CN203666293U - Draw gear for automatic guided vehicle, automatic guided vehicle and automatic material transporting system - Google Patents
Draw gear for automatic guided vehicle, automatic guided vehicle and automatic material transporting system Download PDFInfo
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- CN203666293U CN203666293U CN201320773014.8U CN201320773014U CN203666293U CN 203666293 U CN203666293 U CN 203666293U CN 201320773014 U CN201320773014 U CN 201320773014U CN 203666293 U CN203666293 U CN 203666293U
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- draw gear
- guided vehicle
- towing pin
- automatic guided
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Abstract
The utility model discloses a draw gear for an automatic guided vehicle, the automatic guided vehicle and an automatic material transporting system aiming to simplify structures and reduce sizes and relates to the technical field of automatic guided vehicles. The draw gear for the automatic guided vehicle comprises a support, a draw pin and a driving assembly, wherein the driving assembly is arranged on the support and can drive the draw pin to move between a first position and a second position, the driving assembly comprises a motor, a connecting plate, a guiding rod, a lead screw and a nut, the lead screw and the nut are matched, the motor can drive the lead screw to rotate, the nut is fixedly connected with the connecting plate, the draw pin is arranged on the connecting plate, the guiding rod penetrates through the connecting plate, the two ends of the guiding rod are fixed on the support, and the guiding rod is parallel to the draw pin. The draft gear for the automatic guided vehicle is used for the automatic guided vehicle.
Description
Technical field
The utility model relates to automatic guided vehicle technical field, relates in particular to the automobile-used draw gear of a kind of homing guidance, automatic guided vehicle and automatic material handling system.
Background technology
At present, Factory Logistics automation has become extremely valued up-to-date technology application both at home and abroad, flexible processing, flexible assembly, warehouse logistics automation are important component parts wherein, automatic guided vehicle is wherein indispensable visual plant and systems technology, automatic guided vehicle refers to and is equipped with the homing guidance such as electromagnetism or optics device, can travel along the guide path of regulation, have automatic transportation and can complete automatic trip and worry leading-in device function, it has effectively realized the automation in logistics handling process.
While utilizing automatic guided vehicle to realize carrying material function, need to realize with the materials vehicle that automatic guided vehicle traction is loaded with material, therefore the draw gear can be automatically automatic guided vehicle and materials vehicle being coupled together just becomes the important component part of automatic guided vehicle, and the most complex structure of existing draw gear, and volume is larger, be unfavorable for the miniaturization of automatic guided vehicle.
Utility model content
Embodiment of the present utility model provides the automobile-used draw gear of homing guidance, automatic guided vehicle and automatic material handling system, can simplified structure, reduce volume.
For achieving the above object, embodiment of the present utility model adopts following technical scheme:
The automobile-used draw gear of a kind of homing guidance, described draw gear comprises support, towing pin and driven unit, described driven unit is located on described support, described driven unit can drive described towing pin to move between primary importance and the second place, described driven unit comprises motor, connecting panel, pilot bar and the leading screw cooperatively interacting and nut, described motor can drive described leading screw to rotate, described nut is fixedly connected with described connecting panel, described connecting panel is provided with described towing pin, described pilot bar is fixed on described support through described connecting panel setting and two ends, described pilot bar and described towing pin be arranged in parallel.
Further, also comprise approach switch, in the time that described approach switch is triggered, described approach switch can make described motor stalling, described approach switch at least comprises the first approach switch and the second approach switch, and in the time that described towing pin is positioned at described primary importance, described connecting panel can trigger described the first approach switch, in the time that described towing pin is positioned at the described second place, described connecting panel can trigger described the second approach switch.
Further, described support is provided with bar hole, the length direction of described bar hole is parallel with described pilot bar, and described the first approach switch and the second approach switch are located in described bar hole, and is fixedly connected with described bar hole by the mode of removably connecting respectively.
Further, described pilot bar is connected by linear bearing with described connecting panel.
Further, be also provided with orienting sleeve on described support, described towing pin is arranged in described orienting sleeve.
Preferably, described motor is spindle motor, the output leading screw that described leading screw is described spindle motor.
Further, described spindle motor is stepping motor.
Further, the screw thread inclination angle of described leading screw and nut is not more than 5 °.
