CN206069278U - Heavy duty lifting mobile platform based on AGV - Google Patents
Heavy duty lifting mobile platform based on AGV Download PDFInfo
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- CN206069278U CN206069278U CN201620923700.2U CN201620923700U CN206069278U CN 206069278 U CN206069278 U CN 206069278U CN 201620923700 U CN201620923700 U CN 201620923700U CN 206069278 U CN206069278 U CN 206069278U
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Abstract
The utility model discloses a kind of heavy duty lifting mobile platform based on AGV, including control device, it is provided with the mobile platform body for installing chamber, and it is arranged at the lifting device for installing within the chamber, the lifting device is electrically connected with the control device, the lifting device includes hoisting mechanism, and the trailing arm mechanism being connected with the hoisting mechanism, the trailing arm mechanism includes at least three bracket arm components, the bracket arm component is along the hoisting mechanism circumferentially around arrangement, and the bracket arm component is provided with for carrying the sliding support portion of weight away from one end of the hoisting mechanism.Thus the homing guidance movement of heavy duty lifting mobile platform not only can be realized, high degree of automation, use manpower and material resources sparingly, the firm lifting of big load object can also be realized simultaneously, thus heavy-load hoister structure is realized into perfect, reliable connection with automatic guided vehicle, favorable working performance, work safety, reliability are high.
Description
Technical field
This utility model is related to heavily loaded auto-navigation technical field of vehicle, more particularly, to a kind of heavy duty lifting based on AGV
Mobile platform.
Background technology
Traditional packaged type heavy-duty moving mechanism mainly has:Gantry crane, crane, fork truck etc., are widely used in
The ground such as factory, harbour, building site, warehouse, can complete the carrying of large-scale and heavy objects.The main shape of irremovable formula jack machinism
Formula is jack, jack be one kind rigidity top lift part as equipment, by top bracket or bottom claw in stroke
The light little crane gear of interior jacking weight.Jack is a kind of simplest crane gear of lifting highly little (less than 1m).By
Little in lifting capacity, operation is laborious, is normally only used for flight-line maintenance work.Hydraulic jack compact conformation, stable working have certainly
Lock is acted on, therefore using extensive.Which has the disadvantage lifting limited height, and lifting velocity is slow.
With factory automation, the progressively development of computer integrated manufacturing system technology and flexible manufacturing system, automatically
Change the extensive application of tiered warehouse facility, robot moving equipment such as AGV (Automat ic Guided Vehicle) homing guidance
Car, as contacting and adjust discrete type logistics system so that the necessary automated handling handling means of its operation serialization, its
Range of application and using scale it is increasing.Existing AGV cars are most of to only have transportation function remove automatically load, and one
The AGV cars of part specific use have installed automatic lifting mechanism additional, and lifting mechanism is most of to drive (liquid using multiple existing liftings
Pressure or electric jack) design that is evenly distributed on car body.The existing heavily loaded AGV for possessing lifting function is due to using multiple
Hydraulic-driven, the risk for having leakage, while can cause every when load centre can not be evenly distributed on the hydraulic-driven strong point
Individual hydraulic-driven rising height is inconsistent, causes the inclination of load, easily produces accident.
Utility model content
Based on this, this utility model provides a kind of heavy duty lifting mobile platform based on AGV, is to overcome prior art
Defect, realizes the good combination advanced with weight lifting automatically, and functional reliability is high, and intelligence degree is high, uses manpower and material resources sparingly,
And it is safe and reliable.
What the purpose of this utility model was realized in：
It is a kind of based on AGV heavy duty lifting mobile platform, including control device, be provided with install chamber mobile platform sheet
Body and the lifting device for installing within the chamber is arranged at, the lifting device is electrically connected with the control device, the act
The trailing arm mechanism that device is included hoisting mechanism and is connected with the hoisting mechanism is risen, the trailing arm mechanism includes at least three supports
Arm component, along the hoisting mechanism circumferentially around arrangement, and the bracket arm component is away from the elevator for the bracket arm component
One end of structure is provided with for carrying the sliding support portion of weight.
