CN114751338A - High accuracy intelligence is from moving super steady lifting type AGV - Google Patents
High accuracy intelligence is from moving super steady lifting type AGV Download PDFInfo
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- CN114751338A CN114751338A CN202210406825.8A CN202210406825A CN114751338A CN 114751338 A CN114751338 A CN 114751338A CN 202210406825 A CN202210406825 A CN 202210406825A CN 114751338 A CN114751338 A CN 114751338A
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- agv
- lifting
- chassis
- gear
- annular seat
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- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 238000001514 detection method Methods 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/12—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks
- B66F7/14—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks screw operated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07586—Suspension or mounting of wheels on chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a high-precision intelligent self-moving superstable lifting AGV, which comprises a shell, wherein a chassis is arranged in the shell, a driving wheel mechanism and a lifting mechanism are arranged on the chassis, a lifting platform is arranged at the top of the lifting mechanism, the lifting mechanism comprises a fixed support, the fixed support is provided with three stand columns, the top end of each stand column is in threaded connection with a lifting lead screw, the upper ends of all the lifting lead screws are provided with annular seats, the top end of each lifting lead screw upwards penetrates through the annular seats and is provided with a driven gear, a rotary bearing is arranged at the center of each annular seat, the inner ring of the rotary bearing is rotationally connected with the annular seats, the outer ring of the rotary bearing is provided with a gear ring A, the gear ring A is meshed with all the driven gears at the same time, and the top end of each annular seat is provided with a ring gear ring B; two servo motors are arranged in the annular seat and are respectively provided with a driving gear A and a driving gear B, the driving gear A is meshed with the gear ring A, and the driving gear B is meshed with the gear ring B; the invention has the advantages of stable lifting, compact structure, floating self-adaptability of the chassis and wide application range.
Description
Technical Field
The invention relates to the technical field of AGV (automatic guided vehicle), in particular to a high-precision intelligent self-moving superstable lifting type AGV.
Background
In modern industrial production, AGV auxiliary production is adopted, workpieces are conveyed and conveyed to a specified place through a lifting type AGV, and the existing lifting type AGV has the following defects in actual use: 1. the existing lifting mechanism of the lifting AGV directly drives the lifting through the lifting mechanism, and the problem of poor synchronism exists during multi-point driving, so that the lifting platform is easy to incline; 2. the AGV can encounter the condition of uneven ground in the walking process, so that a part of a driving wheel is suspended, and the ground gripping force is reduced to cause slipping; in order to prevent the phenomenon, some manufacturers improve the driving structure, but the improved structure is generally more complex, and more manufacturing cost is increased.
Disclosure of Invention
The invention aims to solve the problems of the AGV and provides the high-precision intelligent self-moving ultra-stable lifting type AGV.
The specific scheme of the invention is as follows: a high-precision intelligent self-moving ultra-stable lifting type AGV comprises a shell, a chassis is arranged in the shell, a driving wheel mechanism and a lifting mechanism are arranged on the chassis, a lifting platform is arranged at the top of the lifting mechanism, the lifting mechanism comprises a fixed support, the fixed support is provided with three stand columns, the top end of each stand column is in threaded connection with a lifting screw rod, the upper ends of all the lifting screw rods are provided with an annular seat, each lifting screw rod is connected with the annular seat through a thrust bearing, the top end of each lifting screw rod upwards penetrates through the annular seat and is provided with a driven gear, a rotary bearing is arranged at the center of the annular seat, the inner ring of the rotary bearing is rotatably connected with the annular seat, the outer ring of the rotary bearing is provided with a gear ring A which is meshed with all the driven gears at the same time, the top end of the annular seat is provided with a ring gear B, the gear ring B and the annular seat rotate relatively, and the top surface of the gear ring B is fixedly connected with the lifting platform; two servo motors are arranged in the annular seat, a driving gear A is arranged at the output end of one servo motor A and is meshed with the gear ring A, and a driving gear B is arranged on the other servo motor B and is meshed with the gear ring B.
