CN206125227U - Automatic guide transport vechicle and automated guided transporting vehicle system - Google Patents
Automatic guide transport vechicle and automated guided transporting vehicle system Download PDFInfo
- Publication number
- CN206125227U CN206125227U CN201621151912.XU CN201621151912U CN206125227U CN 206125227 U CN206125227 U CN 206125227U CN 201621151912 U CN201621151912 U CN 201621151912U CN 206125227 U CN206125227 U CN 206125227U
- Authority
- CN
- China
- Prior art keywords
- transportation vehicle
- pilot transportation
- automatical pilot
- car body
- automatical
- 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
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model belongs to the technical field of the conveyer technique and specifically relates to an automatic guide transport vechicle and automated guided transporting vehicle system is related to. This automated guided transporting vehicle includes automobile body, actuating mechanism, follower and steering mechanism, actuating mechanism and follower all install under the automobile body, the steering mechanism device is in in the driving wheel support, this automated guided transporting vehicle system includes automated guided transporting vehicle to and partial device its inside and with the central processing unit ground navigation system, power supply system, control system, communication system and the safety coefficient that are connected of electricity respectively. This automatic guide transport vechicle and automated guided transporting vehicle system turns to the convenience, and simple structure, and the route is clear and definite, and factor of safety is high.
Description
Technical field
This utility model is related to conveying arrangement technical field, more particularly, to a kind of automatical pilot transportation vehicle and homing guidance
Transport vehicle system.
Background technology
Automatical pilot transportation vehicle (Automated Guided Vehicle, abbreviation AGV), refers to and is equipped with electricity magnetically or optically etc.
Homing guidance device, can be along the guide path of regulation traveling, the transport vehicle with safeguard protection and various transfer functions, work
The mover of driver is not required in industry application, with chargeable accumulator as its power resources.Typically can pass through computer to control
Its course and behavior, or set using electromagnetic path (electromagnetic path-following system)
Its course is found, electromagnetic path is pasted on what floor, and automatic guided vehicle then follows the message that electromagnetic path is brought to be moved
Dynamic and action.AGV is characterized with wheel type mobile, than walking, is creeped or other non-wheeled mobile robots have action fast
Victory, high working efficiency, simple structure, the advantage such as controllability is strong, safety is good.With the other equipment phase commonly used in material conveying
Than the zone of action of AGV need not lay the fixing devices such as track, support saddle frame, not limited by place, road and space.Therefore,
In automatic Material Handling System, its automaticity and flexibility most can be fully embodied, realize efficient, economic, flexible unmanned metaplasia
Produce.
The advantage of AGV：（1）High degree of automation：Controlled by computer, control panel, laser-bounce plate etc..When workshop
When one link needs adjuvant, relevant information is input into from staff to terminal, terminal will send information to again
Central control room, from technical professional to computer instruction is sent, under the cooperation of control panel, the final quilt of this instruction
AGV receives and performs --- adjuvant is delivered to into corresponding location.（2）Charging automatization：When the electricity of AGV dollies will exhaust,
It can send request instruction to system, and request is charged（What a value those skilled in the art can in advance arrange）, after system is allowed
Automatically " queuing " charges to where charging.In addition, the battery life of AGV dollies is very long（More than 10 years）, and often charge 15
Minute can work 4h or so.（3）It is attractive in appearance, degree of viewing and admiring is improved, so as to improve the image of enterprise.（4）It is convenient, reduce floor space：
The AGV dollies of workshop can shuttle reciprocal in each workshop.
However, the AGV dollies of prior art turn to inconvenience, and structure is excessively complicated, and route is indefinite, is susceptible to touch
Hit.
Utility model content
This utility model provides a kind of automatical pilot transportation vehicle and automatical pilot transportation vehicle system, largely solves
The problems referred to above.
The purpose of this utility model is to provide a kind of automatical pilot transportation vehicle.
Second purpose of the present utility model is to provide a kind of automatical pilot transportation vehicle system.
