CN209581661U - AGV material transfer trolley - Google Patents
AGV material transfer trolley Download PDFInfo
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- CN209581661U CN209581661U CN201822168055.XU CN201822168055U CN209581661U CN 209581661 U CN209581661 U CN 209581661U CN 201822168055 U CN201822168055 U CN 201822168055U CN 209581661 U CN209581661 U CN 209581661U
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Abstract
The utility model provides a kind of AGV material transfer trolley, is related to industrial detection equipment.The AGV material transfer trolley includes transport vehicle, lifting device, rotating device, image acquisition device and the first transmission mechanism；Rotating device includes the rotating member of rotatable movement；Rotating device further includes fixing piece；Rotary position-limit mechanism is provided between rotating member and fixing piece, rotary position-limit mechanism is used to limit the rotational angle of rotating member；Lifting device is installed on rotating member；Image acquisition device includes bindiny mechanism and image collection mechanism；Image collection mechanism is installed on the top of lifting device by bindiny mechanism；Image collection mechanism can be swung by bindiny mechanism；First transmission mechanism is installed on lifting device end；First transmission mechanism can drive video acquisition device to swing in a certain range；Transport vehicle includes moveable transport vehicle chassis structure；Rotating device is mounted on transport vehicle chassis structure.
Description
Technical field
The utility model relates to industrial detection equipment technology fields, more particularly, to a kind of AGV material transfer trolley.
Background technique
The AGV trolley field of industrial detection, the position-limit mechanism of some shafts generally use dead catch point or plane groove mechanism, extremely
Catch point will affect rotation, cause corner less than 360 °.And plane groove mechanism have movement limitation, some special occasions not
Be applicable in, if by force using will cause manufacturing cost increase.Thus its video acquisition device can not be sometimes up to proper angle, can not
Accurate detection, moreover, its video acquisition device is generally fixation, it can not be movable, thus monitoring accuracy and range are all relatively low.
Based on this, the utility model provides a kind of AGV material transfer trolley to solve above-mentioned technical problem.
Utility model content
The purpose of this utility model is to provide a kind of AGV material transfer trolley, existing industrial detection equipment can not essence
Really the technical issues of detection.
Based on above-mentioned purpose, the utility model provides a kind of AGV material transfer trolley, including transport vehicle, lifting device,
Rotating device, image acquisition device and the first transmission mechanism；
The rotating device includes the rotating member of rotatable movement；
The rotating device further includes fixing piece；
Rotary position-limit mechanism is provided between the rotating member and the fixing piece, the rotary position-limit mechanism is for limiting
The rotational angle of the rotating member；
The lifting device is installed on the rotating member；
The image acquisition device includes bindiny mechanism and image collection mechanism；
The image collection mechanism is installed on the top of the lifting device by the bindiny mechanism；
The image collection mechanism can vertically be swung by the bindiny mechanism；
First transmission mechanism is installed on the lifting device end；
First transmission mechanism can drive video acquisition device to swing laterally；
The transport vehicle includes moveable transport vehicle chassis structure；
The rotating device is mounted on the transport vehicle chassis structure.
Optionally, the rotating device further includes driving device and mounting base；
The fixed part of the driving device is fixedly connected with mounting base；
The output end of the driving device is connected with rotating member, and the driving device drives the rotating member rotary motion；
The fixing piece is installed in the mounting base.
Optionally, the rotary position-limit mechanism includes the first locating part, swing component and third locating part；
First locating part is fixed on the fixing piece；First locating part is provided with retention bead；
The third locating part is fixed on the rotating member, and the third locating part includes two limited blocks；
The swing component is located between two limited blocks, the swing component and the third locating part or described turn
Moving part is hinged, keeps the swing component swingable；
When the rotating member be located at rotation initial position when, the two sides of the swing component respectively with the retention bead and its
In limited block abut；
When the rotating member turns to maximum rotation angle position, the two sides of the swing component respectively with the retention bead
It is abutted with another limited block.
Optionally, the lifting device includes vertical mounting rack, lifting driving motor, Lead screw transmission structure, sliding rail and cunning
Block；
The mounting rack is mounted on the rotating member；
The lifting driving motor is mounted on the top of the vertical mounting rack, drives institute by the Lead screw transmission structure
Sliding block is stated to go up and down along the sliding rail.
Optionally, the bindiny mechanism includes slide calliper rule plate and mounting plate；
The slide calliper rule plate is placed vertically, affixed with the vertical mounting rack；
One end of the mounting plate and the slide calliper rule plate are rotatablely connected, and the other end installs the image collection mechanism；
Arc groove is provided in the plate face of the slide calliper rule plate；Protrusion axle, the protrusion are provided in the middle part of the mounting plate
Axis is slided along the arc groove；
The edge of the arc groove is provided with scale；
It is provided with fixed structure between the slide calliper rule plate and the mounting plate, for making the slide calliper rule plate and the mounting plate
It is relatively fixed.
Optionally, first transmission mechanism includes: the first driving motor, and first driving motor is connected with first turn
Moving plate, first rotating disc are connected with the first driven disc by the first synchronous belt, and first driven disc is connected with the view
Frequency acquisition device；First rotating disc is equipped with the first locating part, and first locating part can be with first rotation
Disk rotates together with；First transmission mechanism further include: mounting base is provided in the mounting base and matches with first locating part
The second locating part closed, second locating part can move in a certain range, and the limit of second locating part movement
Position is respectively first position and the second position；
When first rotating disc is in original state, first locating part and one side contacts of the second locating part,
Second locating part is set to be in the first position；After first rotating disc is rotated by 360 °, first locating part and institute
Another side contacts of the second locating part are stated, second locating part is made to be in the second position.
Optionally, the video acquisition device by the second transmission mechanism and first transmission mechanism described first from
Moving plate connection；
Second transmission mechanism includes: the first mounting plate, and first mounting plate passes through the first mounting post and described the
First driven disc of one transmission mechanism connects；
First mounting plate is equipped with the second driving motor, and second driving motor is connected with the second rotating disc, institute
It states the second rotating disc and the second driven disc is connected with by the second synchronous belt, second driven disc is connected with by the second mounting post
The video acquisition device.
