CN107599770A - One kind six takes turns AGV shock-absorbings chassis - Google Patents
One kind six takes turns AGV shock-absorbings chassis Download PDFInfo
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- CN107599770A CN107599770A CN201710708822.9A CN201710708822A CN107599770A CN 107599770 A CN107599770 A CN 107599770A CN 201710708822 A CN201710708822 A CN 201710708822A CN 107599770 A CN107599770 A CN 107599770A
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- 239000000725 suspension Substances 0.000 claims abstract description 24
- 230000000694 effects Effects 0.000 claims abstract description 10
- 239000006096 absorbing agent Substances 0.000 claims description 47
- 230000035939 shock Effects 0.000 claims description 25
- 230000007246 mechanism Effects 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 6
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 239000004411 aluminium Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000012876 topography Methods 0.000 abstract 1
- 238000013016 damping Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The invention discloses one kind six to take turns AGV shock-absorbings chassis, is related to AGV robot devices field, including：Front shock-proof device system, chassis body, driving wheel, main suspension system and directive wheel；Front shock-proof device system is located at chassis body front end；Driving wheel is fixed on chassis body centre position, and is connected up to shock-proof effect with main suspension system；Front shock-proof device system is fixed on chassis body front portion, and further shock-absorbing is done on the basis of main suspension system；Directive wheel is separately fixed in front shock-proof device system and chassis body rear end；Present invention is mainly used for various occasions with a varied topography, have the advantages that shock-proof effect is good, and earth-grasping force is strong.
Description
Technical field
The present invention relates to shock-absorbing apparatus field, more particularly to one kind six to take turns AGV shock-absorbings chassis.
Background technology
Automatic guided vehicle AGV has been at home and abroad a kind of logistics transportation equipment for being widely used in automatic factory, but is passed
The AGV chassis suspension system of system is by gas bar spring supporting drive module to a grip caused by ground so as to realizing that protection subtracts
One ability of one resistance to deformation of fast machine output shaft, it is widely used in six wheel AGV structures；
As the U of Chinese invention patent CN 203793061 disclose a kind of AGV driver elements damping, including driving wheel,
And the driver element main shaft between two driving wheels is connected to, and it is arranged on the driver element damping bullet in the middle part of driver element main shaft
Spring, that is, be arranged on the damping spring fiber week of driver element damping spring lower end, and is arranged on driver element damping spring upper end
Damping spring limited screw, i.e., be connected with damping spring limited screw set driver element motor mounting plate, that is, be arranged on
Rotary shaft above driver element motor mounting plate, and circumference are arranged on the deep groove ball bearing outside rotary shaft, i.e. circumference is arranged on
Bearing holder (housing, cover) outside deep groove ball bearing；
And for example the A of Chinese invention patent CN 105947565 disclose small for single drive reversible AGV of uneven terrain
Car, the dolly include vehicle body frame and are symmetricly set on the suspension drive system of vehicle body frame two bottom sides, the suspension for a pair
Drive system includes hitch and drive mechanism, hitch include being arranged on the hanging frame body of vehicle body frame bottom, with
The hanging frame body cover plate and at least two that hanging frame body phase is adapted to are laid in hanging frame body and hanging frame body lid
Between plate and by hanging frame body and the spring shock-absorbing unit of hanging frame body cover plate elastic connection, drive mechanism includes being arranged on
The motor of the external side of hanging frame and the driving wheel for being arranged on inside hanging frame and being connected with motor；
But above-mentioned AGV chassis all use driving wheel damping a kind of form, when run into small boss or load it is bigger
When, AGV chassis is difficult to move ahead, because a power caused by intermediate driving wheel spring is not enough to allow friction caused by driving wheel
Power drives vehicle body to cause driving wheel skid.
The content of the invention
First, technical problems to be solved
The purpose of the present invention is the above mentioned problem present in prior art, and spy provides the six of a kind of adaptation complex environment
AGV shock-absorbings chassis is taken turns, the problem of making AGV chassis driving wheel vacantly skid when there is boss on ground in the prior art to overcome.
