CN116691874B - An obstacle-crossing AGV vehicle - Google Patents
An obstacle-crossing AGV vehicleInfo
- Publication number
- CN116691874B CN116691874B CN202310881062.7A CN202310881062A CN116691874B CN 116691874 B CN116691874 B CN 116691874B CN 202310881062 A CN202310881062 A CN 202310881062A CN 116691874 B CN116691874 B CN 116691874B
- Authority
- CN
- China
- Prior art keywords
- auxiliary
- wheel
- auxiliary wheel
- assembly
- wheel assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
-
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
本发明公开了一种越障AGV小车，包括车架，前轮组件、后轮组件以及电机组件均安装在车架上，所述后轮组件包含的至少两个后轮之间通过后连动轴连动，电机组件的电机可驱动后连动轴转动，所述车架上还安装有第一辅助调节组件以及位于前轮组件和后轮组件之间且靠近于前轮组件的第一辅助轮组件，所述车架上还安装有第二辅助调节组件以及位于后轮组件右侧且靠近于后轮组件的第二辅助轮组件，所述第一辅助轮组件包含的至少两个第一辅助轮之间通过第一辅助连动轴连动，所述第二辅助轮组件包含的至少两个第二辅助轮之间通过第二辅助连动轴连动，所述后连动轴与第二辅助连动轴之间连接有皮带。实现了AGV小车的越障，提高了AGV小车的越障性能。
The present invention discloses an obstacle-crossing AGV, comprising a frame, a front wheel assembly, a rear wheel assembly, and a motor assembly, all of which are mounted on the frame. The at least two rear wheels included in the rear wheel assembly are connected via a rear connecting shaft, and the motor of the motor assembly can drive the rear connecting shaft to rotate. The frame is also equipped with a first auxiliary adjustment assembly and a first auxiliary wheel assembly located between the front wheel assembly and the rear wheel assembly and close to the front wheel assembly. The frame is also equipped with a second auxiliary adjustment assembly and a second auxiliary wheel assembly located to the right of the rear wheel assembly and close to the rear wheel assembly. The at least two first auxiliary wheels included in the first auxiliary wheel assembly are connected via a first auxiliary connecting shaft, and the at least two second auxiliary wheels included in the second auxiliary wheel assembly are connected via a second auxiliary connecting shaft. A belt is connected between the rear connecting shaft and the second auxiliary connecting shaft. This enables the AGV to cross obstacles and improves the obstacle-crossing performance of the AGV.
Description
Technical Field
The invention relates to the technical field of AGV trolleys, in particular to an obstacle-surmounting AGV trolley.
Background
At present, the AGV trolley considers the gravity center problem, the chassis is designed to be lower, the used wheels are smaller, so the risk of being blocked when passing through the elevator door exists, and the relative height difference between the elevator car and the outer edge is not fixed, is sometimes positive and sometimes negative when the elevator stops at each floor. When the car height exceeds the outer edge, it is possible that the wheels get stuck. The existing AGV trolley mainly adopts rear wheel driving, when the front wheels of the AGV trolley meet the obstacle, the front wheels can idle to cause the AGV trolley to be incapable of crossing the obstacle, and the normal use of the AGV trolley is affected. And after the front wheel of the AGV trolley passes through the obstacle, the rear wheel of the AGV trolley still has the risk of being incapable of crossing the obstacle.
Disclosure of Invention
In order to solve the technical problems in the background technology, the invention provides an obstacle surmounting AGV.
The invention provides an obstacle crossing AGV trolley, which comprises a frame, a front wheel assembly, a rear wheel assembly and a motor assembly, wherein the front wheel assembly, the rear wheel assembly and the motor assembly are all arranged on the frame, at least two rear wheels contained in the rear wheel assembly are linked through a rear linkage shaft, a motor of the motor assembly can drive the rear linkage shaft to rotate, a first auxiliary adjusting assembly and a first auxiliary wheel assembly which is positioned between the front wheel assembly and the rear wheel assembly and is close to the front wheel assembly are also arranged on the frame, a second auxiliary adjusting assembly and a second auxiliary wheel assembly which is positioned on the right side of the rear wheel assembly and is close to the rear wheel assembly are also arranged on the frame, at least two first auxiliary wheels contained in the first auxiliary wheel assembly are linked through a first auxiliary linkage shaft, at least two second auxiliary wheels contained in the second auxiliary wheel assembly are linked through a second auxiliary linkage shaft, a belt is connected between the rear linkage shaft and the second auxiliary linkage shaft, the first auxiliary adjusting assembly can drive the first auxiliary wheel assembly to shift, and the second auxiliary adjusting assembly can drive the second auxiliary wheel assembly to shift so as to realize three switching states:
the state switching 1 is that the first auxiliary wheel assembly descends to the state that the lower edge of the first auxiliary wheel is lower than the lower edge of the front wheel, and the second auxiliary wheel assembly keeps the lower edge of the second auxiliary wheel higher than the lower edge of the rear wheel;
The state switching 2 is that the second auxiliary wheel assembly descends to the lower edge of the second auxiliary wheel lower than the rear lower edge, and the relative distance between the rear linkage shaft and the second auxiliary linkage shaft is enlarged to the tension of the belt, and the lower edge of the front wheel is higher than the lower edge of the rear wheel;
and 3, the state is switched to 3, wherein the second auxiliary wheel assembly is lifted to the position that the lower edge of the second auxiliary wheel is higher than or flush with the lower edge of the rear wheel, the relative distance between the rear linkage shaft and the second auxiliary linkage shaft is reduced to the position that the belt is loose, and the first auxiliary wheel assembly is lifted to the position that the lower edge of the first auxiliary wheel is higher than or flush with the lower edge of the front wheel.
Preferably, the first auxiliary wheel assembly and the second auxiliary wheel assembly complete the state switch 1 when the front wheel is blocked by the obstacle.
Preferably, the first auxiliary wheel assembly and the second auxiliary wheel assembly complete the state switch 2 when the front wheel passes the obstacle and the rear wheel is blocked.
Preferably, the first auxiliary wheel assembly and the second auxiliary wheel assembly complete the state switch 3 when both the front wheel and the rear wheel pass the obstacle.
Preferably, the diameters of the first auxiliary wheel, the second auxiliary wheel, the front wheel and the rear wheel are all equal.
Preferably, the first auxiliary adjusting component and the first auxiliary adjusting component all comprise a driving motor, a fixing frame, a screw rod, a sleeve and a mounting frame, wherein the fixing frame is fixedly arranged on the frame through a mounting hole, the driving motor is fixedly arranged on the fixing frame, the driving motor is connected with the screw rod in a transmission mode, the sleeve matched with the screw rod is meshed with the screw rod, the mounting frame is fixedly arranged on the sleeve and is used for connecting the first auxiliary wheel component or the second auxiliary wheel component, and the mounting frame and the first auxiliary wheel component or the second auxiliary wheel component are synchronously ascending or descending.
Preferably, the second auxiliary wheel assembly is arranged on the frame through a first chute for ascending or descending relative to the rear wheel.
Preferably, the first auxiliary wheel assembly is arranged on the frame in a way that the first auxiliary wheel assembly can ascend or descend relative to the front through a second chute arranged on the frame.
According to the obstacle crossing AGV provided by the invention, when the front wheel passes through the obstacle and the rear wheel is blocked when meeting the obstacle, the first auxiliary wheel assembly descends to the lower edge of the first auxiliary wheel to be lower than the lower edge of the front wheel, so that the front wheel is separated from the bottom surface and is abutted against the obstacle, and the rear linkage shaft can be driven to rotate by the motor of the motor assembly, so that the front wheel can stride. When the front wheel meets the obstacle and passes through and the rear wheel meets the obstacle and is blocked, the second auxiliary wheel assembly descends to the lower edge of the second auxiliary wheel to be lower than the lower rear edge, so that the rear wheel is separated from the bottom surface and is propped against the obstacle, and the second auxiliary wheel contacts the bottom surface to support the AGV trolley. The motor through motor assembly can drive the back connecting axle and rotate, and the relative distance between back connecting axle and the supplementary connecting axle of second enlarges to the belt and rises tightly, is connected with the belt between back connecting axle and the supplementary connecting axle of second, and the rotation of back connecting axle passes through the belt and drives the supplementary connecting axle of second and rotate for AGV dolly removes along the front wheel direction, realizes that the rear wheel strides. When the front wheel and the rear wheel pass through the obstacle, the second auxiliary wheel assembly ascends to the position that the lower edge of the second auxiliary wheel is higher than or flush with the lower edge of the rear wheel, the relative distance between the rear linkage shaft and the second auxiliary linkage shaft is reduced to the position that the belt is loose, and the first auxiliary wheel assembly ascends to the position that the lower edge of the first auxiliary wheel is higher than or flush with the lower edge of the front wheel. The obstacle crossing of the AGV trolley is realized, and the obstacle crossing performance of the AGV trolley is improved.