Optionally, the transport vehicle chassis structure includes chassis, driving wheel apparatus, attachment device and regulating device；
The attachment device is connected to the two sides on the chassis；
The regulating device is detachably connected with the attachment device, also, the regulating device is along the attachment device
Short transverse it is adjustable；
The driving wheel apparatus is connected through axis and connect with the regulating device.
Optionally, the attachment device includes link block, is provided on the link block to accommodate the connecting shaft
Holding tank, and, to connect the mounting groove of the regulating device, the mounting groove prolongs along the short transverse of the link block
It stretches.
Optionally, the regulating device includes movable block, the first locking member and the second locking member；
The card slot to install the connecting shaft is provided on the movable block, and corresponding with the installation groove location
Connecting hole；
First locking member makes the connecting shaft locking on the movable block；
Second locking member, which passes through the connecting hole and the mounting groove, keeps the movable block and the link block removable
Unload connection.
The AGV material transfer trolley provided by the utility model, is moved to by transport vehicle and requires position, pass through rotation
The rotating member of device drives lifting device and the outstanding rotation of image acquisition device.Lifting device can drive first transmission mechanism and
Video acquisition device lifting.Image acquisition device can be preliminary to the carry out such as surrounding image collection.Since rotating device is provided with
Rotary position-limit mechanism can limit rotating member, will not infinite rotational, fast and easy adjust turned position, while again make turn
Moving part can be rotated freely locally, it might even be possible to reach 360 ° of rotation.Therefore, required any position can be turned to, therefore,
Image collection mechanism and video acquisition device can be made to rotate to suitable position by rotating.Simultaneously as the image
Collecting mechanism can vertically be swung, therefore, adjustable suitable acquisition angles.So as to so that image collection mechanism reaches best
Acquisition position, carry out preliminary acquisition, judge preliminary direction.In turn, video acquisition device can be made by lifting device
Hoisting depth expands the acquisition visual field, carries out Primary Location.After Primary Location, video acquisition device decline, at the same time it can also logical
Cross the first transmission mechanism to swing laterally in a certain range, can choose suitable acquisition position, with carry out accurate acquisition and
Positioning.The application passes through the cooperation of two acquisition devices, while passing through rotary position-limit mechanism, lifting device, rotating device and biography
Motivation structure is worked in coordination, and accurate monitoring is realized.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of AGV material transfer trolley provided by the embodiment of the utility model.
Fig. 2 is the structural schematic diagram for the part being installed on transport vehicle；
Fig. 3 is the structural schematic diagram of the rotating device of the utility model embodiment；
Fig. 4 is that the rotating member of rotary position-limit mechanism part is located at schematic diagram when rotating initial position；
Fig. 5 is that the rotating member of rotary position-limit mechanism part is located at the schematic diagram of maximum rotation angle position；
Fig. 6 is the schematic diagram of rotary stopper part；
Fig. 7 is the first direction schematic diagram of the lifting device of the utility model embodiment；
Fig. 8 is the first direction schematic diagram of the lifting device of the utility model embodiment；
Fig. 9 is the schematic diagram of the image acquisition device of the utility model embodiment；
Figure 10 is the schematic diagram of slide calliper rule plate；
Figure 11 is the external structure signal of the first transmission mechanism provided by the embodiments of the present application and video acquisition device part
Figure；
Figure 12 is the internal structure signal of the first transmission mechanism provided by the embodiments of the present application and video acquisition device part
Figure；
Figure 13 is the partial structural diagram of the first transmission mechanism；
Figure 14 is the structural schematic diagram of the mounting base of the first transmission mechanism；
Figure 15 is the structural schematic diagram of the first locating part of the first transmission mechanism；
Figure 16 is the structural schematic diagram of the second transmission mechanism and video acquisition device；
Figure 17 is the external structure schematic diagram of video acquisition device；
Figure 18 is the schematic diagram of internal structure of video acquisition device；
Figure 19 is the structural schematic diagram of lift connection plate；
Figure 20 is the schematic perspective view of transport vehicle chassis structure；
Figure 21 is the main view of transport vehicle chassis structure；
Figure 22 is the bottom view of Figure 21；
Figure 23 is bindiny mechanism's signal of driving wheel apparatus, attachment device and regulating device in transport vehicle chassis structure
Figure；
Figure 24 is the structural schematic diagram of attachment device in transport vehicle chassis structure；
Figure 25 is the structural schematic diagram of regulating device in transport vehicle chassis structure；
Figure 26 is the schematic perspective view of transport vehicle.
