CN117465583A - Extension arm-holding type AGV - Google Patents
Extension arm-holding type AGV Download PDFInfo
- Publication number
- CN117465583A CN117465583A CN202311815699.2A CN202311815699A CN117465583A CN 117465583 A CN117465583 A CN 117465583A CN 202311815699 A CN202311815699 A CN 202311815699A CN 117465583 A CN117465583 A CN 117465583A
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- arm
- transmission
- supporting
- agv
- holding
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- 230000009471 action Effects 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 58
- 230000000903 blocking effect Effects 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 abstract description 10
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P9/00—Other vehicles predominantly for carrying loads, e.g. load carrying vehicles convertible for an intended purpose
-
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention discloses an extending arm-holding type AGV, which comprises a vehicle body and an arm-holding unit arranged on the vehicle body, wherein the arm-holding unit comprises a supporting side and a force application side, the supporting side is positioned on one side of the vehicle body, the force application side is far away from the vehicle body, the supporting side comprises a supporting plate which is fixed with the vehicle body into a whole, the supporting plate is provided with a plane, the far side of the plane is vertically provided with a supporting surface, the supporting surface is semicircular, the plane is provided with two symmetrical arc-shaped extension arms, and the two extension arms can symmetrically slide on the plane under the action of a driving assembly. The beneficial effects of the invention are mainly as follows: when the AGV is in a non-working state, the extension arm serving as the force application side is in a retracted state, compared with the prior art, at least half of the length can be saved, the occupied space can be greatly reduced, and the AGV is convenient to reasonably arrange. In addition, the motion track of the extension arm is in an inward concave arc shape, namely the inner wall of the extension arm is in surface contact with the outer circumferential surface of the workpiece, so that the contact area can be increased to the greatest extent, and the phenomenon that the workpiece slides down is avoided.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an extending arm-holding type AGV.
Background
With the development of robotics, the automatic ideas progress and go deep into various industries, and the demands for AGVs are becoming stronger. However, the shapes of the transported objects are different, and therefore, various AGVs are induced.
To the object that needs to carry the outline for circular shape, for example, the authority bulletin number CN211391509U discloses one kind and has AGV, first fixed block of fixed connection and second fixed block between two flat boards first fixed block one side is equipped with hugs tightly the device rotate between first fixed block and the second fixed block and connect the lead screw, sliding connection slider between two flat boards is equipped with the screw hole in slider one side, the lead screw passes from the screw hole and can be in threaded hole threaded connection the equal swivelling joint dead lever in both sides that the slider is relative, the equal fixed connection horizontal pole of every dead lever one end, rotate at one of them horizontal pole one end and connect the shelves pole. However, the AGV has poor stability, because the two symmetrical fixing rods are used as the enclasping mechanism, the force application points for carrying are only the contact points between the fixing rods and the objects to be carried, the enclasping force is insufficient, and the objects to be carried are easy to slide off; in addition, the length of the transverse rod is too long, so that the occupied space is large, and the space of a factory building is greatly occupied.
On this basis, the authority bulletin number CN208469990U discloses a novel armful of dragging formula AGV, will armful device to improve, and its armful of arm components is including armful support, slider, guide pulley, universal wheel, armful arm components set up in one side of AGV carrier vehicle, and two armful arm components symmetrical arrangement armful arm components and AGV carrier vehicle pass through slider and guide rail connection, and electric putter arranges between two armful arm components. However, although the above-mentioned holding force of the AGV is increased, the moving direction of the holding arm assembly moves along the axis of the guide rail, the force application side is only the arc surface between the guide wheels when holding the object, and the holding force direction is inward from both sides, and when the thrust forces on both sides of the electric push rod are unbalanced, the center of the carried object may be deviated, which is not allowed for the automated production shop.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an extending arm-holding type AGV.
The aim of the invention is achieved by the following technical scheme:
the utility model provides an extension arm-holding formula AGV, includes the automobile body and sets up the unit of holding tightly on it, hold tightly the unit including the supporting side that is located automobile body one side and keep away from the application of force side of automobile body, the supporting side include with the fixed extension board as an organic whole of automobile body, the extension board has a plane, the distal side of plane is provided with the holding surface perpendicularly, the holding surface is half circular, be provided with two symmetrical convex extension arms on the plane, two extension arms can produce the symmetry under drive assembly's effect and slide on the plane, when in initial state, two extension arms are acceptd in the space that is enclosed by plane and holding surface, when holding tightly the state, two extension arms follow the space stretches out, forms convex application of force side, two the centre of a circle of extension arm's motion trail and the centre of a circle of holding surface are concentric, as the application of force side the extension arm to the clamping force of object and as the reaction of the holding surface of support board of holding side act on simultaneously and holds tightly the object.