Drawings
FIG. 1 is a schematic diagram of a prior art structure of an obstacle surmounting AGV cart according to the present invention;
FIG. 2 is a schematic view of the structure of a normal use state of an obstacle surmounting AGV provided by the invention;
FIG. 3 is a schematic diagram of a state switch 1 of an obstacle surmounting AGV according to the present invention;
Fig. 4 is a schematic structural diagram of a state switch 2 of an obstacle surmounting AGV trolley according to the present invention;
FIG. 5 is a schematic diagram of an auxiliary adjustment assembly for an obstacle surmounting AGV of the present invention;
Fig. 6 is a schematic perspective view of an auxiliary adjusting assembly of an obstacle surmounting AGV trolley according to the present invention.
Legend description:
1. A frame; 2, a rear wheel assembly, 3, a front wheel assembly, 4, a belt, 5, a second auxiliary wheel assembly, 6, a first chute, 7, a second chute, 8, a first auxiliary wheel assembly, 9, a driving motor, 10, a screw, 11, a sleeve, 12, a mounting rack, 13, a fixing rack, 1301 and a mounting hole.
Detailed Description
Referring to fig. 1-6, the obstacle surmounting AGV trolley provided by the invention comprises a frame 1, a front wheel assembly 2, a rear wheel assembly 3 and a motor assembly, wherein the front wheel assembly 2, the rear wheel assembly 3 and the motor assembly are all arranged on the frame 1, at least two rear wheels contained in the rear wheel assembly 3 are linked through a rear linkage shaft, the motor of the motor assembly can drive the rear linkage shaft to rotate, a first auxiliary adjusting assembly and a first auxiliary wheel assembly 8 which is positioned between the front wheel assembly 2 and the rear wheel assembly 3 and is close to the front wheel assembly 2 are also arranged on the frame 1, a second auxiliary adjusting assembly and a second auxiliary wheel assembly 5 which is positioned on the right side of the rear wheel assembly 3 and is close to the rear wheel assembly 3 are also arranged on the frame 1, at least two first auxiliary wheels contained in the first auxiliary wheel assembly 8 are linked through a first auxiliary linkage shaft, a belt 4 is connected between the rear linkage shaft and the second auxiliary linkage shaft, and the first auxiliary adjusting assembly can drive the first auxiliary wheel assembly 8 to shift, and the second auxiliary adjusting assembly can drive the second auxiliary wheel assembly 5 to shift to realize the following three states:
State switch 1. The first auxiliary wheel assembly 8 descends to the point where the first auxiliary wheel lower edge is lower than the front wheel lower edge and the second auxiliary wheel assembly 5 keeps the second auxiliary wheel lower edge higher than the rear wheel lower edge.
In this embodiment, the first auxiliary wheel assembly 8 and the second auxiliary wheel assembly 5 complete the state switch 1 when the front wheel encounters a barrier. The first auxiliary wheel assembly 8 descends to the lower edge of the first auxiliary wheel lower than the lower edge of the front wheel, so that the front wheel is separated from the bottom surface and is propped against the obstacle, and the rear linkage shaft can be driven to rotate through a motor of the motor assembly, so that the front wheel can stride.
The state switching 2 is that the second auxiliary wheel assembly 5 descends to the lower edge of the second auxiliary wheel lower than the rear lower edge, and the relative distance between the rear linkage shaft and the second auxiliary linkage shaft is enlarged until the belt 4 is tensioned, and the lower edge of the front wheel is higher than the lower edge of the rear wheel.
In this embodiment, the first auxiliary wheel assembly 8 and the second auxiliary wheel assembly 5 complete the state switch 2 when the front wheel passes the obstacle and the rear wheel is blocked. The second auxiliary wheel assembly 5 descends to the point that the lower edge of the second auxiliary wheel is lower than the lower rear edge, so that the rear wheel is separated from the bottom surface and is propped against the obstacle, and the second auxiliary wheel contacts the bottom surface to support the AGV trolley. The motor through motor assembly can drive the back connecting axle and rotate, and the relative distance between back connecting axle and the supplementary connecting axle of second enlarges to belt 4 and rises tightly, is connected with belt 4 between back connecting axle and the supplementary connecting axle of second, and the rotation of back connecting axle passes through belt 4 and drives the supplementary connecting axle of second and rotate for AGV dolly removes along the front wheel direction, realizes that the rear wheel strides.