Icon: the fixed locating part of 100-；101- swing component；102- rotary stopper part；200- fixing piece；201- rotating member；
202- rotational drive motor；203- mounting base；204- sleeve；301- goes up and down driving motor；302- Lead screw transmission structure；303-
Sliding block；304- support plate；305- top fixing plate；306- side plate；307-L type fixed plate；308- goes up and down connector；309- electricity
Pond；310- lift connection plate；401- slide calliper rule plate；402- mounting plate；403- image collection mechanism；404- arc groove；1001- limit
Protrusion；1002- bar shaped mounting blocks；1021- limited block；1022- bar shaped guard member；The first transmission mechanism of 500-；501-
One rotating disc；The first locating part of 502-；The second locating part of 503-；5031- the first side wall；5032- second sidewall；
504- mounting base；5041- mounting seat body；5042- first boss；5043- second boss；50421- first is tilted
Face；The second inclined surface 50431-；5021- assembled body；5022- limiting section；50211- the first noumenon portion；50212-
Two body parts；The first driving motor of 505-；The first synchronous belt of 506-；The first driven disc of 507-；The second transmission mechanism of 600-；
The first mounting plate of 601-；The first mounting post of 602-；The second driving motor of 603-；The second rotating disc of 604-；605- second
Synchronous belt；The second driven disc of 606-；The second mounting post of 607-；608- lightening hole；700- video acquisition device；701-
Two mounting plates；702- video collector；7011- plate body；The shelly-shaped body of 7012-；703- sucker；The chassis 800-, 801- subtract
Repeated hole, 810- drive wheel apparatus, 811- connecting shaft, 812- driving wheel, 820- attachment device, 821- holding tank, 822- installation
Slot, 823- lock washer, 824. limiting slots, 830- regulating device, 831- movable block, the first locking member of 832-, 833- second lock
Tight part, 834- card slot, 835- connecting hole, 840- auxiliary wheel device, 841- wheel support, 842- auxiliary wheel, 843- connecting plate, 850-
Damping device, 860- side plate, 870- upper cover.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
AGV material transfer trolley embodiment
As shown in Fig. 1 to Figure 19, a kind of AGV material transfer trolley, the AGV material transfer are provided in the present embodiment
Trolley includes transport vehicle, lifting device, rotating device, image acquisition device and the first transmission mechanism；
The rotating device includes driving mechanism, mounting base 203 and rotary position-limit mechanism；
The fixed part of the driving mechanism is fixedly connected with mounting base 203；
The output end of the driving mechanism is connected with rotating member 201, and the driving mechanism drives the rotating member 201 to turn round
Movement；
Fixing piece 200 is installed in the mounting base 203；
Rotary position-limit mechanism is provided between the rotating member 201 and the fixing piece 200, the rotary position-limit mechanism is used
In the rotational angle for limiting the rotating member 201；
The lifting device is installed on the rotating member 201；
The image acquisition device includes bindiny mechanism and image collection mechanism；
The image collection mechanism is installed on the top of the lifting device by the bindiny mechanism；
The image collection mechanism can vertically be swung by the bindiny mechanism；
First transmission mechanism is installed on the lifting device end；
First transmission mechanism can drive video acquisition device to swing laterally in a certain range；
The transport vehicle includes moveable transport vehicle chassis structure；
The rotating device is mounted on the transport vehicle chassis structure.
The AGV material transfer trolley provided by the utility model, is moved to by transport vehicle and requires position, pass through rotation
The rotating member of device drives lifting device and the outstanding rotation of image acquisition device.Lifting device can drive first transmission mechanism and
Video acquisition device lifting.Image acquisition device can be preliminary to the carry out such as surrounding image collection.Since rotating device is provided with
Rotary position-limit mechanism can limit rotating member, will not infinite rotational, fast and easy adjust turned position, while again make turn
Moving part can be rotated freely locally, it might even be possible to reach 360 ° of rotation.Therefore, can be made by rotating image collection mechanism and
Video acquisition device is rotated to suitable position.Simultaneously as the image collection mechanism can vertically be swung, therefore, can adjust
Save suitable acquisition angles.So as to carry out preliminary acquisition so that image collection mechanism reaches optimal acquisition position, judge
Preliminary direction.In turn, video acquisition device hoisting depth can be made by lifting device, expands the acquisition visual field, is carried out preliminary
Positioning.After Primary Location, video acquisition device decline, at the same time it can also lateral in a certain range by the first transmission mechanism
It swings, can choose suitable acquisition position, accurately to be acquired and be positioned.
As shown in Fig. 2 to Figure 10, in the optinal plan of the present embodiment, the rotary position-limit mechanism includes fixed locating part
100, swing component 101 and rotary stopper part 102；
The fixed locating part 100 is fixed on fixing piece 200；The fixed locating part 100 is provided with retention bead
1001；
The rotary stopper part 102 is fixed on the rotating member 201 reciprocally rotated, and the rotary stopper part 102 includes
Two limited blocks 1021；
The swing component 101 is located between two limited blocks 1021, the swing component 101 and the rotary stopper
Part 102 or the rotating member 201 are hinged, keep the swing component 101 swingable；
When the rotating member 201 be located at rotation initial position when, the two sides of the swing component 101 respectively with the limit convex
Play 1001 and the abutting of one of limited block 1021；
When the rotating member 201 turns to maximum rotation angle position, the two sides of the swing component 101 respectively with it is described
Retention bead 1001 and another limited block 1021 abut；The maximum rotation angle of the rotating member 201 is not less than 360 °；
The first bolster, the swing component 101 and two are provided between the swing component 101 and the retention bead 1001
The second bolster is provided between a limited block 1021.
The application is provided with swingable limiting device.Since swing component 101 is swingable, in driving mechanism not starting state
Under, swing component 101 is kept straight down due to gravity.After driving mechanism starting, rotating member 201 rotates, and drives two
Limited block 1021 and swing component 101 rotate, when going to swing component 101 and being abutted with 1001 side of retention bead, swing component 101
It swinging, rotating member 201 continues to rotate, until swing component 101 is resisted by one of limited block 1021, rotating member 201 at this time
No longer rotate.At this point, rotating member 201 turns round, swing component 101 is driven to rotate, until 101 other side of swing component is limited protrusion
1001 other side resists, and after continuing to rotate, swing component 101 is blocked by another limited block 1021, at this point, rotating member 201
It no longer rotates.
The application passes through fixed locating part 100, and the cooperation of swing component 101 and rotary stopper part 102 can make rotating member
201 parts rotate freely.Simultaneously as there is swing component 101 certain angle of oscillation to be therefore limited protrusion in swing component 101
1001 when resisting, and rotating member 201 can also continue to turn an angle, and therefore, rotating member 201 can achieve rotation 360, solution
Rotation caused by limit determined less than 360 problems.Moreover, because swing component 101 is during rotation because gravity keeps vertical
Downwards, therefore, when hitting, part impact force can be mitigated.Simultaneously as the swing component 101 and the retention bead
It is provided with the first bolster between 1001, is provided with second between the swing component 101 and two limited blocks 1021
Bolster.Therefore, the shock dynamics between them can be mitigated, reduce impact.Also, whole equipment design is simple, structure letter
Single, processing cost is low.
Further, when the rotating member 201 be located at rotation initial position when, the first side of the swing component 101 with
The first side of the retention bead 1001 abuts, the second side of the swing component 101 and one of them described limited block
1021 confined planes abut；The first side of the swing component 101 is arranged in first bolster, and/or, the limit convex
It rises in 1001 first side；
The second side of the swing component 101 is arranged in second bolster, and/or, the limited block 1021
On confined planes.