A detection gear is arranged in the annular seat and meshed with a gear ring B, and a central shaft of the detection gear is connected with an angle sensor which is used for detecting the rotation angle of the gear ring B.
A nut seat is arranged at the top of each upright column, a nut is fixedly arranged in the nut seat, and a lifting screw rod is in threaded connection with the nut.
The center connecting lines of the three driven gears form a regular triangle.
The chassis comprises a chassis main board, two groups of driving wheel mechanisms are symmetrically arranged on the left side and the right side of the chassis main board, each group of driving wheel mechanism comprises a supporting seat A, the bottom of the supporting seat A is fixedly connected with the chassis main board, a swing arm A is arranged at the upper end of the supporting seat A, the middle part of the swing arm A is rotatably connected with the supporting seat A, one end of the swing arm A is provided with a driving wheel, a servo motor connected with the driving wheel is arranged on the swing arm A, and the other end of the swing arm A is provided with an adjusting wheel.
The servo motor is obliquely installed, and the main axis of the servo motor and the horizontal plane form an included angle of 25-35 degrees.
The driving wheel is positioned in the middle of two sides of a chassis main board, the adjusting wheel is positioned at the rear end of the chassis main board, the auxiliary wheel mechanism is arranged at the front end of the chassis main board and comprises a supporting seat B arranged in the middle of the front end of the chassis main board, a swing arm B is arranged on the supporting seat B and is perpendicular to the swing arm A, and two auxiliary wheels are arranged at two ends of the swing arm B respectively.
The middle part of the chassis is provided with a through hole, the through hole is provided with a double-layer mounting bracket, the lower layer of the double-layer mounting bracket is provided with a positioning camera, the upper layer of the double-layer mounting bracket is provided with a tray identification camera, and the middle part of the lifting platform corresponding to the tray identification camera is provided with the through hole.
The annular base is provided with a positioning bracket at the bottom, a vertical supporting rod is arranged on the chassis corresponding to the positioning bracket, and two proximity switches are arranged on the supporting rod and used for detecting the position of the positioning bracket so as to limit the upper limit position and the lower limit position of the lifting mechanism.
The working principle of the invention is as follows: the driving gear A is driven by a servo motor, the driving gear A drives the gear ring A to rotate, the gear ring A synchronously drives the three driven gears to rotate, each driven gear drives the corresponding lifting screw rod to rotate, the lifting screw rods perform linear lifting motion under the action of threads, the three lifting screw rods synchronously lift so as to push the part of the whole annular seat to lift through the thrust bearing, and the thrust bearing at the shaft end of each lifting screw rod bears the lifting load of the whole annular seat so as to drive the load on the annular seat to lift; the driving gear B is driven by the other servo motor and drives the gear ring B to rotate, and the top of the gear ring B is fixedly connected with the lifting platform, so that the lifting platform can rotate at any angle relative to the AGV body.
In the traveling process of the AGV, the driving wheels are guaranteed to have enough ground grabbing force under the working condition that the ground has fluctuation through the up-and-down swinging of the swing arm A and the swing arm B, and therefore the AGV is guaranteed to keep a normal traveling posture.