2nd, technical scheme
In order to solve the above technical problems, the present invention, which provides one kind six, takes turns AGV shock-absorbings chassis, it is characterised in that shock-absorbing chassis
Including：Front shock-proof device system, chassis body, driving wheel, main suspension system and directive wheel；Before front shock-proof device system is located at chassis body
End；Driving wheel is fixed on chassis body centre position, and is connected up to shock-proof effect with main suspension system；Front shock-proof device system is consolidated
It is anterior due to chassis body, further shock-absorbing is done on the basis of main suspension system；Directive wheel is separately fixed in front shock-proof device system
With chassis body rear end.
Wherein, front shock-proof device system includes：Front shock-proof device top plate, front shock-proof device bottom plate, front shock-proof device column, front shock-proof device mechanism, preceding keep away
Shake link；Front shock-proof device top plate is fixed in front shock-proof device column one end, and the other end fixes front shock-proof device bottom plate, makes front shock-proof device top plate and before keeps away
Shake bottom plate connects into the framework of front shock-proof device system；Front shock-proof device mechanism is fixed with front shock-proof device bottom plate, and props up front shock-proof device top plate, makes institute
Shock-proof effect can be reached using front shock-proof device bottom plate as fulcrum using front shock-proof device top plate as stress point by stating front shock-proof device mechanism；Front shock-proof device connects
Frame links into an integrated entity front shock-proof device system and chassis body.
Wherein, front shock-proof device mechanism includes：Front shock-absorber, front shock-absorber support, front shock-absorber supporting plate, front shock-proof device supporting plate
Fixed mount；Front shock-absorber both ends are provided with the front shock-absorber support of flexible connection, the front shock-proof device branch of front shock-absorber one end after installation
Frame is fixed with front shock-proof device top plate, and front shock-proof device support and front shock-proof device supporting plate one end of the other end are fixed, front shock-proof device supporting plate it is another
One end is flexibly connected with front shock-proof device supporting plate fixed mount, shock-absorbing supporting plate is supported using front shock-absorber as bolster with front shock-proof device
Plate fixed mount fulcrum, it is directive wheel shock-absorbing；Front shock-proof device supporting plate fixed mount is fixed with the front shock-proof device bottom plate.
Wherein, chassis body includes：Bottom plate, bottom plate column behind chassis top plate, chassis noseplate, chassis；Chassis noseplate
The front end of chassis top plate is fixed on by the first chassis column, bottom plate is fixed on the chassis by the second chassis column behind chassis
Top plate rear end；A complete chassis body is formed after installation.
Wherein, driving wheel includes：Rubber wheel, shaft coupling, connecting plate for electric motor and motor；Motor is fixed on connecting plate for electric motor
On；Coupler sleeve is on motor front output shaft；Rubber wheel is fixed with shaft coupling；Main suspension system is installed on after driving wheel assembling
On.
Wherein, further to improve chassis operating efficiency, motor is DC brushless motor.
Wherein, main suspension system includes：Main shock absorber, main shock absorber link, main shock-absorbing connecting plate, main shock-absorbing support,
Main shock-absorbing rack fixing seat；Main shock absorber one end is fixed with chassis top plate, the other end pass through main shock absorber link one end after with
Chassis noseplate is fixed, and main shock absorber link can be slided up and down on main shock absorber；Main shock absorber link and master
Shock-absorbing connecting plate is while fixed；Main shock-absorbing connecting plate another side is fixed with main shock-absorbing support one end；The main shock-absorbing support other end with
Main shock-absorbing rack fixing seat is flexibly connected by pin.
Wherein, shaft coupling includes：Connecting shaft and bearing block；Connecting shaft both ends are arranged bearing, and then bearing sleeve is located at axle
Hold.
Wherein, directive wheel is universal wheel.
