CN112456383B - Lifting leveling mechanism of self-balancing AGV (automatic guided vehicle) of piggyback roller way - Google Patents
Lifting leveling mechanism of self-balancing AGV (automatic guided vehicle) of piggyback roller way Download PDFInfo
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- CN112456383B CN112456383B CN202011454267.XA CN202011454267A CN112456383B CN 112456383 B CN112456383 B CN 112456383B CN 202011454267 A CN202011454267 A CN 202011454267A CN 112456383 B CN112456383 B CN 112456383B
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- agv
- lifting
- lifting leveling
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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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/16—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks
- B66F7/20—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks by several jacks with means for maintaining the platforms horizontal during movement
-
- 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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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- Road Paving Machines (AREA)
Abstract
The invention discloses a lifting leveling mechanism of a self-balancing AGV (automatic guided vehicle) of a piggyback roller way. Lifting leveling mechanism lifts leveling brace spare and third that is located AGV automobile body rear end left and right sides, fourth and lifts leveling brace spare including first lifting leveling brace spare, the second that is located AGV automobile body front end left and right sides. The lifting leveling mechanism is applied to an AGV roller bed, the AGV roller bed is arranged above an AGV body, and the lifting leveling mechanism is arranged on the AGV body below the AGV roller bed and used for adjusting the AGV roller bed to be parallel to a horizontal plane under different road conditions. According to the invention, the lifting leveling mechanism is arranged on the AGV body, so that the requirements of the AGV on butt joint at various heights can be realized, the lifting leveling mechanism is controlled by the tilt angle sensor and the gyroscope, the lifting platform is parallel to the horizontal plane under different road conditions, and the ground flatness requirements of the traveling area of the AGV are reduced.
Description
Technical Field
The invention belongs to the technical field of intelligent equipment for middle-sized logistics AGV (automatic guided vehicle) handling, and particularly relates to a lifting leveling mechanism for a self-balancing AGV (automatic guided vehicle) with a piggyback roller way.
Background
Current direct load formula AGV, the direct fixed mounting of roller way line is in the AGV top. AGV needs transport the station at the tray and realize the automatic butt joint of roller way line. However, the practical situation is limited, the height direction of the roller way on the AGV and the roller way fixed on the ground is inconsistent due to the fact that the ground of a common factory has unevenness of more than +/-10 mm, gradient of 2-3 degrees, unbalanced load, later-stage ground abrasion, supporting of casters and the like, and the tray is easy to be blocked in the transfer process.
Disclosure of Invention
The invention aims to solve the defects of the background technology, and provides a lifting leveling mechanism of a piggyback roller self-balancing AGV.
The technical scheme adopted by the invention is as follows: the utility model provides a carry on back roll table self-balancing AGV lift levelling mechanism, lift levelling mechanism including being located AGV automobile body front end first lift leveling brace, second lift leveling brace and being located AGV automobile body rear end third lift leveling brace, fourth lift leveling brace about. The lifting leveling mechanism is applied to an AGV roller bed, the AGV roller bed is arranged above an AGV body, and the lifting leveling mechanism is arranged on the AGV body below the AGV roller bed and used for adjusting the AGV roller bed to be parallel to a horizontal plane under different road conditions.
The structure is further optimized, the first lifting leveling support piece and the second lifting leveling support piece are located on the side edge of the AGV body and connected with the AGV body, the first lifting leveling support piece and the second lifting leveling support piece are connected through a front connecting frame, the third lifting leveling support piece and the fourth lifting leveling support piece are located on the side edge of the AGV body and connected with the AGV body, and the third lifting leveling support piece and the fourth lifting leveling support piece are connected through a rear connecting frame; preceding link, back link are located AGV automobile body top, AGV roll table front end is placed on preceding link, AGV roll table rear end articulates on the link after through articulated axle subassembly, connecting axle.
According to the scheme, the front end of the AGV roller way is only supported on the lifting leveling mechanism, the rear end of the AGV roller way is hinged to the lifting leveling mechanism at the rear end of the AGV, one end of the AGV roller way is hinged, the other end of the AGV roller way is movable, and jamming is avoided when the X-direction angular deviation needs to be adjusted. And each AGV body is provided with two sets of lifting and leveling mechanisms, and four lifting points can be respectively lifted, so that four-point leveling is realized.
