CN206667862U - Upper frame structure and there is its broach AGV carriers - Google Patents
Upper frame structure and there is its broach AGV carriers Download PDFInfo
- Publication number
- CN206667862U CN206667862U CN201720437622.XU CN201720437622U CN206667862U CN 206667862 U CN206667862 U CN 206667862U CN 201720437622 U CN201720437622 U CN 201720437622U CN 206667862 U CN206667862 U CN 206667862U
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- China
- Prior art keywords
- upper frame
- broach
- position limit
- automobile
- arm
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- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of upper frame structure and has its broach AGV carriers, the upper frame structure is by setting the first comb group being made up of two row's broach and the second comb group being made up of two row's broach to be symmetrically set in the both ends of upper frame, so that stop of the broach AGV carriers in parking gateway can be adjusted according to the center of automobile, so that when carrying, the center of broach AGV carriers is overlapping with the center of automobile, it is not only does this facilitate the motion control for improving broach AGV carrier carrier vehicles, also so that front-wheel is not required to be parked on the position that gateway is specified, fault-tolerance is high；The utility model corresponds to each row's broach and sets the stopping means being made up of drive mechanism and position limit arm respectively, when stopping means limits the motion of automobile, drive mechanism driving position limit arm rotation, position limit arm is set to be obliquely installed relative to vehicle frame, and position limit arm is driven to be not susceptible to the movement in direction all around under the position-limiting action of inclined position limit arm close to wheel, automobile.
Description
Technical field
It the utility model is related to car carrying car technical field, more particularly to a kind of upper frame structure and there is its broach
AGV carriers.
Background technology
With the rapid popularization and development of automobile, city parking position supply wretched insufficiency, the demand on parking stall is increasing,
Traditional parking mode gradually develops to intelligent machine solid parking mode.Existing full-automatic parking systems mainly has
Planar movement class, tunnel stacking class, vertical lifting.Their operation principle is one or more haulage equipment, can be from vapour
Car bottom gets up to carry automobile lifting, is then moved to together on lift, and lift is transported haulage equipment together with automobile again
Automobile is sent into the parking stall specified toward different parking tiers, then by carrier.
Broach alternating car carrying is that a kind of most common car carrying mode, the carrying side are applied in current multi-storied garage
Formula is realized by broach carrier.Broach haulage equipment includes lower body frame structure for automotive, upper frame structure and the connection lower vehicle frame knot
The lowering or hoisting gear of structure and upper frame structure, lower body frame structure for automotive include lower vehicle frame and positioner, navigation dress on lower vehicle frame
Put and running gear, upper frame structure include upper frame and the preceding broach in upper frame and rear broach；During carrier vehicle, lead to
Cross lifting transverse device movement broach carrier and carry automobile arrival parking spot, comb fork and the broach carrier of parking spot
Comb fork in upper frame structure is staggered, and the comb fork in lowering or hoisting gear driving upper frame is dropped under the comb fork of parking spot
Side, such automobile are placed on parking spot.Substitute vehicle-carrying plate with comb fork, this haulage equipment does not have vehicle-carrying plate back and forth
Transmission, so operational efficiency is higher.
Existing broach haulage equipment is typically combed greatly more afterwards by front wheel alignment, preceding comb spacing, and the spacing of preceding comb just makes
Front-wheel is absorbed in certain depth；It can prevent automobile from moving forward and backward.Centering body is added in addition, can prevent vehicle right and left from moving.
But the length of automobile and disunity, so with the carrier of front wheel alignment in carrier vehicle, the center of automobile can not be ensured
It is overlapping with the center of broach haulage equipment, so as to cause the motion control of broach haulage equipment carrier vehicle to be deteriorated.This is asked
Topic on traditional carrier and unobvious because it only it is front and rear walk, and then particularly evident on AGV, AGV needs comprehensive fortune
It is dynamic.In addition, because existing broach requirement front wheel alignment, car owner when gateway is stopped, it is necessary to by front-wheel accurately
It is parked in corresponding testing agency, automatic parking system could work, and usage experience is very poor.
Utility model content
Based on this, the utility model provides a kind of upper frame structure that can be solved the above problems and has its broach AGV
Carrier.
In order to realize the purpose of this utility model, the utility model uses following technical scheme：
A kind of upper frame structure, including upper frame, four row's broach in the upper frame and corresponding each row's comb
The stopping means for being used for the movement of spacing automobile that tooth is set respectively, each row's broach are respectively positioned on the corresponding stopping means
Lower section, wherein two row's broach are located at one end of the upper frame, and the both sides for being symmetrically set in the upper frame form the first broach
Group, two row's broach are located at the other end of the upper frame in addition, and the both sides for being symmetrically set in the upper frame form the second broach
Group；First comb group and the second comb group are respectively symmetrically located at the both ends of the upper frame；Each stopping means includes
The position limit arm being slidedly arranged in the upper frame and the drive mechanism being installed in the upper frame, the drive mechanism connection
The position limit arm；The stopping means do not limit automobile it is mobile when, the position limit arm is parallel to the upper frame；It is described spacing
Device limit automobile it is mobile when, drive mechanism driving position limit arm rotated away from the direction of the upper frame, make position limit arm
It is obliquely installed relative to upper frame, and drives the position limit arm to move close to vapour towards the end direction of the corresponding upper frame
The wheel of car, so that automobile will not occur all around to move in the presence of position limit arm in upper frame.
Above-mentioned upper frame structure, by setting the first comb group and the second comb group to be symmetrically set in the both ends of upper frame,
So that stop of the broach AGV carriers in parking gateway can be adjusted according to the center of automobile, so that when carrying,
The center of broach AGV carriers is overlapping with the center of automobile, and this aspect is favorably improved broach AGV carrier carrier vehicles
Motion control, on the other hand front-wheel is caused to be not required to be parked on the position that gateway is specified, fault-tolerance is high, improves making for client
With experience, another further aspect, suitable for the automobile of different size, versatility is improved；In addition, by setting the first comb group and the
Two comb groups are respectively symmetrically located at the both ends of upper frame, also enable automobile just to enter just to go out, it is not necessary to turntable of putting english, to reduce and stop
The manufacturing cost in parking lot.Due to that can not bring and can not be limited as before using broach with the broach distribution mode of front wheel alignment
The problem of Anterior-Posterior of automobile, therefore the utility model corresponds to each row's broach sets be made up of drive mechanism and position limit arm respectively
Stopping means, when stopping means limit automobile motion when, drive mechanism drive position limit arm away from the vehicle frame side
To rotation, position limit arm is obliquely installed relative to vehicle frame, and drive the position limit arm towards the end side of the corresponding vehicle frame
To movement, and close to the wheel of automobile, wheel is under the position-limiting action of inclined position limit arm so that automobile is not easy in upper frame
The movement in direction all around occurs, so as to reach the free degree all around of the restricting vehicle on broach AGV carriers
Purpose.
In a wherein embodiment, first comb group and the second comb group are respectively symmetrically located at the two of the upper frame
End.
In a wherein embodiment, the upper frame include two respectively positioned at the upper frame both sides stock and two points
Not Wei Yu upper frame both ends cross bar, it is each arrange broach and each stopping means be mounted on corresponding on the stock.
In a wherein embodiment, the position limit arm includes be connected the first arm plate and the second arm plate, the first arm plate
Positioned at the side at center of the stock away from the upper frame, the second arm plate is located at the top of the stock；
The drive mechanism is including described in rotation accessory part, the moving member of the end of pivot joint the second arm plate and connection
The driven in translation component of moving member；The rotation accessory part includes positive stop strip and corresponding limit on the top surface of the stock
Roller of the position bar on the first arm plate, the positive stop strip and roller are respectively positioned on the lower section of the first arm plate, the limit
Position bar has the roller confined planes and roller guide surface that are connected, and the roller confined planes are located at the positive stop strip away from described
The side at the center of vehicle frame, the roller guide surface are located at the end of the positive stop strip；The moving member slips the stock.
In a wherein embodiment, the roller is located at the protuberance that the first arm plate stretches out close to the end of moving member
On, in the resigning mouthful that the moving member is formed between the protuberance and the second arm plate.
In a wherein embodiment, the rotation accessory part also includes being located at end of the positive stop strip away from upper frame
Locked piece of side, described locked piece has roller lock groove between positive stop strip.
In a wherein embodiment, the moving member slips the first sliver and the second sliver set on the stock, institute
State the first sliver and the stepped setting of the second sliver, first sliver is located on the top surface of the stock, and with the limit
There is the chute for housing the roller between the bar of position, second sliver is located at the side at center of the stock away from upper frame
On.
In a wherein embodiment, the thickness of the second arm plate is more than the thickness of the first arm plate.
In a wherein embodiment, the driven in translation component is that belt driver element, chain driving unit or screw mandrel drive
Moving cell.
The invention also discloses a kind of broach AGV carriers, and it is included as described in any one of claim 1 to 9
The lower body frame structure for automotive for being used to walk of upper frame structure and the connection upper frame structure.
In a wherein embodiment, the lower body frame structure for automotive includes the lower vehicle frame for connecting the upper frame of the upper frame structure
And at least four running gears on the lower vehicle frame, the quantity of the running gear is set into even number, and is located at respectively
The both sides of the lower vehicle frame.
Brief description of the drawings
Fig. 1 is the structural representation of the upper frame structure described in the preferred embodiment of the utility model one；
Fig. 2 is enclosed the enlarged drawing at position by circle A in Fig. 1；
Fig. 3 is the schematic diagram after the upper frame structure division shown in Fig. 1 decomposes；
Fig. 4 is enclosed the enlarged drawing at position by circle B in Fig. 3；
Fig. 5 is the schematic diagram of the wheel of the upper frame structure qualification automobile shown in Fig. 1；
Fig. 6 is the partial schematic diagram of another working condition of the upper frame structure shown in Fig. 5；
Fig. 7 is the structural representation of the position limit arm of the upper frame structure shown in Fig. 1.
In figure：
10th, upper frame；11st, stock；12nd, cross bar；13rd, the first sliver；14th, the second sliver；20th, broach；21st, the first broach
Group；22nd, the second comb group；30th, stopping means；40th, position limit arm；41st, the first arm plate；42nd, protuberance；43rd, the second arm plate；44、
Resigning mouthful；50th, drive mechanism；60th, accessory part is rotated；61st, positive stop strip；62nd, roller confined planes；63rd, roller guide surface；64、
Roller；65th, locked piece；66th, roller lock groove；70th, moving member；71st, the first slide plate；72nd, the second slide plate；80th, driven in translation group
Part；100th, wheel.
Embodiment
For the ease of understanding the utility model, the utility model is more fully retouched below with reference to relevant drawings
State.Preferred embodiment of the present utility model is given in accompanying drawing.But the utility model can come in fact in many different forms
It is existing, however it is not limited to embodiment described herein.On the contrary, the purpose for providing these embodiments is made to public affairs of the present utility model
Open the understanding more thorough and comprehensive of content.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.
As shown in Figures 1 to 7, it is the upper frame structure described in the preferred embodiment of the utility model one, it includes upper frame
10th, the stopping means for being used to limit automobile movement that four row's broach in upper frame 10 and corresponding each row's broach are set respectively
30, each lower section arranged broach and be respectively positioned on corresponding stopping means 30, wherein two row's broach are located at one end of upper frame 10, and symmetrically
The first comb group 21 is formed located at the both sides of upper frame 10, two row's broach are located at the other end of upper frame 10 in addition, and symmetrically set
The second comb group 22 is formed in the both sides of upper frame 10；First comb group and the second comb group 22 are used for before distinguishing bearing automobile
Wheel 100 and trailing wheel 200, or it is respectively used to the trailing wheel 200 and front-wheel 100 of bearing automobile；First comb group 21 and the second comb group
22 are respectively symmetrically located at the both ends of upper frame 10；Each stopping means 30 includes the position limit arm 40 being slidedly arranged in upper frame 10 and peace
Loaded on the drive mechanism 50 in upper frame 10, drive mechanism 50 connects position limit arm 40；As shown in figure 1, stopping means 30 is unlimited
Determine automobile it is mobile when, position limit arm 40 is parallel to upper frame 10；As shown in figure 5, stopping means 30 limit automobile it is mobile when, drive
Motivation structure 50 drives position limit arm 40 to be rotated away from the direction of upper frame 10, position limit arm 40 is tilted relative to upper frame 10 and sets
Put, and drive end direction of the position limit arm 40 along upper frame 10 to move close to the wheel 100 of automobile, wheel 100 is in inclined limit
Under the position-limiting action of position arm 40 so that automobile is not susceptible to the movement in direction all around in upper frame 10, so that automobile
Center when being handled upside down will not because outside factor deviate AGV broach carriers easily, ensure that broach AGV carriers carry
The motion control that can have been kept during automobile.
Above-mentioned upper frame structure, by setting the first comb group 21 and the second comb group 22 to be symmetrically set in upper frame 10
Both ends so that stop of the broach AGV carriers in parking gateway can be adjusted according to the center of automobile, so that removing
During fortune, the center of broach AGV carriers is overlapping with the center of automobile, and this aspect is favorably improved the carrying of broach AGV carriers
The motion control of automobile, on the other hand front-wheel is caused to be not required to be parked on the position that gateway is specified, fault-tolerance is high, improves visitor
The usage experience at family, another further aspect, suitable for the automobile of different size, improve versatility；In addition, by setting the first broach
The comb group 22 of group 21 and second is respectively symmetrically located at the both ends of upper frame 10, also enables automobile just to enter just to go out, it is not necessary to put english
Turntable, reduce the manufacturing cost in parking lot.Due to that can not be brought before no image of Buddha with the broach distribution mode of front wheel alignment
Sample utilizes the problem of Anterior-Posterior of broach restricting vehicle, therefore the utility model corresponds to each row's broach and set respectively by driving machine
The stopping means 30 that structure 50 and position limit arm 40 form, when stopping means 30 limits the motion of automobile, the driving limit of drive mechanism 50
Position arm 40 rotates away from the direction of the vehicle frame, position limit arm 40 is obliquely installed relative to vehicle frame, and drive described spacing
The end direction of arm 40 towards the corresponding vehicle frame moves, and close to the wheel of automobile, wheel is in inclined position limit arm 40
Under position-limiting action so that automobile is not susceptible to the movement in direction all around in upper frame 10, so as to reach restricting vehicle
The purpose of the free degree all around on broach AGV carriers.
As shown in figure 1, upper frame 10 includes the stock 11 and two of two both sides for being located at upper frame 10 respectively respectively positioned at upper
The cross bar 12 at the both ends of vehicle frame 10.Each row's broach 20 and each stopping means 30 are respectively installed on corresponding stock 11.
In the present embodiment, each broach 20 is made of channel-section steel, and opening down setting.
As shown in Fig. 2 position limit arm 40 includes be connected the first arm plate 41 and the second arm plate 43, the first arm plate 41 is located at stock
The side at 11 centers away from upper frame 10, the second arm plate 43 are located at the top of stock 11.
Further, the thickness of the second arm plate 43 is more than the thickness of the first arm plate 41.Position limit arm 40 passes through second after screwing out
Arm plate 43 promotes wheel, by setting the thickness of the second arm plate 43 to be more than the thickness of the first arm plate 41, on the one hand can make spacing
Arm 40 has the wheel that enough intensity promotes automobile, to carry out centering work, on the other hand, because the first arm plate 41 does not promote
Wheel, so the intensity that the first arm plate 41 need not be very high, sets the thickness of the first arm plate 41 to be less than the thickness of the first arm plate 41,
Material can be saved.
Drive mechanism 50 includes rotation accessory part 42, the moving member 70 for the end for being pivotally connected the second arm plate 43 and connection movement
The driven in translation component 80 of part 70；As shown in figure 4, rotation accessory part 42 includes the positive stop strip 61 on the top surface of stock 11
And roller 64 of the corresponding positive stop strip 61 on the first arm plate 41, positive stop strip 61 and roller 64 are respectively positioned under the first arm plate 41
Side, positive stop strip 61 have the roller confined planes 62 and roller guide surface 63 being connected, and it is remote that roller confined planes 62 are located at positive stop strip 61
From the side at the center of upper frame 10, roller guide surface 63 is located at the end of positive stop strip 61；Moving member 70 slips stock 11.Work as drive
When motivation structure 50 drives position limit arm 40, driven in translation component 80 drove position limit arm 40 to move horizontally by moving member 70 before this, if
Moved in the roller 64 on position limit arm 40 also with position limit arm 40, roller 64 first contacts with roller guide surface 63, is guided in roller
Under the guiding in face 63, roller 64 drive position limit arm 40 rotated relative to moving member 70 away from the direction of upper frame 10 and
Screw out, it is then, spacing due to the pair roller 64 of roller confined planes 62 as shown in fig. 6, roller 64 is moved on roller confined planes 62
Effect so that position limit arm 40 no longer rotates, hereafter, the position limit arm 40 of back-out under the driving of driven in translation component 80 towards
Wheel is close, untill contact and promoting wheel.
As shown in fig. 7, roller 64 is located at the first arm plate 41 on the protuberance 42 that the end of moving member 70 is stretched out, it is mobile
Part 70 is located in the resigning mouthful 44 formed between the arm plate 43 of protuberance 42 and second.By setting roller 64 to be installed on the first arm plate
On 41 protuberance 42, and moving member 70 is located in the resigning mouthful 44 between the arm plate 43 of protuberance 42 and second so that mobile
As long as part 70 slides a segment distance of very little on stock 11, roller 64 will contact with roller guide surface 63, so that position limit arm
40 screw out in the presence of roller 64 and roller guide surface 63 from upper frame 10, and this can reduce the first sliver 13 and second and lead
The length of bar 14, and then shorten the length of whole upper frame 10.
Referring to Fig. 4, rotation accessory part 42 also includes one positioned at end of the positive stop strip 61 away from upper frame 10
Locked piece 65 of side, there is roller lock groove 66 between locked piece 65 and positive stop strip 61.After position limit arm 40 completes push wheel action,
Driven in translation unit driving position limit arm 40 returns to origin-location, and after roller 64 moves to roller lock groove 66, position limit arm 40 revolves
Go to the state parallel to vehicle frame, and under locked piece 65 of barrier effect by locked in roller lock groove 66.
Moving member 70 slips the first sliver 13 and the second sliver 14 set on stock 11, the first sliver 13 and the second sliver
14 stepped settings, the first sliver 13 are located on the top surface of stock 11, and have accommodating roller 64 between positive stop strip 61
Chute, the second sliver 14 are located on the side at center of the stock 11 away from upper frame 10.By setting the first sliver 13 and second
14 stepped design of sliver so that moving member 70 can drive position limit arm 40 stably to slide against on stock 11, be not likely to produce shake
It is dynamic.
Moving member 70 has be connected the first slide plate 71 and the second slide plate 72, and the first slide plate 71 is located at the top of stock 11,
First slide plate 71 slips the first sliver 13；Second slide plate 72 is located at the side at center of the stock 11 away from upper frame 10, and second slides
Plate 72 slips the second sliver 14.
Driven in translation component 80 is belt driver element, chain driving unit or screw mandrel driver element.In the present embodiment,
Driven in translation component 80 is belt driver element.
The invention also discloses a kind of broach AGV carriers, and it includes upper frame structure as described above and connection
The lower body frame structure for automotive for being used to walk of upper frame structure.
Embodiment described above only expresses several embodiments of the present utility model, and its description is more specific and detailed,
But therefore it can not be interpreted as the limitation to utility model patent scope.It should be pointed out that the common skill for this area
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (9)
1. a kind of upper frame structure, it is characterised in that four row's broach and corresponding institute including upper frame, in the upper frame
The stopping means for being used for the movement of spacing automobile that each row's broach is set respectively is stated, each row's broach is respectively positioned on the corresponding limit
The lower section of position device, wherein two row's broach are located at one end of the upper frame, and the both sides for being symmetrically set in the upper frame are formed
First comb group, two row's broach are located at the other end of the upper frame in addition, and the both sides for being symmetrically set in the upper frame are formed
Second comb group；First comb group and the second comb group are respectively symmetrically located at the both ends of the upper frame；It is each described spacing
Device includes the position limit arm being slidedly arranged in the upper frame and the drive mechanism being installed in the upper frame, the driving
Mechanism connects the position limit arm；The stopping means do not limit automobile it is mobile when, the position limit arm is parallel to the upper frame；
The stopping means limit automobile it is mobile when, drive mechanism driving position limit arm rotates away from the direction of the upper frame,
Position limit arm is obliquely installed relative to upper frame, and drive the position limit arm to be moved towards the end direction of the corresponding upper frame
The dynamic wheel close to automobile, so that automobile will not occur all around to move in the presence of position limit arm in upper frame.
2. upper frame structure according to claim 1, it is characterised in that the upper frame includes two and is located at respectively on described
The stock of the both sides of vehicle frame and two respectively arranges broach and each stopping means is respectively installed respectively positioned at the cross bar at the both ends of upper frame
In on the corresponding stock.
3. upper frame structure according to claim 2, it is characterised in that the position limit arm include be connected the first arm plate and
Second arm plate, the first arm plate are located at the side at center of the stock away from the upper frame, and the second arm plate is located at
The top of the stock；
The drive mechanism includes rotation accessory part, the moving member of the end of pivot joint the second arm plate and the connection movement
The driven in translation component of part；The rotation accessory part includes positive stop strip and corresponding positive stop strip on the top surface of the stock
Roller on the first arm plate, the positive stop strip and roller are respectively positioned on the lower section of the first arm plate, the positive stop strip
With the roller confined planes and roller guide surface being connected, the roller confined planes are located at the positive stop strip away from the upper frame
Center side, the roller guide surface is located at the end of the positive stop strip；The moving member slips the stock.
4. upper frame structure according to claim 3, it is characterised in that the roller is located at the first arm plate close to shifting
On the protuberance that the end of moving part is stretched out, resigning mouthful that the moving member is formed between the protuberance and the second arm plate
It is interior.
5. upper frame structure according to claim 3, it is characterised in that the rotation accessory part is also included positioned at described
Locked piece of the side of end of the positive stop strip away from upper frame, described locked piece has roller lock groove between positive stop strip.
6. upper frame structure according to claim 3, it is characterised in that the moving member slips what is set on the stock
First sliver and the second sliver, the stepped setting of first sliver and the second sliver, first sliver are located at the length
On the top surface of bar, and there is the chute for housing the roller between the positive stop strip, second sliver is located at the stock
On the side at the center away from upper frame.
7. upper frame structure according to claim 3, it is characterised in that the thickness of the second arm plate is more than described first
The thickness of arm plate.
8. upper frame structure according to claim 3, it is characterised in that the driven in translation component is that belt driving is single
Member, chain driving unit or screw mandrel driver element.
A kind of 9. broach AGV carriers, it is characterised in that including the upper frame structure as described in any one of claim 1 to 8 and
Connect the lower body frame structure for automotive for being used to walk of the upper frame structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720437622.XU CN206667862U (en) | 2017-04-24 | 2017-04-24 | Upper frame structure and there is its broach AGV carriers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720437622.XU CN206667862U (en) | 2017-04-24 | 2017-04-24 | Upper frame structure and there is its broach AGV carriers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206667862U true CN206667862U (en) | 2017-11-24 |
Family
ID=60372593
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720437622.XU Expired - Fee Related CN206667862U (en) | 2017-04-24 | 2017-04-24 | Upper frame structure and there is its broach AGV carriers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206667862U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106930582A (en) * | 2017-04-24 | 2017-07-07 | 东莞松山湖国际机器人研究院有限公司 | Upper frame structure and the comb AGV carriers with it |
-
2017
- 2017-04-24 CN CN201720437622.XU patent/CN206667862U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106930582A (en) * | 2017-04-24 | 2017-07-07 | 东莞松山湖国际机器人研究院有限公司 | Upper frame structure and the comb AGV carriers with it |
| CN106930582B (en) * | 2017-04-24 | 2023-12-12 | 东莞松山湖国际机器人研究院有限公司 | Go up frame structure and have its broach AGV carrier |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171124 Termination date: 20200424 |