Wherein, front shock-proof device column, the first bottom plate column and the second bottom plate column are 2020 aluminium section bars.
3rd, beneficial effects of the present invention
Compared with prior art, one kind six of the invention wheel AGV shock-absorbings chassis has many advantages, such as follows：
(1) double suspension shock-absorbings, shock-proof effect is improved；
(2) it is oriented to by universal wheel, is that direction transformation is more flexible；
(3) combined by the shock-absorbing of directive wheel and driving wheel, make driving wheel hanging, adapt to complicated landform.
Brief description of the drawings
Fig. 1 is the overall structure diagram on shock-absorbing chassis of the present invention；
Fig. 2 is the front shock-proof device system structure diagram on shock-absorbing chassis of the present invention；
Fig. 3 is the internal view on shock-absorbing chassis of the present invention；
Fig. 4 is the coupler structure schematic diagram on shock-absorbing chassis of the present invention；
In figure：1 is front shock-proof device system；2 be chassis body；3 be driving wheel；4 be main suspension system；5 be directive wheel；11 are
Front shock-proof device top plate；12 be front shock-proof device bottom plate；13 be front shock-proof device column；14 be front shock-proof device mechanism；15 be front shock-proof device link；21 are
Chassis top plate；22 be chassis noseplate；23 be bottom plate behind chassis；24 be the first bottom plate column；25 be the second bottom plate column；31 are
Rubber wheel；32 be shaft coupling；33 be connecting plate for electric motor；34 be motor；41 be main shock absorber；42 be main shock absorber link；43
For main shock-absorbing connecting plate；44 be main shock-absorbing support；45 be main shock-absorbing rack fixing seat；141 be front shock-absorber；142 be front shock-proof device
Device support；143 be front shock-absorber supporting plate；144 be front shock-proof device supporting plate fixed mount；321 be connecting shaft；322 be bearing block.
Embodiment
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but can not be used for limiting the scope of the present invention.
A kind of the six of the embodiment of the present invention take turns the structure on AGV shock-absorbings chassis as shown in Figures 1 to 4, including：Front shock-proof device system
1st, chassis body 2, driving wheel 3, main suspension system 4 and directive wheel 5；Front shock-proof device system 1 is located at the front end of chassis body 2；Driving wheel 3
The centre position of chassis body 2 is fixed on, and shock-proof effect is connected up to main suspension system 4；Front shock-proof device system 1 is fixed on bottom
Disk body 2 is anterior, and further shock-absorbing is done on the basis of main suspension system 4；Directive wheel 5 be separately fixed in front shock-proof device system 1 and
The rear end of chassis body 2.
Front shock-proof device system 1 includes：Front shock-proof device top plate 11, front shock-proof device bottom plate 12, front shock-proof device column 13, front shock-proof device mechanism 14,
Front shock-proof device link 15；Front shock-proof device top plate 11 is fixed in the one end of front shock-proof device column 13, and the other end fixes front shock-proof device bottom plate 12 so as to group
Into the framework of front shock-proof device system 1, then front shock-proof device mechanism 14 and front shock-proof device bottom plate 12 are fixed, and prop up front shock-proof device top plate 11,
Enable front shock-proof device mechanism 14 with front shock-proof device bottom plate 12 for fulcrum, be that stress point reaches shock-proof effect with front shock-proof device top plate 11；Before keep away
Shake link 15 is used to link into an integrated entity front shock-proof device system 1 and chassis body 2；
Front shock-proof device mechanism 14 includes：Front shock-absorber 141, front shock-absorber support 142, front shock-absorber supporting plate 143, front shock-proof device
Supporting plate fixed mount 144；Front shock-absorber support 142 is respectively arranged in the both ends of front shock-absorber 141, and front shock-absorber branch after installation
Be movably connected state between frame 142 and front shock-absorber 141, then by the front shock-proof device support 142 of the one end of front shock-absorber 141 with before
Shock-absorbing top plate 11 is fixed, and front shock-proof device support 142 and the one end of front shock-proof device supporting plate 143 of the other end are fixed；Front shock-proof device supporting plate 143
The other end be flexibly connected with front shock-proof device supporting plate fixed mount 144；Front shock-proof device supporting plate fixed mount 144 is solid with front shock-proof device bottom plate 12
It is fixed；Front shock-proof device system 1 be completed after again the bottom of front shock-absorber supporting plate 143 installation directive wheel 5.
Chassis body 2 includes：Bottom plate 23, the first bottom plate column 24 and behind chassis top plate 21, chassis noseplate 22, chassis
Two bottom plate columns 25；Chassis noseplate 22 is fixed on the front end of chassis top plate 21 by the first chassis column 24；Bottom plate behind chassis
23 are fixed on the rear end of chassis top plate 21 by the second chassis column 25；Front shock-proof device link 15 is used after the installation of chassis body 2
Front shock-proof device system 1 and chassis body 2 are linked into an integrated entity, main suspension system 4 is then installed in chassis body 2；
Main suspension system 4 includes：Main shock absorber 41, main shock absorber link 42, main shock-absorbing connecting plate 43, main shock-absorbing support
44th, main shock-absorbing rack fixing seat 45；Main one end of shock absorber 41 is fixed with chassis top plate 21, and the other end passes through main shock absorber link
Fixed behind 42 one end with chassis noseplate 22, and main shock absorber link 42 can be slided up and down on main shock absorber 41；It is main
Shock absorber link 42 is with main shock-absorbing connecting plate 43 while fixing；The main another side of shock-absorbing connecting plate 43 and main one end of shock-absorbing support 44
It is fixed；The main other end of shock-absorbing support 44 is flexibly connected with main shock-absorbing rack fixing seat 45 by pin；Main shock absorber link 42,
Main shock-absorbing connecting plate 43 and main shock-absorbing support 44 can do sector with main shock-absorbing support 44 and the main tie point of shock-absorbing rack fixing seat 45
Rotate；Driving wheel 3 is then installed on main shock-absorbing connecting plate 43.
Driving wheel 3 includes：Rubber wheel 31, shaft coupling 32, connecting plate for electric motor 33 and motor 34, motor 34 are fixed on motor company
On fishplate bar 33, shaft coupling 32 is sheathed on the front output shaft of motor 34, and rubber wheel 31 is fixed with shaft coupling 22, then connecting plate for electric motor 33
With main shock-absorbing connecting plate 43, driving wheel 3 is set to be installed on main suspension system 4.
Shaft coupling 32 includes：Connecting shaft 321 and bearing block 322；The both ends of connecting shaft 321 are provided with bearing, and bearing block 322 is arranged
In on the bearing, shaft coupling 32 is installed on the front output shaft of motor 34 again after being completed.
In order to further improve chassis power, motor 24 is DC brushless motor, and directive wheel 5 is universal wheel, and front shock-proof device is stood
Post 13, the first bottom plate column 24 and the second bottom plate column 25 are 2020 aluminium profile.
Shock absorbing apparatus is all set by driving wheel 3 and directive wheel 5, AGV shock-absorbings chassis is met bumps during traveling
Shock-proof effect can be increased during ground, reduce the impact wear to parts, simultaneously as directive wheel 5 is also flexible flexible
Function, will not be pressed in when meeting ground and having boss because of directive wheel 5 on boss, which causes driving wheel 3 vacantly to lose vehicle, grabs ground
Power and skid.
It the above is only the preferred embodiment of the present invention, it is noted that come for those skilled in the art
Say, without departing from the technical principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. one kind six takes turns AGV shock-absorbings chassis, it is characterised in that the shock-absorbing chassis includes：Front shock-proof device system (1), chassis body
(2), driving wheel (3), main suspension system (4) and directive wheel (5)；Before the front shock-proof device system (1) is located at the chassis body (2)
End；The driving wheel (3) is fixed on the chassis body (2) centre position, and is connected up to the main suspension system (4)
Shock-proof effect；The front shock-proof device system (1) is fixed on the chassis body (2) front portion, on the basis of the main suspension system (4)
Do further shock-absorbing；The directive wheel (5) is separately fixed on the front shock-proof device system (1) and the chassis body (2) rear end.
2. shock-absorbing chassis as claimed in claim 1, it is characterised in that the front shock-proof device system (1) includes：Front shock-proof device top plate
(11), front shock-proof device bottom plate (12), front shock-proof device column (13), front shock-proof device mechanism (14), front shock-proof device link (15)；The front shock-proof device
The front shock-proof device top plate (11) is fixed in column (13) one end, and the other end fixes the front shock-proof device bottom plate (12)；The front shock-proof device machine
Structure (14) is fixed with the front shock-proof device bottom plate (12), and props up the front shock-proof device top plate (11), makes the front shock-proof device mechanism (14)
Can be that stress point reaches shock-proof effect with the front shock-proof device top plate (11) with the front shock-proof device bottom plate (12) for fulcrum；Before described
Shock-absorbing link (15) connects the front shock-proof device system (1) and the chassis body (2).
3. shock-absorbing chassis as claimed in claim 2, it is characterised in that the front shock-proof device mechanism (14) includes：Front shock-absorber
(141), front shock-absorber support (142), front shock-absorber supporting plate (143), front shock-proof device supporting plate fixed mount (144)；Kept away before described
Shake device (141) both ends are provided with the front shock-absorber support (142) of flexible connection, the front shock-absorber (141) one after installation
The front shock-proof device support (142) and the front shock-proof device top plate (11) at end are fixed, the front shock-proof device support (142) of the other end with it is described
Front shock-proof device supporting plate (143) one end is fixed；The other end of the front shock-proof device supporting plate (143) is fixed with the front shock-proof device supporting plate
Frame (144) is flexibly connected；The front shock-proof device supporting plate fixed mount (144) is fixed with the front shock-proof device bottom plate (12).
4. shock-absorbing chassis as claimed in claim 1, it is characterised in that the chassis body (2) includes：Chassis top plate (21),
Bottom plate (23), the first bottom plate column (24) and the second bottom plate column (25) behind chassis noseplate (22), chassis；Bottom before the chassis
Plate (22) is fixed on the front end of the chassis top plate (21) by first chassis column (24)；Bottom plate (23) behind the chassis
Chassis top plate (21) rear end is fixed on by second chassis column (25).
5. shock-absorbing chassis as claimed in claim 1, it is characterised in that the driving wheel (3) includes：Rubber wheel (31), shaft coupling
Device (32), connecting plate for electric motor (33) and motor (34)；The motor (34) is fixed on the connecting plate for electric motor (33)；It is described
Axle device (32) is sheathed on the motor (34) front output shaft；The rubber wheel (31) is fixed with the shaft coupling (22)；The electricity
Machine connecting plate (33) is fixed on the main suspension system (4).
6. shock-absorbing chassis as claimed in claim 5, it is characterised in that the motor (24) is DC brushless motor.
7. shock-absorbing chassis as claimed in claim 1, it is characterised in that the main suspension system (4) includes：Main shock absorber
(41), main shock absorber link (42), main shock-absorbing connecting plate (43), main shock-absorbing support (44), main shock-absorbing rack fixing seat (45)；
Described main shock absorber (41) one end is fixed with the chassis top plate (21), and the other end passes through the main shock absorber link (42) one
It is fixed with the chassis noseplate (22) behind end, and the main shock absorber link (42) can be enterprising in the main shock absorber (41)
Row slides up and down；The main shock absorber link (42) is with the main shock-absorbing connecting plate (43) while fixed；The main shock-absorbing connects
Fishplate bar (43) another side is fixed with described main shock-absorbing support (44) one end；Main shock-absorbing support (44) other end is kept away with the master
Shake rack fixing seat (45) is flexibly connected by pin.
8. shock-absorbing chassis as claimed in claim 5, it is characterised in that the shaft coupling (32) includes：Connecting shaft (321) and axle
Bearing (322)；Connecting shaft (321) both ends are provided with bearing, and the bearing block (322) is sheathed on the bearing.
9. shock-absorbing chassis as claimed in claim 1, it is characterised in that the directive wheel (5) is universal wheel.
10. shock-absorbing chassis as claimed in claim 1, it is characterised in that the front shock-proof device column (13), first bottom plate are stood
Post (24) and the second bottom plate column (25) are 2020 aluminium section bars.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710708822.9A CN107599770A (en) | 2017-08-17 | 2017-08-17 | One kind six takes turns AGV shock-absorbings chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710708822.9A CN107599770A (en) | 2017-08-17 | 2017-08-17 | One kind six takes turns AGV shock-absorbings chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107599770A true CN107599770A (en) | 2018-01-19 |
Family
ID=61064841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710708822.9A Pending CN107599770A (en) | 2017-08-17 | 2017-08-17 | One kind six takes turns AGV shock-absorbings chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107599770A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945151A (en) * | 2018-07-31 | 2018-12-07 | 储海霞 | A kind of Novel intelligent trolley |
| CN108945152A (en) * | 2018-07-31 | 2018-12-07 | 储海霞 | A kind of intelligent carriage |
| CN108995740A (en) * | 2018-07-12 | 2018-12-14 | 储海霞 | A kind of intelligent carriage |
| WO2019242315A1 (en) * | 2018-06-19 | 2019-12-26 | 北京京东尚科信息技术有限公司 | Agv chassis mechanism and agv provided with same |
| CN113021302A (en) * | 2021-05-31 | 2021-06-25 | 莱陆科技(天津)有限公司 | Robot chassis walking device capable of stably crossing roadblocks |
| CN114368438A (en) * | 2021-12-16 | 2022-04-19 | 威海魏桥科技工业园有限公司 | A dive formula AGV dolly for cop transportation |
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| CN204956703U (en) * | 2015-09-17 | 2016-01-13 | 北京云迹科技有限公司 | Six rounds of chassis systems and adopt vehicle and wheeled robot of this system |
| CN105774457A (en) * | 2015-11-04 | 2016-07-20 | 上海电器科学研究所（集团）有限公司 | Lifting terrain-adaptive AGV trolley chassis |
| CN206243295U (en) * | 2016-11-17 | 2017-06-13 | 深圳市佳都实业发展有限公司 | Motion chassis system and telecontrol equipment |
| CN207291549U (en) * | 2017-08-17 | 2018-05-01 | 宁波市智能制造产业研究院 | One kind six takes turns AGV shock-absorbings chassis |
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2017
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| KR960007371U (en) * | 1994-08-24 | 1996-03-13 | Suspension System of Unmanned Vehicle | |
| KR19980074172A (en) * | 1997-03-21 | 1998-11-05 | 윤종용 | Suspension System of Unmanned Vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019242315A1 (en) * | 2018-06-19 | 2019-12-26 | 北京京东尚科信息技术有限公司 | Agv chassis mechanism and agv provided with same |
| CN108995740A (en) * | 2018-07-12 | 2018-12-14 | 储海霞 | A kind of intelligent carriage |
| CN108945151A (en) * | 2018-07-31 | 2018-12-07 | 储海霞 | A kind of Novel intelligent trolley |
| CN108945152A (en) * | 2018-07-31 | 2018-12-07 | 储海霞 | A kind of intelligent carriage |
| CN113021302A (en) * | 2021-05-31 | 2021-06-25 | 莱陆科技(天津)有限公司 | Robot chassis walking device capable of stably crossing roadblocks |
| CN114368438A (en) * | 2021-12-16 | 2022-04-19 | 威海魏桥科技工业园有限公司 | A dive formula AGV dolly for cop transportation |
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