The automobile-used draw gear of homing guidance that the utility model embodiment provides, adopt feed screw nut to carry out transmission, and by described connecting panel, described nut is fixedly connected with described towing pin, described pilot bar is fixed on described support through described connecting panel setting and two ends, can prevent described nut rotation, make in the time that described motor drives described leading screw to rotate, described nut can drive described towing pin to move between described primary importance and second, thereby can be used for realizing articulating and departing from of automatic guided vehicle and materials vehicle, simple in structure due to screw nut driven mode, and small volume, therefore, can simplify the structure of the automobile-used draw gear of described homing guidance, and reduce volume, be convenient to assembling, be conducive to realize the miniaturization of automatic guided vehicle, simultaneously, because screw nut driven mode can still can produce compared with high thrust in the situation that input torque is less, make at described output power of motor hour, described nut still can drive described towing pin to move between described primary importance and the second place, can reduce the power consumption of described motor, thereby the power consumption of the automobile-used draw gear of described homing guidance is reduced.
The utility model embodiment also provides a kind of automatic guided vehicle, comprise car body, described car body top is provided with draw gear, in described car body, be provided with designating system, described designating system can be controlled described automatic guided vehicle and move to guide position, described draw gear is the as above automobile-used draw gear of homing guidance described in arbitrary technical scheme, and described designating system can be controlled described motor forward or reverse.
Draw gear in the automatic guided vehicle that the utility model embodiment provides adopts feed screw nut to carry out transmission, and by described connecting panel, described nut is fixedly connected with described towing pin, described pilot bar is fixed on described support through described connecting panel setting and two ends, can prevent described nut rotation, thereby can realize in the time that described motor drives described leading screw to rotate, described nut can drive described towing pin to move between described primary importance and second, thereby can be used for realizing articulating and departing from of automatic guided vehicle and materials vehicle, simple in structure due to screw nut driven mode, and small volume, therefore, can simplify the structure of the automobile-used draw gear of described homing guidance, and reduce volume, thereby the structure of described automatic guided vehicle is simplified, simultaneously, because screw nut driven mode can still can produce compared with high thrust in the less situation underdrive of input torque, make in the situation that described output power of motor is less, described nut still can drive described towing pin to move between described primary importance and the second place, therefore, can reduce the power consumption of described motor, thereby reduce between described automatic guided vehicle and materials vehicle articulate with detach procedure in the power consumption that produces.
The utility model embodiment also provides a kind of automatic material handling system, comprise materials vehicle and automatic guided vehicle, described automatic guided vehicle is the as above automatic guided vehicle described in arbitrary technical scheme, described materials vehicle is provided with the towing pad that can hold described towing pin, in the time that described automatic guided vehicle moves to described guide position and described towing pin and moves to described primary importance, described towing pin is arranged in described towing pad, in the time that described towing pin moves to the described second place, described towing pin separates with described towing pad.
The automobile-used draw gear of homing guidance in the automatic material handling system that the utility model embodiment provides adopts feed screw nut to carry out transmission, and by described connecting panel, described nut is fixedly connected with described towing pin, described pilot bar is fixed on described support through described connecting panel setting and two ends, can prevent described nut rotation, thereby can realize in the time that described motor drives described leading screw to rotate, described nut can drive described towing pin to move between described primary importance and second, thereby can be used for realizing articulating and departing from of automatic guided vehicle and materials vehicle, simple in structure due to screw nut driven mode, and small volume, therefore, can simplify the structure of the automobile-used draw gear of described homing guidance, and reduce volume, thereby the structure of described automatic guided vehicle is simplified, and then simplify the structure of described automatic material handling system, simultaneously, because screw nut driven mode can still can produce compared with high thrust in the less situation underdrive of input torque, make in the situation that described output power of motor is less, described nut still can drive described towing pin to move between described primary importance and the second place, can reduce the power consumption of described motor, thereby the power consumption producing while reducing in described automatic material handling system articulating and departing between automatic guided vehicle and materials vehicle.
Accompanying drawing explanation
Fig. 1 is the structural representation of the automobile-used draw gear of the utility model embodiment homing guidance;
Fig. 2 is the perspective view of the automobile-used draw gear of the utility model embodiment homing guidance;
Fig. 3 is the structural representation of the utility model embodiment automatic material handling system;
Fig. 4 is the partial enlarged view of A portion in Fig. 3;
Fig. 5 is the control principle schematic diagram of the automobile-used draw gear of the utility model embodiment homing guidance.
The specific embodiment
Below in conjunction with accompanying drawing, the automobile-used draw gear of the utility model embodiment homing guidance, automatic guided vehicle and automatic material handling system are described in detail.
