CN212050356U - Lifting device and automatic guide transport vehicle - Google Patents
Lifting device and automatic guide transport vehicle Download PDFInfo
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- CN212050356U CN212050356U CN202020585969.0U CN202020585969U CN212050356U CN 212050356 U CN212050356 U CN 212050356U CN 202020585969 U CN202020585969 U CN 202020585969U CN 212050356 U CN212050356 U CN 212050356U
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- connecting rod
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- hinged
- lifting device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The embodiment of the utility model discloses lifting device and automated guided transporting vehicle can effectively reduce the shared volume of lifting device and the bearing capacity is great. The lifting device comprises: the seat body is provided with a first connecting rod mechanism; the first link mechanism includes first to sixth links; the first connecting rod, the second connecting rod, the third connecting rod and the seat body form a first parallel four-bar linkage; the first end of the fourth connecting rod is hinged with the second end of the first connecting rod, the first end of the fifth connecting rod is hinged with the second end of the second connecting rod, the first end of the sixth connecting rod is hinged with the second end of the fourth connecting rod, and the second end of the sixth connecting rod is hinged with the second end of the fifth connecting rod; the fourth connecting rod, the fifth connecting rod, the sixth connecting rod and the third connecting rod form a second parallel four-bar linkage; and a lifting table top is arranged on the sixth connecting rod. The utility model is suitable for an occasion that lifts is carried out article.
Description
Technical Field
The utility model relates to an automatic guide transportation technology field especially relates to a lifting device and automatic guide transport vechicle.
Background
In the lifting device in the prior art, such as a hydraulic scissor fork lifting device, the whole volume of a scissor fork is large, the middle part of the scissor fork is only provided with one fulcrum, and the bearing capacity is limited.
Disclosure of Invention
In view of this, the embodiment of the present invention provides a lifting device and an automatic guided transportation, which occupy a small volume and have a large bearing capacity.
In a first aspect, an embodiment of the present invention provides a lifting device, including: the base is provided with a first connecting rod mechanism; the first connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod; the first connecting rod and the second connecting rod are arranged in parallel, and the first end of the first connecting rod and the first end of the second connecting rod are respectively hinged on the seat body; the first end of the third connecting rod is hinged with the second end of the first connecting rod, and the second end of the third connecting rod is hinged with the second end of the second connecting rod; the first connecting rod, the second connecting rod, the third connecting rod and the seat body form a first parallel four-bar linkage; the fourth connecting rod and the fifth connecting rod are arranged in parallel, the first end of the fourth connecting rod is hinged with the second end of the first connecting rod, the first end of the fifth connecting rod is hinged with the second end of the second connecting rod, the first end of the sixth connecting rod is hinged with the second end of the fourth connecting rod, and the second end of the sixth connecting rod is hinged with the second end of the fifth connecting rod; the fourth connecting rod, the fifth connecting rod, the sixth connecting rod and the third connecting rod form a second parallel four-bar linkage; and a lifting table top is arranged on the sixth connecting rod.
According to the utility model discloses a concrete implementation mode, lifting device, still include the pull rod, the first end of pull rod articulates on first link mechanism, the second end articulates on the pedestal, just the second end of pull rod is higher than the first end of pull rod.
According to the utility model discloses a concrete implementation mode, the pull rod is located one side of first link mechanism.
According to a specific implementation manner of the embodiment of the present invention, the first link mechanism is connected to a lifting driving mechanism; the second end of the pull rod is closer to the connecting position of the lifting driving mechanism and the first connecting rod mechanism relative to the first end of the pull rod.
According to the embodiment of the present invention, the lifting driving mechanism is connected to the fourth connecting rod and the sixth connecting rod at the hinge position.
According to the utility model discloses a concrete mode of realization, it includes motor, drive shaft and rocker to lift actuating mechanism, the motor with connect through drive mechanism between the drive shaft, the rocker perpendicular to the drive shaft sets up, just the one end of rocker is fixed in the drive shaft, the other end articulates the fourth connecting rod with the articulated position department of sixth connecting rod.