Further preferred structure, first lifting leveling brace, second lifting leveling brace, third lifting leveling brace, fourth lifting leveling brace all include lifting support, first connecting support of being connected with preceding link or back link, lifting support is articulated with the hydro-cylinder upper end, the hydro-cylinder lower extreme is articulated with first connecting support, first connecting support bottom sliding connection is on linear guide, be fixed in on the second connecting support in linear guide, it is fixed with the AGV automobile body on the second connecting support.
In the scheme, the four oil cylinders are positioned below the four lifting corners and are controlled by the tilt angle sensors and the gyroscope. Can realize lifting platform (AGV roll table) at the not butt joint of co-altitude, lift and be equipped with inclination sensor on the support, the levelness of adjustment mesa can realize stricter butt joint operating mode.
The supporting points at the lower ends of the oil cylinders adopt a linear guide rail sliding structure, so that when a single oil cylinder is required to ascend to ensure the level of a roller way (if an AGV chassis has an inclination angle with the ground in the X direction), the single oil cylinder can freely stretch out and draw back under the linear guide rail and hinge structures, and the blocking condition cannot occur.
In a further preferred structure, an inclination angle sensor is arranged between the lifting support and the oil cylinder.
In a further preferred structure, the front connecting frame and the rear connecting frame are respectively provided with a gyroscope.
In a further preferred structure, the upper end of the oil cylinder is hinged with the upper belt seat bearing through an upper end hole of the oil cylinder, and the lower end of the oil cylinder is hinged with the lower belt seat bearing through a lower end hole of the oil cylinder; the upper belt seat bearing is fixed on the lifting support, and the lower belt seat bearing is fixed on the first connecting support.
In a further preferred structure, the bottom of the first connecting bracket is hinged to a sliding block through a pin shaft, and the sliding block is connected to the linear guide rail in a sliding manner.
Further preferred structure, including mutually perpendicular's bottom plate and curb plate on the second linking bridge, linear guide is fixed in on the bottom plate, the curb plate is fixed with the AGV automobile body.
In the scheme, the lifting support is not limited in the left-right direction. If only the lifting leveling mechanism is used, in actual use, the roller way can move in the Y direction because of no limitation of the left and right directions, and the left and right positions of the roller way, the workpiece and the like above the roller way are uncertain. Therefore, the centering assembly is required to be matched for use, the centering assembly limits the center line of the leveling assembly, and oil cylinders on two sides of the lifting leveling mechanism can be ensured to smoothly lift the leveling mechanism without clamping. The centering assembly is fixedly arranged at the center of the roller way. The radial spherical plain bearing allows a certain universal deflection angle, and can meet the use requirement that the roller way is parallel to the horizontal plane when the X-direction AGV chassis and the Y-direction AGV chassis are not parallel to the horizontal plane.
Further preferred structure, AGV roll table front end is equipped with two preceding landing legs, and the rear end is equipped with two back landing legs, two preceding landing leg is placed on preceding link, two back landing leg articulates on the link after through hinge assembly, connecting axle.
In a further preferred structure, the hinge shaft assembly comprises a connecting plate and a bearing with a seat, the bearing with the seat is fixed on the rear connecting frame, the connecting plate is fixed with the rear supporting leg, and the center of the connecting plate is hinged to the bearing with the seat through a connecting shaft.
The invention is applied to the transfer of the chassis of the interior trim body of an automobile factory, and a roller way is arranged above the AGV and is butted with the roller way fixed on the ground. When the AGV automatically runs to the skid transfer station, the self-balancing mechanism control system automatically transfers the AGV roller bed to be aligned with the butt joint roller bed fixed on the ground, and is aligned with the line edge fixing line body, after the alignment, the motor of the AGV upper roller bed and the ground fixing roller bed is started, and the skid is transferred back and forth between the AGV roller bed and the ground fixing butt joint roller bed.
The invention has the beneficial effects that: the lifting leveling mechanism is arranged on the AGV body, so that the requirements of the AGV on butt joint at various heights can be met, the lifting leveling mechanism is controlled through the inclination angle sensor and the gyroscope, the lifting platform is parallel to a horizontal plane under different road conditions, and the ground flatness requirements of the traveling area of the AGV are reduced. And a lateral roller way is arranged on the lifting leveling mechanism, so that the butt joint conveying requirement of the combined assembly tray is met.
The tray that directly bears roller way line AGV top requires highly to the AGV precision that stops when the commodity circulation is transported, and when roller way line direction of height's position was influenced because of factors such as the unevenness degree of ground wearing and tearing, the AGV supporting wheel wearing and tearing of ground, unbalanced load, the tray can not smoothly pass in and out.
This set of floating machanism of tray direction of height on AGV can compensate and transport the precision influence that the station avoided ground, makes the tray transfer steady, reliable.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the present invention without the AGV roller table structure;
FIG. 3 is a top view of the present invention;
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;
FIG. 5 is a schematic view of the section A-A of FIG. 3;
FIG. 6 is a cross-sectional view taken at B-B of FIG. 3;
FIG. 7 is a cross-sectional view taken at C-C of FIG. 3;
FIG. 8 is a schematic structural view of a lifting leveling mechanism;
FIG. 9 is a schematic view of the centering assembly position;
FIG. 10 is a schematic view of the alignment assembly attached to the bottom of the AGV roller bed;
FIG. 11 is an enlarged view of a portion of FIG. 9 at D;
FIG. 12 is a schematic view of the centering assembly;
FIG. 13 is a cross-sectional view of the centering assembly;
figure 14 is a schematic view of the position of the hinge shaft assembly;
fig. 15 is a schematic view illustrating a hinge shaft assembly.
Wherein, 1-AGV body, 2-AGV roller way supporting legs (2-1-front supporting leg, 2-2-rear supporting leg), 3-AGV roller way (3-1-rectangular square tube), 4-lifting leveling mechanism (4-1-upper bearing with seat, 4-2-lifting bracket, 4-3-oil cylinder, 4-4-lower bearing with seat, 4-5-pin shaft, 4-6-slide block, 4-7-linear guide rail, 4-8-first connecting bracket, 4-9-second connecting bracket, 4-9-1-bottom plate, 4-9-2-side plate, 4-10-bolt, 4-11-front connecting bracket, 4-12-rear connecting bracket, 4-13-first lifting leveling support part, 4-14-second lifting leveling support part, 4-15-third lifting leveling support part, 4-16-fourth lifting leveling support part), 5-centering components (5-1-first guide roller, 5-2-guide seat, 5-3-connecting support, 5-4-articulated shaft, 5-5-radial knuckle bearing, 5-6-second guide roller, 5-7-connecting block), 6-articulated shaft components (6-1-connecting plate, 6-2-with-seat bearing) and 7-connecting shaft.
Detailed Description
The invention will be further described in detail with reference to the following drawings and specific examples, which are not intended to limit the invention, but are for clear understanding.
As shown in fig. 1, an AGV body 1, an AGV roller bed 3 arranged above the AGV body 1, and a centering assembly 5 for adjusting the lifting leveling mechanism 4 parallel to the horizontal plane and limiting the central line of the lifting leveling mechanism 4 of the AGV roller bed 3 under different road conditions is arranged on the AGV body 1 below the AGV roller bed 3.
As shown in fig. 2 and 3, the lifting leveling mechanism 4 of the present invention includes a first lifting leveling support 4-13, a second lifting leveling support 4-14 located at the left and right of the front end of the AGV body 1, and a third lifting leveling support 4-15 and a fourth lifting leveling support 4-16 located at the left and right of the rear end of the AGV body 1.
As shown in fig. 2 and 3, the first lifting leveling supports 4-13 and the second lifting leveling supports 4-14 are located at the lateral side of the AGV body 1 and connected with the AGV body 1, the first lifting leveling supports 4-13 and the second lifting leveling supports 4-14 are connected through front connecting frames 4-11, the third lifting leveling supports 4-15 and the fourth lifting leveling supports 4-16 are located at the lateral side of the AGV body 1 and connected with the AGV body 1, and the third lifting leveling supports 4-15 and the fourth lifting leveling supports 4-16 are connected through rear connecting frames 4-12; the front connecting frame 4-11 and the rear connecting frame 4-12 are located above the AGV body 1, the front end of the AGV roller bed 3 is placed on the front connecting frame 4-11, and the rear end of the AGV roller bed 3 is hinged to the rear connecting frame 4-12 through the hinge shaft assembly 6 and the connecting shaft 7.