Face is abutted with face, and mutual pressure is small, and impact is small, can reduce impact force.Buffering in entire surface is set
Part can greatly reduce impact force, run whole device more stable.
Likewise, when the rotating member 201 turns to maximum travel position, the second side of the swing component 101 and institute
The second side for stating retention bead 1001 abuts, and the first side of the swing component 101 is rocked to and the another limited block
1021 confined planes abut；The second side of the swing component 101 is arranged in first bolster, and/or, the limit convex
It rises in 1001 second side；
The first side of the swing component 101 is arranged in second bolster, and/or, the limited block 1021
On confined planes.
As above setting, and achieve the effect that face is abutted with face, to reduce impact force, reduce vibration.And pass through setting
Bolster in entire surface, is significantly reduced impact force, runs whole device more stable.
Further, the fixed locating part 100 includes bar shaped mounting blocks 1002, the outside of the bar shaped mounting blocks 1002
It is provided with the retention bead 1001.
Setting bar shaped mounting blocks 1002 are easily installed fixed locating part 100, it is facilitated to connect with fixing piece 200.
Further, the rotary stopper part 102 includes bar shaped guard member 1022；
The inside of the bar shaped guard member 1022 and two limited blocks 1021 are affixed；
Two limited blocks 1021 are located at the both ends of the bar shaped guard member 1022；
The swing component 101 and the bar shaped guard member 1022 are hinged.
Bar shaped guard member 1022 facilitates installation and protection swing component 101, prevents it from falling off, processing is also facilitated to fix two limits
Position block 1021.The bar shaped guard member 1022 and two limited blocks 1021 can be integrally machined, and seperated can also be added
Work.Swing component 101 and bar shaped guard member 1022 are hinged, facilitate processing and installation, and when installation only needs rotary stopper part 102
Entirely it is installed on rotating member 201.
As shown in Fig. 2 to Fig. 5, in the optinal plan of the present embodiment, on the non-bearing surface of two limited blocks 1021
It is provided with position monitoring device, for detecting the position of the swing component 101.
It is limited by the way that whether monitoring device monitoring swing component is blocked, so that rotary drive mechanism is transmitted signals to, from
And rotary drive mechanism continues to rotate or invert.
Further, the position monitoring device can be connect using position sensor etc. with rotational drive motor.
As shown in Fig. 2 to Figure 10, in the optinal plan of the present embodiment, the driving mechanism uses rotational drive motor 202；
The mounting base 203 is connect with the cylinder body of the rotational drive motor 202；
The mounting base 203 is fixed with the sleeve 204 being set in outside the output shaft of the rotational drive motor 202；
The bottom of the sleeve 204 and the mounting base 203 are affixed, the fixed fixing piece in the top of the sleeve 204
200。
Using rotational drive motor 202, facilitate control, reversion can be rotated forward, controllability is high.Mounting base 203 is fixed on cylinder body
On, sleeve 204 is set, to protect output shaft, places the rotation of interference output shaft, while facilitating mounting fixing parts 200.
Further, the rotating member 201 uses ring flange, and the ring flange is sheathed on the end of the output shaft；
The side of the ring flange is provided with mounting groove, and the rotary stopper part 102 is installed in the mounting groove.
Facilitated using ring flange and remaining device or component are installed, various mounting holes, fixation hole etc. can be opened up on ring flange.
The side of the ring flange is provided with mounting groove, facilitates fixed rotary stopper part 102.
Further, the fixing piece 200 uses fixed plate.
Fixed plate takes up space small, also facilitates the fixed locating part 100 of installation.
As shown in Fig. 2 to Figure 10, in the optinal plan of the present embodiment, including vertical mounting rack, lifting driving motor 301,
Lead screw transmission structure 302, sliding rail and sliding block 303；
The vertical mounting rack is mounted on the rotating member 201；
The lifting driving motor 301 is mounted on the top of the vertical mounting rack, passes through the Lead screw transmission structure 302
The sliding block 303 is driven to go up and down along the sliding rail；
First transmission mechanism is installed on the sliding block 303.
Vertical mounting rack is for fixed lifting driving motor 301 and lead-screw drive mechanism；Vertical mounting rack include connecting plate,
Support plate 304 and top fixing plate 305.Connecting plate is fixed on rotating member 201, and support plate 304 is placed vertically, is played support and is made
With.Top fixing plate 305 is fixed on the top of support plate 304.Lifting driving motor 301 is fixed on the top of top fixing plate 305
Portion, output shaft end and the screw rod of Lead screw transmission structure 302 are affixed, and screw rod and connecting plate and top fixing plate 305 are rotatablely connected, silk
Thick stick nut is connect with sliding block 303 by going up and down connector 308.Sliding rail and vertical mounting rack are affixed, and sliding block 303 is slided along sliding rail.
Lead screw transmission structure 302, sliding rail and sliding block 303 are respectively positioned on the side of support plate 304.The other side of support plate 304
It is provided with side plate 306 and L-type fixed plate 307.Several lightening holes are offered on the side plate 306, the L-type fixed plate is one
Body L shape is fixed in the support plate 304, and the side plate 306, the fixed plate and the support plate 304 form one
The groove body of placing battery, the battery 309 is located in the groove body, and the battery is fixed on the side plate 306.The silk
It is arranged with shell outside thick stick drive mechanism 302, shell is fixed with vertical mounting rack, for protecting Lead screw transmission structure 302.
Further, the bindiny mechanism includes slide calliper rule plate 401 and mounting plate 402；
The slide calliper rule plate 401 is placed vertically, affixed with the top fixing plate 305 of the vertical mounting rack；
One end of the mounting plate 402 and the slide calliper rule plate 401 are rotatablely connected, and the other end installs the image collection mechanism
403；
Arc groove 404 is provided in the plate face of the slide calliper rule plate 401；The middle part of the mounting plate 402 is provided with protrusion
Axis, the protrusion axle are slided along the arc groove 404；
The edge of the arc groove 404 is provided with scale；
It is provided with fixed structure between the slide calliper rule plate 401 and the mounting plate 402, for making 401 He of slide calliper rule plate
The mounting plate 402 is relatively fixed.