Preferably, the driving assembly at least comprises two circular arc-shaped sliding rails which are symmetrically arranged, the circle center of each sliding rail is concentric with the circle center of the supporting surface, a sliding block which is matched with the sliding rail is arranged on each sliding rail, and the extending arm is fixedly arranged on each sliding block.
Preferably, the driving assembly further comprises a transmission arm arranged on the support plate, wherein the transmission arm is in a concave arc shape and has the same outline as the sliding rail; one end of the transmission arm is pivotally connected with the transmission assembly arranged on the vehicle body, and the other end of the transmission arm is pivotally connected with the sliding block.
Preferably, the transmission assembly at least comprises a transmission frame fixedly arranged on the vehicle body, a transmission screw rod is pivoted on the transmission frame, a transmission nut matched with the transmission screw rod is arranged on the transmission screw rod, a connecting seat is fixedly arranged on the transmission nut, a connecting rod is fixedly arranged on the connecting seat, and a transmission arm pivot is arranged on the connecting rod.
Preferably, the two sides of the transmission screw rod are provided with limiting rods fixedly arranged on the transmission frame, the central axes of the limiting rods are parallel to the central axes of the transmission screw rod, the transmission nuts are provided with limiting holes matched with the limiting rods, and the transmission nuts are sleeved on the limiting rods.
Preferably, a group of rollers are arranged on the outer surface of the sliding block, and the outer circumferential surfaces of the rollers are always clung to the outer wall of the sliding rail.
Preferably, the vehicle body is provided with a telescopic cylinder in a pivot manner, a supporting seat is fixedly arranged on a cylinder shaft of the telescopic cylinder, and the supporting seat is fixedly arranged on the supporting plate.
Preferably, a rotating roller is pivoted at one end of the extension arm far away from the sliding block, the rotating roller is vertically arranged, and the minimum distance between the outer circumferential surface of the rotating roller and the circle center of the supporting surface is smaller than the distance between the inner wall of the extension arm and the circle center of the supporting surface.
Preferably, a blocking surface is vertically arranged on the outer side of the plane, a sliding opening is arranged between the blocking surface and the supporting surface, and the length of the sliding opening is larger than or equal to the diameter of the rotating roller.
Preferably, a baffle is fixedly arranged on the outer side of the sliding block, and the inner side wall of the baffle is arc-shaped and can be tightly attached to the outer wall of the supporting surface; the outer side of the baffle is provided with an inclined plane which can be abutted with the blocking surface.
The beneficial effects of the invention are mainly as follows:
1. the design is exquisite, when not in the working condition, the extension arm as the application of force side is in the withdrawal state, compares with prior art, can save half at least length, can reduce occupation space greatly, the reasonable overall arrangement of AGV of being convenient for;
2. the motion track of the extension arm is in an inward concave circular arc shape, namely the extension arm clamps a ring-wound workpiece, the inner wall of the extension arm can be completely clung to the outer circumferential surface of the workpiece, namely the inner wall of the extension arm is in surface contact with the outer circumferential surface of the workpiece, the contact area can be increased to the greatest extent, the holding force is increased in a mode of improving the static friction force, the carrying stability is improved, and the phenomenon that the workpiece slides off is avoided; more importantly, the extension arm as the force application side generates force facing the supporting side for the workpiece, the supporting side is fixed, and the force application side and the supporting side simultaneously act to hold the object tightly;
3. the supporting side is fixed, so that the stability of the whole AGV in working can be increased, the reference center of a workpiece to be carried is ensured not to change, and the AGV is particularly important for a modern intelligent factory;
4. in the process of enclasping, the rotating roller and the workpiece are in rolling friction, and the workpiece can be subjected to micro-distance adjustment in the process of enclasping, so that the center of the workpiece is concentric with the center of the supporting surface, the center of the workpiece is ensured not to deviate, and the yield is ensured.
Drawings
The technical scheme of the invention is further described below with reference to the accompanying drawings:
fig. 1: a perspective view of a first state of a preferred embodiment of the present invention;
fig. 2: a top view of a first state of a preferred embodiment of the present invention;
fig. 3: a perspective view of a second state of the preferred embodiment of the present invention;
fig. 4: a top view of the second state of the preferred embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings. The embodiments are not limited to the present invention, and structural, methodological, or functional modifications of the invention from those skilled in the art are included within the scope of the invention.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1 to 4, the invention discloses an extended arm holding type AGV, which comprises a vehicle body 1 and a holding unit arranged on the vehicle body, wherein the holding unit comprises a supporting side positioned on one side of the vehicle body and a force application side far away from the vehicle body, the supporting side comprises a support plate 2 which is fixed with the vehicle body into a whole, the support plate is provided with a plane 21, the far side of the plane 21 is vertically provided with a supporting surface 22, the supporting surface 22 is semicircular, the plane 21 is provided with two symmetrical arc-shaped extension arms 3, and the two extension arms 3 can symmetrically slide on the plane 21 under the action of a driving assembly 4.
In this preferred embodiment, the driving assembly may drive the extension arm 3 to slide backward on the plane 21 to perform a retraction motion, as shown in fig. 3 to 4, that is, when the extension arm 3 performs a retraction motion to a maximum stroke, the extension arm 3 is in an initial state, at this time, the two extension arms 3 are accommodated in a space surrounded by the plane 21 and the supporting surface 22, at this time, the extension arm serving as a force application side is in a retraction state, which can save at least half of the length, greatly reduce the occupied space, and facilitate the reasonable layout of the AGV compared with the prior art.
The driving assembly may drive the extension arm 3 to slide forward on the plane 21 to perform an extension motion, as shown in fig. 1 to 2, that is, when the extension arm 3 performs an extension motion to a maximum stroke, the extension arm 3 is in a clasping state, at this time, the two extension arms 3 extend from the space to form a circular arc-shaped force application side, the circle centers of the motion tracks of the two extension arms 3 are concentric with the circle center of the supporting surface 22, and the clamping force of the extension arm 3 on the force application side on the object and the reaction force of the supporting surface 22 on the supporting side on the supporting plate 2 act simultaneously to clasp the object. In the above-mentioned, the motion trail of extension arm is indent circular arc, and the extension arm is the work piece that winds the ring and carries out the centre gripping promptly, and its inner wall can be fully hugged closely with the outer periphery of work piece, and the inner wall of extension arm and the outer periphery face of work piece contact promptly, can the furthest increase area of contact, increases the holding power through the mode that improves static friction, improves the stability of transport, avoids the condition emergence of work piece landing. In addition, the separation of application of force side and supporting side can increase whole AGV stability when the during operation, ensures that the center of waiting to carry the thing can not change.
In the preferred embodiment, the driving assembly 4 at least includes two circular arc shaped sliding rails 41 symmetrically arranged, the center of the sliding rail 41 is concentric with the center of the supporting surface 22, the sliding rail 41 is provided with a sliding block 42 adapted to the sliding rail 41, and the sliding block 42 is fixedly provided with the extension arm 3. Preferably, a set of rollers 421 is disposed on the outer surface of the slider 42, the outer circumferential surface of the rollers 421 is always in close contact with the outer wall of the sliding rail 41, and the rollers can improve the sliding stability, and meanwhile, noise can be avoided.
In the above description, the driving assembly 4 further includes a transmission arm 43 disposed on the support plate 2, where the transmission arm 43 is in a concave arc shape and has the same outer contour as the sliding rail 41; one end of the transmission arm 43 is pivotally connected to the transmission assembly 5 provided on the vehicle body 1, and the other end is pivotally connected to the slider 42. Of course, other structures may be adopted for the driving arm 43, and only the maximum extending or retracting movement of the sliding block 42 on the sliding rail 41 is required, which falls into the protection scope of the present invention and is not described herein in detail.
In the above, the transmission assembly 5 at least comprises a transmission frame 51 fixedly arranged on the vehicle body 1, a transmission screw rod 52 is pivoted on the transmission frame 51, a transmission nut matched with the transmission screw rod 52 is arranged on the transmission screw rod 52, a connecting seat 53 is fixedly arranged on the transmission nut, a connecting rod 54 is fixedly arranged on the connecting seat 53, and the transmission arm 43 is pivoted on the connecting rod 54. The two sides of the transmission screw rod 52 are provided with limiting rods 55 fixedly arranged on the transmission frame 51, the central axis of the limiting rods 55 is parallel to the central axis of the transmission screw rod 52, the transmission nut is provided with limiting holes matched with the limiting rods 55, and the transmission nut is sleeved on the limiting rods 55. The adoption of the screw rod transmission can control the sliding stability of the transmission arm through the connecting rod, thereby realizing the accurate control of the moving position and facilitating the accurate clamping of the clamping arm to the cylindrical workpiece.
The extension arm 3 is kept away from the one end pivot of slider 42 is equipped with a roller 31, roller 31 sets up perpendicularly, just the outer periphery of roller 31 with the minimum distance between the centre of a circle of holding surface 22 is less than the inner wall of extension arm 3 with distance between the centre of a circle of holding surface 22, in the in-process of holding tightly, roller 31 is rolling friction with the work piece, and can carry out micro-distance adjustment to the work piece in the in-process of holding tightly, ensure the centre of a circle of work piece with the centre of a circle of holding surface 22 is concentric to ensure that the work piece center can not take place the skew, guarantee the yields.
The outside of the plane 21 is vertically provided with a blocking surface 23, a sliding opening 24 is arranged between the blocking surface 23 and the supporting surface 22, and the length of the sliding opening 24 is greater than or equal to the diameter of the rotating roller 31. A baffle 7 is fixedly arranged on the outer side of the sliding block 42, and the inner side 71 wall of the baffle 7 is arc-shaped and can be tightly attached to the outer wall of the supporting surface 22; the outer side 72 thereof has a bevel which can abut the blocking surface 23. When the baffle 7 slides to the appointed position, the inner wall of the baffle is abutted with the inclined surface, the supporting surface and the blocking surface, so that the baffle can be limited, and the accuracy of the moving position is ensured.
Further, a telescopic cylinder 6 is pivoted on the vehicle body 1, a supporting seat is fixedly arranged on a cylinder shaft of the telescopic cylinder 6, and the supporting seat is fixedly arranged on the supporting plate. The telescopic cylinder 6 can support the support plate, so that damage to the support plate caused by overweight workpieces is avoided, and the service life of the device is prolonged to the greatest extent.
According to the invention, the supporting side is fixed, so that the stability of the whole AGV in working can be increased, and the standard center of a workpiece to be carried is ensured not to change, which is particularly important for modern intelligent factories. Because the clamping arms in the prior art are relatively moved, when the displacement generated by the two clamping arms is different due to the precision problem of the driving mechanism of the clamping arms, the reference center of the workpiece to be carried is offset, and the workpiece to be carried is placed on a subsequent assembly line to generate the adverse condition of size deviation. In order to prevent the occurrence of the situation, a visual deviation correcting mechanism/step is also needed, so that the production cost is greatly increased, and the development is not facilitated. The support side of the present invention is stationary and the use of this as a basis criterion will quickly solve the above-mentioned problems.
It should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is for clarity only, and that the skilled artisan should recognize that the embodiments may be combined as appropriate to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.
Claims (10)
1. Extension arm-holding type AGV, including automobile body (1) and setting up the unit of holding tightly above that, its characterized in that: the holding unit comprises a supporting side and a force application side, wherein the supporting side is arranged on one side of a vehicle body, the force application side is far away from the vehicle body, the supporting side comprises a supporting plate (2) which is fixed with the vehicle body into a whole, the supporting plate is provided with a plane (21), a supporting surface (22) is vertically arranged on the far side of the plane (21), the supporting surface (22) is semicircular, two symmetrical arc-shaped extending arms (3) are arranged on the plane (21), the two extending arms (3) can symmetrically slide on the plane (21) under the action of a driving assembly (4), when in an initial state, the two extending arms (3) are contained in a space surrounded by the plane (21) and the supporting surface (22), when in a holding state, the two extending arms (3) extend out of the space to form an arc-shaped force application side, the circle centers of the two moving tracks of the extending arms (3) are concentric with the circle centers of the supporting surface (22), and the two extending arms (3) can simultaneously slide on the plane (21) under the action of a driving assembly (4), and the holding force applied by the extending arms (3) on the object and the supporting surface (22) as the holding side acts on the supporting surface (2).
2. The extended arm AGV of claim 1 wherein: the driving assembly (4) at least comprises two circular arc-shaped sliding rails (41) which are symmetrically arranged, the circle center of each sliding rail (41) is concentric with the circle center of the supporting surface (22), a sliding block (42) which is matched with the sliding rail (41) is arranged on each sliding rail, and the extending arm (3) is fixedly arranged on each sliding block (42).
3. The extended arm AGV of claim 2 wherein: the driving assembly (4) further comprises a transmission arm (43) arranged on the support plate (2), and the transmission arm (43) is in a concave arc shape and is identical to the outer contour of the sliding rail (41); one end of the transmission arm (43) is pivotally connected with a transmission assembly (5) arranged on the vehicle body (1), and the other end of the transmission arm is pivotally connected with the sliding block (42).
4. The extended arm AGV of claim 3 wherein: the transmission assembly (5) at least comprises a transmission frame (51) fixedly arranged on the vehicle body (1), a transmission screw rod (52) is pivoted on the transmission frame (51), a transmission nut matched with the transmission screw rod (52) is arranged on the transmission screw rod, a connecting seat (53) is fixedly arranged on the transmission nut, a connecting rod (54) is fixedly arranged on the connecting seat (53), and the transmission arm (43) is pivoted on the connecting rod (54).
5. The extended arm-holding AGV of claim 4 wherein: the two sides of the transmission screw rod (52) are provided with limiting rods (55) fixedly arranged on the transmission frame (51), the central axis of the limiting rods (55) is parallel to the central axis of the transmission screw rod (52), limiting holes matched with the limiting rods (55) are formed in the transmission nuts, and the limiting rods (55) are sleeved with the transmission nuts.
6. The extended arm AGV of claim 2 wherein: the outer surface of the sliding block (42) is provided with a group of rollers (421), and the outer circumferential surface of the rollers (421) is always clung to the outer wall of the sliding rail (41).
7. The extended arm AGV of claim 1 wherein: the telescopic vehicle is characterized in that a telescopic cylinder (6) is pivoted on the vehicle body (1), a supporting seat is fixedly arranged on a cylinder shaft of the telescopic cylinder (6), and the supporting seat is fixedly arranged on the supporting plate.
8. The extended arm AGV of claim 2 wherein: one end pivot that extension arm (3) kept away from slider (42) is equipped with a roller (31), roller (31) set up perpendicularly, just the outer periphery of roller (31) with the minimum distance between the centre of a circle of holding surface (22) is less than the distance between the inner wall of extension arm (3) with the centre of a circle of holding surface (22).
9. The extended arm-holding AGV of claim 8 wherein: the outer side of the plane (21) is vertically provided with a blocking surface (23), a sliding opening (24) is arranged between the blocking surface (23) and the supporting surface (22), and the length of the sliding opening (24) is larger than or equal to the diameter of the rotating roller (31).
10. The extended arm-holding AGV of claim 9 wherein: a baffle (7) is fixedly arranged on the outer side of the sliding block (42), and the wall of the inner side (71) of the baffle (7) is in an arc shape and can be tightly attached to the outer wall of the supporting surface (22); the outer side (72) thereof has a bevel which can be brought into abutment with the blocking surface (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311815699.2A CN117465583A (en) | 2023-12-27 | 2023-12-27 | Extension arm-holding type AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311815699.2A CN117465583A (en) | 2023-12-27 | 2023-12-27 | Extension arm-holding type AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117465583A true CN117465583A (en) | 2024-01-30 |
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ID=89629693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311815699.2A Pending CN117465583A (en) | 2023-12-27 | 2023-12-27 | Extension arm-holding type AGV |
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| Country | Link |
|---|---|
| CN (1) | CN117465583A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208469990U (en) * | 2018-05-29 | 2019-02-05 | 南京欧米麦克机器人科技有限公司 | A kind of folded arm towed AGV |
| CN209426826U (en) * | 2018-12-29 | 2019-09-24 | 茂名新洲海产有限公司 | A kind of high stability holding barrels machine |
| CN209533375U (en) * | 2018-12-27 | 2019-10-25 | 昆山同日工业自动化有限公司 | AGV cotton bucket automatic conveying device |
| CN111591650A (en) * | 2020-04-30 | 2020-08-28 | 南京理工大学 | Intelligent clamping type AGV (automatic guided vehicle) cargo handling auxiliary device and method |
| CN111791786A (en) * | 2020-07-15 | 2020-10-20 | 江苏凯宫机械股份有限公司 | Clamping device for carrying strip barrel |
-
2023
- 2023-12-27 CN CN202311815699.2A patent/CN117465583A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208469990U (en) * | 2018-05-29 | 2019-02-05 | 南京欧米麦克机器人科技有限公司 | A kind of folded arm towed AGV |
| CN209533375U (en) * | 2018-12-27 | 2019-10-25 | 昆山同日工业自动化有限公司 | AGV cotton bucket automatic conveying device |
| CN209426826U (en) * | 2018-12-29 | 2019-09-24 | 茂名新洲海产有限公司 | A kind of high stability holding barrels machine |
| CN111591650A (en) * | 2020-04-30 | 2020-08-28 | 南京理工大学 | Intelligent clamping type AGV (automatic guided vehicle) cargo handling auxiliary device and method |
| CN111791786A (en) * | 2020-07-15 | 2020-10-20 | 江苏凯宫机械股份有限公司 | Clamping device for carrying strip barrel |
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