As shown in fig. 4-8, the first lifting leveling support 4-13, the second lifting leveling support 4-14, the third lifting leveling support 4-15, and the fourth lifting leveling support 4-16 each include a lifting bracket 4-2 connected to the front connecting frame 4-11 or the rear connecting frame 4-12, and a first connecting bracket 4-8, the lifting bracket 4-2 is hinged to the upper end of the cylinder 4-3, the lower end of the cylinder 4-3 is hinged to the first connecting bracket 4-8, the bottom of the first connecting bracket 4-8 is slidably connected to the linear guide 4-7, the linear guide 4-7 is fixed to the second connecting bracket 4-9, and the second connecting bracket 4-9 is fixed to the AGV body 1.
An inclination angle sensor (not shown in the figure) is arranged between the lifting support 4-2 and the oil cylinder 4-3.
The front connecting frame 4-11 and the rear connecting frame 4-12 are respectively provided with a gyroscope (not shown in the figure).
As shown in fig. 8, the upper end of the oil cylinder 4-3 is hinged with the upper belt seat bearing 4-1 through an upper end hole of the oil cylinder 4-3, and the lower end of the oil cylinder 4-3 is hinged with the lower belt seat bearing 4-4 through a lower end hole of the oil cylinder 4-3; the upper belt seat bearing 4-1 is fixed on the lifting support 4-2, and the lower belt seat bearing 4-4 is fixed on the first connecting support 4-8.
The bottom of the first connecting support 4-8 is hinged with a sliding block 4-6 through a pin shaft 4-5, and the sliding block 4-6 is connected to a linear guide rail 4-7 in a sliding mode.
The second connecting bracket 4-9 comprises a bottom plate 4-9-1 and a side plate 4-9-2 which are perpendicular to each other, the linear guide rail 4-7 is fixed on the bottom plate 4-9-1, and the side plate 4-9-2 is fixed with the AGV body 1.
As shown in fig. 9 and 10, a rectangular square pipe 3-1 is arranged at the transverse center of the bottom of the AGV roller table 3, and the centering assembly 5 is hinged to the rectangular square pipe 3-1.
As shown in fig. 11-13, the centering assembly 5 includes a guide seat 5-2 and a connecting bracket 5-3 fixed to the top surface of the AGV body 1, guide rollers 5-1 are respectively disposed on two sides of the guide seat 5-2, a second guide roller 5-6 is disposed in the middle of the guide seat 5-2, the first guide roller 5-1 is connected to the connecting bracket 5-3 in a limiting manner from the left side and the right side, the second guide roller 5-6 is connected to the connecting bracket 5-3 in a limiting manner from the front to the rear, a hinge shaft 5-4 is disposed at the front end of the connecting bracket 5-3, the hinge shaft 5-4 is movably connected to a connecting block 5-7 through a radial knuckle bearing 5-5, and the connecting block 5-7 is fixedly connected to the rectangular square tube 3-1.
As shown in fig. 14 and 15, the front end of the AGV roller table 3 is provided with two front legs 2-1, the rear end of the AGV roller table is provided with two rear legs 2-2, the two front legs 2-1 are placed on the front connecting frames 4-11, and the two rear legs 2-2 are hinged to the rear connecting frames 4-12 through hinge shaft assemblies 6 and connecting shafts 7.
As shown in fig. 14 and 15, the hinge shaft assembly 6 includes a connecting plate 6-1 and a bearing with seat 6-2, the bearing with seat 6-2 is fixed on the rear connecting frame 4-12, the connecting plate 6-1 is fixed with the rear leg 2-2, and the center is hinged with the bearing with seat 6-2 through a connecting shaft 7.