Slide calliper rule plate 401 can be swung around the installation site relative to mounting plate 402, thus can drive image collection mechanism
403 swing.Then passed through by the cooperation of arc groove 404 and protrusion axle to determine the swing angle of image collection mechanism 403
Fixed structure fixes image collection mechanism 403, it is made to keep acquisition angles.Fixed structure can use and tighten bolt, described
One end of mounting plate 402 and the slide calliper rule plate 401 are rotatablely connected by shaft, and bolt is tightened in the end setting of shaft, relative to
Slide calliper rule plate 401 is tightened.
Further, the image collection mechanism 403 uses video camera.
It, can also be using remaining common acquisition equipment other than video camera.
As shown in Figure 11 to Figure 19, in the optinal plan of the present embodiment, comprising: the first transmission mechanism 500, the first driver
Structure 500 includes: the first driving motor 505, and the first driving motor 505 is connected with the first rotating disc 501, and the first rotating disc 501 is logical
It crosses the first synchronous belt 506 and is connected with the first driven disc 507, the first driven disc 507 is connected with video acquisition device 700；First turn
Moving plate 501 is equipped with the first locating part 502, and the first locating part 502 can be rotated together with the first rotating disc 501；First passes
Motivation structure 500 further include: mounting base 504 is provided with the second locating part with the cooperation of the first locating part 502 in mounting base 504
503, the second locating part 503 has floating angle of oscillation；When first rotating disc 501 is in original state, the first locating part 502 and
The first side walls 5031 of two locating parts 503 contacts, and the second locating part 503 be in first position, the first rotating disc 501 drive the
When the second sidewall 5032 of one locating part 502 rotation to the first locating part 502 and the second locating part 503 contacts, the second locating part
503 are rocked to the second position by first position, and the first rotating disc 501 rotates predetermined angle (such as: 360 °) and in maximum
Stroke state；When first rotating disc 501 returns back to original state by range state, the first locating part 502 is far from the second limit
The second sidewall 5032 of position part 503, the second locating part 503 are reset to first position by the second position, and the first rotating disc 501 returns
When turning and the first side wall 5031 of the first locating part 502 and the second locating part 503 being driven to contact, the first rotating disc 501 rotates pre-
If angle (such as: 360 °) and restore to original state.
Since the second locating part 503 has floating angle of oscillation, is compensated so as to the rotation angle to shaft, make it
Reach 360 ° of rotations, and then expand the acquisition range of video acquisition device, improves the collection effect of video acquisition device；Also,
The structure of first transmission mechanism 500 is simple, at low cost, is conducive to manufacture.
First transmission mechanism 500 is installed on transmission mounting plate, the transmission mounting plate and lift connection plate 310
Affixed, the lift connection plate 310 and the sliding block 303 are affixed.
The lift connection plate 310 includes plate body, and the side of the plate body is provided with cross connection structure, the cross
There is the slot for being provided with and facilitating along shell sliding between shape connection structure and the plate body.The Cross slat of the cross connection structure
For being connect with transmission mounting plate.
When practical application, as shown in Figure 11 to Figure 19, above-mentioned mounting base 504 may include: the mounting seat body of cuboid
5041, which is equipped with the first boss 5042 and second boss 5043 being spaced apart, and the second locating part
503 are arranged between first boss 5042 and second boss 5043, to pass through first boss 5042 and second boss 5043
Limit the floating pivot angle of the second locating part 503.
Wherein, for the ease of the assembly of the second locating part 503, as shown in Figure 11 to Figure 19, above-mentioned first boss 5042 is faced
The side of nearly first locating part 502 can have the first inclined surface 50421, and second boss 5043 closes on the first locating part 502
Side can have the second inclined surface 50431.
Specifically, as shown in Figure 11 to Figure 19, above-mentioned second locating part 503 can use segment structure, the segment
Two radius walls of structure can be respectively the first side wall 5031 and second sidewall 5032 of the second locating part 503.
In addition, can be respectively corresponded equipped with pilot hole in segment structure and mounting seat body 5041, and connected by pin shaft
It connects, to realize that the second locating part 503 can be swung between the first boss 5042 and second boss 5043 of mounting base 504
Purpose.
Further, in order to effectively reduce impact of first locating part 502 to the second locating part 503, above-mentioned second is limited
The first side wall 5031 and second sidewall 5032 of part 503 can be respectively equipped with elastic layer.
Further, above-mentioned elastic layer can use excellent power glue-line.Excellent power glue, also known as polyurethane PU elastomer, are one
Kind has intensity good, and compressive deformation is small；A kind of new material between plastics and rubber, the rigidity with plastics, and have
The elasticity of rubber.
Still further, above-mentioned first locating part 502 may include: assembled body 5021 as shown in Figure 11 to Figure 19, with
And the limiting section 5022 of the cuboid of 5021 one end of assembled body is set, and limiting section 5022 is used for and the second locating part
503 contacts.
Further, as shown in Figure 11 to Figure 19, above-mentioned assembled body 5021 may include: the first noumenon portion 50211
With the second body part 50212, and the axial length in the first noumenon portion 50211 be greater than the second body part 50212 axial length；On
The one end for stating the first noumenon portion 50211 is equipped with limiting section 5022, and the first noumenon portion 50211 and the second body part 50212 are along vertical
The direction of axis, which can be run through, mounting hole.
The axial length in the first noumenon portion 50211 is greater than the axial length of the second body part 50212, and the first noumenon portion
50211 one end is equipped with limiting section 5022, and the first noumenon portion 50211 and the second body part 50212 are passed through along the direction of vertical axis
It is installed with mounting hole, the assembly of the first locating part 502 can not only be convenient for, and can effectively avoid the limit of the first locating part 502
Interference between position portion 5022 and the first rotating disc 501, while being conducive to the limiting section 5022 and second of the first locating part 502
Locating part 503 contacts.
When practical application, as shown in Figure 11 to Figure 19, above-mentioned video acquisition device 700 can pass through the second transmission mechanism
600 connect with the first driven disc 507 of the first transmission mechanism 500, to be adopted by the second transmission mechanism further expansion video
The acquisition range of acquisition means improves the collection effect of video acquisition device.
Wherein, as shown in Figure 11 to Figure 19, above-mentioned second transmission mechanism 600 may include: the first mounting plate 601, and first
Mounting plate 601 can be connect by the first mounting post 602 with the first driven disc 507 of the first transmission mechanism 500；Also, first
The second driving motor 603 can be equipped on mounting plate 601, the second driving motor 603 be connected with the second rotating disc 604, and second turn
Moving plate 604 can be connected with the second driven disc 606 by the second synchronous belt 605, and the second driven disc 606 can pass through the second installation
Column 607 is connected with video acquisition device 700.
Specifically, for the ease of the rotation of video acquisition device 700, as shown in Figure 11 to Figure 19, above-mentioned first mounting plate
Lightening hole 608 can be equipped on 601.
Further, as shown in Figure 11 to Figure 19, above-mentioned video acquisition device 700 may include: and the second transmission mechanism
Second mounting plate 701 of 600 the second mounting post 607 connection, and the video collector being connect with second mounting plate 701
702。
Further, as shown in Figure 11 to Figure 19, above-mentioned second mounting plate 701 may include: to be located in the middle plate
Body 7011, and the shelly-shaped body 7012 being connect with the both ends of the plate body 7011；When specific assembly, plate body 7011 can be with the
Second mounting post 607 of two transmission mechanisms 600 connects, and shelly-shaped body 7012 can be connect with video collector 702.
Still further, above-mentioned video collector 702 can use mobile phone as shown in Figure 11 to Figure 19；Above-mentioned shelly-shaped body
7012 inside can be equipped with sucker 703, so that mobile phone is adsorbed by the sucker 703, to realize the fixation of video collector 702
Installation.
Further, in order to guarantee adsorption effect well, as shown in Figure 11 to Figure 19, above-mentioned sucker 703 be can wrap
Included it is multiple, and multiple suckers 703 can preferably in matrix be distributed.
As shown in Figure 20 to Figure 26, in the optinal plan of the present embodiment, the transport vehicle chassis structure, comprising: chassis
800, wheel apparatus 810, attachment device 820 and regulating device 830 are driven.
Wherein, chassis 800 plays the role of carrying material or other application component；
Attachment device 820 is connected to the two sides on chassis 800；
Regulating device 830 is detachably connected with attachment device 820, also, regulating device 830 is along the height of attachment device 820
It is adjustable to spend direction；
Driving wheel apparatus 810 is preferably provided with two, positioned at the two sides on chassis 800, wheel apparatus 810 is driven to be connected through axis
811 connect with regulating device 830, and driving wheel apparatus 810 can drive chassis 800 mobile.
In the technical solution, regulating device 830 can connect the connecting shaft 811 of driving wheel apparatus 810, also, due to adjusting
Regulating device 830 is adjustable along the short transverse of attachment device 820, can be with so as to adjust height of the chassis 800 apart from ground
It is adjusted for different road surface, expands use scope.
In the embodiment of the application, in conjunction with shown in Figure 20 to Figure 26, above-mentioned attachment device 820 includes connection
Block is provided with the holding tank 821 to accommodate connecting shaft 811 on link block, convenient for driving the connecting shaft 811 of wheel apparatus 810 to fill
It fits in the holding tank 821；
Also, the link block also sets up the mounting groove 822 to connect regulating device 830, and mounting groove 822 is along link block
Short transverse extends, consequently facilitating regulating device 830 is adjusted in the height direction, so that chassis 800 is apart from ground
It is highly adjustable, meet the use demand of different road surface.
In addition, also set up the limiting slot 824 to accommodate regulating device 830 on link block, the width of limiting slot 824 with
The width of regulating device 830 is adapted to, and the effect of limiting slot 824 is that regulating device 830 is avoided to generate in the horizontal direction with link block
Relative movement, improves the fastness of assembly.
In the embodiment of the application, the bottom surface on link block and chassis 800, which uses, to be detachably connected.
When it is implemented, threaded hole can be arranged in link block top surface, link block and chassis are made by screw or bolt
800 are detachably connected, thus, convenient for chassis 800 or link block are repaired or replaced.
In the embodiment of the application, the two sides of holding tank 821 are at least respectively arranged with a mounting groove 822.
Preferably, as shown in Figure 20 to Figure 26, when it is implemented, by being respectively arranged with one in the two sides of holding tank 821
A mounting groove 822 makes the link position of regulating device 830 and attachment device 820 be distributed in the two sides of connecting shaft 811, improves
The fastness that regulating device 830 is connect with attachment device 820, the transport vehicle chassis structure has good in use
Stability.
In the embodiment of the application, in conjunction with shown in Figure 20 to Figure 26, regulating device 830 include movable block 831,
First locking member 832 and the second locking member 833.
Wherein, be provided with the card slot 834 to install connecting shaft 811 on movable block 831, and with 822 position of mounting groove
Corresponding connecting hole 835, the quantity of connecting hole 835 can be one or more, in the present embodiment, two mounting grooves are arranged
For 822 structures, then the quantity of connecting hole 835 is preferably provided with two, it is adapted with the quantity of mounting groove 822.
First locking member 832 makes the locking of connecting shaft 811 on movable block 831；In the present embodiment, the first locking member 832 is excellent
Choosing uses nut, and the first locking member 832 is located in holding tank 821, avoids causing to interfere to other components, reach to structure
The purpose rationally utilized；Meanwhile first locking member 832 dismantle connecting shaft 811, thus convenient to driving wheel apparatus
810 are replaced or are repaired.
Second locking member 833, which passes through connecting hole 835 and mounting groove 822, is detachably connected movable block 831 and link block, this
In embodiment, the second locking member 833 uses the form of bolt attaching nut connection, that is, bolt passes through connecting hole 835 and mounting groove
822, nut is locked at bolt in mounting groove 822, to realize being detachably connected for movable block 831 and link block.
In addition, it is necessary to which explanation, the second above-mentioned locking member 833 can also be replaced using screw or approach screw
Generation, correspondingly, the screw thread that setting is adapted to screw or screw rod in mounting groove 822, also can achieve and be detachably connected purpose.
In above-mentioned technical proposal, it is coupled the form of slot 822 using connecting hole 835, is made by the second locking member 833
Movable block 831 is detachably connected with link block, to facilitate the relative altitude for adjusting movable block 831 and link block, makes chassis 800
Height it is adjustable, satisfy the use demand.
In the embodiment of the application, as shown in Figure 20 to Figure 26, the contact surface shape of card slot 834 and connecting shaft 811
Shape is not circle, in the specific implementation, the shape of card slot 834 can be arranged in shapes such as quadrangle, triangle or ellipses
Shape, correspondingly, the connecting portion of connecting shaft 811 and card slot 834 are set as the shape adaptation with card slot 834, in use process
In, it can be avoided card slot 834 and produce relative rotation with connecting shaft 811, raising card slot 834 is connect firm with connecting shaft 811
It is fixed.
In the embodiment of the application, as shown in Figure 20 to Figure 26, attachment device 820 further includes lock washer
823, lock washer 823 is installed in connecting shaft 811, also, lock washer 823 is located at the first locking member 832 and movable block 831
Between.Since 823 structure of lock washer belongs to well-known technique scope, no longer its structure is illustrated here,
In the embodiment, lock washer 823 plays the role of preventing the first locking member 832 from loosening, and improves the first locking
The stability that part 832 is connect with connecting shaft 811.
In the embodiment of the application, in conjunction with shown in Figure 20 to Figure 26, lightening hole is provided on chassis 800
801, wherein the quantity of lightening hole 801 be provided with it is multiple, setting lightening hole 801 purpose be not influence chassis structure intensity
On the basis of, lightening hole 801 can effectively mitigate the weight on chassis 800, so that the power consumption of driving wheel apparatus is effectively reduced,
Reach energy-efficient purpose, simultaneously, additionally it is possible to promote handling efficiency.
In the embodiment of the application, as shown in Figure 20 to Figure 26, the driving that is used in the transport vehicle chassis structure
Wheel apparatus 810, including driving wheel 812 and the hub motor connecting with driving wheel 812, the connecting shaft 811 of hub motor is stretched out
In outside driving wheel 812.In such a way that hub motor drives driving wheel to operate, the driving motor that can effectively save external is accounted for
Space optimizes the space application to chassis structure, passes through control when advancing using the structure type of hub motor
The different revolving speed of two hub motors, realizes the turning function of traveling.
In the embodiment of the application, as shown in Figure 20 to Figure 26, which further includes multiple auxiliary
Wheel apparatus 840 is helped, auxiliary wheel device 840 is connect with chassis 800.The auxiliary wheel device includes wheel support 841,842 and of auxiliary wheel
Connecting plate 843, auxiliary wheel 842 are connect by axis with wheel support 841, are fixed on bottom by connecting plate 843 at the top of wheel support 841
On disk 800；By the way that multiple auxiliary wheel devices 840 are arranged, convenient for carrying out multi-faceted support to chassis 800, improve mobile and carry
Stability.
When it is implemented, auxiliary wheel device 840 can be detachably connected by screw and chassis 800, that is, wheel support 841
It is detachably connected by screw and chassis 800, thus convenient assembling or replacement to auxiliary wheel device 840.
In the present embodiment, the quantity of auxiliary wheel device 840 is preferably provided with four, for using rectangular chassis 800,
An auxiliary wheel device 840 is respectively set in four edges on chassis 800, and two driving wheel apparatus 810 divide for positioned at chassis 800
Two long sides medium position, by driving wheel apparatus 810 and auxiliary wheel device 840 position reasonable Arrangement, can be right
Chassis 800 provides stable support, improves the stationarity of traveling.
In addition, make in operational process more steadily to increase the damping performance on chassis 800, as shown in Figure 20 to Figure 26,
Above-mentioned auxiliary wheel device 840 is also provided with damping device 850, and damping device 850 is arranged in connecting plate 843 and wheel support
Between 841, damping device 850 can be using spring shock absorption element, air spring damper element or damping rubber pad etc., to ensure
The damping performance on chassis 800.
In the present embodiment, the transport vehicle further includes frame, and frame is connect with chassis 800, in application, the frame includes enclosing
It is located at the side plate 860 of 800 side of chassis, and lid is located at the upper cover 870 at 860 top of side plate.Utilize upper cover 870,800 and of chassis
Side plate 860 forms accommodation space, to elements such as placing batteries.
In the present embodiment, mounting rack is provided on the chassis 800, the rotational drive motor 202 is mounted on the peace
It shelves.The wheel hub for driving the rotational drive motor 202 and the driving wheel 812 to connect is additionally provided on the chassis 800
Motor.
Finally, it should be noted that it is obvious to a person skilled in the art that the application is not limited to above-mentioned exemplary implementation
The details of example, and without departing substantially from spirit herein or essential characteristic, it can realize in other specific forms
The application.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this Shen
Range please is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are included in the application.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of AGV material transfer trolley, which is characterized in that including transport vehicle, lifting device, rotating device, image collection dress
It sets and the first transmission mechanism；
The rotating device includes the rotating member of rotatable movement；
The rotating device further includes fixing piece；
Rotary position-limit mechanism is provided between the rotating member and the fixing piece, the rotary position-limit mechanism is described for limiting
The rotational angle of rotating member；
The lifting device is installed on the rotating member；
The image acquisition device includes bindiny mechanism and image collection mechanism；
The image collection mechanism is installed on the top of the lifting device by the bindiny mechanism；
The image collection mechanism can vertically be swung by the bindiny mechanism；
First transmission mechanism is installed on the lifting device end；
First transmission mechanism can drive video acquisition device to swing laterally；
The transport vehicle includes moveable transport vehicle chassis structure；
The rotating device is mounted on the transport vehicle chassis structure.