The automatical pilot transportation vehicle that this utility model is provided, including：Car body, drive mechanism, follower and steering machine
Structure；Wherein,
Car body, for bearing load；
Drive mechanism, for band motor vehicles bodies traveling, it includes driving wheel and power source, and the power source is in driving wheel
In support；
Follower, for playing a part of the normal pressure of support and dispersion driving wheel to car body, it is driven pulley；
Steering mechanism, for coordinating driven pulley band motor vehicles bodies to turn to；
Immediately below the car body, steering mechanism's device is described for the drive mechanism and the equal device of follower
In driven wheel support.
Further, the car body is tower structure, and is welded by steel plate.
Further, the driving wheel spoke of the drive mechanism is formed by sub- polyurethane parcel.
Further, the power source of the drive mechanism includes DC servo motor, reductor and differential mechanism, and fills
Put in drive wheel bracket.
Further, the car body side is additionally provided with goods transfer mechanism.
Further, the goods transfer mechanism is submarine push-and-pull transfer mechanism.
This utility model also provides a kind of automatical pilot transportation vehicle system, including described automatical pilot transportation vehicle, also wraps
Include the ground-control guidance system, electric power system, control system, logical that partial devices are internal at it and are electrically connected with central processing unit
News system and security system；Wherein,
Ground-control guidance system, for making automatical pilot transportation vehicle run in pre-determined route and track；
Electric power system, for making the on-line automatic charging of automatical pilot transportation vehicle；
Control system, for controlling the start and stop of automatical pilot transportation vehicle；
Communication system, for passing with extraneous personnel communication signal is sent out；
Security system, for protecting the traffic safety of automatical pilot transportation vehicle.
Further, the ground-control guidance system includes navigation system and device of the device in car body below car body
The navigation path laid by magnetic rubber.
Further, the security system includes emergency stop push button of the device in car body front panel, and device is in car
In vivo being capable of predeterminable multiple traveling subregion sensors.
Further, also including manual control system, the manual control system passes through radio company with central processing unit
Connect, to control the advance of automatical pilot transportation vehicle, retreat and turning.
Compared with prior art, this utility model has the advantages that：
First, the automatical pilot transportation vehicle simple structure, steering mechanism can coordinate follower to be turned to dolly.
2nd, the automatical pilot transportation vehicle system carries ground-control guidance system, enables to dolly and travels according to pre-determined route,
To avoid collision.
Above-mentioned setting so that automatical pilot transportation vehicle and the letter of automatical pilot transportation vehicle system structure that this utility model is provided
It is single, it is easy to use.
Description of the drawings
In order to be illustrated more clearly that this utility model specific embodiment or technical scheme of the prior art, below will be right
The accompanying drawing to be used needed for specific embodiment or description of the prior art is briefly described, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, can be with according to these other accompanying drawings of accompanying drawings acquisition.
The overall structure diagram of the automatical pilot transportation vehicle that Fig. 1 is provided for this utility model embodiment；
The side view of automatical pilot transportation vehicles of the Fig. 2 to be provided based on this utility model embodiment of Fig. 1；
The system diagram of automatical pilot transportation vehicle systems of the Fig. 3 to be provided based on this utility model embodiment of Fig. 1；
The structural representation of ground-control guidance systems of the Fig. 4 to be provided based on this utility model embodiment of Fig. 1-3.
Reference：
1- automatical pilot transportation vehicle systems；
11- automatical pilot transportation vehicles；12- central processing units；
13- ground-control guidance systems；14- electric power systems；
15- control systems；16- communication systems；
17- security systems；18- manual control systems；
111- car bodies；112- drive mechanisms；
113- followers；114- steering mechanism；
131- navigation paths.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is a part of embodiment of this utility model, rather than the embodiment of whole.Based on the embodiment in this utility model, this
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
In description of the present utility model, it should be noted that term " " center ", " on ", D score, "left", "right", " perpendicular
Directly ", the orientation or position relationship of the instruction such as " level ", " interior ", " outward " is, based on orientation shown in the drawings or position relationship, to be only
For the ease of describe this utility model and simplify description, rather than indicate or imply indication device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicating or implying relative importance.
In description of the present utility model, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integratedly
Connection；Can be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in this utility model.
As Figure 1-Figure 2, this utility model embodiment provides a kind of automatical pilot transportation vehicle 11, including：Car body 111,
Drive mechanism 112, follower 113 and steering mechanism 114；Wherein,
Car body 111, for bearing load；
Drive mechanism 112, travels for band motor vehicles bodies 111, and it includes driving wheel and power source, and above-mentioned power source exists
In drive wheel bracket；
Follower 113, for car body 111 is played a part of support and dispersion driving wheel normal pressure, its be from
Driving wheel；
Steering mechanism 114, for coordinating driven pulley band motor vehicles bodies 111 to turn to；
Above-mentioned drive mechanism 112 and the equal device of follower 113 are in the underface of above-mentioned car body 111, above-mentioned steering mechanism
114 devices are in above-mentioned driven wheel support.
The frame for movement of automatical pilot transportation vehicle 11 is made up of four parts：Car body 111, drives mounting mechanism, follower 113
And steering mechanism 114.Car body 111 is tower structure, is welded by steel plate, and the ability for bearing load is strong.Drive mechanism
112：Spoke is packed using sub- polyurethane, and wheel is individually composed driving machinery system, is provided with direct current in a wheel support and watches
Take motor, reductor, differential mechanism etc..Follower 113：Driven pulley plays support to the car body 111 of automatical pilot transportation vehicle 11
Effect and dispersion driving wheel normal pressure, and coordinate operation to complete to turn to, load W steering mechanism 114, rotary encoder etc..
The goods transfer mode of automatical pilot transportation vehicle 11 adopts submarine push-and-pull transfer mechanism.
More specifically, it is described in detail below for all parts of automatical pilot transportation vehicle in the present embodiment 11.
For car body 111, above-mentioned car body 111 is tower structure, and is welded by steel plate.
For drive mechanism 112, the driving wheel spoke of above-mentioned drive mechanism 112 is formed by sub- polyurethane parcel.
The power source of above-mentioned drive mechanism 112 includes DC servo motor, reductor and differential mechanism, and device in drive wheel bracket
It is interior.
Additionally, for the integrity of structure, the side of above-mentioned car body 111 is additionally provided with goods transfer mechanism.Preferably, it is above-mentioned
Goods transfer mechanism is submarine push-and-pull transfer mechanism.
As Figure 3-Figure 4, this utility model embodiment also provides a kind of automatical pilot transportation vehicle system 1, including above-mentioned
Automatical pilot transportation vehicle 11, also internal at it including the partial devices and area navigation that is electrically connected with central processing unit 12
System 13, electric power system 14, control system 15, communication system 16 and security system 17；Wherein,
Ground-control guidance system 13, for making automatical pilot transportation vehicle 11 run in pre-determined route and track；
Electric power system 14, for making the on-line automatic charging of automatical pilot transportation vehicle 11；
Control system 15, for controlling the start and stop of automatical pilot transportation vehicle 11；
Communication system 16, for passing with extraneous personnel communication signal is sent out；
Security system 17, for protecting the traffic safety of automatical pilot transportation vehicle 11.
More specifically, retouched in detail below for all parts of automatical pilot transportation vehicle system 1 in the present embodiment
State.
As shown in figure 4, for ground-control guidance system 13, above-mentioned ground-control guidance system 13 includes device in car body 111
The navigation path 131 that interior navigation system and device is laid below car body 111 by magnetic rubber.
For flooring-safe system 17, above-mentioned security system 17 includes device promptly stopping in the front panel of car body 111
Car button, and device being capable of predeterminable multiple traveling subregion sensors in car body 111.
Additionally, for the integrity of structure, also including manual control system 18, above-mentioned manual control system 18 and centre
Reason device 12 passes through dedicated radio link, to control the advance of automatical pilot transportation vehicle 11, retreat and turning.
The operating process of automatical pilot transportation vehicle 11 and automatical pilot transportation vehicle system 1 now with regard to the present embodiment is made with detailed
Analytic explanation：
First, the mode of operation of automatical pilot transportation vehicle 11
Use for the ease of user, the mode of operation of this automatical pilot transportation vehicle 11 is set to three kinds：Manually, it is semi-automatic, automatic
Operation.
1.1st, control manually
Manually control, is the button for fully relying on wireless control handle and the roof of automatical pilot transportation vehicle 11, carrys out remote control
The advance of automatical pilot transportation vehicle 11, retrogressing, left-hand rotation, right-hand rotation, the function of hook lifting, concrete operations are as follows：
（1）Automatical pilot transportation vehicle 11 is normally upper electric, it is ensured that " jerk " button is in open mode.
（2）The control mode of automatical pilot transportation vehicle 11 is opened to " manual " working condition.
（3）Application remoting handle, control automatical pilot transportation vehicle 11 runs, and guarantees that remote control is guaranteed at " jerk " button
In closed mode.
(4) get on the panel of automatical pilot transportation vehicle 11 first manually, then push button function above is followed successively by：
" advance " --- automatical pilot transportation vehicle 11 runs towards liquid crystal display screen direction；
The dorsad liquid crystal display screen direction operation of " retrogressing " --- automatical pilot transportation vehicle 11；
" left-hand rotation " --- automatical pilot transportation vehicle 11 is turned right（Can simultaneously act on " advance " or " retrogressing " button）；
" right-hand rotation " --- automatical pilot transportation vehicle 11 is turned right（Can simultaneously act on " advance " or " retrogressing " button）.
1.2nd, semiautomatic control
Semiautomatic control mode, is that automatical pilot transportation vehicle 11 advances along guide wire（Can not retreat）, concrete operations are such as
Under：
（1）Automatical pilot transportation vehicle 11 is normally upper electric, it is ensured that " jerk " button of surrounding is in open mode.
（2）The control mode of automatical pilot transportation vehicle 11 is opened to " semi-automatic " working condition.
（3）Automatical pilot transportation vehicle 11 can be controlled using start button to advance along guide wire, concrete operations are as follows：
Start button is pressed, automatical pilot transportation vehicle 11 can run along the direction of guide wire.
If necessary to stop in running, only " wait " button need to be pressed.
1.3rd, automatically control
The automatic control state of automatical pilot transportation vehicle 11 is online running status, and specific operating procedure is as follows.
（1）Automatical pilot transportation vehicle 11 is normally upper electric, it is ensured that " jerk " button is in open mode.
（2）The control mode of automatical pilot transportation vehicle 11 is opened to " automatic " working condition.
（3）Line side station manipulation personnel start automatical pilot transportation vehicle 11 and run by workbench calling.
1.4th, the use of touch screen
When automatical pilot transportation vehicle 11 is normally walked, " monitoring system of automatical pilot transportation vehicle 11 " page is only able to display,
" the manual touch control face plates of automatical pilot transportation vehicle 11 ", " the task management touch control face plates of automatical pilot transportation vehicle 11 ", " change task letter
Breath " just can only can be opened in manual mode.
" monitoring system of automatical pilot transportation vehicle 11 " page：This page can see automatical pilot transportation vehicle 11 with
And all of running status of E type cars.
The task management touch control face plates of automatical pilot transportation vehicle 11：At this interface, automatical pilot transportation vehicle can be set
Run under 11 noncall states.
Mission bit stream is set：At this interface, the loading information of automatical pilot transportation vehicle 11 can be set.
2nd, the charging modes of automatical pilot transportation vehicle 11
The charging modes of automatical pilot transportation vehicle 11 are to fill soon automatically.
Charged state when automatical pilot transportation vehicle 11 normally runs is automatic charging, and step is as follows：
（1）Ensure that charging cabinet normally goes up electricity.
（2）Automatical pilot transportation vehicle 11 normally runs, every time when trolley travelling is to charging station, automatically into charging shape
State, after charging complete, automatical pilot transportation vehicle 11 is automatically switched off charge switch.
（3）Charge condition：When electricity is higher than 85%, automatical pilot transportation vehicle 11 shows that electricity is sufficient, will not be filled automatically
Electricity；Electricity less than 85% and be higher than 60% when, each run of automatical pilot transportation vehicle 11 to charge position will carry out automatic charging；Electricity
When amount is less than 60%, as long as automatical pilot transportation vehicle 11 is in auto state, automatic charging can be all carried out；When electricity is less than 40%,
Automatical pilot transportation vehicle 11 can automatic charging three minutes, then respond again, when electricity is higher than 40%, automatical pilot transportation vehicle 11 with
When respond station.
Note：" automatic charging " is used for the normal operating conditions of automatical pilot transportation vehicle 11, belongs to quick charge, the charging interval by
How many corresponding station time of staying and electricity determine.
3rd, station platform operation
Station has a call button box, by this calling box, can control our automatical pilot transportation vehicle 11 and reload
Deng operation.
Relay indicating light state：Green represents line side station and needs feeding；Red button is to push the wrong call duration, pins five
Second cancels calling.
To sum up, this utility model provides a kind of automatical pilot transportation vehicle 11 and automatical pilot transportation vehicle system 1, steering side
Just, and simple structure, clearly, safety coefficient is high for route.For prior art, the automatical pilot transportation vehicle 11 and homing guidance
Transport vehicle system 1 has big advantage, is embodied in following several respects：
First, the simple structure of automatical pilot transportation vehicle 11, steering mechanism 114 can coordinate follower 113 to enter dolly
Row is turned to.
2nd, the automatical pilot transportation vehicle system 1 carries ground-control guidance system, enables to dolly according to pre-determined route row
Sail, to avoid collision.
Above-mentioned setting so that the automatical pilot transportation vehicle 11 and automatical pilot transportation vehicle system 1 that this utility model is provided is tied
Structure is simple, easy to use.
Finally it should be noted that：Various embodiments above is only illustrating the technical solution of the utility model, rather than it is limited
System；Although being described in detail to this utility model with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It still can modify to the technical scheme described in foregoing embodiments, either to which part or whole
Technical characteristic carries out equivalent；And these are changed or are replaced, the essence for not making appropriate technical solution departs from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
1. a kind of automatical pilot transportation vehicle, it is characterised in that include：Car body, drive mechanism, follower and steering mechanism；
Wherein,
Car body, for bearing load；
Drive mechanism, for band motor vehicles bodies traveling, it includes driving wheel and power source, and the power source is in drive wheel bracket
It is interior；
Follower, for playing a part of the normal pressure of support and dispersion driving wheel to car body, it is driven pulley；
Steering mechanism, for coordinating driven pulley band motor vehicles bodies to turn to；
Immediately below the car body, steering mechanism's device is described driven for the drive mechanism and the equal device of follower
In wheel support.
2. automatical pilot transportation vehicle according to claim 1, it is characterised in that the car body is tower structure, and logical
Cross steel plate to be welded.
3. automatical pilot transportation vehicle according to claim 1, it is characterised in that the driving wheel spoke of the drive mechanism leads to
Cross sub- polyurethane parcel to form.
4. automatical pilot transportation vehicle according to claim 3, it is characterised in that the power source of the drive mechanism includes straight
Flow servo motor, reductor and differential mechanism, and device is in drive wheel bracket.
5. automatical pilot transportation vehicle according to claim 1, it is characterised in that the car body side is additionally provided with goods shifting
Mounted mechanism.
6. automatical pilot transportation vehicle according to claim 5, it is characterised in that the goods transfer mechanism is pushed away for submarine
Draw transfer mechanism.
7. a kind of automatical pilot transportation vehicle system, it is characterised in that transport including the homing guidance described in any one of claim 1-6
Defeated car, ground-control guidance system, electric power system, the control being also electrically connected inside it and with central processing unit including partial devices
System processed, communication system and security system；Wherein,
Ground-control guidance system, for making automatical pilot transportation vehicle run in pre-determined route and track；
Electric power system, for making the on-line automatic charging of automatical pilot transportation vehicle；
Control system, for controlling the start and stop of automatical pilot transportation vehicle；
Communication system, for passing with extraneous personnel communication signal is sent out；
Security system, for protecting the traffic safety of automatical pilot transportation vehicle.
8. automatical pilot transportation vehicle system according to claim 7, it is characterised in that the ground-control guidance system includes dress
Put the navigation path that the navigation system and device in car body is laid below car body by magnetic rubber.
9. automatical pilot transportation vehicle system according to claim 7, it is characterised in that the security system exists including device
The emergency stop push button of car body front panel, and device being capable of predeterminable multiple traveling subregion sensors in car body.
10. automatical pilot transportation vehicle system according to claim 7, it is characterised in that also including manual control system, institute
Manual control system and central processing unit are stated by dedicated radio link, controlling the advance of automatical pilot transportation vehicle, is retreated and is turned
It is curved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621151912.XU CN206125227U (en) | 2016-10-31 | 2016-10-31 | Automatic guide transport vechicle and automated guided transporting vehicle system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621151912.XU CN206125227U (en) | 2016-10-31 | 2016-10-31 | Automatic guide transport vechicle and automated guided transporting vehicle system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206125227U true CN206125227U (en) | 2017-04-26 |
Family
ID=58575556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621151912.XU Expired - Fee Related CN206125227U (en) | 2016-10-31 | 2016-10-31 | Automatic guide transport vechicle and automated guided transporting vehicle system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206125227U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873833A (en) * | 2018-06-08 | 2018-11-23 | 广州市远能物流自动化设备科技有限公司 | A kind of control method for movement and automated guided vehicle of automated guided vehicle |
| CN109789806A (en) * | 2018-05-07 | 2019-05-21 | 深圳蓝胖子机器人有限公司 | A kind of charging unit and charging system |
-
2016
- 2016-10-31 CN CN201621151912.XU patent/CN206125227U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109789806A (en) * | 2018-05-07 | 2019-05-21 | 深圳蓝胖子机器人有限公司 | A kind of charging unit and charging system |
| CN109789806B (en) * | 2018-05-07 | 2022-08-30 | 深圳蓝胖子机器人有限公司 | Charging device and charging system |
| CN108873833A (en) * | 2018-06-08 | 2018-11-23 | 广州市远能物流自动化设备科技有限公司 | A kind of control method for movement and automated guided vehicle of automated guided vehicle |
| CN108873833B (en) * | 2018-06-08 | 2020-12-08 | 广州市远能物流自动化设备科技有限公司 | Movement control method of automatic guided transport vehicle and automatic guided transport vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103135548B (en) | A kind of unmanned floor truck and driving control system thereof | |
| CN109080444B (en) | Carrying device, carrying system and carrying method based on hub motor driving | |
| CN103950673B (en) | A kind of shuttle with turning function | |
| CN204705894U (en) | Magnetic navigation AGV material handling dolly | |
| US3169733A (en) | Battery charging system for vehicles | |
| US10507733B2 (en) | Energy supply vehicle for supplying an electrically drivable motor vehicle with electrical energy | |
| CN201021981Y (en) | Magnetic navigation differential carrying robot | |
| CN109625123A (en) | A kind of spliced carrying vehicle, handling system and method for carrying | |
| CN206466051U (en) | AGV transport vehicles | |
| WO2020107638A1 (en) | Intelligent transfer vehicle for shared bicycles | |
| CN109368547A (en) | A kind of fork truck AGV of omnidirectional moving and the application on container | |
| CN206125227U (en) | Automatic guide transport vechicle and automated guided transporting vehicle system | |
| CN210175020U (en) | Train accessory carrying AGV and system | |
| CN207844228U (en) | A kind of unmanned AGV trolleies of backpack magnetic guidance | |
| CN202394114U (en) | Non-contact powered automatic guide vehicle | |
| CN107585519A (en) | A kind of production line, production line mother car and the sub- car of production line | |
| CN205087500U (en) | Intelligence AGV dolly and system thereof | |
| CN105292969A (en) | Intelligent AGV trolley and system thereof | |
| CN108608891A (en) | A kind of battery trolley and the combined electrical electrical automobile using the trolley | |
| CN209765333U (en) | AGV commodity circulation delivery system | |
| CN106585765B (en) | A kind of automatic transport robot of molten iron | |
| CN216580273U (en) | Vehicle chassis consigning trolley | |
| CN210554223U (en) | Hybrid power supply unmanned conveying vehicle system | |
| CN203974815U (en) | A kind of for electric flatcar | |
| CN208814586U (en) | A kind of fork-lift type AGV trolley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170426 Termination date: 20201031 |