Below technical scheme is further described：
Further, also include the lifting guide plate being connected with the bracket arm component, the hoisting mechanism includes driving
Part and the driving member and the drive mechanism with the driving member drive connection of actuator connection, the drive mechanism include
Tumbler, the lifting guide plate are set in the outside of the tumbler, and the lifting guide plate is provided with first and is connected portion, institute
State tumbler and be provided with second and be connected portion, described first portion that is connected is connected with second portion of being connected.
Further, the drive mechanism also includes column and anti-attrition component, and the tumbler is set on the column,
And the anti-attrition component is compressed and is arranged between the tumbler and the column.
Further, the drive mechanism also includes guiding trestle, and the guiding trestle is provided with least one guide upright post,
The lifting guide plate is provided with least one pilot hole, and the pilot hole is connected with the guide upright post.
Further, the directive wheel that the bracket arm component is included lift arm and is connected with the end rotation of the lift arm
Group, the lifting guide plate are provided with gathering sill, and the lift arm is slideably positioned in the gathering sill, and the directive wheel group includes
At least two directive wheels, two directive wheels are located above and below the lifting guide plate respectively, and press from both sides with the lifting guide plate
Hold connection.
Further, the bracket arm component also includes the rotating stand being connected is rotated with the lift arm, and the rotation
The lift arm is connected to the rotating stand and the directive wheel every being divided into long arm section and galianconism section, the long arm section by bearing
Between group.
Further, the galianconism section is arranged in obtuse angle with the long arm section, and the galianconism section is propped up away from described rotation
One end of seat is towards the direction deflection near the long arm section.
Further, the bracket arm component also includes counterweight, and the counterweight is arranged in the long arm section.
Further, also including image recognition part, described image identification elements is arranged at the traveling of the mobile platform body
End, and with the control device communicate to connect.
Further, also include that multiple detection sensing parts are along institute for detecting multiple detection sensing parts of barrier
State mobile platform body it is circumferentially disposed, and with the control device communicate to connect.
The beneficial effects of the utility model are：
The above-mentioned heavy duty lifting mobile platform based on AGV is by arranging institute on the mobile platform body based on AGV
Lifting device is stated, the lifting device is electrically connected with the control device good, afterwards by the hoisting mechanism
Circumferentially around bracket arm component described in arrangement at least three, and it is provided for carrying the slip of weight in the end of the bracket arm component
Supporting part, thus not only can realize the homing guidance movement of heavy duty lifting mobile platform, and high degree of automation saves manpower thing
Heavy-load hoister structure and automatic guided vehicle, while the firm lifting of big load object can also be realized, have thus been realized by power
Beautiful, reliable connection, favorable working performance, work safety, reliability are high.
Description of the drawings
Fig. 1 is the structural representation of the heavy duty lifting mobile platform based on AGV described in this utility model embodiment；
Fig. 2 is the top view of the heavy duty lifting mobile platform based on AGV described in this utility model embodiment；
Fig. 3 is profile at the B-B based on the heavy duty lifting mobile platform of AGV described in this utility model embodiment；
Fig. 4 is partial enlarged drawing at the A based on the heavy duty lifting mobile platform of AGV described in this utility model embodiment.
Description of reference numerals：
100th, control device, 200, mobile platform body, 220, chamber is installed, 300, lifting device, 320, hoisting mechanism,
321st, actuator, 322, driving member, 323, drive mechanism, 323a, tumbler, 323b, second are connected portion, 323c, column,
323d, anti-attrition component, 323e, guiding trestle, 323f, guide upright post, 340, trailing arm mechanism, 341, bracket arm component, 341a, slip
Supporting part, 342, lift arm, 342a, long arm section, 342b, galianconism section, 343, directive wheel group, 343a, directive wheel, 344, rotate
Seat, 345, counterweight, 400, lifting guide plate, 420, first is connected portion, and 440, pilot hole, 460, gathering sill, 500, image
Identification elements, 600, detection sensing part.
Specific embodiment
Below embodiment of the present utility model is described in detail：
As shown in Figure 1 to Figure 3, a kind of heavy duty lifting mobile platform based on AGV, including control device 100, it is provided with installation
The mobile platform body 200 of chamber 220, and be arranged at it is described install chamber 220 in lifting device 300, the lifting device
300 are electrically connected with the control device 100, the lifting device 300 include hoisting mechanism 320, and with the hoisting mechanism
The trailing arm mechanism 340 of 320 connections, the trailing arm mechanism 340 include at least three bracket arm components 341,341 edge of the bracket arm component
The hoisting mechanism 320 circumferentially around arrangement, and the bracket arm component 341 is provided with away from one end of the hoisting mechanism 320
For carrying the sliding support portion 341a of weight.
The above-mentioned heavy duty lifting mobile platform based on AGV is by arranging on the mobile platform body 200 based on AGV
The lifting device 300, makes the lifting device 300 be electrically connected with well, afterwards by described with the control device 100
Hoisting mechanism 320 circumferentially around bracket arm component 341 described in arrangement at least three, and set in the end of the bracket arm component 341
Put for carrying the sliding support portion 341a of weight, thus not only can realize that the homing guidance of heavy duty lifting mobile platform is moved
Dynamic, high degree of automation uses manpower and material resources sparingly, while the firm lifting of big load object can also be realized, thus proposes heavy duty
Rising mechanism 320 and perfect, reliable connection being realized with automatic guided vehicle, favorable working performance, work safety, reliability are high.
In the present embodiment, the mobile platform body 200 is that the guiding that the Automatic Guided Technology based on AGV works is little
Car, specifically, the mobile platform body 200 including four drive wheel groups, each drive wheel group include an independence
Motor, four motors are electrically connected with the control device 100 and are controlled with the traveling for being automatically obtained platform；This
Outward, also include the wheel being connected with motor, wheel is preferably Mecanum wheel in the present embodiment, so arranging can be in order to
The mobile platform body 200 narrow space occasion realize it is clog-free laterally, vertically move and the behaviour such as original place rotates
Make, while zero radius of turn rotation can also be carried out, thus greatly improve the service behaviour and the scope of application of guide trolleys.Enter one
Step ground, in order to ensure guide trolleys can sustainable work for a long time, guide trolleys also configure that at least one charging accumulator,
In a preferred approach, guide trolleys are configured with four charging accumulators, and power to corresponding four motors respectively, thus
The functional reliability and sustainable ability to work of guide trolleys can further be improved.
In another embodiment, the above-mentioned heavy duty lifting mobile platform based on AGV also includes image recognition part 500, institute
State image recognition part 500 to be arranged at the end of travel of the mobile platform body 200 and communicate to connect with the control device 100.
Described image identification elements 500 is industrial camera, can also be other devices for capturing real time imaging in other embodiments
Part.In real work, Quick Response Code can be pasted according to the work course of guide trolleys on the ground of workplace, by work
Industry camera captured in real-time image in 2 D code, and transmit to 100 analytical calculation of the control device, and then accurately can control to lead
Draw dolly to move ahead by default course, it is possible thereby to the intelligence degree of the mobile platform body 200 is greatly improved, need not
Manpower is participated in, and reduces enterprises using the labor cost.Certainly, as alternate embodiments, above-mentioned visual system can also using bar code,
The technological means such as magnetic stripe, image recognition.
Additionally, the above-mentioned heavy duty lifting mobile platform based on AGV also includes sensing for the multiple detections for detecting barrier
Part 600, it is multiple it is described detection sensing parts 600 along the mobile platform body 200 it is circumferentially disposed, and with the control device
100 communication connections.The detection sensing part 600 is ultrasonic sensor in the present embodiment, preferably in the forward and backward of guide trolleys
Two ultrasonic sensors are respectively arranged in side and both sides, and communicate to connect with the control device 100.When guide trolleys exist
When traveling process runs into barrier, transmitted to the control device 100 according to the ultrasound data that ultrasonic sensor is detected
Calculating is analyzed, and is compared with preset security distance values, advanced positions are carried out such that it is able to automatically control guide trolleys
Adjustment, it is to avoid collided with barrier, is caused to damage, affects service life, while can also avoid that card occurs with barrier
Extremely, and then subsequent normal operation cannot be carried out.
As shown in figure 4, further, the above-mentioned heavy duty lifting mobile platform based on AGV also includes and the bracket arm component
The 341 lifting guide plates 400 being connected, the hoisting mechanism 320 include actuator 321, and the actuator 321 connection biography
Moving part 322, and the drive mechanism 323 with 322 drive connection of the driving member, the drive mechanism 323 include tumbler 323a,
The lifting guide plate 400 is set in the outside of the tumbler 323a, and the lifting guide plate 400 is provided with first and is connected portion
420, the tumbler 323a are provided with second and are connected portion 323b, and described first is connected portion 420 and the described second transmission
Connecting portion 323b is connected.The drive mechanism 323 also includes column 323c and anti-attrition component 323d, the tumbler 323a
It is set on the column 323c, and the anti-attrition component 323d is compressed and is arranged at the tumbler 323a and column 323c
Between.
In the present embodiment, in the middle part setting protruding upward column 323c of guide trolleys, column 323c can be
It is integrally formed with guide trolleys, or using assembling mode.The rotation is set with the column 323c afterwards
Part 323a, the tumbler 323a are sleeve, and the lateral wall of sleeve is provided with described second and is connected portion 323b, preferably the
One helicitic texture.Additionally, the actuator 321 is motor, the driving member 322 is belt, and the lower end of sleeve is little near guiding
The outer wall in underbody portion is provided with annular groove, and the width of belt may insure to be flush-mounted in annular groove just, and the length of belt can
Avoid relaxing to guarantee to be fastenedly connected between motor driving shaft and annular groove, it is simple so to arrange not only connected mode,
And stable drive, noise is little, and functional reliability is high.Certainly, in other embodiments, above-mentioned belt transmissioning mode can also be adopted
With chain drive structure or gear transmission structure etc..Additionally, the anti-attrition component 323d is bearing, the column 323c and sleeve it
Between there is cavity, and the medial wall of sleeve is provided with positioning step, afterwards by bearing be connected on positioning step and with the column
The lateral wall of 323c and the medial wall of sleeve push against contact, thus when sleeve is rotated relative to the column 323c, by bearing
Anti-attrition effect can reduce frictional dissipation to sleeve and column 323c, to improve their service life and reliable operation
Property.
Additionally, the lifting guide plate 400 includes cross connecting plate, and the longitudinally connected plate being connected with cross connecting plate, indulge
Described first is provided with to connecting plate to be connected portion 420, preferably the second helicitic texture.Above-mentioned first helicitic texture and second
Helicitic texture coordinates, and when sleeve is rotated under the drive of belt gear, can cause the lifting by helicitic texture
Guide plate 400 realize it is stable rise or fall, and then drive 341 action of bracket arm component, realize the lifting of weight.So set
Put not only attachment structure simple, functional reliability height, and reduce manufacturing cost and use cost.