The working process of the invention is as follows: during adjustment, the oil cylinders 4-3 at the four corners are adjusted, the oil cylinders 4-3 move up and down, the sliding blocks 4-6 slide on the linear guide rails 4-7, the lifting supports 4-2 are driven to move up and down, the front connecting frames 4-11 or the rear connecting frames 4-12 float up and down, the levelness of the AGV roller ways 3 above the front connecting frames is adjusted, and the middle of the AGV roller ways 3 are centered through the centering assembly 5.
Those not described in detail in this specification are within the skill of the art.
Claims (6)
1. The utility model provides a carry on back roll table self-balancing AGV lifts levelling mechanism which characterized in that: the lifting leveling mechanism (4) is arranged on the AGV body (1) below the AGV roller bed (3) and is used for adjusting the AGV roller bed (3) to be parallel to a horizontal plane under different road conditions; the lifting leveling mechanism (4) comprises first lifting leveling support pieces (4-13) and second lifting leveling support pieces (4-14) which are positioned on the left and right sides of the front end of the AGV body (1), third lifting leveling support pieces (4-15) and fourth lifting leveling support pieces (4-16) which are positioned on the left and right sides of the rear end of the AGV body (1);
the automatic lifting device is characterized in that the first lifting leveling support piece (4-13) and the second lifting leveling support piece (4-14) are located on the side edge of an AGV body (1) and connected with the AGV body (1), the first lifting leveling support piece (4-13) and the second lifting leveling support piece (4-14) are connected through a front connecting frame (4-11), the third lifting leveling support piece (4-15) and the fourth lifting leveling support piece (4-16) are located on the side edge of the AGV body (1) and connected with the AGV body (1), the third lifting leveling support piece (4-15) and the fourth lifting leveling support piece (4-16) are connected through a rear connecting frame (4-12), and the front connecting frame (4-11) or the rear connecting frame (4-12) float up and down; the front connecting frames (4-11) and the rear connecting frames (4-12) are positioned above the AGV body (1), the front end of the AGV roller way (3) is placed on the front connecting frames (4-11), and the rear end of the AGV roller way (3) is hinged to the rear connecting frames (4-12) through a hinged shaft assembly (6) and a connecting shaft (7);
the first lifting leveling support (4-13), the second lifting leveling support (4-14), the third lifting leveling support (4-15) and the fourth lifting leveling support (4-16) respectively comprise a lifting support (4-2) and a first connecting support (4-8) which are connected with the front connecting frame (4-11) or the rear connecting frame (4-12), the lifting support (4-2) is hinged with the upper end of the oil cylinder (4-3), the lower end of the oil cylinder (4-3) is hinged with the first connecting support (4-8), the bottom of the first connecting bracket (4-8) is connected on the linear guide rail (4-7) in a sliding way, the linear guide rails (4-7) are fixed on second connecting brackets (4-9), and the second connecting brackets (4-9) are fixed with the AGV body (1);
the upper end of the oil cylinder (4-3) is hinged with the upper belt seat bearing (4-1) through an upper end hole of the oil cylinder (4-3), and the lower end of the oil cylinder (4-3) is hinged with the lower belt seat bearing (4-4) through a lower end hole of the oil cylinder (4-3); the upper belt seat bearing (4-1) is fixed on the lifting support (4-2), and the lower belt seat bearing (4-4) is fixed on the first connecting support (4-8);
the bottom of the first connecting support (4-8) is hinged with a sliding block (4-6) through a pin shaft (4-5), and the sliding block (4-6) is connected to a linear guide rail (4-7) in a sliding mode.
2. The lifting leveling mechanism of the piggyback roller self-balancing AGV according to claim 1, characterized in that: an inclination angle sensor is arranged between the lifting support (4-2) and the oil cylinder (4-3).
3. The lifting leveling mechanism of the piggyback roller self-balancing AGV according to claim 1, characterized in that: and gyroscopes are respectively arranged on the front connecting frame (4-11) and the rear connecting frame (4-12).
4. The lifting leveling mechanism of the piggyback roller self-balancing AGV according to claim 1, characterized in that: the second connecting bracket (4-9) comprises a bottom plate (4-9-1) and side plates (4-9-2) which are perpendicular to each other, the linear guide rails (4-7) are fixed on the bottom plate (4-9-1), and the side plates (4-9-2) are fixed with the AGV body (1).
5. The lifting leveling mechanism of the piggyback roller self-balancing AGV according to claim 1, characterized in that: the AGV comprises an AGV roller way (3), wherein the front end of the AGV roller way is provided with two front supporting legs (2-1), the rear end of the AGV roller way is provided with two rear supporting legs (2-2), the two front supporting legs (2-1) are placed on a front connecting frame (4-11), and the two rear supporting legs (2-2) are hinged on a rear connecting frame (4-12) through a hinge shaft assembly (6) and a connecting shaft (7).
6. The lifting leveling mechanism of the piggyback roller self-balancing AGV according to claim 5, characterized in that: the hinged shaft assembly (6) comprises a connecting plate (6-1) and a bearing with a seat (6-2), the bearing with a seat (6-2) is fixed on the rear connecting frame (4-12), the connecting plate (6-1) is fixed with the rear supporting leg (2-2), and the center of the connecting plate is hinged with the bearing with a seat (6-2) through a connecting shaft (7).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011454267.XA CN112456383B (en) | 2020-12-10 | 2020-12-10 | Lifting leveling mechanism of self-balancing AGV (automatic guided vehicle) of piggyback roller way |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011454267.XA CN112456383B (en) | 2020-12-10 | 2020-12-10 | Lifting leveling mechanism of self-balancing AGV (automatic guided vehicle) of piggyback roller way |
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| CN112456383A CN112456383A (en) | 2021-03-09 |
| CN112456383B true CN112456383B (en) | 2022-05-03 |
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Citations (5)
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|---|---|---|---|---|
| JP2000318993A (en) * | 1999-05-10 | 2000-11-21 | Nippon Sharyo Seizo Kaisha Ltd | Lift device for automatic guided vehicle |
| CN109907031A (en) * | 2019-04-11 | 2019-06-21 | 湖南农业大学 | A kind of chassis structure and its leveling method of high-clearance fog machine |
| CN110539808A (en) * | 2019-09-05 | 2019-12-06 | 北京特种机械研究所 | heavy load is transported and is docked AGV equipment |
| CN110775877A (en) * | 2019-11-27 | 2020-02-11 | 扬州力德工程技术有限公司 | AGV intelligent trolley and control method thereof |
| CN111071131A (en) * | 2020-01-02 | 2020-04-28 | 广西民族大学 | Self-propelled sugarcane transfer trolley based on scissor-type lifting mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11059707B2 (en) * | 2018-12-21 | 2021-07-13 | Logistics and Supply Chain MultiTech R&D Centre Limited | Load supporting apparatus for an automated guide vehicle |
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2020
- 2020-12-10 CN CN202011454267.XA patent/CN112456383B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000318993A (en) * | 1999-05-10 | 2000-11-21 | Nippon Sharyo Seizo Kaisha Ltd | Lift device for automatic guided vehicle |
| CN109907031A (en) * | 2019-04-11 | 2019-06-21 | 湖南农业大学 | A kind of chassis structure and its leveling method of high-clearance fog machine |
| CN110539808A (en) * | 2019-09-05 | 2019-12-06 | 北京特种机械研究所 | heavy load is transported and is docked AGV equipment |
| CN110775877A (en) * | 2019-11-27 | 2020-02-11 | 扬州力德工程技术有限公司 | AGV intelligent trolley and control method thereof |
| CN111071131A (en) * | 2020-01-02 | 2020-04-28 | 广西民族大学 | Self-propelled sugarcane transfer trolley based on scissor-type lifting mechanism |
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| CN112456383A (en) | 2021-03-09 |
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Inventor after: Wu Qingjiang Inventor after: Wu Zunping Inventor after: Shi Yong Inventor after: Zhang Wei Inventor after: Shen Guiying Inventor after: Cheng Qianlong Inventor after: Zhang Haibo Inventor after: Wang Wei Inventor before: Wu Qingjiang Inventor before: Wu Zunping Inventor before: Shi Yong Inventor before: Zhang Wei Inventor before: Shen Guiying Inventor before: Cheng Qianlong Inventor before: Zhang Haibo |
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