In description of the present utility model, it will be appreciated that, term " " center ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of indications such as " outward " are based on orientation shown in the drawings or position relationship, only the utility model and simplified characterization for convenience of description, rather than device or the element of indication or hint indication must have specific orientation, with specific orientation structure and operation, therefore can not be interpreted as restriction of the present utility model.
Term " first ", " second " be only for describing object, and can not be interpreted as indication or hint relative importance or the implicit quantity that indicates indicated technical characterictic.Thus, one or more these features can be expressed or impliedly be comprised to the feature that is limited with " first ", " second ".In description of the present utility model, except as otherwise noted, the implication of " multiple " is two or more.
With reference to Fig. 1, Fig. 2, Fig. 1 is the structural representation of the automobile-used draw gear of the utility model embodiment homing guidance, the automobile-used draw gear of homing guidance described in the utility model embodiment comprises support 1, towing pin 2 and driven unit, described driven unit is located on support 1, described driven unit can drive towing pin 2 to move between primary importance and the second place, described driven unit comprises motor 5, connecting panel 6, pilot bar 7 and the leading screw 3 cooperatively interacting and nut 4, motor 5 can drive leading screw 3 to rotate, nut 4 is fixedly connected with connecting panel 6, connecting panel 6 is provided with towing pin 2, pilot bar 7 arranges through connecting panel 6 and two ends are fixed on support 1, pilot bar 7 be arranged in parallel with towing pin 2.
The automobile-used draw gear of homing guidance that the utility model embodiment provides, adopt feed screw nut to carry out transmission, and by connecting panel 6, nut 4 is fixedly connected with towing pin 3, pilot bar 7 is arranged through connecting panel 6 and two ends are fixed on support 1, can prevent that nut 4 from rotating, can realize in the time that motor 5 drives leading screw 3 to rotate, nut 4 can drive towing pin 2 to move between primary importance and second, thereby can be used for realizing articulating and departing from of automatic guided vehicle and materials vehicle, simple in structure due to screw nut driven mode, and small volume, therefore, can simplify the structure of the automobile-used draw gear of described homing guidance, and reduce volume, be convenient to assembling, be conducive to realize the miniaturization of automatic guided vehicle, simultaneously, because screw nut driven mode can still can produce compared with high thrust in the situation that input torque is less, make at motor 5 horsepower outputs hour, nut 4 still can drive towing pin 2 to move between primary importance and the second place, can reduce the power consumption of motor 5, thereby the power consumption of the automobile-used draw gear of homing guidance is reduced.
For the ease of controlling the movement of towing pin 2, the automobile-used draw gear of described homing guidance also comprises approach switch 8, in the time that approach switch 8 is triggered, can make motor 5 stalls, and approach switch 8 at least comprises the first approach switch 81 and the second approach switch 82, in the time that towing pin 2 is positioned at primary importance, connecting panel 6 can trigger the first approach switch 81, in the time that towing pin 2 is positioned at the second place, connecting panel 6 can trigger the second approach switch 82.Because towing pin 2 is fixedly connected with connecting panel 6, make towing pin 2 and the connecting panel 6 can synchronizing moving, therefore can reflect with the position of connecting panel 6 position of towing pin 2, when towing pin 2 moves to primary importance or the second place, connecting panel 2 triggers limit switch 8, can realize automatically stopping of towing pin 2, and need not towing pin 2 be stopped by motor 5 is carried out to extra control, thus, can make the control of towing pin 2 simple.
In order to make the automobile-used draw gear of described homing guidance can adapt to different operating modes, bar hole 11 can be set on support 1, the length direction of bar hole 11 is parallel with pilot bar 7, the first approach switch 81 and the second approach switch 82 are located in bar hole 11, and are fixedly connected with bar hole 11 by the mode of removably connecting respectively.Because bar hole 11 has larger space in the longitudinal direction, therefore the first approach switch 81 and the second approach switch 82 can be along the length direction of bar hole 11 in the interior movements of bar hole 11, thereby make the position of the first approach switch 81 and the second approach switch 82 adjustable, the mode of removably connecting can make the install and adjust of the first approach switch 81 and the second approach switch 82 convenient, simultaneously, because the position that connecting panel 6 stops is corresponding with the position of the first approach switch 81 and the second approach switch 82, the stop position that makes towing pin 2 changes because the first approach switch 81 and the second approach switch 82 change, thereby the stroke of towing pin 2 is adjustable, thus, can be by the adjusting of the position to the first approach switch 81 and the second approach switch 82, realize the adjustment of the stroke to towing pin 2, be conducive to make the automobile-used draw gear of described homing guidance to adapt to different operating modes.
