CN114715309A - Heavy load AGV differential drive module that area hung - Google Patents
Heavy load AGV differential drive module that area hung Download PDFInfo
- Publication number
- CN114715309A CN114715309A CN202210490255.5A CN202210490255A CN114715309A CN 114715309 A CN114715309 A CN 114715309A CN 202210490255 A CN202210490255 A CN 202210490255A CN 114715309 A CN114715309 A CN 114715309A
- Authority
- CN
- China
- Prior art keywords
- bearing plate
- shock
- concave
- horizontal
- drive module
- 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.)
- Pending
Links
- 238000013016 damping Methods 0.000 claims abstract description 81
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 239000000725 suspension Substances 0.000 claims abstract description 40
- 230000035939 shock Effects 0.000 claims description 35
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 238000010521 absorption reaction Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 5
- 239000007787 solid Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000670 limiting effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
- B60G11/16—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
-
- 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
-
- 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
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a heavy-load AGV differential driving module with a suspension function, which comprises an upper bearing plate, an inwards concave bearing plate and a differential driving module, wherein the differential driving module comprises a bearing platform, a driving motor and a driving wheel, the inwards concave bearing plate comprises a groove part and an edge part, the upper bearing plate is connected with the top surface of the groove part of the inwards concave bearing plate through a vertical guide pillar type damping suspension mechanism, and meanwhile, the upper bearing plate is connected with the edge part of the inwards concave bearing plate through a horizontal inclined fork type damping suspension mechanism. The concave bearing plate is adopted, so that the height of the differential driving module of the heavy-load AGV is effectively reduced; the vertical guide pillar type damping suspension mechanism effectively improves the bearing capacity of the heavy-load AGV differential driving module in the vertical direction; the horizontal inclined fork type damping suspension mechanism effectively improves the driving acting force in the front-back direction when the heavy-duty AGV differential driving module moves forwards and backwards and the driving acting force in the left-right direction when the heavy-duty AGV differential driving module turns.
Description
Technical Field
The invention relates to the technical field of heavy-load AGV (automatic guided vehicle), in particular to a differential driving module of a heavy-load AGV with a suspension function.
Background
With the rapid development of the domestic automatic transport logistics system, the requirements of various industries and fields on Automatic Guided Vehicles (AGVs) are continuously improved, the requirements on the adaptability and stability of the AGVs are continuously improved under the condition of ensuring high-speed and high-efficiency logistics transfer, the requirements on the load capacity of the AGVs are also increased, and on the premise, how the heavy-load AGVs adapt to bumpy roads is a problem and a difficult problem which are urgently required to be solved at present. In view of this, a heavy load AGV differential drive module with good bearing effect is provided.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a differential driving module with a suspended AGV, which can bear heavy load, can automatically adapt to bumpy road surfaces under the heavy load, and ensures the load balance of each wheel.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a heavy load AGV differential drive module that area was hung, includes upper bearing plate, indent formula bearing plate, differential drive module includes supporting platform, driving motor, indent formula bearing plate includes upwards sunken, downwardly open-ended concave part and for the outside edge part of turning over the book of concave part, the last drive wheel that can rotate under driving motor's drive of installing of supporting platform, supporting platform installs in the concave part of indent formula bearing plate, upper bearing plate sets up in the top of indent formula bearing plate, and upper bearing plate hangs the mechanism through perpendicular guide pillar type shock attenuation and links to each other with the top surface of indent formula bearing plate concave part, and upper bearing plate hangs the mechanism through setting up in the edge part of indent formula bearing plate outlying horizontal oblique fork formula shock attenuation and indent formula bearing plate simultaneously and links to each other.
Furthermore, perpendicular guide pillar formula shock attenuation hangs mechanism includes perpendicular guide pillar, and the upper end and the upper bearing plate of perpendicular guide pillar link to each other, and the lower extreme links to each other with the top surface of indent formula bearing plate concave part portion, the cover is equipped with the guide pillar spring on the perpendicular guide pillar.
Further, the oblique fork shock attenuation of level hangs the mechanism and includes shock attenuation connecting rod, guide bar, horizontal damping spring, the guide bar passes through the guide bar fixed plate to be installed in last bearing plate, the fixed solid fixed ring that is provided with in middle part of guide bar, all can slip the cover on the guide bar of solid fixed ring both sides and be equipped with circle tubular slider, horizontal damping spring overlaps on locating the guide bar, and its one end links to each other with circle tubular slider, and the other end links to each other with solid fixed ring, the one end of shock attenuation connecting rod is articulated with circle tubular slider, and the other end is articulated with the edge part of indent formula bearing plate.
Furthermore, the upper bearing plate and the concave bearing plate are both square; the vertical guide posts are respectively arranged at the four corners of the upper bearing plate and the concave bearing plate; the four sides of the concave bearing plate are respectively provided with a horizontal inclined fork type damping suspension mechanism, correspondingly, the number of the guide rod fixing plates is 8, the number of the guide rod fixing plates is 1 at the two ends of each side, and the lower ends of the damping connecting rods are hinged at the corner positions of the concave bearing plate.
Further, in an initial state, the damping connecting rods are in an inclined state, and the distance between the upper ends of the two damping connecting rods of the same horizontal inclined fork type damping suspension mechanism is smaller than that between the lower ends of the two damping connecting rods of the same horizontal inclined fork type damping suspension mechanism.
Furthermore, the differential driving module further comprises a supporting frame and a speed reducer, a driving shaft penetrates through the supporting frame, the driving wheels are installed at two ends of the driving shaft, the driving motor is installed on the supporting frame, the driving shaft on the supporting frame is driven to rotate after the driving motor is decelerated by the speed reducer, the driving shaft drives the driving wheels to rotate, and the supporting platform is arranged at the top of the supporting frame.
Furthermore, the edge part of the concave bearing plate is fixedly provided with a damping connecting rod fixing plate, and the damping connecting rod fixing plate is movably connected with the lower end of the damping connecting rod through a damping connecting rod fixing pin.
Furthermore, the upper end of the damping connecting rod is movably connected with the cylindrical sliding block through a damping connecting rod fixing pin.
Compared with the prior art, the invention has the beneficial effects that:
the concave bearing plate is adopted, so that the height of the differential driving module of the heavy-load AGV is effectively reduced; the vertical guide pillar type damping suspension mechanism effectively improves the bearing capacity of the heavy-load AGV differential driving module in the vertical direction; the horizontal inclined fork type damping suspension mechanism effectively improves the driving acting force in the front-back direction when the heavy-duty AGV differential driving module moves forwards and backwards and the driving acting force in the left-right direction when the heavy-duty AGV differential driving module turns.
Drawings
FIG. 1 is a schematic diagram of an external view of a differential drive module of a heavy-duty AGV with a suspension;
FIG. 2 is a schematic diagram of the internal structure of a differential drive module for a heavy loaded AGV with a suspension (with the upper bearing plate removed);
FIG. 3 is a concave bearing plate;
fig. 4 is a schematic structural view of the differential drive module (with the right drive wheel removed).
The mark in the figure is: 1. an upper bearing plate; 2. a concave bearing plate; 3. a shock absorbing link (rear); 4. a cylinder type slide block (rear); 5. a damping connecting rod fixing plate; 6. a shock-absorbing connecting rod (front); 7. a damping connecting rod fixing pin; 8. a cylinder type slide block (front); 9. a guide rod fixing plate; 10. a horizontal damping spring; 11. a guide post spring; 12. a vertical guide post; 13. a shock absorbing link (right); 14. a cylinder type slider (right); 15. a cylinder type slider (left); 16. a shock absorbing link (left); 17. a guide bar; 18. a drive wheel; 19. a support platform; 20. a speed reducer; 21. a support frame; 22. a drive motor; 23. a drive shaft.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In order to solve the problem of too high height of the existing heavy-duty AGV differential driving module with suspension, the present embodiment provides a heavy-duty AGV differential driving module with suspension as shown in fig. 1-2, and the heavy-duty AGV differential driving module with suspension comprises an upper bearing plate 1, a concave bearing plate 2, a differential driving module, a vertical guide pillar type shock absorption suspension mechanism and a horizontal oblique fork type shock absorption suspension mechanism. Wherein:
go up bearing plate 1 and be dull and stereotyped structure (as shown in fig. 1), the structure of indent formula bearing plate 2 is as shown in fig. 3, including upwards sunken, downwardly opening's concave part and for the edge part that the concave part is turned over outward, go up bearing plate 1 and set up in the top of indent formula bearing plate 2, go up bearing plate 1 and hang the mechanism through perpendicular guide pillar formula shock attenuation and link to each other with the top surface of indent formula bearing plate 2 concave part, go up bearing plate 1 simultaneously and hang the mechanism through setting up in the peripheral horizontal oblique fork formula shock attenuation of indent formula bearing plate 2 concave part and link to each other with the edge part of indent formula bearing plate 2.
The structure of the differential drive module is shown in fig. 4, and includes a support platform 19, a drive motor 22, a support frame 21, and a reducer 20, wherein a drive shaft 23 penetrates through the support frame 21, the drive wheels 18 are mounted at two ends of the drive shaft 23, the drive motor 22 is mounted on the support frame 21, the drive motor 22 is decelerated by the reducer 20 to drive the drive shaft 23 on the support frame 21 to rotate, the drive shaft 23 drives the drive wheels 18 to rotate, and the support platform 19 is disposed on the top of the support frame 21. The support platform 19 is mounted in a recessed portion of the female bearing plate 2.
The structure of the vertical guide pillar type damping suspension mechanism is shown in fig. 2, and comprises a vertical guide pillar 12, wherein the upper end of the vertical guide pillar 12 is connected with the upper bearing plate 1, the lower end of the vertical guide pillar 12 is connected with the top surface of the groove part of the concave bearing plate 2, and a guide pillar spring 11 is sleeved on the vertical guide pillar 12. When the concave bearing plate 2 is forced to move upwards, the guide post spring 11 is extruded to generate reaction force, and the function of vertical shock absorption is realized.
The structure of horizontal inclined fork type damping suspension mechanism is shown in fig. 1-2, and comprises a damping connecting rod, a guide rod 17 and a horizontal damping spring 10, wherein the guide rod 17 is installed on an upper bearing plate 1 through a guide rod fixing plate 9, a fixing ring is fixedly arranged in the middle of the guide rod 17, a cylindrical sliding block is sleeved on the guide rod 17 on two sides of the fixing ring in a sliding manner, the horizontal damping spring 10 is sleeved on the guide rod 17, one end of the horizontal damping spring is connected with the cylindrical sliding block, the other end of the horizontal damping spring is connected with the fixing ring, the upper end of the damping connecting rod is movably connected with the cylindrical sliding block through a damping connecting rod fixing pin 7, a damping connecting rod fixing plate 5 is fixedly arranged on the edge part of the concave bearing plate 2, and the damping connecting rod fixing plate 5 is movably connected with the lower end of the damping connecting rod through a damping connecting rod fixing pin 7. In an initial state, the damping connecting rods are in an inclined state, and the distance between the upper ends of the two damping connecting rods of the same horizontal inclined fork type damping suspension mechanism is smaller than that between the lower ends of the two damping connecting rods. Specifically, the whole of the upper bearing plate 1 and the inner concave bearing plate 2 are square, 4 vertical guide pillars 12 are arranged, the upper bearing plate 1 and the inner concave bearing plate 2 are respectively arranged at the positions of four corners of the upper bearing plate 1 and the inner concave bearing plate 2, 4 horizontal inclined fork type damping suspension mechanisms are arranged, a horizontal inclined fork type damping suspension mechanism is respectively arranged on each of four sides of the inner concave bearing plate 2, 8 damping connecting rod fixing plates 5 which are opposite to each other in the same size and position are fixedly arranged at the four corners of the inner concave bearing plate 2, the damping connecting rod fixing plates 5 are respectively movably connected with the bottoms of damping connecting rods (front) 6, damping connecting rods (rear) 3, damping connecting rods (rear) 16 and damping connecting rods (right) 13 through damping connecting rod fixing pins 7, the tops of the damping connecting rods (front) 6, the damping connecting rods (rear) 3, the damping connecting rods (left) 16 and the tops of the damping connecting rods (right) 13 are respectively connected with the cylindrical sliding blocks (front) 8, The cylinder type sliding block (back) 4, the cylinder type sliding block (left) 15 and the cylinder type sliding block (right) 14 are movably connected through a damping connecting rod fixing pin 7, the cylinder type sliding block (front) 8, the cylinder type sliding block (back) 4, the cylinder type sliding block (left) 15 and the cylinder type sliding block (right) 14 can slide on a guide rod 17, the cylinder type sliding block (front) 8, the cylinder type sliding block (back) 4, the cylinder type sliding block (left) 15 and the cylinder type sliding block (right) 14 are respectively connected with a horizontal damping spring 10, 4 guide rods 17 are installed in holes of 8 guide rod fixing plates 9, 8 guide rod fixing plates 9 are fixed on four corners of an upper bearing plate 1, and the damping function in the front-back direction and the left-right direction is achieved through the limiting effect of spring elasticity.
When the differential drive module with the suspension bears the bearing force, the reaction force on the ground is transmitted to the supporting platform 19 through the driving wheel 18 of the differential drive module, the supporting platform 19 is connected with the concave bearing plate 2 of the suspension mechanism, the concave bearing plate 2 bears the force to move upwards, the vertical guide pillar type damping suspension mechanism is pushed to move upwards, the guide pillar spring 11 is compressed, and the bearing reaction force of the differential drive module is counteracted by the reaction force of the guide pillar spring 11. When the concave bearing plate 2 is upward or downward, the reaction force of the guide pillar spring 11 of the vertical guide pillar type damping suspension mechanism is applied to the concave bearing plate, and the guide pillar spring 11 can effectively increase the bearing capacity in the vertical direction.
When the differential driving module of the heavy-load AGV moves forwards, the damping suspension mechanism has a backward inertia force, the damping connecting rods (front) 6 on the left side and the right side of the horizontal inclined fork type damping suspension mechanism move backwards, the bottoms of the damping connecting rods (front) 6 are connected and fixed with the damping connecting rod fixing plate 5, the upper parts of the damping connecting rods (front) 6 are connected with the cylindrical sliding blocks (front) 8, and the damping connecting rods (front) 6 push the cylindrical sliding blocks (front) 8 to move backwards so as to compress the horizontal damping springs 10; and heavy load AGV differential drive module will move forward, can make indent formula bearing plate 2 will move forward, and shock attenuation connecting rod (back) 3 promote cylindrical sliding block (back) 4 and move forward, compress horizontal damping spring 10 to offset the forward drive effort of differential drive module, realize the shock attenuation of the horizontal suspension mechanism of the left and right sides of heavy load AGV differential drive module. A stable moving platform is provided for the heavy-load AGV differential driving module through the horizontal suspension mechanisms on the left side and the right side.
Similarly, when the heavy-load AGV differential drive module moves backwards, the horizontal suspension mechanisms on the left side and the right side counteract the backward driving acting force of the differential drive module, and the shock absorption of the heavy-load AGV differential drive module is realized.
The axial direction of the drive shaft 23 generates an axial force when the heavy-duty AGV differential drive module is turned. When the driving wheel 18 turns left, the damping suspension mechanism has a rightward inertia force, the damping connecting rods (left) 16 at the front side and the rear side of the horizontal oblique fork type damping suspension mechanism move rightward, because the bottoms of the damping connecting rods (left) 16 are connected and fixed with the damping connecting rod fixing plate 5, the upper parts of the damping connecting rods (left) 16 are connected with the cylindrical sliding blocks (left) 15, the damping connecting rods (left) 16 push the cylindrical sliding blocks (left) 15 to move rightward, and the horizontal damping springs 10 are compressed; and the heavy-load AGV differential drive module turns to the left, so that the concave bearing plate 2 moves leftwards, the damping connecting rod (right) 13 pushes the cylindrical sliding block (right) 14 to move leftwards, and the horizontal damping spring 12 is compressed, so that the leftward driving acting force of the differential drive module is counteracted, and the damping of the horizontal suspension mechanisms on the front side and the rear side of the heavy-load AGV differential drive module is realized. A stable moving platform is provided for the heavy-load AGV differential driving module through the horizontal suspension mechanisms on the front side and the rear side.
Similarly, when the heavy-load AGV differential driving module turns to the right, the horizontal suspension mechanisms on the front side and the rear side counteract the driving acting force of the differential driving module to the right, and the shock absorption of the heavy-load AGV differential driving module is realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a heavy load AGV differential drive module that area hung, its characterized in that, includes upper bearing plate, indent formula bearing plate, differential drive module includes supporting platform, driving motor, indent formula bearing plate includes upwards sunken, downwardly open-ended concave part and for the edge part of the outside book of concave part, the last drive wheel that can rotate under driving motor's drive of installing of supporting platform, supporting platform installs in the concave part of indent formula bearing plate, upper bearing plate sets up in the top of indent formula bearing plate, and upper bearing plate hangs the top surface that mechanism and indent formula bearing plate concave part link to each other through perpendicular guide pillar type shock attenuation, and upper bearing plate hangs the edge part that mechanism and indent formula bearing plate linked to each other through setting up in the horizontal oblique fork formula shock attenuation of indent formula bearing plate concave part outlying simultaneously.
2. The differential drive module of claim 1, wherein the vertical guide post type shock absorbing suspension mechanism comprises a vertical guide post, the upper end of the vertical guide post is connected to the upper bearing plate, the lower end of the vertical guide post is connected to the top surface of the concave bearing plate, and the vertical guide post is sleeved with a guide post spring.
3. The differential driving module of a suspended heavy-duty AGV according to claim 2, wherein the horizontal oblique fork type shock absorbing suspension mechanism comprises a shock absorbing connecting rod, a guide rod and a horizontal shock absorbing spring, the guide rod is mounted on the upper bearing plate through a guide rod fixing plate, a fixing ring is fixedly arranged in the middle of the guide rod, a cylindrical sliding block is sleeved on the guide rod on two sides of the fixing ring in a sliding manner, the horizontal shock absorbing spring is sleeved on the guide rod, one end of the horizontal shock absorbing spring is connected with the cylindrical sliding block, the other end of the horizontal shock absorbing spring is connected with the fixing ring, one end of the shock absorbing connecting rod is hinged to the cylindrical sliding block, and the other end of the shock absorbing connecting rod is hinged to the edge of the concave bearing plate.
4. The differential drive module of claim 3 wherein said upper bearing plate and said concave bearing plate are square; the vertical guide posts are respectively arranged at the four corners of the upper bearing plate and the concave bearing plate; the four sides of the concave bearing plate are respectively provided with a horizontal inclined fork type damping suspension mechanism, correspondingly, the number of the guide rod fixing plates is 8, the number of the guide rod fixing plates is 1 at the two ends of each side, and the lower ends of the damping connecting rods are hinged at the corner positions of the concave bearing plate.
5. The differential drive module of claim 4 wherein the shock links are tilted such that the distance between the upper ends of the shock links is less than the distance between the lower ends of the shock links of a single horizontal fork-type shock mount mechanism.
6. The differential driving module of claim 1, further comprising a supporting frame, a speed reducer, a driving shaft passing through the supporting frame, the driving wheels installed at two ends of the driving shaft, the driving motor installed on the supporting frame, the driving shaft on the supporting frame being driven to rotate after being decelerated by the speed reducer, the driving shaft driving the driving wheels to rotate, and the supporting platform installed on the top of the supporting frame.
7. The differential drive module of claim 3 wherein the edge of the concave bearing plate is fixedly provided with a shock-absorbing connecting rod fixing plate, and the shock-absorbing connecting rod fixing plate is movably connected with the lower end of the shock-absorbing connecting rod through a shock-absorbing connecting rod fixing pin.
8. The differential drive module of claim 3 in which the upper end of the shock link is movably connected to the cylindrical slide by a shock link securing pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210490255.5A CN114715309A (en) | 2022-05-07 | 2022-05-07 | Heavy load AGV differential drive module that area hung |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210490255.5A CN114715309A (en) | 2022-05-07 | 2022-05-07 | Heavy load AGV differential drive module that area hung |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114715309A true CN114715309A (en) | 2022-07-08 |
Family
ID=82230873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210490255.5A Pending CN114715309A (en) | 2022-05-07 | 2022-05-07 | Heavy load AGV differential drive module that area hung |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114715309A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207657932U (en) * | 2017-12-14 | 2018-07-27 | 昆山市工研院智能制造技术有限公司 | A kind of outdoor patrol robot with damping device |
| CN108382146A (en) * | 2018-03-16 | 2018-08-10 | 安徽工程大学 | A kind of all-terrain moving robot Combined vehicle body suspension arrangement |
| CN209988029U (en) * | 2019-04-08 | 2020-01-24 | 上海澳悦智能科技有限公司 | 360-degree omni-directional high-load automatic guided transport vehicle |
| CN212637069U (en) * | 2020-08-04 | 2021-03-02 | 金华峰瑞车业科技有限公司 | Chassis stabilizing structure of beach vehicle |
| CN212827747U (en) * | 2020-07-22 | 2021-03-30 | 南平市建阳区汽车锻压件厂 | Shock-absorbing connecting device for axle |
| CN214416453U (en) * | 2020-12-21 | 2021-10-19 | 台州市中心医院（台州学院附属医院） | Test tube classification case |
| US20210323621A1 (en) * | 2019-08-15 | 2021-10-21 | Yanshan University | Active-passive differential series-parallel connection supporting leg, gravity-based closing series-parallel connection supporting leg, and six-degree-of-freedom position-adjusting robot platform |
| CN216232335U (en) * | 2021-11-29 | 2022-04-08 | 江西省中鼐科技服务有限公司 | Cargo handling auxiliary assembly with buffer function |
-
2022
- 2022-05-07 CN CN202210490255.5A patent/CN114715309A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207657932U (en) * | 2017-12-14 | 2018-07-27 | 昆山市工研院智能制造技术有限公司 | A kind of outdoor patrol robot with damping device |
| CN108382146A (en) * | 2018-03-16 | 2018-08-10 | 安徽工程大学 | A kind of all-terrain moving robot Combined vehicle body suspension arrangement |
| CN209988029U (en) * | 2019-04-08 | 2020-01-24 | 上海澳悦智能科技有限公司 | 360-degree omni-directional high-load automatic guided transport vehicle |
| US20210323621A1 (en) * | 2019-08-15 | 2021-10-21 | Yanshan University | Active-passive differential series-parallel connection supporting leg, gravity-based closing series-parallel connection supporting leg, and six-degree-of-freedom position-adjusting robot platform |
| CN212827747U (en) * | 2020-07-22 | 2021-03-30 | 南平市建阳区汽车锻压件厂 | Shock-absorbing connecting device for axle |
| CN212637069U (en) * | 2020-08-04 | 2021-03-02 | 金华峰瑞车业科技有限公司 | Chassis stabilizing structure of beach vehicle |
| CN214416453U (en) * | 2020-12-21 | 2021-10-19 | 台州市中心医院（台州学院附属医院） | Test tube classification case |
| CN216232335U (en) * | 2021-11-29 | 2022-04-08 | 江西省中鼐科技服务有限公司 | Cargo handling auxiliary assembly with buffer function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110758038A (en) | Novel AGV drive chassis of floating | |
| CN115284808A (en) | Vehicle mechanism with lifting chassis | |
| CN114715309A (en) | Heavy load AGV differential drive module that area hung | |
| CN210592220U (en) | Robot with double-bridge suspension | |
| CN209778195U (en) | Order-picking vehicle | |
| CN210337455U (en) | Forklift and axle | |
| CN210191071U (en) | Mobile chassis and robot | |
| CN113500884A (en) | All-terrain mobile robot with lifting function | |
| CN213565304U (en) | Two-wheeled robot with damping function | |
| CN217227382U (en) | Trackless electric flat carriage | |
| CN217099594U (en) | Connecting rod suspension damping steering wheel and automatic guide device | |
| CN219601609U (en) | Full-vector linear aircraft tractor based on suspension lifting | |
| CN211944192U (en) | Movable shockproof tray capable of being assembled | |
| CN219044260U (en) | Shock absorption driving device for AGV trolley and AGV trolley | |
| CN213566223U (en) | Wheeled robot with damping function | |
| CN216002080U (en) | High-strength servo axle assembly with double tie rods | |
| CN211617358U (en) | Double-rear-axle air suspension of truck | |
| CN212890675U (en) | Split type supporting arrangement of semitrailer | |
| CN219791317U (en) | Material frame positioning device of AGV logistics warehouse system | |
| CN211731635U (en) | AGV vertical steering wheel shock-absorbing structure | |
| CN212609345U (en) | Fork truck with shock attenuation formula drive fixing base assembly | |
| CN213419776U (en) | Damping part for mechanical equipment | |
| CN210337562U (en) | Novel electric transport vehicle | |
| CN220363184U (en) | Intelligent charging robot suspension structure and robot | |
| CN219884081U (en) | Intelligent track optimization patrol unmanned aerial vehicle |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220708 |