Compared with the prior art, the invention has the following advantages: 1. the gear ring A drives the three driven gears to synchronously rotate, so that the three lifting screw rods synchronously lift, the stability of the lifting platform is ensured, and the inclination is avoided; 2. nuts of the three lifting screw rods are fixed on a bearing plane at the upper end of the triangular fixed support through flange surfaces of the nut seats, and cylindrical surfaces of the nut seats are not contacted with the fixed support, so that clamping stagnation of the three lifting screw rods is avoided when the three lifting screw rods are synchronously lifted; 3. the three lifting screw rods are controlled by one servo motor, so that the structure is more compact, the size is smaller and more ingenious, and the lifting screw rod is suitable for a working environment with lower height space; 4. the chassis has the self-adaptability of floating, can satisfy the walking of unevenness bottom surface, and compact structure, high low, application scope is wide.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective exploded view of the present invention;
FIG. 3 is a schematic view of the internal chassis and lifting mechanism of the present invention;
FIG. 4 is a perspective view of the lifting mechanism of the present invention;
FIG. 5 is a front view of FIG. 4;
FIG. 6 is a top view of FIG. 4;
FIG. 7 is a view A-A of FIG. 4;
FIG. 8 is a view B-B of FIG. 4;
FIG. 9 is a front view of the chassis structure of the present invention;
FIG. 10 is a top view of FIG. 9;
in the figure: 1-shell, 2-chassis, 21-chassis main board, 22-driving wheel, 23-servo motor, 24-wheel frame, 25-swing arm A, 26-adjusting wheel, 27-supporting seat A, 28-auxiliary wheel, 29-swing arm B, 210-supporting seat B, 3-lifting mechanism, 31-fixed support, 32-upright post, 33-annular seat, 34-gear ring B, 35-gear ring A, 36-nut seat, 37-lifting screw rod, 38-driven gear, 39-driving gear B, 310-driving gear A, 311-detection gear, 312-slewing bearing, 313-servo motor A, 314-servo motor B, 4-lifting platform, 5-pallet recognition camera, 6-double-layer mounting support, 7-positioning camera, 8-SLAM laser navigation radar, 9-proximity switch and 10-positioning bracket.
Detailed Description
Referring to fig. 1-8, the present embodiment is a high-precision intelligent autonomous moving superstable lifting AGV, which includes a housing 1, a SLAM laser navigation radar 8 is installed at a headstock portion of the housing 1, a chassis 2 is installed in the housing 1, a driving wheel mechanism and a lifting mechanism 3 are installed on the chassis 2, a lifting table 4 is installed at a top portion of the lifting mechanism 3, the lifting mechanism 3 includes a fixing bracket 31, the fixing bracket 31 is provided with three upright posts 32, a nut seat 36 is fixedly installed at a top end of each upright post 32, a nut is installed on each nut seat 36, a lifting screw 37 is connected with each nut seat 36 through an internal thread, an annular seat 3 is installed at upper ends of all lifting screw 37 together, each lifting screw 37 is connected with the annular seat 33 through a thrust bearing and two deep groove ball bearings, a top end of each lifting screw 37 upwardly passes through the annular seat 33 and is installed with a driven gear 38, a rotary bearing 312 is installed at a center of the annular seat 33, the inner ring of the slewing bearing 312 is rotatably connected with the annular seat 33, the outer ring of the slewing bearing 312 is provided with a gear ring A35, the gear ring A35 is simultaneously meshed with all the driven gears 38, the top end of the annular seat 33 is provided with a ring of gear ring B34, the bottom surface of the gear ring B34 and the annular seat 33 relatively rotate, and the top surface of the gear ring B34 is fixedly connected with the lifting platform 4; two servo motors are arranged in the annular seat 33, wherein the output end of one servo motor A313 is provided with a driving gear A310, the driving gear A310 is meshed with a gear ring A35, the other servo motor B314 is provided with a driving gear B39, and the driving gear B39 is meshed with a gear ring B34.
In the embodiment, a detection gear 311 is arranged in the annular seat 33, the detection gear 311 is meshed with the gear ring B34, and an angle sensor is connected to the central shaft of the detection gear 311 and is used for detecting the rotation angle of the gear ring B34 and feeding the rotation angle back to the control system.
In the embodiment, the top of each upright column 32 is provided with a nut seat 36, a nut is fixedly arranged in the nut seat 36, and the lifting screw rod 37 is in threaded connection with the nut.
The center connecting lines of the three driven gears 38 of the present embodiment form a regular triangle.
Referring to fig. 3, 9 and 10, the chassis 2 of the present invention includes a chassis main board 21, two sets of driving wheel mechanisms are symmetrically installed on the left and right sides of the chassis main board 21, each set of driving wheel mechanism includes a supporting base a27, the bottom of the supporting base a27 is fixedly connected with the chassis main board 21, a swing arm a25 is installed on the upper end of the supporting base a27, the middle of the swing arm a25 is rotatably connected with the supporting base a27, a driving wheel 22 is installed on one end of the swing arm a25, a servo motor 23 connected with the driving wheel 22 is installed on the swing arm a25, and an adjusting wheel 26 is installed on the other end of the swing arm a 25.
In the embodiment, the adjusting wheel 26 is provided with a wheel carrier 24, and the top of the wheel carrier 24 is connected with a swing arm A25 through a rotary bearing.
In this embodiment, the driving wheel 22 is located in the middle of the chassis main board 21, the adjustment wheel 26 is located at the rear end of the chassis main board 21, the auxiliary wheel mechanism is installed at the front end of the chassis main board 21, the auxiliary wheel mechanism includes a supporting seat B210 installed in the middle of the front end of the chassis main board 21, a swing arm B29 is installed on the supporting seat B210, a swing arm B29 and a swing arm a25 are vertically arranged, and two auxiliary wheels 28 are respectively installed at two ends of the swing arm B29.
In the present embodiment, the auxiliary wheel 28 is a universal wheel.
According to the embodiment, the servo motor 23 is obliquely installed, and the main axis of the servo motor 23 and the horizontal plane form an included angle of 30 degrees (selected within the range of 25-35 degrees according to the AGV structure layout condition), so that the height of the AGV is reduced.
In the embodiment, a through hole is formed in the middle of the chassis 2, a double-layer mounting bracket 6 is arranged at the through hole, a positioning camera 7 is arranged on the lower layer of the double-layer mounting bracket 6, a tray recognition camera 5 is arranged on the upper layer of the double-layer mounting bracket 6, and a through hole is formed in the middle of the lifting platform 4 corresponding to the tray recognition camera 5; the positioning camera 7 is a two-dimensional code fine positioning camera, a lens is arranged downwards, the two-dimensional code information preset on the ground can be read to obtain real-time attitude information or preset instruction information of the AGV body, the real-time attitude information or the preset instruction information is fed back to a control center through an onboard control system in real time, and the SLAM laser navigation radar can be assisted to finish precise navigation in a special environment; the lens of the tray identification camera 5 is arranged upwards and used for reading material information written in by the transfer tray, feeding the material information back to the vehicle-mounted control system in real time, and realizing accurate point node transfer and conveying of the material universe range under the dispatching command of the control center.
In this embodiment, a positioning bracket 10 is installed at the bottom of the annular seat 33, a vertical supporting rod is installed on the chassis 2 corresponding to the positioning bracket 10, two proximity switches 9 are installed on the supporting rod, and the two proximity switches 9 are used for detecting the positions of the positioning bracket 10 to define the upper limit position and the lower limit position of the lifting mechanism 3.
Claims (9)
1. The utility model provides a type AGV that superstable lifts of high accuracy intelligence autonomous movement, includes the shell, is equipped with the chassis in the shell, is equipped with driving wheel mechanism and lifting mechanism on the chassis, and lifting mechanism's top is equipped with lifting platform, characterized by: the lifting mechanism comprises a fixed support, the fixed support is provided with three stand columns, the top end of each stand column is in threaded connection with a lifting screw rod, the upper ends of all the lifting screw rods are provided with an annular seat, each lifting screw rod is connected with the annular seat through a thrust bearing, the top end of each lifting screw rod upwards penetrates through the annular seat and is provided with a driven gear, a rotary bearing is arranged at the center of the annular seat, the inner ring of the rotary bearing is rotatably connected with the annular seat, the outer ring of the rotary bearing is provided with a gear ring A which is meshed with all the driven gears at the same time, the top end of the annular seat is provided with a ring gear B, the bottom surface of the gear ring B rotates relative to the annular seat, and the top surface of the gear ring B is fixedly connected with the lifting platform; two servo motors are arranged in the annular seat, a driving gear A is arranged at the output end of one servo motor A and is meshed with the gear ring A, and a driving gear B is arranged on the other servo motor B and is meshed with the gear ring B.