More steady for what connecting panel 6 was moved on pilot bar 7, pilot bar 7 can be connected by linear bearing 10 with connecting panel 6.Linear bearing 10 can move with connecting panel 6 on pilot bar 7, and be friction of rolling between linear bearing 10 and pilot bar 7, friction between connecting panel 6 and pilot bar 7 is reduced, the wearing and tearing of pilot bar 7 and connecting panel 6 are reduced, thus, make the moving process of connecting panel 6 on pilot bar 7 more steady.
In the time that towing pin 2 directly contacts with support 1 in moving process, the movement repeatedly of towing pin 2 may make support 1 produce wearing and tearing, and multiple parts are installed on support 1, structure is comparatively complicated, processing and the difficulty of changing are larger, and orienting sleeve 9 is simple in structure, processing and installation are comparatively easy, therefore orienting sleeve 9 can be set on support 1, and towing pin 2 is arranged in orienting sleeve 9, the inwall of orienting sleeve 9 is matched with towing pin 2, can avoid towing pin 2 directly to contact with support 1, in the time that towing pin 2 makes orienting sleeve 9 produce wearing and tearing in moving process, replaceable orienting sleeve 9 and need not change support 1, thus, can prevent when towing pin 2 from moving support 1 to produce wearing and tearing, the service life of extending bracket 1, and can guarantee that towing pin 2 moves and is not offset along orienting sleeve 9.
In order to improve the precision of control, spindle motor can be selected stepping motor.Because stepping motor is by being converted into angular transposition by electric impulse signal or displacement of the lines is carried out work, therefore, angle, start-stop and the reversion of the rotation of stepping motor all can be controlled by the electric impulse signal of control inputs, and the adjusting of electric impulse signal more easily realizes, thus, can control by control step motor the movement of towing pin 2, the shift position that makes to draw 2 pins is more accurate.
In order to improve the antijamming capability of the automobile-used draw gear of described homing guidance, can make the screw thread inclination angle on leading screw 3 and nut 4 be not more than 5 °.Feed screw nut when screw thread inclination angle is not more than 5 ° has auto-lock function, after leading screw 3 stops operating, it is motionless that nut 4 still can keep in the time being subject to external force, in self-locking state, after having avoided leading screw 3 to stop, nut 4 is subject to External force interference and slides on leading screw 3, towing pin 2 is slided with nut 4, affect traction effect, thus, can improve the automobile-used draw gear antijamming capability of homing guidance.
With reference to Fig. 3, the utility model embodiment also provides a kind of automatic guided vehicle 12, comprise car body 121, car body 121 tops are provided with draw gear, in car body 121, be provided with designating system (not shown), described designating system can be controlled automatic guided vehicle 12 and move to guide position, and described draw gear is the automobile-used draw gear of homing guidance described in above-mentioned arbitrary embodiment, and described designating system can be controlled motor 5 forward or reverse.
Draw gear in the automatic guided vehicle 12 that the utility model embodiment provides adopts feed screw nut to carry out transmission, and by connecting panel 6, described nut 4 is fixedly connected with towing pin 2, pilot bar 7 is arranged through connecting panel 6 and two ends are fixed on support 1, can prevent that nut 4 from rotating, thereby can realize in the time that motor 5 drives described leading screw 3 to rotate, nut 4 can drive towing pin 2 to move between primary importance and second, thereby can be used for realizing articulating and departing from of automatic guided vehicle 12 and materials vehicle 13, simple in structure due to screw nut driven mode, and small volume, therefore, can simplify the structure of the automobile-used draw gear of described homing guidance, and reduce volume, thereby the structure of automatic guided vehicle 12 is simplified, simultaneously, because screw nut driven mode can still can produce compared with high thrust in the less situation underdrive of input torque, make at motor 5 horsepower outputs less in the situation that, nut 4 is thrown away and can be promoted towing pin 2 and move between primary importance and the second place, can reduce the power consumption of motor 5, thereby the power consumption producing while reducing articulating and departing between automatic guided vehicle 12 and materials vehicle 13.