Further, the drive mechanism 323 also includes that guiding trestle 323e, the guiding trestle 323e are provided with least one
Individual guide upright post 323f, the lifting guide plate 400 are provided with least one pilot hole 440, and the pilot hole 440 is stood with described guiding
Post 323f is connected.In this preferred embodiment, the guiding trestle 323e includes upper cover plate, upper cover plate and the column
323c is connected, and upper cover plate is respectively arranged at two ends with through hole positioned at the column 323c's, is wholely set by the guide trolleys
The upper end for having two guide upright post 323f, two guide upright post 323f coordinates grafting with two through holes respectively, to realize
State the stable standing of guide upright post 323f.Additionally, being arranged in described in two by the pilot hole 440 on above-mentioned cross connecting plate
On guide upright post 323f, so arrange and the lifting guide plate 400 can be caused by the guide effect of the guide upright post 323f
Movement it is more stable, it is to avoid shift, cause threaded connection failure, and then affect heavy duty lifting mobile platform work just
Often.Preferably, diameter of the aperture of the pilot hole 440 slightly larger than the guide upright post 323f, i.e., both are using loose fit company
Mode is connect, and to avoid excessive wear being caused during relative slip, affects service life.
The bracket arm component 341 is included lift arm 342, and the directive wheel being connected is rotated with the end of the lift arm 342
Group 343, the lifting guide plate 400 is provided with gathering sill 460, and the lift arm 342 is slideably positioned in the gathering sill 460, and
The directive wheel group 343 includes at least two directive wheels 440, and two directive wheels 440 are respectively positioned at the upper of the lifting guide plate 400
Square and lower section is simultaneously clamped and connected with the lifting guide plate 400.
In this preferred embodiment, the quantity of the bracket arm component 341 is four, and four bracket arm components 341 are in X
Type structure is disposed circumferentially the surrounding of the lifting device 300.Correspondingly, the installation on the mobile platform body 200
Chamber 220 includes four gathering sills 460 in X-type arrangement, i.e. each described bracket arm component 341 is embedded in a gathering sill
In 460, so not only cause the action of the bracket arm component 341 relatively reliable, while also causing the outward appearance of guide trolleys more
It is attractive in appearance.Additionally, in order to ensure with enough structural strengths, the lift arm 342 preferably made using metal material, and have
Certain thickness plate, such as iron plate, steel plate etc..Preferred scroll wheel groups of the sliding support portion 341a in the present embodiment, i.e.,
Installing hole is set in the end of the lift arm 342, rotating shaft is worn in installing hole, afterwards in rotating shaft and positioned at lift arm 342
Both sides rotate respectively installation roller and ensure fix.When the lift operation of weight is carried out, as the feature of planform makes
Obtain and micro relative displacement can occur between weight and the sliding support portion 341a, by the rolling action of scroll wheel groups, can
To avoid weight from being stuck cannot normal movement, or weight surface receives hard thing and scratches, and affects product attractive in appearance and quality.When
So, in other embodiments, it would however also be possible to employ miscellaneous part is guaranteeing to realize that between weight relative movement is good.
Additionally, the lift arm 342 is additionally provided with the directive wheel group 343 away from the other end of the scroll wheel groups, it is described
Directive wheel group 343 includes at least two directive wheels 440, and the quantity of the directive wheel 440 is four in the present embodiment, described to lead
Include the rotating shaft for being fixed on the lift arm 342 to wheel group 343, the rotating shaft stretches out and is provided with four countershafts, and four are led
Rotated to wheel 440 respectively and be sleeved on four countershafts and square arrangement.In addition, the lift arm 342 is embedded at described leading
Into groove 460, preferably the groove width of the gathering sill 460 is more than the thickness of the lift arm 342, it may thereby be ensured that the lifting
Arm 342 avoids interfering and excessive wear in 460 interior slip of the gathering sill.Meanwhile, four directive wheels 440 are located at respectively
Above and below the lifting guide plate 400, and just grip with the lifting guide plate 400, when the hoisting mechanism 320
When work causes the lifting guide plate 400 to move up and down, the bracket arm component 341 can be realized by the directive wheel group 343
Reliable slip, to guarantee the steadiness of structure connection and the reliability of work.
Further, the bracket arm component 341 also includes the rotating stand 344 being connected is rotated with the lift arm 342, and
The rotating stand 344 by the lift arm 342 every being divided into long arm section 342a and galianconism section 342b, the long arm section 342a connection
In between the rotating stand 344 and the directive wheel group 343.In the present embodiment, the lift arm 342 is propped up by described rotation
Seat 344 is fixed in guide trolleys, and the lift arm 342 can be relatively rotated with the rotating stand 344.Additionally, with
The junction of the rotating stand 344 be boundary by the lift arm 342 every being divided into long arm section 342a and the galianconism section
342b, can so make the lift arm 342 have the operating characteristic of lever, and preferably by long arm section 342a near described
Hoisting mechanism 320 arranges that galianconism section 342b is arranged away from the hoisting mechanism 320 and abutted with weight.So that institute
Stating bracket arm component 341 can be bigger with the weight of object of lifting, lifts the load-carrying properties of the bracket arm component 341, improves work
Reliability.In actually used, by optimization design and Theoretical Calculation, can pass through to arrange long arm section 342a of different length
It is combined with galianconism section 342b, makes the bracket arm component 341 possess the ability for carrying Different Weight object, expands
Its applicable range.Additionally, the bracket arm component 341 also includes counterweight, the counterweight is arranged in long arm section 342a.
The counterweight is the metal derby with constant weight, so arranges and can cause the dynamic of 320 lifting weight of the hoisting mechanism
Power further reduces, and thus reduces the burden of motor, it is ensured that safe and reliable.
Further, galianconism section 342b is arranged in obtuse angle with long arm section 342a, and galianconism section 342b is remote
From one end of the rotating stand 344 towards the direction deflection near long arm section 342a.It is in this preferred embodiment, described
Galianconism section 342b along away from guide trolleys, face the direction deflection of long arm section 342a, compared to other structures mode, so
Easily facilitate and weight is lifted, it is to avoid in 300 original operating state of lifting device guide trolleys are caused with compressing
Damage, affect the service life of guide trolleys.
Additionally, in other embodiments, according to the difference that working environment and improving performance are required, the elevator
Structure 320 can also adopt the technical scheme of scissor jack or single-column hydraulic jack.
Each technical characteristic of embodiment described above arbitrarily can be combined, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the present utility model, and its description is more concrete and detailed,
But therefore can not be interpreted as the restriction to utility model patent scope.It should be pointed out that for the common skill of this area
For art personnel, without departing from the concept of the premise utility, some deformations and improvement can also be made, these belong to
Protection domain of the present utility model.Therefore, the protection domain of this utility model patent should be defined by claims.
Claims (10)
1. it is a kind of based on AGV heavy duty lifting mobile platform, it is characterised in that including control device, be provided with install chamber shifting
Moving platform body and the lifting device for installing within the chamber is arranged at, the lifting device electrically connected with the control device
Connect, the trailing arm mechanism that the lifting device is included hoisting mechanism and is connected with the hoisting mechanism, the trailing arm mechanism include to
Few three bracket arm components, along the hoisting mechanism circumferentially around arrangement, and the bracket arm component is away from institute for the bracket arm component
The one end for stating hoisting mechanism is provided with for carrying the sliding support portion of weight.
2. the heavy duty based on AGV according to claim 1 lifts mobile platform, it is characterised in that also include and the support
The lifting guide plate that arm component is connected, the hoisting mechanism include actuator and the actuator connection driving member and with
The drive mechanism of the driving member drive connection, the drive mechanism include tumbler, and the lifting guide plate is set in described turning
The outside of moving part, and the lifting guide plate is provided with first and is connected portion, the tumbler are provided with second and are connected portion, described
First portion that is connected is connected with second portion of being connected.
3. the heavy duty based on AGV according to claim 2 lifts mobile platform, it is characterised in that the drive mechanism is also
Including column and anti-attrition component, the tumbler is set on the column, and the anti-attrition component is compressed and is arranged at described turning
Between moving part and the column.
4. according to Claims 2 or 3 based on AGV heavy duty lifting mobile platform, it is characterised in that the drive mechanism
Also include guiding trestle, the guiding trestle is provided with least one guide upright post, and the lifting guide plate is provided with least one guiding
Hole, the pilot hole are connected with the guide upright post.
5. the heavy duty based on AGV according to claim 2 lifts mobile platform, it is characterised in that the bracket arm component bag
The directive wheel group for including lift arm and being connected with the end rotation of the lift arm, the lifting guide plate are provided with gathering sill, the act
Rise arm to be slideably positioned in the gathering sill, and the directive wheel group includes at least two directive wheels, two directive wheels distinguish position
Above and below the lifting guide plate, and it is clamped and connected with the lifting guide plate.
6. the heavy duty based on AGV according to claim 5 lifts mobile platform, it is characterised in that the bracket arm component is also
Rotate the rotating stand that is connected including with the lift arm, and the rotating stand by the lift arm every being divided into long arm section and short
Arm section, the long arm section are connected between the rotating stand and the directive wheel group.
7. the heavy duty based on AGV according to claim 6 lifts mobile platform, it is characterised in that the galianconism section and institute
State long arm section to be arranged in obtuse angle, and the galianconism section is inclined towards the direction near the long arm section away from one end of the rotating stand
Turn.
8. according to claim 6 or 7 based on AGV heavy duty lifting mobile platform, it is characterised in that the bracket arm component
Also include counterweight, the counterweight is arranged in the long arm section.
9. the heavy duty based on AGV according to claim 1 lifts mobile platform, it is characterised in that also including image recognition
Part, described image identification elements are arranged at the end of travel of the mobile platform body and are communicated to connect with the control device.
10. according to claim 1 or 9 based on AGV heavy duty lifting mobile platform, it is characterised in that also include for
Detection barrier multiple detection sensing parts, it is multiple it is described detection sensing parts along the mobile platform body it is circumferentially disposed, and
Communicate to connect with the control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620923700.2U CN206069278U (en) | 2016-08-23 | 2016-08-23 | Heavy duty lifting mobile platform based on AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620923700.2U CN206069278U (en) | 2016-08-23 | 2016-08-23 | Heavy duty lifting mobile platform based on AGV |
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| CN206069278U true CN206069278U (en) | 2017-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620923700.2U Active CN206069278U (en) | 2016-08-23 | 2016-08-23 | Heavy duty lifting mobile platform based on AGV |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106185698A (en) * | 2016-08-23 | 2016-12-07 | 广东省自动化研究所 | Heavy duty lifting mobile platform based on AGV |
| CN111732020A (en) * | 2019-04-28 | 2020-10-02 | 北京京东乾石科技有限公司 | Lifting mechanism, lifting rotating mechanism and automatic guided vehicle |
-
2016
- 2016-08-23 CN CN201620923700.2U patent/CN206069278U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106185698A (en) * | 2016-08-23 | 2016-12-07 | 广东省自动化研究所 | Heavy duty lifting mobile platform based on AGV |
| CN106185698B (en) * | 2016-08-23 | 2018-08-24 | 广东省智能制造研究所 | Heavy duty lifting mobile platform based on AGV |
| CN111732020A (en) * | 2019-04-28 | 2020-10-02 | 北京京东乾石科技有限公司 | Lifting mechanism, lifting rotating mechanism and automatic guided vehicle |
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| CP01 | Change in the name or title of a patent holder | ||
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Address after: 510070 716, 13 building, 100 martyrs Road, Guangzhou, Guangdong. Patentee after: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING Address before: 510070 716, 13 building, 100 martyrs Road, Guangzhou, Guangdong. Patentee before: Guangdong Institute of Automation Address after: 510070 716, 13 building, 100 martyrs Road, Guangzhou, Guangdong. Patentee after: Institute of intelligent manufacturing, Guangdong Academy of Sciences Address before: 510070 716, 13 building, 100 martyrs Road, Guangzhou, Guangdong. Patentee before: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING |