CN204774570U - AGV dolly - Google Patents
AGV dolly Download PDFInfo
- Publication number
- CN204774570U CN204774570U CN201520605995.4U CN201520605995U CN204774570U CN 204774570 U CN204774570 U CN 204774570U CN 201520605995 U CN201520605995 U CN 201520605995U CN 204774570 U CN204774570 U CN 204774570U
- Authority
- CN
- China
- Prior art keywords
- vibration damper
- damper plate
- agv dolly
- dolly
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Handcart (AREA)
Abstract
The utility model discloses a AGV dolly belongs to the commodity circulation haulage equipment, transports work load big, easy tired, reduction output that assembly line on each website caused with article from storage ground through neck material personnel on the current assembly line, the utility model discloses laying ground rail magnetic stripe subaerial, starting AGV dolly, after the magnetism navigation sensor below the dolly sensed ground rail magnetic stripe, this AGV dolly of order who provides through control system can put by automatic school normal position, later along the ground rail magnetic stripe forereach of laying, the action such as time -out, acceleration, speed reduction, turn of this dolly after the terrestrial reference magnetic stripe is sensed to the terrestrial reference sensor of dolly both sides, can be realized according to the procedure that the electrical engineer compile to the in -process that gos forward for transport the material. This dolly can endless work, replaces personnel's transport, does not worry that it can produce sense tired out, increases work efficiency, guarantees equipment rhythm, the output of improving production.
Description
Technical field
The utility model belongs to logistics haulage equipment, particularly relate to a kind of AGV dolly comprising car body, actuating device, control system, article can be carried out automated handling by this AGV dolly, be particularly useful for operation on factory lines, article can be transported at 1 from start position or multiple spot position is placed.And this AGV dolly is small and exquisite, flexible, cost is low, simple to operation.
Background technology
At present, most of factory carries out pipelining, every bar conveyor line is all at least equipped with one lead material personnel, this neck material personnel need continuously article to be transported to the operation point (website) of each staff conveyor line from storage, the work capacity of every day is very large, work-hours is slightly long just there will be fatigue phenomenon, work speed can be slack-off, do not catch up with the assembling rhythm of staff on conveyor line, occur waiting material phenomenon, worker-hours will be wasted in a large number like this, reduce production output.
Utility model content
The technical assignment of the technical problems to be solved in the utility model and proposition overcomes on existing conveyor line, by neck material personnel, article are transported to the defects such as the work capacity that conveyor line, each website causes is large, fatiguability, reduction output from storage, provides a kind of AGV dolly of alternative neck material personnel carrying.
For achieving the above object, AGV dolly of the present utility model, is characterized in that comprising:
Car body, this car body comprises vehicle bridge frame, outer cover, cardan wheel, directional wheel, and described outer cover is assemblied on described vehicle bridge frame, and described cardan wheel, directional wheel are assemblied in the below of described vehicle bridge frame;
Actuating device, it comprises drive part, shock absorbing part, transmission lever; Described drive part comprises support body and two motors being assemblied on support body and two drive wheels, and the motor described in drives the drive wheel described in; Described shock absorbing part comprise by cross link connect can upper vibration damper plate, the lower vibration damper plate with being separated close to each other, on described, be provided with damping spring between vibration damper plate and lower vibration damper plate; One end of described transmission lever is fixed on described drive part, and its other end is rotating to be connected in described shock absorbing part; This actuating device is combined with described vehicle bridge frame;
Control system, it comprises for being laid on ground track magnetic stripe, for being located at terrestrial reference magnetic stripe, the controller of website and being controlled by the magnetic navigation sensor that described controller coordinates with described track magnetic stripe, the landmark sensor coordinated with described terrestrial reference magnetic stripe, described magnetic navigation sensor is positioned at the front portion of this AGV dolly, and described landmark sensor is positioned at the sidepiece of this AGV dolly.
As optimization technique means: the front of described outer cover is provided with anticollision strip and is controlled by the obstacle sensor of described controller.
As optimization technique means: be provided with inductive switch in described anticollision strip.
As optimization technique means: described control system comprise text display for showing and input instruction, for power battery, for the rotation warning light warned and loud speaker, for starting or stop the shift knob of dolly.
As optimization technique means: described drive part comprises the main shaft be fixed on described support body, the drive wheel described in is assembled respectively by main shaft bearing in the two ends of described main shaft.
As optimization technique means: the drive wheel described in described motor is driven by chain transmission mechanism, described chain transmission mechanism comprises minor sprocket, hinge wheel, chain, described minor sprocket is assemblied on the output shaft of described motor, described hinge wheel and described drive wheel are fixed and are assembled, minor sprocket, hinge wheel described in described chain connects.
As optimization technique means: both sides fixing assembling inner flange, the outer flange respectively of described drive wheel, by described main shaft bearing axial location between, described hinge wheel and described inner flange are fixed and are assembled for described inner flange, outer flange.
As optimization technique means: described main shaft is positioned at the downside of described support body, described support body is provided with through hole, described transmission lever is arranged in vertical, and the through hole that lower end is fixed on described main shaft, position, intermediate portion is through described support body of described transmission lever is interior, upper end is rotating is assemblied on described lower vibration damper plate.
As optimization technique means: the upper end of described transmission lever is assemblied on described lower vibration damper plate by steering bearing, the upper end of described transmission lever is also equipped with the fixed mount and nut that lay respectively at described lower vibration damper plate both sides, described fixed mount and nut to described steering bearing in axial location.
As optimization technique means: described cross link is two groups, described two groups of cross link are connected to the dual-side of described upper vibration damper plate, lower vibration damper plate; Often organize described cross link by two connecting rods from being formed by pinned connection in the middle of the two, the two ends of connecting rod described in every root to be connected on described upper vibration damper plate and lower vibration damper plate respectively by pitman shaft and wherein the pitman shaft of one end can move in an elongated hole.
As optimization technique means: described damping spring is helical compression spring, the two ends of described damping spring are supported on described upper vibration damper plate and lower vibration damper plate respectively.
As optimization technique means: described upper vibration damper plate is or/and lower vibration damper plate is provided with guidepost, and described damping spring is enclosed within described guidepost.
As optimization technique means: described lower vibration damper plate with support body is respectively equipped with corresponding positive stop and position-limited lever.
The beneficial effects of the utility model are: this AGV dolly can be carried out automatic navigation, automatically identify website, the actions such as automatic pause, acceleration, deceleration, turning; Material is placed on after on AGV dolly by storage staff, 1 website or multiple website (stopping website as selected on text display) can be selected, then dolly (as pressing start button) is started, dolly advances automatically, when after the selected website of arrival, dolly rests in this website automatically, waits for that staff takes out material; After taking off material, staff presses start button again, and dolly is stopped after continuing to next website or storage point, waits for again feeding or storage personnel material loading; The work that this dolly can circulate, substitutes personnel's carrying, does not worry that it can produce sense tired out, increase work efficiency, ensures assembling rhythm, improves production output.
Accompanying drawing explanation
Fig. 1 is a shaft side figure of the utility model AGV dolly;
Fig. 2 is the birds-eye view of the dolly of AGV shown in Fig. 1;
Fig. 3 is the upward view of the dolly of AGV shown in Fig. 1;
Fig. 4 is a front elevation of the utility model actuating device;
Fig. 5 is the birds-eye view of Fig. 4;
Fig. 6 is the upward view of Fig. 4;
Fig. 7 is the right elevation of Fig. 4;
Fig. 8 is the left view of Fig. 4;
Fig. 9 is the block diagram of Fig. 4;
Figure 10 is the decomposition texture schematic diagram of the utility model drive part;
Figure 11 is the axonometric drawing of the utility model shock absorbing part;
Number in the figure illustrates:
A-car body
A1-vehicle bridge frame, A2-outer cover, A3-cardan wheel, A4-directional wheel, A5-anticollision strip;
B-actuating device:
01-drive part, 11-support body, 12-motor, 13-drive wheel, 14-main shaft, 15-main shaft bearing, 16-minor sprocket, 17-hinge wheel, 18-inner flange, 19-outer flange, 110-positive stop, 111-magnetic navigation sensor;
02-shock absorbing part, the upper vibration damper plate of 21-, vibration damper plate under 22-, 23-guidepost, 24-position-limited lever, 25-connecting rod, 26-bearing pin, 27-pitman shaft, 28-elongated hole, 29-connecting panel;
03-transmission lever, 31-steering bearing, 32-fixed mount, 33-nut;
C-control system
C1-obstacle sensor, C2-text display, C3-rotates warning light, C4-loud speaker, C5-shift knob, C6-battery, C7-electric-quantity display device.
Detailed description of the invention
Below in conjunction with Figure of description, the utility model is described further.
As Figure 1-3, AGV dolly of the present utility model, comprising:
Car body A, this car body A comprise vehicle bridge frame A1, outer cover A2(sheet metal is done elegant in appearance), cardan wheel A3, directional wheel A4, outer cover A2 is assemblied on vehicle bridge frame A1, and cardan wheel A3, directional wheel A4 are assemblied in the below of vehicle bridge frame A1;
Actuating device B (see Fig. 4-11), it comprises drive part 01, shock absorbing part 02, transmission lever 03; Drive part 01 comprises support body 11 and two motors 12 of being assemblied on support body and two drive wheels 13, and a motor drives a drive wheel; Shock absorbing part 02 comprise by cross link connect can upper vibration damper plate 21, the lower vibration damper plate 22 with being separated close to each other, between upper vibration damper plate 21 and lower vibration damper plate 22, be provided with damping spring; One end of transmission lever 03 is fixed on drive part 01, and its other end is rotating to be connected in shock absorbing part 02; This actuating device B is combined with vehicle bridge frame A1 by connecting panel 29;
Control system C, it comprises for being laid on ground track magnetic stripe, for being located at terrestrial reference magnetic stripe, the controller of website and being controlled by the magnetic navigation sensor 111 that controller coordinates with track magnetic stripe, the landmark sensor coordinated with terrestrial reference magnetic stripe, magnetic navigation sensor 111 is positioned at the front portion of this AGV dolly, and landmark sensor is positioned at the sidepiece of this AGV dolly.
According to AGV dolly of the present utility model, track magnetic stripe is laid on the ground, start AGV dolly, after magnetic navigation sensor below dolly senses track magnetic stripe, this AGV dolly of the order provided by control system can automatic correction position, moves on afterwards along laid track magnetic stripe; In advance process, after the landmark sensor of dolly both sides senses terrestrial reference magnetic stripe, the program can write according to Electrical Engineer realizes the action such as time-out, acceleration, deceleration, turning of this dolly.Electrical Engineer is by the program transportation that writes to controller (as logic PLC), and the program of writing can decide according to the factor such as real work needs, geographical environment at conveyor line scene.The action such as advance, time-out, acceleration, deceleration, turning of the signal control AGV dolly exported by controller in work.
And, the actuating device of utility model, its drive part is positioned on the downside of shock absorbing part, two drive wheels be press against contact on the ground by the elastic force of damping spring, make the drive wheel of drive part can failure-free kiss the earth, keep and the friction force of bottom surface, even if ground flat degree is poor, ground slightly injustice also can not break away; Because drive part has two drive wheels, and driven by reduction gearing mechanism by a motor respectively, turn to conveniently, propulsive effort is large, load carrying ability is large; This driving device structure is simple, installs, debugs conveniently; This actuating device can be configured on various forms of AGV dolly by shock absorbing part; To play in the intelligent transport field in inside and act on more widely, more enterprise practical demand can be met; Be applicable to multiple fields.Two drive wheels each autorotation during work, there will not be with dynamic phenomenon.During AGV dolly straight-line travelling, the rotating speed of two motors is consistent, and when driving to turning route, two motors there will be differential phenomenon, and one fast one is slow, utilizes the differential of two motors to turn.
The front of outer cover A2 is provided with anticollision strip A5 and is controlled by the obstacle sensor C1 of controller.It is impaired that anticollision strip can prevent car body from being hit.Obstacle sensor can send infrared radiation, and spread in sector region, when existing to there being foreign matter at this region internal induction, obstacle sensor can provide a signal to electric control part, and after electric control part receives signal, AGV dolly can halt at once.Inductive switch is provided with in anticollision strip.When having foreign matter and AGV dolly to bump against, even if slight pressure contacts inductive switch, control system will receive signal and instruction AGV dolly halts at once.Break the barriers the safety precaution of sensor and anticollision strip, can improve the safe driving of AGV dolly greatly, and can extend the service life of AGV dolly.
Control system C comprise text display C2 for showing and input instruction, for power battery C6, for the rotation warning light C3 that warns and loud speaker C4, for starting or stop the shift knob C5 of dolly.Material is placed on after on AGV dolly by storage staff, can select to stop website, then start button on text display.