According to a specific implementation manner of the embodiment of the present invention, a second link mechanism is further disposed on the seat body, and the second link mechanism and the first link mechanism are disposed in parallel at an interval; the second connecting rod mechanism also comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod; in the second link mechanism, the first link and the second link are arranged in parallel, and a first end of the first link and a first end of the second link are respectively hinged on the seat body; the first end of the third connecting rod is hinged with the second end of the first connecting rod, and the second end of the third connecting rod is hinged with the second end of the second connecting rod; the first connecting rod, the second connecting rod, the third connecting rod and the seat body form a three-parallel four-connecting-rod mechanism; the fourth connecting rod and the fifth connecting rod are arranged in parallel, the first end of the fourth connecting rod is hinged with the second end of the first connecting rod, the first end of the fifth connecting rod is hinged with the second end of the second connecting rod, the first end of the sixth connecting rod is hinged with the second end of the fourth connecting rod, and the second end of the sixth connecting rod is hinged with the second end of the fifth connecting rod; the fourth connecting rod, the fifth connecting rod, the sixth connecting rod and the third connecting rod form a fourth parallel four-bar linkage; the lifting table top is connected to the sixth connecting rods of the first connecting rod mechanism and the second connecting rod mechanism at the same time.
In a second aspect, an embodiment of the present application provides an automatic guided transport vehicle, which includes a vehicle body, and the lifting device described in any one of the foregoing implementation manners is disposed on the vehicle body.
The embodiment of the utility model provides a pair of lifting device and automated guidance transportation, first connecting rod forms two folding parallel four-bar linkage to the sixth connecting rod, and first parallel four-bar linkage and the parallel four-bar linkage of second are favorable to reducing the shared volume of whole lifting device promptly, moreover, have a plurality of connection hinge points among the lifting device, and the holding power is stronger, and the bearing capacity is bigger.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of an exemplary lifting device according to an embodiment of the present invention;
FIG. 2 is a schematic view of another exemplary lifting device according to the present invention;
FIG. 3 is a schematic structural diagram of a lifting device according to another embodiment of the present application.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a lifting apparatus according to an embodiment of the present application, and referring to fig. 1, the lifting apparatus according to the present embodiment may include: a base (not shown in the figures), on which a first link mechanism 10 is disposed, the first link mechanism 10 including a first link 102, a second link 104, a third link 106, a fourth link 108, a fifth link 110 and a sixth link 112; the first connecting rod 102 and the second connecting rod 104 are arranged in parallel, and a first end of the first connecting rod 102 and a first end of the second connecting rod 104 are respectively hinged on the seat body; a first end of the third link 106 is hinged with a second end of the first link 102, and a second end is hinged with a second end of the second link 104; the first connecting rod 102, the second connecting rod 104, the third connecting rod 106 and the seat body form a first parallel four-bar linkage; the fourth link 108 and the fifth link 110 are arranged in parallel, and a first end of the fourth link 108 is hinged to a second end of the first link 102, a first end of the fifth link 110 is hinged to a second end of the second link 104, a first end of the sixth link 112 is hinged to a second end of the fourth link 108, and a second end of the sixth link 110 is hinged to a second end of the fifth link 110; the fourth link 108, the fifth link 110, the sixth link 112, and the third link 106 form a second parallel four-bar linkage; a lifting table 114 is arranged on the sixth connecting rod 112.
The seat body can be a frame mechanism or a plate mechanism, and the part hinged with the connecting rod can be an ear-shaped mechanism. The ear mechanism has a hinge hole. The seat body can be arranged on the transport vehicle.
Each connecting rod is a rigid connecting rod, can be made of metal materials (such as iron, steel or alloy materials and the like) or plastic meeting the rigidity requirement, and can be in a rod shape or a strip shape. The connection and the fixation of the rod pieces can use the clamp springs, so that the disassembly and maintenance cost is lower.
The lifting platform 114 can be used to carry lifted articles, such as packages, packing boxes, baskets containing components, etc.
In one example, the action process of the lifting device is as follows: when a lifting driving force is applied to the first linkage 10 (e.g., to the second parallel four-bar linkage in the first linkage 10), the fourth link 108 and the fifth link 110 are lifted synchronously, and the first link 102 and the second link 104 are lifted. During the lifting process, the included angle between the fourth link 108 and the first link 102 gradually increases, and in a specific example, the included angle between the fourth link 108 and the first link 102 may gradually increase to 180 degrees.
In this embodiment, the first link 102 to the sixth link 112 form two foldable parallel four-bar linkages, i.e. a first parallel four-bar linkage and a second parallel four-bar linkage, which is beneficial to reducing the occupied volume of the whole lifting device, and the lifting device has a plurality of connecting hinge points, so that the supporting force is stronger and the bearing capacity is larger.
Fig. 2 is a schematic structural diagram of a lifting device according to another embodiment of the present application, referring to fig. 2, the lifting device of this embodiment has a structure substantially the same as that of the lifting device shown in fig. 1, except that in this application, the lifting device further includes a first pull rod 20a, a first end of the first pull rod 20a is hinged to the first link mechanism 10, a second end of the first pull rod 20a is hinged to the base, and the second end of the first pull rod 20a is higher than the first end of the first pull rod 20 a. The stability of the first link mechanism 10 can be maintained by providing an upward oblique pulling force to the first link mechanism 10 through the first pulling rod 20 a. In the lifting process of the first link mechanism 10, the first end of the first pull rod 20a rotates around the second end of the first pull rod 20a as a rotation center, so that the lifting table 114 performs an upward lifting motion, and the lifting table 114 can vertically ascend or descend while maintaining a horizontal state.
To avoid interference with the lifting table 114 during lifting, the first link 20a can be located on one side of the first linkage 10.
In the above embodiments of the lifting device, the first link mechanism 10 may be connected with a lifting driving mechanism S to provide a driving force for lifting the first link mechanism 10 upwards. In one example, the second end of the first pull rod 20a is closer to the connection position of the lifting driving mechanism S and the first linkage mechanism 10 than the first end of the first pull rod 20a, so that the acting force of the first linkage mechanism 10 on the lifting driving mechanism S can be reduced by the first pull rod 20a, which is beneficial to increase the service life of the lifting mechanism.
In one embodiment, the lifting drive mechanism S is connected at the hinged position of the fourth link 108 and the sixth link 112. When the fourth link 108 and the sixth link 112 are hinged by a hinge shaft, the lift driving mechanism S connection may be connected with the hinge shaft. In one example, the lifting driving mechanism S includes a motor, a driving shaft, and a rocker, the motor and the driving shaft are connected through a transmission mechanism (e.g., a gear transmission mechanism), and the motor rotates to drive the driving shaft to rotate through the transmission mechanism. The rocker is perpendicular to the driving shaft, one end of the rocker is fixed on the driving shaft, and the other end of the rocker is hinged at the hinged position of the fourth connecting rod 108 and the sixth connecting rod 112.
Fig. 3 is a schematic structural diagram of a lifting device according to another embodiment of the present application, and referring to fig. 3, the lifting device according to this embodiment has a structure substantially the same as that of the lifting device shown in fig. 1 or fig. 2, except that in this embodiment, a second link mechanism 30 may be further disposed on the seat body, and the second link mechanism 30 is disposed in parallel with and spaced apart from the first link mechanism 10; the second linkage 30 also includes a first link 302, a second link 304, a third link 306, a fourth link 308, a fifth link 310, and a sixth link 312; in the second link mechanism 30, the first link 302 and the second link 304 are arranged in parallel, and a first end of the first link 302 and a first end of the second link 304 are respectively hinged on the seat body; the first end of the third link 306 is hinged with the second end of the first link 302, and the second end is hinged with the second end of the second link 304; the first connecting rod 302, the second connecting rod 304, the third connecting rod 306 and the seat body form a three-parallel four-bar linkage; the fourth link 308 and the fifth link 310 are arranged in parallel, and a first end of the fourth link 308 is hinged to a second end of the first link 302, a first end of the fifth link 310 is hinged to a second end of the second link 304, a first end of the sixth link 312 is hinged to a second end of the fourth link 308, and a second end of the sixth link 310 is hinged to a second end of the fifth link 310; the fourth link 308, the fifth link 310, the sixth link 312, and the third link 306 form a fourth parallel four-bar linkage; the lift table 114 is connected to both the first linkage 302 and the sixth linkage 312 of the second linkage 30.
In this embodiment, the structure of the second link mechanism 30 is substantially the same as that of the first link 302 mechanism, the second link mechanism 30 and the first link 302 mechanism are arranged in parallel and spaced, and the lifting table 114 is connected to the first link 302 mechanism and the sixth link 312 of the second link mechanism 30 at the same time, so that the stability of the lifting device can be improved, and the lifted object can be lifted more stably.
In order to improve the synchronization of the previous movements of the first linkage 10 and the second linkage 30, a first cross bar 116 is connected between the joint of the second link 104 and the third link 106 in the first linkage 10 and the joint of the second link 304 and the third link 306 in the second linkage 30. In addition, a second cross bar 118 may be connected between a hinge joint of the first link 102 and the third link 106 in the first link mechanism 10 and a hinge joint of the first link 302 and the third link 306 in the second link mechanism 30, a lifting driving mechanism S may be hinged to the second cross bar 118, the lifting driving mechanism S may drive the second cross bar 118 to move up and down, and the second cross bar 118 may drive the first link mechanism 10 and the second link mechanism 30 to move up and down.
The embodiment of the present application further provides an Automatic Guided Vehicle (AGV), which is a Vehicle equipped with an electromagnetic or optical automatic guiding device, and is configured to identify a ground two-dimensional code through a downward image sensor mounted on a Vehicle body to perform positioning so as to travel along a predetermined guiding path. The automatic guide transport vehicle comprises a vehicle body, wherein the lifting device in any one of the embodiments is arranged on the vehicle body.
In the embodiment of the automated guided vehicle, for each connection mechanism, the first link 102 to the sixth link 112 form two foldable parallel four-bar linkages, namely, a first parallel four-bar linkage and a second parallel four-bar linkage, and under the condition of obtaining the same lifting height, compared with a single parallel four-bar linkage, the two foldable parallel four-bar linkages according to the present invention are adopted, which is beneficial to reducing the volume of the whole lifting device on the automated guided vehicle.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A lifting device, comprising: the base is provided with a first connecting rod mechanism; the first connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod;
the first connecting rod and the second connecting rod are arranged in parallel, and the first end of the first connecting rod and the first end of the second connecting rod are respectively hinged on the seat body; the first end of the third connecting rod is hinged with the second end of the first connecting rod, and the second end of the third connecting rod is hinged with the second end of the second connecting rod; the first connecting rod, the second connecting rod, the third connecting rod and the seat body form a first parallel four-bar linkage;
the fourth connecting rod and the fifth connecting rod are arranged in parallel, the first end of the fourth connecting rod is hinged with the second end of the first connecting rod, the first end of the fifth connecting rod is hinged with the second end of the second connecting rod, the first end of the sixth connecting rod is hinged with the second end of the fourth connecting rod, and the second end of the sixth connecting rod is hinged with the second end of the fifth connecting rod; the fourth connecting rod, the fifth connecting rod, the sixth connecting rod and the third connecting rod form a second parallel four-bar linkage;
and a lifting table top is arranged on the sixth connecting rod.
2. The lifting device as claimed in claim 1, further comprising a pull rod, wherein a first end of the pull rod is hinged to the first link mechanism, a second end of the pull rod is hinged to the base, and the second end of the pull rod is higher than the first end of the pull rod.
3. The lifting device as recited in claim 2, wherein the tie bar is located on a side of the first linkage.
4. The lifting device as recited in claim 2, wherein the first linkage mechanism is connected to a lifting drive mechanism;
the second end of the pull rod is closer to the connecting position of the lifting driving mechanism and the first connecting rod mechanism relative to the first end of the pull rod.
5. The lifting device as recited in claim 4, wherein the lifting drive mechanism is connected at a hinge location of the fourth link and the sixth link.
6. The lifting device as claimed in claim 5, wherein the lifting driving mechanism comprises a motor, a driving shaft and a rocker, the motor and the driving shaft are connected through a transmission mechanism, the rocker is arranged perpendicular to the driving shaft, one end of the rocker is fixed on the driving shaft, and the other end of the rocker is hinged at the hinged position of the fourth connecting rod and the sixth connecting rod.
7. The lifting device as claimed in claim 1, wherein a second linkage mechanism is further provided on the base, the second linkage mechanism being spaced apart from and parallel to the first linkage mechanism; the second connecting rod mechanism also comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod;
in the second link mechanism, the first link and the second link are arranged in parallel, and a first end of the first link and a first end of the second link are respectively hinged on the seat body; the first end of the third connecting rod is hinged with the second end of the first connecting rod, and the second end of the third connecting rod is hinged with the second end of the second connecting rod; the first connecting rod, the second connecting rod, the third connecting rod and the seat body form a three-parallel four-connecting-rod mechanism; the fourth connecting rod and the fifth connecting rod are arranged in parallel, the first end of the fourth connecting rod is hinged with the second end of the first connecting rod, the first end of the fifth connecting rod is hinged with the second end of the second connecting rod, the first end of the sixth connecting rod is hinged with the second end of the fourth connecting rod, and the second end of the sixth connecting rod is hinged with the second end of the fifth connecting rod; the fourth connecting rod, the fifth connecting rod, the sixth connecting rod and the third connecting rod form a fourth parallel four-bar linkage;
the lifting table top is connected to the sixth connecting rods of the first connecting rod mechanism and the second connecting rod mechanism at the same time.
8. The lifting device as claimed in claim 7, wherein a first cross bar is connected between the joint of the second link and the third link in the first linkage and the joint of the second link and the third link in the second linkage.