The state switching 3 is that the second auxiliary wheel assembly 5 is lifted to the position that the lower edge of the second auxiliary wheel is higher than or flush with the lower edge of the rear wheel, and the relative distance between the rear linkage shaft and the second auxiliary linkage shaft is reduced to the position that the belt 4 is loose, and the first auxiliary wheel assembly 8 is lifted to the position that the lower edge of the first auxiliary wheel is higher than or flush with the lower edge of the front wheel.
In the present embodiment, when both the front wheel and the rear wheel pass through the obstacle, the first auxiliary wheel assembly 8 and the second auxiliary wheel assembly 5 complete the state switching 3. When the second auxiliary wheel assembly 5 ascends to the position that the lower edge of the second auxiliary wheel is higher than the lower edge of the rear wheel and the first auxiliary wheel assembly 8 ascends to the position that the lower edge of the first auxiliary wheel is higher than the lower edge of the front wheel, the AGV trolley is supported by the front wheel and the rear wheel to normally run. The second auxiliary wheel assembly 5 goes up to the second auxiliary wheel lower limb and the trailing wheel lower limb flush, and the first auxiliary wheel assembly 8 goes up to the first auxiliary wheel lower limb and the front wheel lower limb level at ordinary times, and first auxiliary wheel, second auxiliary wheel, front wheel, trailing wheel support the AGV dolly jointly, improve the stability of AGV dolly.
In this embodiment, the belt 4 is in a loose state, and the normal running of the AGV is not affected.
Specifically, as shown in fig. 2, the diameters of the first auxiliary wheel, the second auxiliary wheel, the front wheel and the rear wheel are all equal.
Specifically, as shown in fig. 5 and 6, the first auxiliary adjusting component and the first auxiliary adjusting component each include a driving motor 9, a fixing frame 13, a screw 10, a sleeve 11 and a mounting frame 12, the fixing frame 13 is fixedly mounted on the frame 1 through a mounting hole 1301, the driving motor 9 is fixedly mounted on the fixing frame 13, the driving motor 9 is connected with the screw 10 in a transmission manner, the screw 10 is meshed with the sleeve 11 matched with the screw 10, a mounting frame 12 is fixed on the sleeve 11, the mounting frame 12 is used for connecting the first auxiliary wheel component 8 or the second auxiliary wheel component 5, and the mounting frame 12 and the first auxiliary wheel component 8 or the second auxiliary wheel component 5 synchronously ascend or descend.
In this embodiment, the driving motor 9 drives the screw 10 to rotate, and during the rotation of the screw 10, the screw 10 is meshed with the sleeve 11 to rotate, so that the rotation is converted into linear motion, and the mounting frame 12 is adjusted in the vertical direction, so that the first auxiliary wheel assembly 8 or the second auxiliary wheel assembly 5 can synchronously ascend or descend.
In particular, as shown in fig. 2-4, the second auxiliary wheel assembly 5 is arranged to be moved up or down relative to the rear wheel by means of a first chute 6 provided in the frame 1.
In this embodiment, in order to achieve uplink or downlink adjustment limitation of the second auxiliary wheel assembly 5, stability of adjustment and use is improved.
In particular, as shown in fig. 2-4, the first auxiliary wheel assembly 8 is moved up or down relative to the front through a second chute 7 provided on the frame 1.
In this embodiment, in order to achieve uplink or downlink adjustment limitation of the first auxiliary wheel assembly 8, stability of adjustment and use is improved.
In the specific working process of the obstacle surmounting AGV trolley, when the front wheels pass through the obstacle and the rear wheels are blocked, the first auxiliary wheel assembly 8 descends to the lower edge of the first auxiliary wheel and is lower than the lower edge of the front wheels, so that the front wheels are separated from the bottom surface and are abutted against the obstacle, and the rear connecting shaft can be driven to rotate through the motor of the motor assembly, so that the front wheels can stride. When the front wheel passes through the obstacle and the rear wheel is blocked, the second auxiliary wheel assembly 5 descends to the lower edge of the second auxiliary wheel to be lower than the lower rear edge, so that the rear wheel is separated from the bottom surface and is propped against the obstacle, and the bottom surface of the second auxiliary wheel contacts with the AGV trolley to support. The motor through motor assembly can drive the back connecting axle and rotate, and the relative distance between back connecting axle and the supplementary connecting axle of second enlarges to belt 4 and rises tightly, is connected with belt 4 between back connecting axle and the supplementary connecting axle of second, and the rotation of back connecting axle passes through belt 4 and drives the supplementary connecting axle of second and rotate for AGV dolly removes along the front wheel direction, realizes that the rear wheel strides. When the front wheel and the rear wheel pass through the obstacle, the second auxiliary wheel assembly 5 ascends to the position that the lower edge of the second auxiliary wheel is higher than or flush with the lower edge of the rear wheel, the relative distance between the rear linkage shaft and the second auxiliary linkage shaft is reduced to the position that the belt 4 is loose, and the first auxiliary wheel assembly 8 ascends to the position that the lower edge of the first auxiliary wheel is higher than or flush with the lower edge of the front wheel.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (8)
1. The utility model provides an obstacle surmounting AGV dolly, includes frame (1), front wheel subassembly (2), rear wheel subassembly (3) and motor assembly all install on frame (1), through rear linkage axle interlock between at least two rear wheels that rear wheel subassembly (3) contained, the motor of motor assembly can drive rear linkage axle rotation, a serial communication port, still install first auxiliary adjustment subassembly and lie in front wheel subassembly (2) and rear wheel subassembly (3) between and be close to first auxiliary wheel subassembly (8) of front wheel subassembly (2) on frame (1), still install second auxiliary adjustment subassembly and lie in rear wheel subassembly (3) right side and be close to second auxiliary wheel subassembly (5) of rear wheel subassembly (3) on frame (1), through first auxiliary linkage axle interlock between at least two first auxiliary wheels that first auxiliary wheel subassembly (8) contained, through second auxiliary linkage axle interlock between at least two second auxiliary wheels that second auxiliary wheel subassembly (5) contained, but second auxiliary wheel subassembly and second auxiliary wheel subassembly (4) are connected with the second auxiliary belt drive movable state (8) are realized following to the second auxiliary adjustment subassembly, but the second auxiliary belt drive state is shifted between first auxiliary wheel subassembly (8).
The state switching 1 is that the first auxiliary wheel assembly (8) descends to the state that the lower edge of the first auxiliary wheel is lower than the lower edge of the front wheel, and the second auxiliary wheel assembly (5) keeps the lower edge of the second auxiliary wheel higher than the lower edge of the rear wheel;
The state switching 2 is that the second auxiliary wheel assembly (5) descends to the lower edge of the second auxiliary wheel lower than the lower edge of the rear wheel, and the relative distance between the rear linkage shaft and the second auxiliary linkage shaft is enlarged to the tension of the belt (4), and the lower edge of the front wheel is higher than the lower edge of the rear wheel;
And 3, the state is switched to 3, the second auxiliary wheel assembly (5) is lifted to the position that the lower edge of the second auxiliary wheel is higher than or flush with the lower edge of the rear wheel, the relative distance between the rear linkage shaft and the second auxiliary linkage shaft is reduced to the position that the belt (4) is loose, and the first auxiliary wheel assembly (8) is lifted to the position that the lower edge of the first auxiliary wheel is higher than or flush with the lower edge of the front wheel.
2. The obstacle surmounting AGV trolley of claim 1 wherein the first auxiliary wheel assembly (8) and the second auxiliary wheel assembly (5) complete the state switch 1 when the front wheel encounters an obstacle.
3. The obstacle surmounting AGV trolley of claim 1 wherein the first auxiliary wheel assembly (8) and the second auxiliary wheel assembly (5) complete the state switch 2 when the front wheel encounters an obstacle and the rear wheel encounters an obstacle.
4. Obstacle surmounting AGV trolley according to claim 1, characterized in that the first auxiliary wheel assembly (8) and the second auxiliary wheel assembly (5) complete the status switch 3 when both the front and rear wheels pass the obstacle.
5. The obstacle surmounting AGV cart of claim 1 wherein the first auxiliary wheel, the second auxiliary wheel, the front wheel, and the rear wheel are all equal in diameter.
6. The obstacle surmounting AGV trolley according to claim 1, wherein the first auxiliary adjusting component and the second auxiliary adjusting component comprise a driving motor (9), a fixing frame (13), a screw rod (10), a sleeve (11) and a mounting frame (12), the fixing frame (13) is fixedly mounted on the frame (1) through a mounting hole (1301), the driving motor (9) is fixedly mounted on the fixing frame (13), the driving motor (9) is in transmission connection with the screw rod (10), the sleeve (11) matched with the screw rod (10) is meshed on the screw rod (10), the mounting frame (12) is fixed on the sleeve (11), the mounting frame (12) is used for connecting the first auxiliary wheel component (8) or the second auxiliary wheel component (5), and the mounting frame (12) and the first auxiliary wheel component (8) or the second auxiliary wheel component (5) are in synchronous ascending or descending.
7. Obstacle surmounting AGV trolley according to claim 1, characterized in that the second auxiliary wheel assembly (5) is arranged up or down in relation to the rear wheels by means of a first chute (6) provided on the frame (1).
8. Obstacle surmounting AGV trolley according to claim 1, characterized in that the first auxiliary wheel assembly (8) is arranged up or down in relation to the front wheels by means of a second chute (7) provided on the frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310881062.7A CN116691874B (en) | 2023-07-18 | 2023-07-18 | An obstacle-crossing AGV vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310881062.7A CN116691874B (en) | 2023-07-18 | 2023-07-18 | An obstacle-crossing AGV vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116691874A CN116691874A (en) | 2023-09-05 |
| CN116691874B true CN116691874B (en) | 2025-08-26 |
Family
ID=87843448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310881062.7A Active CN116691874B (en) | 2023-07-18 | 2023-07-18 | An obstacle-crossing AGV vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116691874B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211001622U (en) * | 2019-09-13 | 2020-07-14 | 上海金方得智能科技有限公司 | AGV car that can hinder more |
| CN113492911A (en) * | 2021-07-05 | 2021-10-12 | 上海擎朗智能科技有限公司 | Chassis, mobile robot and pit-crossing and bank-crossing method thereof |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20150002128U (en) * | 2013-11-27 | 2015-06-04 | 대우조선해양 주식회사 | Cart structure of climbing over obstacle |
| CN115702102A (en) * | 2020-07-07 | 2023-02-14 | 三星重工业株式会社 | Trolley and offshore structure provided with same |
-
2023
- 2023-07-18 CN CN202310881062.7A patent/CN116691874B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211001622U (en) * | 2019-09-13 | 2020-07-14 | 上海金方得智能科技有限公司 | AGV car that can hinder more |
| CN113492911A (en) * | 2021-07-05 | 2021-10-12 | 上海擎朗智能科技有限公司 | Chassis, mobile robot and pit-crossing and bank-crossing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116691874A (en) | 2023-09-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101066235A (en) | Electrically driven stairs climbing hard cart and its deformation wheel | |
| CN108433897B (en) | All-terrain manned robot with rear wheel lifting mechanism and step-up and down method | |
| CN116691874B (en) | An obstacle-crossing AGV vehicle | |
| CN110435376A (en) | A suspension system, chassis and vehicle | |
| CN115991172B (en) | An AGV battery-changing vehicle | |
| CN110329372B (en) | A stair climbing robot | |
| CN117104366B (en) | An obstacle crossing method for AGV | |
| CN115919566A (en) | Self-balancing stair climbing wheelchair | |
| CN116812035B (en) | An AGV with adaptive obstacle crossing function | |
| CN109968938B (en) | A shock-absorbing trolley chassis whose front and rear wheels can be lifted and lowered synchronously | |
| CN109132959A (en) | A kind of tray truck with lifting device | |
| CN113510678A (en) | A kind of all-terrain robot control method and all-terrain robot | |
| CN210122159U (en) | A device for surmounting obstacles and transportation equipment for installing the device | |
| CN218171973U (en) | Heavy load formula of hiding actuating mechanism for AGV | |
| CN207466816U (en) | The multi-functional automatic guided vehicle of microminiature with obstacle climbing ability | |
| JP2002211408A (en) | Independently driven four wheeled motorized wheelchair capable of climbing up and down stairs | |
| JP2006167232A (en) | Wheelchair cart | |
| CN210026913U (en) | AGV dolly switching-over structure and AGV dolly | |
| WO2002030537A1 (en) | Bed lifting mechanism for model truck | |
| CN209799502U (en) | A vehicle lifting universal shifting device | |
| CN113581318A (en) | Running gear and robot | |
| CN223158515U (en) | A wheelchair that overcomes obstacles | |
| CN215046315U (en) | Engine attaches together transplanting device | |
| KR102762498B1 (en) | Vehicle system capable of driving on stairs and rough roads | |
| CN221253807U (en) | Central control wheel screw 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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |