CN207225284U - A kind of heavy type AGV machinery anticollision device, collision-prevention devices - Google Patents
A kind of heavy type AGV machinery anticollision device, collision-prevention devices Download PDFInfo
- Publication number
- CN207225284U CN207225284U CN201720916968.8U CN201720916968U CN207225284U CN 207225284 U CN207225284 U CN 207225284U CN 201720916968 U CN201720916968 U CN 201720916968U CN 207225284 U CN207225284 U CN 207225284U
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- Prior art keywords
- crashproof shell
- agv
- collision
- hook base
- buffer gear
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- 230000003139 buffering effect Effects 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims description 31
- 229920001971 elastomer Polymers 0.000 claims description 10
- 239000005060 rubber Substances 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 8
- 239000000806 elastomer Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000010985 leather Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
AGV production technical fields are the utility model is related to, more particularly to a kind of heavy type AGV machinery anticollision device, collision-prevention devices；The utility model includes crashproof shell, cover board and two buffer gears, buffer gear and is connected with cover board；Buffer gear can be to the front of crashproof shell and the active force of side into row buffering；When colliding, crashproof shell is subject to front or side collision active force, buffer gear to be shunk, and makes slowly to clamp between crashproof shell and cover board, so as to the active force that is subject to crashproof shell into row buffering；The utility model can be made to act on the colliding forces on AGV and weakened, so as to be protected to AGV using buffer gear and the connection of crashproof shell, cover board, buffer gear to the front of crashproof shell and the active force of side into row buffering.
Description
Technical field
AGV production technical fields are the utility model is related to, more particularly to a kind of heavy type AGV machinery anticollision device, collision-prevention devices.
Background technology
AGV is（Automated Guided Vehicle）Abbreviation, imply that " automated guided vehicle ", refer to be equipped with
Electricity magnetically or optically waits homing guidance device, it can be travelled along defined guide path, have safeguard protection and various transfers
The transport vehicle of function, AGV belong to wheeled mobile robot（WMR――Wheeled Mobile Robot）Category.
AGV in the process of running, when colliding, easily makes AGV bad, existing frequently-used mode is before AGV at present
End installs rubber leather plug additional, but impact forces or bigger of the AGV in collision, it is impossible to is weakened well, makes the rolling of AGV
It is dynamic to reduce.
Patent name is a kind of anticollision device, collision-prevention device of AGV（Publication No. 205575486U）, disclose a kind of AGV anticollision dress
Put, anticollision device, collision-prevention device is made of the laser anti-collision component being arranged on AGV car bodies and mechanical bumper assembly；Laser anti-collision component is main
It is made of mounting bracket and laser obstacle avoidance sensor, mounting bracket is fixed on the headstock front end of AGV car bodies, laser obstacle avoidance sensor
In mounting bracket；The anticollision device, collision-prevention device is not provided with buffer gear, it is impossible to impact force into row buffering, makes what AGV was subject to
Impact force weakens.
Current heavy type AGV causes it to move because of its gravity, and inertia when stopping is big, it may be touched because of an impingement angle
Hit and produce bigger colliding forces, AGV is produced derailment occurring.
The content of the invention
Described above in order to overcome the shortcomings of, the purpose of this utility model is to provide a kind of heavy type AGV machinery anticollision device, collision-prevention devices,
Its using buffer gear and crashproof shell, cover board connection, buffer gear can to the front of crashproof shell and the active force of side into
Row buffering, makes to act on the colliding forces on AGV and weakens, so as to be protected to AGV.
The technical scheme in the invention for solving the technical problem is：
A kind of heavy type AGV machinery anticollision device, collision-prevention devices, it is installed on AGV, wherein, including crashproof shell, cover board and symmetrical connection
Two buffer gears at the both ends of the crashproof shell, the buffer gear are connected with the cover board；The buffer gear can be right
The front of the crashproof shell and the active force of side are into row buffering.
One kind as the utility model is improved, and the buffer gear includes the first fixed seat, the second fixed seat, is hinged
Seat, first connecting rod and second connecting rod, first fixed seat are connected in the crashproof shell, and second fixed seat is connected to institute
State on cover board, the both ends of the first connecting rod are respectively hinged on first fixed seat and hinged seat, the second connecting rod
Both ends are respectively hinged on second fixed seat and hinged seat.
As further improvement of the utility model, the first hook base is provided with the first connecting rod, described first hangs
One end of hook seat and elastic component connects, and the other end of the elastic component and the second hook base being arranged in the crashproof shell connect
Connect.