2. The AGV of claim 1, which is adapted to move autonomously with high precision and with ultra-stability, and is characterized in that: a detection gear is arranged in the annular seat and meshed with the gear ring B, and a central shaft of the detection gear is connected with an angle sensor which is used for detecting the rotating angle of the gear ring B.
3. The AGV of claim 1, which is adapted to move autonomously with high precision and with ultra-stability, and is characterized in that: and a nut seat is arranged at the top of each upright column, a nut is fixedly arranged in the nut seat, and the lifting screw rod is in threaded connection with the nut.
4. The AGV of claim 1, which is adapted to move autonomously with high precision and with ultra-stability, and is characterized in that: the central connecting lines of the three driven gears form a regular triangle.
5. The AGV of claim 1, which is adapted to move autonomously with high precision and with ultra-stability, and is characterized in that: the chassis includes the chassis mainboard, and two sets of driving wheel mechanisms are equipped with to the left and right both sides symmetry of chassis mainboard, and each driving wheel mechanism of group includes supporting seat A, supporting seat A bottom and chassis mainboard fixed connection, and swing arm A is equipped with to supporting seat A upper end, and swing arm A middle part is rotated with supporting seat A and is connected, and swing arm A one end is equipped with the drive wheel, is equipped with the servo motor who is connected with the drive wheel on the swing arm A, and the adjustment wheel is equipped with to the swing arm A other end.
6. The AGV of claim 5, wherein said AGV comprises: the servo motor is installed in an inclined mode, and the main axis of the servo motor and the horizontal plane form an included angle of 25-35 degrees.
7. The AGV of claim 1, which is adapted to move autonomously with high precision and with ultra-stability, and is characterized in that: the driving wheel is located the middle part of chassis mainboard both sides, and the adjustment wheel is located the rear end of chassis mainboard, and auxiliary wheel mechanism is equipped with to the front end of chassis mainboard, and auxiliary wheel mechanism is equipped with swing arm B including installing the supporting seat B at chassis mainboard front end middle part on the supporting seat B, and swing arm B arranges with swing arm A is perpendicular, and swing arm B's both ends respectively are equipped with an auxiliary wheel.
8. The AGV of claim 1, wherein said AGV is a high precision intelligent autonomous mobile super-stable lift AGV: the middle of the chassis is provided with a through hole, the through hole is provided with a double-layer mounting bracket, the lower layer of the double-layer mounting bracket is provided with a positioning camera, the upper layer of the double-layer mounting bracket is provided with a tray recognition camera, and the middle of the lifting platform is provided with a through hole corresponding to the tray recognition camera.
9. The AGV of claim 1, wherein said AGV is a high precision intelligent autonomous mobile super-stable lift AGV: the bottom of the annular seat is provided with a positioning support, a vertical supporting rod is arranged on the chassis corresponding to the positioning support, two proximity switches are arranged on the supporting rod, and the two proximity switches are used for detecting the position of the positioning support so as to limit the upper limit position and the lower limit position of the lifting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210406825.8A CN114751338A (en) | 2022-04-19 | 2022-04-19 | High accuracy intelligence is from moving super steady lifting type AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210406825.8A CN114751338A (en) | 2022-04-19 | 2022-04-19 | High accuracy intelligence is from moving super steady lifting type AGV |
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| Publication Number | Publication Date |
|---|---|
| CN114751338A true CN114751338A (en) | 2022-07-15 |
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| CN202210406825.8A Pending CN114751338A (en) | 2022-04-19 | 2022-04-19 | High accuracy intelligence is from moving super steady lifting type AGV |
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| CN213569357U (en) * | 2020-11-04 | 2021-06-29 | 苏州快捷机器人有限公司 | Novel KIVA robot |
| CN213768787U (en) * | 2020-12-17 | 2021-07-23 | 如熠智能科技(苏州)有限公司 | Novel AGV chassis structure |
| CN214267813U (en) * | 2020-12-18 | 2021-09-24 | 北京旷视机器人技术有限公司 | Chassis assembly and automated guided vehicle |
| CN214648669U (en) * | 2021-01-29 | 2021-11-09 | 苏州艾吉威机器人有限公司 | Chassis device |
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