9. A lifting device as claimed in claim 7 or 8, characterized in that a first transverse bar is connected between the articulation of the second link with the third link in the first linkage and the articulation of the second link with the third link in the second linkage.
10. An automated guided vehicle comprising a body, wherein a lifting device according to any of the preceding claims 1-9 is provided on the body.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020585969.0U CN212050356U (en) | 2020-04-17 | 2020-04-17 | Lifting device and automatic guide transport vehicle |
| PCT/CN2021/084862 WO2021208747A1 (en) | 2020-04-17 | 2021-04-01 | Lifting device, and automated guided transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020585969.0U CN212050356U (en) | 2020-04-17 | 2020-04-17 | Lifting device and automatic guide transport vehicle |
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| Publication Number | Publication Date |
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| CN212050356U true CN212050356U (en) | 2020-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020585969.0U Active CN212050356U (en) | 2020-04-17 | 2020-04-17 | Lifting device and automatic guide transport vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN212050356U (en) |
| WO (1) | WO2021208747A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113336132A (en) * | 2021-06-10 | 2021-09-03 | 北京京东乾石科技有限公司 | Lifting device and AGV |
| WO2021208747A1 (en) * | 2020-04-17 | 2021-10-21 | 杭州海康机器人技术有限公司 | Lifting device, and automated guided transport vehicle |
| WO2021208579A1 (en) * | 2020-04-17 | 2021-10-21 | 杭州海康机器人技术有限公司 | Lifting device and automated guided vehicle |
| CN113685864A (en) * | 2021-07-01 | 2021-11-23 | 宁波方太厨具有限公司 | Range hood and control method thereof |
| CN117429859A (en) * | 2023-12-20 | 2024-01-23 | 珠海格力智能装备有限公司 | Lifting device, material distribution system and control method of material distribution system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000211897A (en) * | 1999-01-21 | 2000-08-02 | Aichi Mach Ind Co Ltd | Lifter mechanism for automated guided vehicle |
| JP2001064000A (en) * | 1999-08-30 | 2001-03-13 | Zenji Tsuchikawa | Up-and-down movement mechanism for hanger rod |
| CN206203785U (en) * | 2016-10-10 | 2017-05-31 | 卡特彼勒（郑州）有限公司 | Hoistable platform |
| CN108689331B (en) * | 2017-04-07 | 2019-12-27 | 北京极智嘉科技有限公司 | Base and carrier comprising same |
| CN208775702U (en) * | 2018-09-25 | 2019-04-23 | 杭州海康机器人技术有限公司 | A kind of lifting device and automatic guide transport vehicle |
| CN212315423U (en) * | 2020-04-09 | 2021-01-08 | 北京旷视机器人技术有限公司 | Lifting device and automatic guided vehicle |
| CN212050356U (en) * | 2020-04-17 | 2020-12-01 | 杭州海康机器人技术有限公司 | Lifting device and automatic guide transport vehicle |
| CN212049253U (en) * | 2020-04-17 | 2020-12-01 | 杭州海康机器人技术有限公司 | Lifting device and automatic guide transport vehicle |
-
2020
- 2020-04-17 CN CN202020585969.0U patent/CN212050356U/en active Active
-
2021
- 2021-04-01 WO PCT/CN2021/084862 patent/WO2021208747A1/en active Application Filing
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021208747A1 (en) * | 2020-04-17 | 2021-10-21 | 杭州海康机器人技术有限公司 | Lifting device, and automated guided transport vehicle |
| WO2021208579A1 (en) * | 2020-04-17 | 2021-10-21 | 杭州海康机器人技术有限公司 | Lifting device and automated guided vehicle |
| JP7485785B2 (en) | 2020-04-17 | 2024-05-16 | 杭州海康机器人股▲ふん▼有限公司 | Lifting equipment and automated guided vehicles |
| CN113336132A (en) * | 2021-06-10 | 2021-09-03 | 北京京东乾石科技有限公司 | Lifting device and AGV |
| CN113685864A (en) * | 2021-07-01 | 2021-11-23 | 宁波方太厨具有限公司 | Range hood and control method thereof |
| CN117429859A (en) * | 2023-12-20 | 2024-01-23 | 珠海格力智能装备有限公司 | Lifting device, material distribution system and control method of material distribution system |
| CN117429859B (en) * | 2023-12-20 | 2024-05-14 | 珠海格力智能装备有限公司 | Lifting device, material distribution system and control method of material distribution system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021208747A1 (en) | 2021-10-21 |
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