Further as the utility model is improved, and symmetrically arranged anti-drawing mechanism, institute are connected with the crashproof shell
Stating anti-drawing mechanism includes the 3rd hook base, the first connector and the first chain, and the 3rd hook base is connected on the cover board,
First connector is connected in the crashproof shell, the both ends of first chain be connected to the 3rd hook base and
On first connector.
Further as the utility model is improved, and limited position mechanism, the position-limit mechanism bag are connected on the cover board
The 3rd fixed seat, the 4th hook base, limit switch, the second connector and the second chain are included, the 3rd fixed seat is connected to institute
State on cover board, the 4th hook base, limit switch are both connected in the 3rd fixed seat, and second connector is connected to
In the crashproof shell, the both ends of second chain are connected on the 4th hook base and the second connector, the limit
Bit switch is connected to make AGV stop immediately by the control system of conducting wire and AGV.
Further as the utility model is improved, and the position-limit mechanism further includes the 5th hook base and the 3rd chain,
5th hook base is connected in the 3rd fixed seat, and the both ends of the 3rd chain are connected to the 5th hook
On seat and the second connector, angle is 15 degree ~ 60 degree between the 3rd chain and second chain.
Further as the utility model is improved, and the 3rd buffer is connected with the middle part of the crashproof shell
Structure.
Further as the utility model is improved, be connected with the crashproof shell symmetrically arranged 3rd it is described slow
Punch mechanism and the 4th buffer gear.
Further as the utility model is improved, and the cover board and the top surface of the crashproof shell are connected by rubber strip
Connect.
Further as the utility model is improved, and the hinged seat axis is connected on the fixation being arranged in the crashproof shell
On plate.
When colliding, crashproof shell is subject to front or side collision active force, buffer gear to be shunk, and makes crashproof shell
Slowly clamped between cover board, so as to the active force that is subject to crashproof shell into row buffering；The utility model utilizes buffer
Structure and the connection of crashproof shell, cover board, buffer gear can make effect to the front of crashproof shell and the active force of side into row buffering
Colliding forces on AGV weaken, so as to be protected to AGV.
Brief description of the drawings
For ease of explanation, the utility model is described in detail by following preferred embodiments and attached drawing.
Fig. 1 is the structure diagram of the utility model；
Fig. 2 is the explosive view of the utility model；
Fig. 3 is the front view of Fig. 1；
Fig. 4 is the left view of Fig. 1；
Fig. 5 is the top view of Fig. 1；
Reference numeral：1- crashproof shells, 11- fixed plates, 12- rubber pads, 13- connecting seats, 14- side plates, 2- cover boards, 21- rubbers
Adhesive tape, 3- buffer gears, the first fixed seats of 31-, the second fixed seats of 32-, 33- hinged seats, 34- first connecting rods, 35- second connect
Bar, the first hook bases of 36-, the second hook bases of 37-, 38- elastic components, the anti-drawing mechanisms of 4-, the 3rd hook bases of 41-, 42- first are connected
Head, the first chains of 43-, 5- position-limit mechanisms, the 3rd fixed seats of 51-, the 4th hook bases of 52-, 53- limit switches, 54- second are connected
Head, the second chains of 55-, the 5th hook bases of 56-, the 3rd chains of 57-, 6- mounting bases.
Embodiment
, it is necessary to explanation in the description of the utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for description purpose, and it is not intended that instruction or hint relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in the description of the utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can mechanically connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, is further elaborated the utility model.It should be appreciated that specific embodiment described herein is only explaining
The utility model, is not used to limit the utility model.
A kind of heavy type AGV machinery anticollision device, collision-prevention devices of the utility model, it is installed on AGV.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, a kind of heavy type AGV machinery anticollision device, collision-prevention devices of the utility model, including it is anti-
Hit shell 1, cover board 2 and be symmetrically connected to crashproof shell 1 both ends two buffer gears 3, buffer gear 3 is connected with cover board 2.
Buffer gear 3 can be to the front of crashproof shell 1 and the active force of side into row buffering.
When colliding, crashproof shell 1 is subject to front or side collision active force, buffer gear 3 to be shunk, and makes anticollision
Slowly clamped between shell 1 and cover board 2, so as to the active force that crashproof shell 1 is subject into row buffering.
On heavy AGV, when it collides, it may be produced bigger because of the collision of an angle or a side
Active force, makes side at left and right sides of heavy AGV stuck, a kind of embodiment of the utility model offer buffer gear 3, buffer
Structure 3 includes the first fixed seat 31, the second fixed seat 32, hinged seat 33, first connecting rod 34 and second connecting rod 35, the first fixed seat 31
It is connected in crashproof shell 1, the second fixed seat 32 is connected on cover board 2, and the both ends of first connecting rod 34 are respectively hinged at the first fixation
On seat 31 and hinged seat 33, the both ends of second connecting rod 35 are respectively hinged on the second fixed seat 32 and hinged seat 33；When crashproof shell 1
Be collided active force when, the first fixed seat 31 is subject to active force, transmitting forces to first connecting rod 34, make first connecting rod 34
Rotated on hinged seat 33, so that second connecting rod 35 also rotates on hinged seat 33, first connecting rod 34 is made by hinged seat 33
Turned up with second connecting rod 35, play cushioning effect, make crashproof shell 1 by buffer gear 2 into row buffering slowly close to cover board 2；When
When heavy AGV collides, the both sides of crashproof shell 1 on it can be by buffer gear 3 come into row buffering, but also can
Crashproof shell 1 is pushed up back home position by buffer gear 3, make its reset, be allowed to not stuck.
In order to preferably rotate hinged seat 33, first connecting rod 34 is also set excessively not give a discount, so that first connecting rod 34
Damage, be provided with the first hook base 36 on first connecting rod 34, the first hook base 36 is connected with one end of elastic component 38, elastic component 38
The other end be connected with the second hook base 37 being arranged in crashproof shell 1, first connecting rod 34 is turned up, elastic component 38 hold first connect
Bar 34, gives one pulling force, is allowed to turn up slower, holding cushioning effect power；After cushioning effect is complete, pass through elastic component 38
Pulling force can make first connecting rod 34 return back to home position to be resetted.
In the utility model, there is provided a kind of embodiment of elastic component 38, elastic component 38 are spring, the spring and anticollision
The horizontal sextant angle of shell 1 is 30 degree ~ 75 degree, it is preferable that the horizontal sextant angle of the spring and crashproof shell 1 is 45 degree.
After the completion of the cushioning effect of buffer gear 3, buffer gear 3 can reject crashproof shell 1 when resetting, in order to
Buffer gear 3 and crashproof shell 1 are preferably protected,
Symmetrically arranged anti-drawing mechanism 4 is connected with crashproof shell 1, anti-drawing mechanism 4 is connected including the 3rd hook base 41, first
First 42 and first chain 43, the 3rd hook base 41 be connected on cover board 2, the first connector 42 is connected in crashproof shell 1, the first chain
Articles 43 both ends are connected on the 3rd hook base 41 and the first connector 42, when crashproof shell 1 is by the first of buffer gear 2
When fixed seat 31 pushes up go back to home position, the 3rd hook base 41 being connected on cover board 2 holds crashproof shell 1 by the first chain 43,
So as not to excessively be rejected, while also protection buffer gear 3 makes the first connecting rod 34 in it excessively not rebound, with reference to bullet
The effect of property body 38, both make a concerted effort to make first connecting rod 34 excessively not rebound, and return back to home position well.
When AGV collides, cushioning effect is carried out except application crashproof shell 1, cover board 2 and buffer gear 3, it is also necessary to
AGV is stopped immediately by control, in the utility model, limited position mechanism 5 is connected on cover board 2, position-limit mechanism 5 includes the 3rd
Fixed seat 51, the 4th hook base 52, limit switch 53, the second connector 54 and the second chain 55, the 3rd fixed seat 51 are connected to
On cover board 2, the 4th hook base 52, limit switch 53 are both connected in the 3rd fixed seat 51, and the second connector 54 is connected to anticollision
On shell 1, the both ends of the second chain 55 are connected on the 4th hook base 52 and the second connector 54, and limit switch 53 is by leading
The control system of line and AGV are connected to make AGV stop immediately；When crashproof shell 1 is collided active force, buffer gear 3 is received
Contracting, limit switch 53 senses that sending in signal to the control system of AGV makes AGV stop immediately, when crashproof shell 1 reply it is original
During position, the 4th hook base 52 holds crashproof shell 1 by the second chain 55, makes crashproof shell 1 will not be excessively together with anti-drawing mechanism 4
Bounce-back；In order to make position-limit mechanism 5 preferably hold crashproof shell 1, crashproof shell 1 is set to keep balance and level, position-limit mechanism 5 further includes
5th hook base 56 and the 3rd chain 57, the 5th hook base 56 are connected in the 3rd fixed seat 41, the both ends point of the 3rd chain 57
It is not connected on the 5th hook base 56 and the second connector 54, angle is 15 degree ~ 60 between the 3rd chain 57 and the second chain 55
Degree；Preferably, angle is 45 degree between the 3rd chain 57 and the second chain 55, water can preferably be kept by holding crashproof shell 1
It is flat.
The utility model provides one embodiment, and the middle part of crashproof shell 1 is connected with the 3rd buffer gear 3, can be more preferable
Ground is into row buffering.
The utility model provides second embodiment, and symmetrically arranged 3rd 3 He of buffer gear is connected with crashproof shell 1
4th buffer gear 4, position-limit mechanism 5 set two, it is symmetrical arranged, and an anti-drawing mechanism 4 is in first 3 He of buffer gear
Between 3rd buffer gear 3, another anti-drawing mechanism 4 is between the 4th buffer gear 3 and second buffer gear 3,
Position-limit mechanism 5 is between the 3rd buffer gear 3 and the 4th buffer gear 3.
In order to preferably into row buffering, while crashproof shell 1 is set to be not easy to collide with cover board 2, cover board 2 and the top surface of crashproof shell 1
Connected by rubber strip 21, rubber strip 21 can also be to the colliding forces of crashproof shell 1 into row buffering, while also make crashproof shell 1
It is not easy double swerve.
For preferably fixed hinged seat 33, hinged seat 33 is connected in the fixed plate 11 being arranged in crashproof shell 1.
In order to make the end angle of crashproof shell 1 be not easy to collide with, the end angle at the both ends of crashproof shell 1 sets end edged surface or curved surface, anticollision
The both ends of shell 1 are respectively connected with side plate 14, and first buffer gear 3 and second buffer gear 3 pass through connecting seat 13 and side plate
14 connections, can preferably bear the colliding forces of side, while the active force that is collided of side plate 14 is preferably transferred to
3 enterprising row buffering of buffer gear, protects crashproof shell 1.
In order to protect the front of crashproof shell 1, rubber pad is positively connected with crashproof shell 1, as the effect of cushion pad, is made
Crashproof shell 1 is not easy to scratch.
In order to preferably be installed on AGV, the middle part of crashproof shell 1 is connected with for the mounting base 6 on AGV.
The utility model provides the 3rd embodiment, which includes 2, four crashproof shell 1, cover board buffer gears 3, two
A anti-drawing mechanism 4 and a position-limit mechanism, an anti-drawing mechanism 4 be in first buffer gear 3 and the 3rd buffer gear 3 it
Between, another anti-drawing mechanism 4 is between the 4th buffer gear 3 and second buffer gear 3, and position-limit mechanism 5 is in the 3rd
Between a buffer gear 3 and the 4th buffer gear 3；Buffer gear 3 includes the first fixed seat 31, the second fixed seat 32, is hinged
Seat 33, first connecting rod 34 and second connecting rod 35, the first fixed seat 31 are connected in crashproof shell 1, and the second fixed seat 32 is connected to lid
On plate 2, the both ends of first connecting rod 34 are respectively hinged on the first fixed seat 31 and hinged seat 33, the both ends difference of second connecting rod 35
It is hinged on the second fixed seat 32 and hinged seat 33；Be provided with the first hook base 36 on first connecting rod 34, the first hook base 36 with
Spring（Elastomer 38）One end connection, spring（Elastomer 38）The other end and the second hook base for being arranged in crashproof shell 1
The horizontal sextant angle of 37 connections, the spring and crashproof shell 1 is 45 degree.Anti- drawing mechanism 4 includes the 3rd hook base 41, the first connector 42
With the first chain 43, the 3rd hook base 41 is connected on cover board 2, and the first connector 42 is connected in crashproof shell 1, the first chain 43
Both ends be connected on the 3rd hook base 41 and the first connector 42.Position-limit mechanism 5 is hung including the 3rd fixed seat the 51, the 4th
Hook seat 52, limit switch 53, the second connector 54, the second chain 55, the 5th hook base 56 and the 3rd chain 57, the 3rd fixed seat
51 are connected on cover board 2, and the 4th hook base 52, limit switch 53 are both connected in the 3rd fixed seat 51, and the second connector 54 connects
It is connected in crashproof shell 1, the both ends of the second chain 55 are connected on the 4th hook base 52 and the second connector 54, limit switch
53 are connected to make AGV stop immediately by the control system of conducting wire and AGV, and the 5th hook base 56 is connected to the 3rd fixed seat 41
On, the both ends of the 3rd chain 57 are connected on the 5th hook base 56 and the second connector 54, the 3rd chain 57 and the second chain
Angle is 45 degree between bar 55.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (10)
1. a kind of heavy type AGV machinery anticollision device, collision-prevention devices, it is installed on AGV, it is characterised in that including crashproof shell, cover board and symmetrical
Two buffer gears at the both ends of the crashproof shell are connected to, the buffer gear is connected with the cover board；The buffer gear
Can be to the front of the crashproof shell and the active force of side into row buffering.
2. a kind of heavy type AGV machinery anticollision device, collision-prevention devices according to claim 1, it is characterised in that the buffer gear includes
First fixed seat, the second fixed seat, hinged seat, first connecting rod and second connecting rod, first fixed seat are connected to the anticollision
On shell, second fixed seat is connected on the cover board, and the both ends of the first connecting rod are respectively hinged at described first and fix
On seat and hinged seat, the both ends of the second connecting rod are respectively hinged on second fixed seat and hinged seat.
3. a kind of heavy type AGV machinery anticollision device, collision-prevention devices according to claim 2, it is characterised in that set on the first connecting rod
The first hook base is equipped with, one end connection of first hook base and elastic component, the other end of the elastic component is with being arranged on institute
State the second hook base connection in crashproof shell.
4. a kind of heavy type AGV machinery anticollision device, collision-prevention devices according to claim 1 or 3, it is characterised in that connect in the crashproof shell
Symmetrically arranged two anti-drawing mechanisms are connected to, the anti-drawing mechanism includes the 3rd hook base, the first connector and the first chain, institute
State the 3rd hook base to be connected on the cover board, first connector is connected in the crashproof shell, first chain
Both ends are connected on the 3rd hook base and the first connector.
5. a kind of heavy type AGV machinery anticollision device, collision-prevention devices according to claim 1 or 3, it is characterised in that connected on the cover board
Limited position mechanism, the position-limit mechanism include the 3rd fixed seat, the 4th hook base, limit switch, the second connector and the second chain
Bar, the 3rd fixed seat are connected on the cover board, and the 4th hook base, limit switch are both connected to the described 3rd and fix
On seat, second connector is connected in the crashproof shell, and the both ends of second chain are connected to the described 4th and hang
On hook seat and the second connector, the limit switch is connected to make AGV stop immediately by the control system of conducting wire and AGV.
6. a kind of heavy type AGV machinery anticollision device, collision-prevention devices according to claim 5, it is characterised in that the position-limit mechanism also wraps
The 5th hook base and the 3rd chain are included, the 5th hook base is connected in the 3rd fixed seat, and the two of the 3rd chain
End is connected on the 5th hook base and the second connector, and angle is between the 3rd chain and second chain
15 degree ~ 60 degree.
A kind of 7. heavy type AGV machinery anticollision device, collision-prevention devices according to claim 1, it is characterised in that the middle part of the crashproof shell
It is connected with the 3rd buffer gear.
8. a kind of heavy type AGV machinery anticollision device, collision-prevention devices according to claim 1, it is characterised in that connected in the crashproof shell
There are symmetrically arranged 3rd buffer gear and the 4th buffer gear.
9. a kind of heavy type AGV machinery anticollision device, collision-prevention devices according to claim 3, it is characterised in that the cover board is prevented with described
The top surface for hitting shell is connected by rubber strip.
10. a kind of heavy type AGV machinery anticollision device, collision-prevention devices according to claim 2, it is characterised in that the hinged seat axis is connected on
It is arranged in the fixed plate in the crashproof shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720916968.8U CN207225284U (en) | 2017-07-27 | 2017-07-27 | A kind of heavy type AGV machinery anticollision device, collision-prevention devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720916968.8U CN207225284U (en) | 2017-07-27 | 2017-07-27 | A kind of heavy type AGV machinery anticollision device, collision-prevention devices |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207225284U true CN207225284U (en) | 2018-04-13 |
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ID=61855941
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720916968.8U Expired - Fee Related CN207225284U (en) | 2017-07-27 | 2017-07-27 | A kind of heavy type AGV machinery anticollision device, collision-prevention devices |
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| Country | Link |
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| CN (1) | CN207225284U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107336683A (en) * | 2017-07-27 | 2017-11-10 | 广州市井源机电设备有限公司 | A kind of heavy AGV machineries anticollision device, collision-prevention device |
-
2017
- 2017-07-27 CN CN201720916968.8U patent/CN207225284U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107336683A (en) * | 2017-07-27 | 2017-11-10 | 广州市井源机电设备有限公司 | A kind of heavy AGV machineries anticollision device, collision-prevention device |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180413 |