In order to simplified structure, drive part 01 comprises the main shaft 14(main shaft be fixed on support body 11 and does not rotate), a drive wheel 13(is assembled see Figure 10 respectively by main shaft bearing 15 in the two ends of main shaft 14).
In order to increase propulsive effort, motor 12 drives drive wheel 13 by chain transmission mechanism, chain transmission mechanism comprises minor sprocket 16, hinge wheel 17, chain, minor sprocket 16 is assemblied on the output shaft of motor 12, hinge wheel 17 assembles with drive wheel 13 is fixing, chain connects minor sprocket 16, hinge wheel 17, thus forms the deceleration force amplifier transmission mechanism from motor to drive wheel.
Concrete, for the ease of assembling, both sides fixing assembling inner flange 18, the outer flange 19 respectively of drive wheel 13, by main shaft bearing 15 axial location between, hinge wheel 17 assembles with inner flange 18 is fixing for inner flange 17, outer flange 18.
In order to the propulsive effort of drive wheel is delivered to car body, main shaft 14 is positioned at the downside of support body 11, support body 11 is provided with through hole, transmission lever 03 is arranged in vertical, and the through hole that lower end is fixed on main shaft 14, position, intermediate portion is through support body of transmission lever 03 is interior, upper end is rotating is assemblied on lower vibration damper plate 22.Therefore, when drive wheel rotates, namely with main axle moving, and then move together with shock absorbing part, the car body that assembles with shock absorbing part.Upper end due to transmission lever is rotating to be assemblied on lower vibration damper plate, and therefore drive part can rotate relative to shock absorbing part, realizes turning (by controlling the rotating speed of two motors).
For the ease of assembling, the upper end of transmission lever 03 is assemblied on lower vibration damper plate 22 by steering bearing 31, the upper end of transmission lever 03 is also equipped with the fixed mount 32 and nut 33 that lay respectively at lower vibration damper plate 22 both sides, and fixed mount 32 and nut 33 pairs of steering bearings 31 are in axial location.
In order to make structure simple, cross link is two groups, and see Figure 11, two groups of cross link are connected to the dual-side of vibration damper plate, lower vibration damper plate; Often organize cross link to be formed by connecting by bearing pin 26 from the two centre by two connecting rods 25, the two ends of every root connecting rod 25 to be connected on upper vibration damper plate 21 and lower vibration damper plate 22 respectively by pitman shaft 27 and wherein the pitman shaft of one end can move in an elongated hole 28, can change in order to make the intersecting angle of cross link, the adjustment of the spacing of upper vibration damper plate, lower vibration damper plate, damping spring is stretched or is compressed, and realizes damping.
For the ease of assembling, make structure simple, damping spring is helical compression spring, and the two ends of damping spring are supported on vibration damper plate and lower vibration damper plate respectively.Upper vibration damper plate is or/and lower vibration damper plate is provided with guidepost 23, and damping spring is enclosed within guidepost.
In order to the angle that better control AGV dolly is turned, prevent dolly from the process of turning, departing from the track that moves ahead, lower vibration damper plate 22 with support body is respectively equipped with corresponding positive stop 110 and position-limited lever 24.
Actuating device adds the buffering effect of car load, enhances the shock-absorbing function of car load, makes dolly travel on the ground more stably; Add inhibiting device, dolly can better be avoided to occur deviation phenomenon under steam.And this actuating device can according to on-the-spot actual user demand, by load set at 100 ~ 1000kg.The appearance of this AGV drive car, will play and act on more widely, and can meet more enterprise practical demand in the intelligent transport field in inside.
Claims (13)
1. an AGV dolly, is characterized in that comprising:
Car body (A), this car body comprises vehicle bridge frame (A1), outer cover (A2), cardan wheel (A3), directional wheel (A4), described outer cover (A2) is assemblied on described vehicle bridge frame (A1), and described cardan wheel (A3), directional wheel (A4) are assemblied in the below of described vehicle bridge frame (A1);
Actuating device (B), it comprises drive part (01), shock absorbing part (02), transmission lever (03); Described drive part (01) comprises support body (11) and two motors (12) being assemblied on support body and two drive wheels (13), and the motor described in drives the drive wheel described in; Described shock absorbing part (02) comprise by cross link connect can be close to each other with the upper vibration damper plate (21) be separated, lower vibration damper plate (22), on described, be provided with damping spring between vibration damper plate (21) and lower vibration damper plate (22); One end of described transmission lever (03) is fixed on described drive part (01), and its other end is rotating to be connected in described shock absorbing part (02); This actuating device (B) and described vehicle bridge frame (A1) combine;
Control system (C), it comprises for being laid on ground track magnetic stripe, for being located at terrestrial reference magnetic stripe, the controller of website and being controlled by the magnetic navigation sensor (111) that described controller coordinates with described track magnetic stripe, the landmark sensor coordinated with described terrestrial reference magnetic stripe, described magnetic navigation sensor is positioned at the front portion of this AGV dolly, and described landmark sensor is positioned at the sidepiece of this AGV dolly.
2. AGV dolly according to claim 1, is characterized in that: the front of described outer cover (A2) is provided with anticollision strip (A5) and is controlled by the obstacle sensor (C1) of described controller.
3. AGV dolly according to claim 2, is characterized in that: be provided with inductive switch in described anticollision strip (A5).
4. AGV dolly according to claim 1, is characterized in that: described control system (C) comprise text display (C2) for showing and input instruction, for power battery (C6), for the rotation warning light (C3) warned and loud speaker (C4), for starting or stop the shift knob (C5) of dolly.
5. AGV dolly according to claim 1, it is characterized in that: described drive part (01) comprises the main shaft (14) be fixed on described support body (11), the two ends of described main shaft (14) are respectively by the drive wheel (13) described in main shaft bearing (15) assembling one.
6. AGV dolly according to claim 5, it is characterized in that: the drive wheel (13) described in described motor (12) is driven by chain transmission mechanism, described chain transmission mechanism comprises minor sprocket (16), hinge wheel (17), chain, described minor sprocket (16) is assemblied on the output shaft of described motor (12), described hinge wheel (17) assembles with described drive wheel (13) is fixing, minor sprocket (16), hinge wheel (17) described in described chain connects.
7. AGV dolly according to claim 6, it is characterized in that: both sides fixing assembling inner flange (18), the outer flange (19) respectively of described drive wheel (13), by described main shaft bearing (15) axial location between, described hinge wheel (17) assembles with described inner flange (18) is fixing for described inner flange (18), outer flange (19).
8. AGV dolly according to claim 5, it is characterized in that: described main shaft (14) is positioned at the downside of described support body (11), described support body (11) is provided with through hole, described transmission lever (03) is arranged in vertical, and the lower end of described transmission lever (03) is fixed in described main shaft (14) is upper, position, intermediate portion is through described support body (11) through hole, upper end is rotating is assemblied on described lower vibration damper plate (22).
9. AGV dolly according to claim 8, it is characterized in that: the upper end of described transmission lever (03) is assemblied on described lower vibration damper plate (22) by steering bearing (31), the upper end of described transmission lever (03) is also equipped with the fixed mount (32) that lays respectively at described lower vibration damper plate (22) both sides and nut (33), described fixed mount (32) and nut (33) to described steering bearing (31) in axial location.
10. AGV dolly according to claim 1, is characterized in that: described cross link is two groups, and described two groups of cross link are connected to the dual-side of described upper vibration damper plate (21), lower vibration damper plate (22); Often organize described cross link to be formed by connecting by bearing pin (26) from the two centre by two connecting rods (25), the two ends of connecting rod (25) described in every root are connected to described upper vibration damper plate (21) respectively by pitman shaft (27) and lower vibration damper plate (22) is gone up and wherein the pitman shaft (27) of one end can move in an elongated hole (28).
11. AGV dollies according to claim 1, is characterized in that: described damping spring is helical compression spring, and the two ends of described damping spring are supported on described upper vibration damper plate and lower vibration damper plate respectively.
12. AGV dollies according to claim 11, is characterized in that: described upper vibration damper plate is or/and lower vibration damper plate is provided with guidepost (23), and described damping spring is enclosed within described guidepost.
13. AGV dollies according to claim 11, is characterized in that: described lower vibration damper plate (22) with support body (11) is respectively equipped with corresponding positive stop (110) and position-limited lever (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520605995.4U CN204774570U (en) | 2015-08-12 | 2015-08-12 | AGV dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520605995.4U CN204774570U (en) | 2015-08-12 | 2015-08-12 | AGV dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204774570U true CN204774570U (en) | 2015-11-18 |
Family
ID=54514684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520605995.4U Expired - Fee Related CN204774570U (en) | 2015-08-12 | 2015-08-12 | AGV dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204774570U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106872987A (en) * | 2017-03-15 | 2017-06-20 | 桂林理工大学 | Obstacle detecting device and omnidirectional's car |
| CN107015565A (en) * | 2017-06-05 | 2017-08-04 | 福州大学 | A kind of AGV magnetic Combinated navigation method |
| CN108241372A (en) * | 2017-12-27 | 2018-07-03 | 安徽嘉熠智能科技有限公司 | A kind of anticollision realization method and system of AGV cart systems |
| CN113050625A (en) * | 2021-02-24 | 2021-06-29 | 东莞新友智能科技有限公司 | Novel AGV navigation device and control method thereof |
| CN113138600A (en) * | 2021-05-21 | 2021-07-20 | 四川农业大学 | Intelligent meter checking robot system and working method thereof |
| CN116714403A (en) * | 2023-04-20 | 2023-09-08 | 青岛蚂蚁机器人有限责任公司 | AGV obstacle avoidance protection method with self-contractible chassis |
-
2015
- 2015-08-12 CN CN201520605995.4U patent/CN204774570U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106872987A (en) * | 2017-03-15 | 2017-06-20 | 桂林理工大学 | Obstacle detecting device and omnidirectional's car |
| CN107015565A (en) * | 2017-06-05 | 2017-08-04 | 福州大学 | A kind of AGV magnetic Combinated navigation method |
| CN108241372A (en) * | 2017-12-27 | 2018-07-03 | 安徽嘉熠智能科技有限公司 | A kind of anticollision realization method and system of AGV cart systems |
| CN113050625A (en) * | 2021-02-24 | 2021-06-29 | 东莞新友智能科技有限公司 | Novel AGV navigation device and control method thereof |
| CN113138600A (en) * | 2021-05-21 | 2021-07-20 | 四川农业大学 | Intelligent meter checking robot system and working method thereof |
| CN116714403A (en) * | 2023-04-20 | 2023-09-08 | 青岛蚂蚁机器人有限责任公司 | AGV obstacle avoidance protection method with self-contractible chassis |
| CN116714403B (en) * | 2023-04-20 | 2024-01-23 | 青岛蚂蚁机器人有限责任公司 | AGV obstacle avoidance protection method with self-contractible chassis |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204774570U (en) | AGV dolly | |
| CN105947506B (en) | A kind of warehouse Intelligent transfer robot | |
| CN204774571U (en) | AGV dolly drive arrangement | |
| CN104192762B (en) | A kind of AGV dolly rotating lifting body and including rotating lifting body | |
| US9823662B2 (en) | Transport vehicle for the transport of load shelves with partially autonomous operation and method for operating said transport vehicle | |
| CN106585764A (en) | AGV (Automated Guided Vehicle) | |
| CN205132256U (en) | Stereoscopic warehouse stacker and automatic stereoscopic warehouse | |
| CN206466051U (en) | AGV transport vehicles | |
| US7543664B2 (en) | Mono-track vehicle | |
| CN203358312U (en) | Double-drive automated guided vehicle | |
| CN108216422A (en) | A kind of wheel steering wheel mechanism and agv vehicles | |
| CN211688123U (en) | AGV fork truck that qxcomm technology traveles | |
| CN110342206A (en) | A kind of car assembly shop material transfer AGV trolley | |
| CN104521434A (en) | Automatic rail changing walking chassis of facility leaf vegetable harvesting robot and rail changing method | |
| CN201395158Y (en) | Automatic guiding vehicle | |
| CN105292971A (en) | All-direction AGV wheel train | |
| CN203903915U (en) | Universal-type driving forklift AGV (automatic guided vehicle) | |
| CN205809696U (en) | Cross-country heavy duty AGV | |
| US20190136949A1 (en) | Electronic, Remote Control, Automation Method for Maneuvering Machine with Internal Combustion Engine | |
| CN207106690U (en) | The drive device of automatic logistics dolly | |
| CN207060209U (en) | A kind of floating type driving chassis for AGV drivings | |
| CN209293528U (en) | Intelligent parking lot and its cluster transfer robot | |
| CN202685889U (en) | Driving device for electric transport vehicle | |
| CN107738592A (en) | AGV charging devices and AGV | |
| CN107600864A (en) | A kind of AGV dollies with transmission picking belt |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151118 Termination date: 20160812 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |