single numerical control positioner generally has X, Y, Z three degrees of freedom of motion, and a plurality of numerical control positioners can cooperatively move to form a six-degree-of-freedom attitude adjusting system, so that the large part of the airplane can be supported and positioned.
The numerical control positioner faces the problem of carrying in the production process and can be carried by a carrying robot. The transfer robot is divided into a multi-joint robot, a hard arm type power-assisted robot and a T-shaped power-assisted robot. Transport is also possible with AGVs developed in recent years. Agv (automated Guided vehicle) is a transport vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various traveling functions. The AGV has quite wide application in the fields of factory logistics automation, automatic assembly line and the like.
The AGV platform is generally divided into one-way walking, two-way walking and omnidirectional walking according to the walking mode. Compared with a traditional conveying roller way or a traditional conveying belt, the conveying line of the AGV system has the advantages of being simple in construction, flexible in path, free of space occupation, good in mobility, soft and the like. Therefore, the AGV intelligent navigation transportation system can greatly save labor cost, improve the operation safety of a workshop, improve the working environment of the workshop, improve the transportation efficiency and prevent safety accidents.
However, the load capacity of the conventional automatic AGV material handling system cannot accord with the site, the guiding route of the AGV is not the optimal solution, the stroke is not accurate enough, the system maintenance cost is high, and the AGV is applied to cause obstruction, so that the working efficiency is low.
Disclosure of Invention
The invention aims to provide an AGV platform for carrying a numerical control positioner, which is suitable for the numerical control positioner and can carry out entering and withdrawing of products according to a designed and planned path. So as to improve the efficiency of the digital docking of the machine body.
In order to achieve the above object, the present invention provides an AGV platform for transporting a numerically controlled positioner, comprising:
the chassis is provided with a main body and bearing arms positioned at two ends of the main body to form a U-shaped structure, the U-shaped structure is matched with the appearance of the numerical control positioner, and the two bearing arms can extend to two sides of the numerical control positioner;
the lifting mechanisms are arranged on the inner sides of the two bearing arms, can be matched with the grooves on the outer wall of the numerical control positioner and slide along the grooves;
the lifting mechanism is used for controlling the lifting mechanism to lift;
the driving wheel set is arranged at the bottom of the chassis;
the AGV comprises a navigation system and a control system, wherein the control system controls the AGV platform to walk according to the position information of the navigation system.
According to the technical scheme, when the numerical control positioner needs to be transported, firstly, the path of the AGV platform is planned, the bearing arms at the two ends extend to the two sides of the numerical control positioner to be positioned, and the lifting mechanisms on the inner sides of the bearing arms are aligned to the grooves in the outer wall of the numerical control positioner. And then, after the lifting mechanism drives the lifting mechanism to move downwards along with the AGV platform to a preset position, the lifting mechanism drives the lifting mechanism to move downwards, so that the numerical control positioner falls back to the bottom surface. The whole device has strong adaptability and high working efficiency.
Optionally, in one embodiment, the safety system further comprises an acousto-optic warning lamp, an emergency stop switch, a safety touch edge and a safety scanner arranged at the front end of the bearing arm. The platform has scram and quick recovery ability, prevents that product and fuselage from colliding, and the platform has work reputation warning, trouble reputation warning device. When the monitoring early warning distance is reached, the system stops and gives an alarm, the trolley can continue to walk after manual intervention is removed, and three-color acousto-optic alarms are displayed to be different red, yellow and green three colors and buzzer sounds in the process of starting and walking of the trolley and are used for prompting different states of the trolley. The AGV platform is provided with a necessary safety warning mark to ensure the safety of products.
Optionally, in one embodiment, a power system is included to provide a stable power source for the AGV platform. The power system can be composed of a power supply, an inverter and a charging device, the storage battery is used for providing power for the AGV, and the charging system with a protection function is adopted. The power pack adopts a modular design and has a battery management function. And the inverter inverts the direct-current power supply into an alternating-current three-phase 380V to supply power for the AGV motor driver. The battery and the inverter are installed inside the AGV shell, and the structure of the charging socket is reserved on the side edge of the shell.
Optionally, in one embodiment, the navigation system employs a mode of visual navigation such that the AGV platform has self-guidance capabilities. The navigation system consists of a camera, a lens, a light source, a processing system and a navigation ribbon, and can realize ribbon guidance and two-dimensional code positioning and self-guidance driving of the equipment. The transportation of the device is realized according to a fixed path. Through the two-dimensional code, can set up AGV's speed reduction position and stop position for increase AGV's positioning accuracy. The guidance, vehicle driving, remote control and loading and unloading operation control of the AGV platform can be realized through wired handheld operation.
Optionally, in an embodiment, the driving wheel set includes an independent suspension mounting system fixed under the chassis, a driving wheel mounted below the independent suspension mounting system, and a servo motor and a speed reducer for driving the driving wheel. The driving wheel can be a Mecanum wheel. Wherein the independent suspension mounting system is a standard.
Optionally, in one embodiment, the lifting mechanism includes a lifting rail mounted on the chassis, a slider fitted on the lifting rail, and a driving assembly for driving the slider to slide up and down along the lifting rail; the lifting mechanism is arranged on the sliding block.
Optionally, in one embodiment, the lifting mechanism comprises a mounting plate and at least two lifting blocks fixed on the mounting plate;
the lifting mechanism comprises two lifting guide rails which are arranged in parallel, and the mounting plate is fixed with the sliding blocks on the two lifting guide rails.
Optionally, in one embodiment, the driving assembly includes:
a servo motor mounted on the main body;
the first rotating shaft and the second rotating shaft are respectively positioned at two sides of the servo motor, extend to two ends of the main body along the transverse direction and are driven to rotate by the servo motor;
the third rotating shaft and the fourth rotating shaft are respectively arranged on the two bearing arms along the longitudinal direction;
the lifting screw is parallel to the lifting guide rail, and the lifting mechanism is fixed by a nut matched with the screw;
the first commutator is arranged at the intersection of the first rotating shaft and the third rotating shaft as well as the intersection of the second rotating shaft and the fourth rotating shaft;
and the second commutator is arranged between the third rotating shaft and the fourth rotating shaft and the corresponding lifting screw rod.
Optionally, in one embodiment, a housing is disposed above the chassis. For protecting the various structures disposed on the chassis. Meanwhile, a avoidance hole for lifting the lifting mechanism can be formed in the shell.
Compared with the prior art, the invention has the advantages that:
the AGV platform and the numerical control positioner have higher matching degree, the efficiency of digital butt joint of the platform is improved, and the carrying of the numerical control positioner can be rapidly completed after the AGV platform and the numerical control positioner are started.
Drawings
FIG. 1 is a schematic diagram of an AGV platform according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a driving wheel set according to an embodiment of the present invention;
FIG. 3 is a front view of a lift mechanism and a lift mechanism in an embodiment of the invention;
FIG. 4 is a top view of the lift mechanism and the lift mechanism in an embodiment of the present invention;
FIG. 5 is a side view of a lift mechanism and a lift mechanism in an embodiment of the invention;
FIG. 6 is a flow chart of the control of the AGV platform in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the following embodiments and accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments without any inventive step, are within the scope of protection of the invention.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of the word "comprise" or "comprises", and the like, in the context of this application, is intended to mean that the elements or items listed before that word, in addition to those listed after that word, do not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Examples
Referring to fig. 1 to 5, the AGV platform for transporting the nc positioner in this embodiment is used for moving and transporting the nc positioner, and the AGV platform can carry out the entering and the exiting of products according to a designed and planned path. So as to improve the efficiency of the digital docking of the machine body.
The AGV platform of the embodiment comprises a chassis, and a lifting mechanism, a driving wheel set, a control system, a navigation system, a safety system and an electric power system which are arranged on the chassis, wherein a shell 100 is further arranged at the top of the chassis and used for protecting each component and system of the device. The driving wheel set realizes the movement of the AGV platform. The control system realizes the straight movement, turning, inclined movement and pivot rotation of the AGV body, has an automatic navigation function, a cooperative motion function and a bearing real-time monitoring function, and realizes the guidance of the AGV body, the driving of the AGV body, the remote control and the control of the loading and unloading operation through the wired handheld operation unit. The navigation system has an automatic guidance function and is used for controlling the deceleration position and the stop position of the AGV so as to improve the operation precision of the AGV. The safety system realizes the capability of sudden stop and quick recovery, and prevents the collision between a product and the machine body. The electric power system provides electric energy for the AGV carrying platform.
The chassis includes the main part in this embodiment and locates the bearing arm at main part both ends. The whole forklift structure is adopted.
As shown in fig. 2, the driving wheel set in this embodiment includes a mecanum wheel 201, an independent suspension mounting system 202, a high-torque precision reducer 203, and a servo motor 204. And is connected to the frame AGV chassis by an independent suspension mounting system 202. Each wheel set is designed to be independently suspended, so that the adaptability to the ground can be enhanced, and the slipping phenomenon is avoided. The multi-wheel combination can realize the function of moving in any direction in a two-dimensional plane, and the multi-wheel combination comprises all-directional moving forms such as forward moving, backward moving, left-right transverse moving, oblique moving, center rotating, any curve moving and the like. And the AGV platform possesses the parking braking function, can automatic parking during parking state.
As shown in fig. 3 to 5, the lifting mechanism in this embodiment includes a lifting rail 301 mounted on the chassis, a slider 302 fitted on the lifting rail 301, and a driving assembly for driving the slider 302 to slide up and down along the lifting rail 301; the lifting mechanism is mounted on the slider 302. The lifting mechanism of the present embodiment includes a mounting plate 401 and two lifting blocks 402 fixed to the mounting plate 401. Two bearing arms respectively set up a set of lifting mechanism, and elevating system includes two parallel arrangement's lifting guide 301, and mounting panel 401 is fixed with slider 302 on two lifting guide 301. The existing screw rod lifter on the market can be directly adopted.
The drive assembly includes:
a servo motor 303 mounted on the main body of the chassis through a mounting plate 304;
a first rotating shaft 305 and a second rotating shaft 306 which are respectively positioned at two sides of the servo motor 303, extend to two ends of the main body along the transverse direction, and are driven to rotate by the servo motor 303;
a third rotating shaft 307 and a fourth rotating shaft 308 which are respectively arranged on the two bearing arms along the longitudinal direction;
the lifting screw 309 is parallel to the lifting guide rail 301, and a nut matched with the screw fixes the mounting plate 401 of the lifting mechanism;
a first commutator 310 installed at the intersection of the first rotating shaft 305 and the third rotating shaft 307, and the second rotating shaft 306 and the fourth rotating shaft 308;
and the second commutator 311 is installed between the third rotating shaft 307 and the fourth rotating shaft 308 and the corresponding lifting screw 309.
In this embodiment, the servo motor 303 is used to drive the lifting screw 309 to rotate. The reverser transmits power to the lift screw 309, and the steering reverser implementing the power is simultaneously fixed above the chassis by mounting members.
In this embodiment, the lifting guide rail 301 adopts a 45 guide rail, and the lifting block 402 is matched with a groove on the numerical control positioner, so as to fix the numerical control positioner in the lifting process of the lifting block 402.
When the AGV needs to move forward and move backward, the driving motor 204 is controlled to rotate forwards or backwards, power is transmitted to the driving wheel set through the speed reducer, and the forward or backward operation of the AGV is completed. When the AGV needs to be turned, the driving wheels on the two sides are controlled to rotate, so that the driving wheels on the two sides generate a rotating speed difference, and the turning operation of the AGV body is realized.
In the embodiment, the control system and the servo motor adopt a motion control system of the German SIEMENS company, and have the functions of a voltage stabilizer, leakage protection, power failure protection and overload protection. And a servo driving system of Germany SIEMENS company is adopted, the motion control of each axis of the equipment is realized based on a Profinet field bus, and the AGV is provided with a positioning navigation system, so that the traveling is stable, and the AGV has the functions of starting, slowing and stopping. The walking is smooth and stable, and the steering is flexible. The device can realize the straight running, turning, inclined running and in-situ rotation of the vehicle body, has an automatic navigation function, a cooperative motion function and a bearing real-time monitoring function. And the AGV platform is provided with a wired handheld operating system, and has the functions of omnidirectional movement, speed and gear control of the system. The AGV has the advantages that the working platform can move according to an appointed path in an automatic navigation mode, and meanwhile, the AGV can be manually controlled to move forwards and backwards, move transversely and rotate leftwards and rightwards through wired remote control. An AGV control flow chart in the embodiment of the present invention is shown in fig. 6.
In the embodiment, the navigation system adopts a visual navigation mode, so that the AGV platform has a self-guiding function. The navigation system consists of a camera, a lens, a light source, a processing system and a navigation ribbon, can realize ribbon guidance and two-dimensional code positioning, can realize device transportation according to a fixed path after a motion path is optimized, and realizes self-guidance driving of equipment. Through the two-dimensional code, can set up AGV's speed reduction position and stop position for increase AGV's positioning accuracy.
The safety system in the embodiment of the invention comprises a safety touch edge 501, a scanner 502, an acousto-optic warning lamp 503 and an emergency stop switch. The three-color status indicator lamp is installed at the diagonal angle of the vehicle body, continuous sound and light warning effects are achieved in the starting and running processes, the warning volume is loud, and the operating personnel can be guaranteed to be clear and recognizable. Emergency stop switches are arranged on four corners of the vehicle body and the handheld remote controller, and equipment can stop acting by pressing the emergency stop switches in emergency. The safety contact edges are arranged around the vehicle body, and can output signals after being blocked, so as to forcibly stop the vehicle and send out an alarm. The opposite corners of the vehicle body are provided with non-contact obstacle avoidance sensors, 360-degree all-directional coverage detection can be realized, and the shape of the area can be set arbitrarily, so that the vehicle body can automatically detect obstacles, automatically decelerate and brake in the movement process, and the safety distance of 0.5m is ensured. Thereby ensuring the safety of the vehicle body.
The power system in this embodiment is composed of a power supply, an inverter, and a charging device. The storage battery adopts a lithium iron phosphate storage battery pack with direct current of 48V for providing power for the AGV. The power pack adopts a modular design and can be quickly disassembled and replaced. And a BMS system is provided, and the battery management function is provided. And the inverter inverts the direct-current power supply into an alternating-current three-phase 380V to supply power for the AGV motor driver. The AGV power system adopts the charging device that has protect function, and the structure of charging socket is reserved to automobile body side, embeds 4 meters long cable reel device to realize the reliable storage of cable and constitute. The pipe coiling device, the charger and the battery on the vehicle body are all arranged in a built-in mode.
Claims (8)
1. An AGV platform that carries a numerically controlled positioner, comprising:
the chassis is provided with a main body and bearing arms positioned at two ends of the main body to form a U-shaped structure, the U-shaped structure is matched with the appearance of the numerical control positioner, and the two bearing arms can extend to two sides of the numerical control positioner;
the lifting mechanisms are arranged on the inner sides of the two bearing arms, can be matched with the grooves on the outer wall of the numerical control positioner and slide along the grooves;
the lifting mechanism is used for controlling the lifting mechanism to lift;
the driving wheel set is arranged at the bottom of the chassis;
the AGV comprises a navigation system and a control system, wherein the control system controls the AGV platform to walk according to the position information of the navigation system.
2. The AGV platform of claim 1, further comprising a safety system including an audible and visual warning light, an emergency stop switch, a safety lip, and a safety scanner disposed at a front end of the load arm.
3. The AGV platform of claim 1, further comprising a power system for providing a stable power source to the AGV platform.
4. An AGV platform according to claim 1, wherein said drive wheel assembly includes an independent suspension mounting system mounted under the chassis, a drive wheel mounted under said independent suspension mounting system, and a servo motor and speed reducer for driving said drive wheel.
5. An AGV platform according to claim 1, wherein said elevator mechanism includes an elevator rail mounted to said chassis, a slide engaging said elevator rail, and a drive assembly for driving said slide to slide up and down said elevator rail; the lifting mechanism is arranged on the sliding block.
6. An AGV platform according to claim 5 wherein said lift mechanism includes a mounting plate and at least two lift blocks secured to said mounting plate;
the lifting mechanism comprises two lifting guide rails which are arranged in parallel, and the mounting plate is fixed with the sliding blocks on the two lifting guide rails.
7. An AGV platform for handling a digitally controlled positioner according to claim 5, wherein said drive assembly includes:
a servo motor mounted on the main body;
the first rotating shaft and the second rotating shaft are respectively positioned at two sides of the servo motor, extend to two ends of the main body along the transverse direction and are driven to rotate by the servo motor;
the third rotating shaft and the fourth rotating shaft are respectively arranged on the two bearing arms along the longitudinal direction;
the lifting screw is parallel to the lifting guide rail, and the lifting mechanism is fixed by a nut matched with the screw;
the first commutator is arranged at the intersection of the first rotating shaft and the third rotating shaft as well as the intersection of the second rotating shaft and the fourth rotating shaft;
and the second commutator is arranged between the third rotating shaft and the fourth rotating shaft and the corresponding lifting screw rod.
8. An AGV platform for handling a digitally controlled positioner according to claim 1 and wherein an outer enclosure is provided above said chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110156798.9A CN112896543A (en) | 2021-02-04 | 2021-02-04 | AGV platform for carrying numerical control positioner |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110156798.9A CN112896543A (en) | 2021-02-04 | 2021-02-04 | AGV platform for carrying numerical control positioner |
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| CN112896543A true CN112896543A (en) | 2021-06-04 |
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| CN202110156798.9A Pending CN112896543A (en) | 2021-02-04 | 2021-02-04 | AGV platform for carrying numerical control positioner |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113353572A (en) * | 2021-06-30 | 2021-09-07 | 山东天岳先进科技股份有限公司 | Material assembly vehicle |
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