With reference to Fig. 3, Fig. 4, the utility model embodiment also provides a kind of automatic material handling system, comprise materials vehicle 13 and automatic guided vehicle 12, automatic guided vehicle 12 is the automatic guided vehicle described in above-mentioned arbitrary embodiment, materials vehicle 13 is provided with the towing pad 131 that can hold towing pin 2, in the time that automatic guided vehicle 12 moves to described guide position and towing pin 2 and moves to primary importance, towing pin 2 is arranged in towing pad 131, in the time that towing pin 2 moves to the second place, towing pin 2 separates with towing pad 131.
The draw gear of the automatic guided vehicle in the automatic material handling system that the utility model embodiment provides adopts feed screw nut to carry out transmission, and by connecting panel 6, nut 4 is fixedly connected with towing pin 2, pilot bar 7 is arranged through connecting panel 6 and two ends are fixed on support 1, can prevent that nut 4 from rotating, thereby can realize in the time that motor 5 drives leading screw 3 to rotate, nut 4 can drive towing pin 2 to move between primary importance and second, thereby can be used for realizing articulating and departing from of automatic guided vehicle 12 and materials vehicle 13, simple in structure due to screw nut driven mode, and small volume, therefore, can simplify the structure of the automobile-used draw gear of described homing guidance, and reduce volume, thereby the structure of automatic guided vehicle 12 is simplified, and then simplify the structure of described automatic material handling system, simultaneously, because screw nut driven mode can still can produce compared with high thrust in the situation that input torque is less, make at motor 5 horsepower outputs less in the situation that, nut 4 is thrown away and can be promoted described towing pin 2 and move between primary importance and the second place, can reduce the power consumption of motor 2, thereby reduce the power consumption producing when articulating and depart between automatic guided vehicle 12 and materials vehicle 13 in described automatic material handling system.
With reference to Fig. 5, the working process of described automatic material handling system is as follows: described in described designating system control, automatic guided vehicle 12 moves to described guide position; Motor 5 is connected with power supply, and described designating system control motor 5 rotates, and drives towing pin 2 to move to primary importance, and connecting panel 6 triggers the first approach switch 81, and towing pin 2 stops at primary importance, and is arranged in towing pad 131; Described in described designating system control, automatic guided vehicle 12 drives materials vehicle 13 to move to the destination locations of material; Described in described designating system control, motor 5 reverses, and drives towing pin 2 to move to the second place, and connecting panel 6 triggers the second approach switch 82, and towing pin 2 stops at the second place, and separates with towing pad 131, and distraction procedure finishes.
In the description of this specification sheets, specific features, structure, material or feature can be with suitable mode combinations in any one or more embodiment or example.
The above; it is only the specific embodiment of the present utility model; but protection domain of the present utility model is not limited to this; any be familiar with those skilled in the art the utility model disclose technical scope in; can expect easily changing or replacing, within all should being encompassed in protection domain of the present utility model.Therefore, protection domain of the present utility model should be as the criterion with the protection domain of described claim.
Claims (10)
1. the automobile-used draw gear of homing guidance, described draw gear comprises support, towing pin and driven unit, described driven unit is located on described support, described driven unit can drive described towing pin to move between primary importance and the second place, it is characterized in that, described driven unit comprises motor, connecting panel, pilot bar and the leading screw cooperatively interacting and nut, described motor can drive described leading screw to rotate, described nut is fixedly connected with described connecting panel, described connecting panel is provided with described towing pin, described pilot bar is fixed on described support through described connecting panel setting and two ends, described pilot bar and described towing pin be arranged in parallel.
2. the automobile-used draw gear of homing guidance according to claim 1, it is characterized in that, also comprise approach switch, in the time that described approach switch is triggered, described approach switch can make described motor stalling, and described approach switch at least comprises the first approach switch and the second approach switch, in the time that described towing pin is positioned at described primary importance, described connecting panel can trigger described the first approach switch, and in the time that described towing pin is positioned at the described second place, described connecting panel can trigger described the second approach switch.
3. the automobile-used draw gear of homing guidance according to claim 2, it is characterized in that, described support is provided with bar hole, the length direction of described bar hole is parallel with described pilot bar, described the first approach switch and the second approach switch are located in described bar hole, and are fixedly connected with described bar hole by the mode of removably connecting respectively.
4. the automobile-used draw gear of homing guidance according to claim 1, is characterized in that, described pilot bar is connected by linear bearing with described connecting panel.
5. the automobile-used draw gear of homing guidance according to claim 1, is characterized in that, is also provided with orienting sleeve on described support, and described towing pin is arranged in described orienting sleeve.
6. the automobile-used draw gear of homing guidance according to claim 1, is characterized in that, described motor is spindle motor, the output leading screw that described leading screw is described spindle motor.
7. the automobile-used draw gear of homing guidance according to claim 6, is characterized in that, described spindle motor is stepping motor.
8. the automobile-used draw gear of homing guidance according to claim 7, is characterized in that, the screw thread inclination angle of described leading screw and nut is not more than 5 °.
9. an automatic guided vehicle, comprise car body, described car body top is provided with draw gear, in described car body, be provided with designating system, described designating system can be controlled described automatic guided vehicle and move to guide position, it is characterized in that, described draw gear is the automobile-used draw gear of the homing guidance described in any one in claim 1～8, and described designating system can be controlled described motor forward or reverse.
10. an automatic material handling system, comprise materials vehicle and automatic guided vehicle, it is characterized in that, described automatic guided vehicle is automatic guided vehicle claimed in claim 9, described materials vehicle is provided with the towing pad that can hold described towing pin, and in the time that described automatic guided vehicle moves to described guide position and described towing pin and moves to described primary importance, described towing pin is arranged in described towing pad, in the time that described towing pin moves to the described second place, described towing pin separates with described towing pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320773014.8U CN203666293U (en) | 2013-11-29 | 2013-11-29 | Draw gear for automatic guided vehicle, automatic guided vehicle and automatic material transporting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320773014.8U CN203666293U (en) | 2013-11-29 | 2013-11-29 | Draw gear for automatic guided vehicle, automatic guided vehicle and automatic material transporting system |
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| Publication Number | Publication Date |
|---|---|
| CN203666293U true CN203666293U (en) | 2014-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320773014.8U Expired - Lifetime CN203666293U (en) | 2013-11-29 | 2013-11-29 | Draw gear for automatic guided vehicle, automatic guided vehicle and automatic material transporting system |
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| CN (1) | CN203666293U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443111A (en) * | 2014-12-09 | 2015-03-25 | 深圳市佳顺伟业科技有限公司 | Automatic guide vehicle |
| CN105129351A (en) * | 2015-09-09 | 2015-12-09 | 大连华恒装备制造有限公司 | AGV traction bar mechanism |
| CN106004274A (en) * | 2016-06-01 | 2016-10-12 | 芜湖哈特机器人产业技术研究院有限公司 | Traction pin device for AGV (Automatic Guided Vehicle) |
| CN107757271A (en) * | 2017-11-03 | 2018-03-06 | 李青松 | A kind of electric traction vehicle electric moves towing pin and its control method |
| CN108526881A (en) * | 2018-05-31 | 2018-09-14 | 广东嘉腾机器人自动化有限公司 | Automation retinue delivery system and automatic production line |
| WO2019072089A1 (en) * | 2017-10-11 | 2019-04-18 | 北京京东尚科信息技术有限公司 | Power device and shuttle car |
-
2013
- 2013-11-29 CN CN201320773014.8U patent/CN203666293U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443111A (en) * | 2014-12-09 | 2015-03-25 | 深圳市佳顺伟业科技有限公司 | Automatic guide vehicle |
| CN104443111B (en) * | 2014-12-09 | 2019-05-07 | 深圳市佳顺智能机器人股份有限公司 | Automatic guided vehicle |
| CN105129351A (en) * | 2015-09-09 | 2015-12-09 | 大连华恒装备制造有限公司 | AGV traction bar mechanism |
| CN106004274A (en) * | 2016-06-01 | 2016-10-12 | 芜湖哈特机器人产业技术研究院有限公司 | Traction pin device for AGV (Automatic Guided Vehicle) |
| WO2019072089A1 (en) * | 2017-10-11 | 2019-04-18 | 北京京东尚科信息技术有限公司 | Power device and shuttle car |
| CN107757271A (en) * | 2017-11-03 | 2018-03-06 | 李青松 | A kind of electric traction vehicle electric moves towing pin and its control method |
| CN108526881A (en) * | 2018-05-31 | 2018-09-14 | 广东嘉腾机器人自动化有限公司 | Automation retinue delivery system and automatic production line |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191219 Address after: No. 2266 Chaoyang South Street, Lianchi District, Baoding City, Hebei Province Patentee after: EXQUISITE AUTOMOTIVE SYSTEMS Co.,Ltd. Address before: 071000 No. 2266 Chaoyang South Street, Hebei, Baoding Patentee before: GREAT WALL MOTOR Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140625 |
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| CX01 | Expiry of patent term |