2. AGV material transfer trolley according to claim 1, which is characterized in that the rotating device further includes driving dress
It sets and mounting base；
The fixed part of the driving device is fixedly connected with mounting base；
The output end of the driving device is connected with rotating member, and the driving device drives the rotating member rotary motion；
The fixing piece is installed in the mounting base.
3. AGV material transfer trolley according to claim 1, which is characterized in that the rotary position-limit mechanism includes first
Locating part, swing component and third locating part；
First locating part is fixed on the fixing piece；First locating part is provided with retention bead；
The third locating part is fixed on the rotating member, and the third locating part includes two limited blocks；
The swing component is located between two limited blocks, the swing component and the third locating part or the rotating member
Hingedly, make the swing component swingable；
When the rotating member is located at rotation initial position, the two sides of the swing component respectively with the retention bead and wherein one
A limited block abuts；
When the rotating member turns to maximum rotation angle position, the two sides of the swing component respectively with the retention bead and another
One limited block abuts.
4. AGV material transfer trolley according to claim 1, which is characterized in that the lifting device includes vertical installation
Frame, lifting driving motor, Lead screw transmission structure, sliding rail and sliding block；
The mounting rack is mounted on the rotating member；
The lifting driving motor is mounted on the top of the vertical mounting rack, drives the cunning by the Lead screw transmission structure
Block is gone up and down along the sliding rail.
5. AGV material transfer trolley according to claim 4, which is characterized in that the bindiny mechanism include slide calliper rule plate and
Mounting plate；
The slide calliper rule plate is placed vertically, affixed with the vertical mounting rack；
One end of the mounting plate and the slide calliper rule plate are rotatablely connected, and the other end installs the image collection mechanism；
Arc groove is provided in the plate face of the slide calliper rule plate；Protrusion axle, the protrusion axle edge are provided in the middle part of the mounting plate
The arc groove sliding；
The edge of the arc groove is provided with scale；
It is provided with fixed structure between the slide calliper rule plate and the mounting plate, for keeping the slide calliper rule plate and the mounting plate opposite
It is fixed.
6. AGV material transfer trolley according to claim 1, which is characterized in that first transmission mechanism includes: first
Driving motor, first driving motor are connected with the first rotating disc, and first rotating disc is connected with by the first synchronous belt
First driven disc, first driven disc are connected with the video acquisition device；First rotating disc is equipped with the first limit
Part, and first locating part can be rotated together with first rotating disc；First transmission mechanism further include: installation
, the second locating part with first locating part cooperation is provided in the mounting base, second locating part can be one
Determine movement in range, and the extreme position of second locating part movement is respectively first position and the second position；
When first rotating disc is in original state, first locating part and one side contacts of the second locating part make institute
It states the second locating part and is in the first position；After first rotating disc is rotated by 360 °, first locating part and described the
Another side contacts of two locating parts make second locating part be in the second position.
7. AGV material transfer trolley according to claim 6, which is characterized in that the video acquisition device passes through second
Transmission mechanism is connect with first driven disc of first transmission mechanism；
Second transmission mechanism includes: the first mounting plate, and first mounting plate is passed by the first mounting post and described first
First driven disc of motivation structure connects；
First mounting plate is equipped with the second driving motor, and second driving motor is connected with the second rotating disc, and described the
Two rotating discs are connected with the second driven disc by the second synchronous belt, and second driven disc is connected with described by the second mounting post
Video acquisition device.
8. AGV material transfer trolley according to claim 1, which is characterized in that the transport vehicle chassis structure includes bottom
Disk, driving wheel apparatus, attachment device and regulating device；
The attachment device is connected to the two sides on the chassis；
The regulating device is detachably connected with the attachment device, also, the regulating device is along the height of the attachment device
It is adjustable to spend direction；
The driving wheel apparatus is connected through axis and connect with the regulating device.
9. AGV material transfer trolley according to claim 8, which is characterized in that the attachment device includes link block, institute
The holding tank being provided on link block to accommodate the connecting shaft is stated, and, to connect the mounting groove of the regulating device,
The mounting groove extends along the short transverse of the link block.
10. AGV material transfer trolley according to claim 9, which is characterized in that the regulating device include movable block,
First locking member and the second locking member；
The card slot to install the connecting shaft, and connection corresponding with the installation groove location are provided on the movable block
Hole；
First locking member makes the connecting shaft locking on the movable block；
Second locking member, which passes through the connecting hole and the mounting groove, connects the movable block and the link block detachably
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822168055.XU CN209581661U (en) | 2018-12-21 | 2018-12-21 | AGV material transfer trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822168055.XU CN209581661U (en) | 2018-12-21 | 2018-12-21 | AGV material transfer trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209581661U true CN209581661U (en) | 2019-11-05 |
Family
ID=68378462
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822168055.XU Active CN209581661U (en) | 2018-12-21 | 2018-12-21 | AGV material transfer trolley |
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| Country | Link |
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| CN (1) | CN209581661U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109455247A (en) * | 2018-12-21 | 2019-03-12 | 银河水滴科技（北京）有限公司 | AGV material transfer trolley |
| CN111806583A (en) * | 2020-07-16 | 2020-10-23 | 徐州中地探矿机械科技有限公司 | Crawler-type transport vechicle and automatic feeding device thereof |
| WO2021196186A1 (en) * | 2020-04-03 | 2021-10-07 | 昆山代克智能科技有限公司 | Intelligent robot moving wheel set capable of being conveniently disassembled and assembled |
-
2018
- 2018-12-21 CN CN201822168055.XU patent/CN209581661U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109455247A (en) * | 2018-12-21 | 2019-03-12 | 银河水滴科技（北京）有限公司 | AGV material transfer trolley |
| CN109455247B (en) * | 2018-12-21 | 2023-10-20 | 银河水滴科技（北京）有限公司 | AGV material transfer trolley |
| WO2021196186A1 (en) * | 2020-04-03 | 2021-10-07 | 昆山代克智能科技有限公司 | Intelligent robot moving wheel set capable of being conveniently disassembled and assembled |
| CN111806583A (en) * | 2020-07-16 | 2020-10-23 | 徐州中地探矿机械科技有限公司 | Crawler-type transport vechicle and automatic feeding device thereof |
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