CN109534233A - A kind of automatic guided vehicle - Google Patents
A kind of automatic guided vehicle Download PDFInfo
- Publication number
- CN109534233A CN109534233A CN201910004020.9A CN201910004020A CN109534233A CN 109534233 A CN109534233 A CN 109534233A CN 201910004020 A CN201910004020 A CN 201910004020A CN 109534233 A CN109534233 A CN 109534233A
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- connect
- swing arm
- automatic guided
- guided vehicle
- wheel
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- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 238000007667 floating Methods 0.000 claims abstract description 30
- 230000003028 elevating effect Effects 0.000 claims abstract description 29
- 239000003381 stabilizer Substances 0.000 claims description 22
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000001050 lubricating effect Effects 0.000 claims description 6
- 238000005303 weighing Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 8
- 230000000712 assembly Effects 0.000 abstract description 3
- 238000000429 assembly Methods 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 21
- 238000010586 diagram Methods 0.000 description 7
- 230000001939 inductive effect Effects 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000000872 buffer Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000010727 cylinder oil Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07559—Stabilizing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07586—Suspension or mounting of wheels on chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The present invention relates to a kind of automatic guided vehicles, including body and fork leg, fork leg is connect with body, the body is equipped with balance wheel system, balancing wheel system includes balance wheel assembly, two groups of balance wheel assemblies are arranged in body two sides, balancing wheel assembly includes oil pipe, oil cylinder and universal wheel, oil cylinder include floating cylinder barrel, floating cylinder rod and spring, floating cylinder rod one end is plugged in floating cylinder barrel, the other end is connect with universal wheel, and between floating cylinder rod and floating cylinder barrel, oil pipe both ends are connect with two floating cylinder barrels spring respectively.A kind of automatic guided vehicle of the invention can reduce the inclination and vibration of vehicle during traveling by balance wheel system, and cargo is avoided to topple over；Furthermore it is possible to realize cargo lifting by elevating mechanism, it can be avoided shaking of the cargo in lifting process, keep the stability of lifting process more preferable.
Description
Technical field
The present invention relates to carrier technical field, in particular to a kind of automatic guided vehicle.
Background technique
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV) refers to and magnetically or optically waits automatically equipped with electricity
Guiding device can be travelled along defined guide path, and the transport vehicle with safeguard protection and various transfer functions, industry is answered
The carrier of driver is not required in, with chargeable battery for its power resources.It can pass through computer generally to control its row
Route line and behavior, or it is set up using electromagnetic path (electromagnetic path-following system)
Travelling route.But existing automatic guided vehicle is easy to produce inclination vibration, causes to pitch in rugged road traveling
Cargo on leg is toppled over.
Summary of the invention
The present invention in order to solve problems in the prior art, provides a kind of inclination and vibration that can reduce when driving, keeps away
Exempt from the automatic guided vehicle that cargo is toppled over.
Specific technical solution is as follows: a kind of automatic guided vehicle, including body and fork leg, fork leg are connect with body, the machine
Body is equipped with balance wheel system, and balance wheel system includes balance wheel assembly, and two groups of balance wheel assemblies are arranged in body two sides, stabilizer
Component includes oil pipe, oil cylinder and universal wheel, and oil cylinder includes floating cylinder barrel, floating cylinder rod and spring, and floating cylinder rod one end is plugged in
In floating cylinder barrel, the other end is connect with universal wheel, and spring is between floating cylinder rod and floating cylinder barrel, and oil pipe both ends are respectively with two
A floating cylinder barrel connection.
The following are attached technical schemes of the invention.
Preferably, the universal wheel includes stabilizer, support, the first deep groove ball bearing and balance axle sleeve, institute
State stabilizer setting in the holder, the first deep groove ball bearing is arranged on the mounting portion of support two sides, and balancing axle set is across the
One deep groove ball bearing and stabilizer are simultaneously locked by hexagon-headed bolt.
Preferably, universal wheel includes thrust ball bearing, stabilizer bearing block, the second deep groove ball bearing and through type
Lubricating cup, the thrust ball bearing are arranged on the positioning seat of holder top, and the stabilizer bearing block connect and accommodates with support
Thrust ball bearing, through type lubricating cup are connect with stabilizer bearing block, and second deep groove ball bearing 337 is connect with support.
Preferably, elevating mechanism is equipped in the fork leg, elevating mechanism includes oil cylinder, pushing rod, swing arm set
The lifting shaft of part and guide plate, pushing rod is arranged in the groove body of guide plate, swing arm unit and lifting axis connection, the piston band of oil cylinder
Dynamic pushing rod swings swing arm unit.
Preferably, the swing arm unit include the first swing arm, the second swing arm, main shaft and arm shaft, described first
Swing arm and the second swing arm are by swing arm axis connection, and main shaft is fixed in fork leg, and first swing arm one end is connect with main shaft, the second swing arm
One end and lifting axis connection.
Preferably, elevating mechanism includes upper plate, and upper plate is connect with the second swing arm.
Preferably, elevating mechanism includes that upper limit is switched close to switch and lower limit are close, first swing arm
With notch, notch is correspondingly arranged with upper limit close to switch, and lower limit is correspondingly arranged close to switch with upper plate.
Preferably, the elevating mechanism includes spring, and spring one end is connect with elevating mechanism, the other end and fork leg
Connection.
Preferably, driving mechanism is equipped in the fork leg, driving mechanism includes servo motor, speed reducer, chain,
Driving wheel, the first sprocket wheel and the second sprocket wheel, the servo motor are connect with speed reducer, and the first sprocket wheel is connect with speed reducer, and second
Sprocket wheel is connect with driving wheel, and chain is arranged between the first sprocket wheel and the second sprocket wheel.
Preferably, the end of each fork leg is equipped with anti-collision sensor.
Technical effect of the invention: a kind of automatic guided vehicle of the invention can traveled across by balance wheel system reduction
The inclination and vibration of vehicle, avoid cargo from toppling in journey；Furthermore it is possible to realize cargo lifting by elevating mechanism, can be avoided
Shaking of the cargo in lifting process, keeps the stability of lifting process more preferable.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of automatic guided vehicle of the embodiment of the present invention.
Fig. 2 is a kind of top view of automatic guided vehicle of the embodiment of the present invention.
Fig. 3 is the schematic diagram of the balance wheel system of the embodiment of the present invention.
Fig. 4 is the schematic diagram of Section A-A in Fig. 3 of the present invention.
Fig. 5 is the exploded view of the universal wheel of the embodiment of the present invention.
Fig. 6 is the schematic diagram of the fork leg of the embodiment of the present invention.
Fig. 7 is the schematic diagram of the elevating mechanism of the embodiment of the present invention.
Fig. 8 is another schematic diagram of the elevating mechanism of the embodiment of the present invention.
Fig. 9 is the schematic diagram of the driving mechanism of the embodiment of the present invention.
Specific embodiment
In the following, in conjunction with example, property feature and advantage is further described for the essence of the present invention, but the present invention not office
It is limited to listed embodiment.
As shown in Figures 1 to 9, a kind of automatic guided vehicle of the present embodiment includes body 1 and fork leg 2, fork leg 2 and body 1
Connection.The body is equipped with balance wheel system, and balance wheel system includes balance wheel assembly 3, and two groups of balance wheel assemblies 3 are arranged in machine
1 two sides of body.Balancing wheel assembly 3 includes oil pipe 31, oil cylinder 32 and universal wheel 33, and oil cylinder 32 includes floating cylinder barrel 321, floating cylinder rod
322 and spring 323,322 one end of floating cylinder rod be plugged in floating cylinder barrel 321, the other end is connect with universal wheel 33, spring 323
Between floating cylinder rod 322 and floating cylinder barrel 321,31 both ends of oil pipe are connect with two floating cylinder barrels 321 respectively.Above-mentioned technology
A in scheme, when two stabilizers are in same plane, hydraulic oil plane is equal in two floating cylinder barrels 321；Automatic guided vehicle
Be uneven during the motion if there is because of left-right balance wheel caused by ground is uneven, left-right balance wheel be uneven so that
Left and right floating cylinder rod is uneven, and hydraulic oil enters low stabilizer side by oil pipe 31 from the oil cylinder 32 of high stabilizer side
In oil cylinder, spring 323 plays buffer function in the process.Through the above technical solutions, automatic guided vehicle can be made in height
When uneven road surface moves, it is able to maintain two lateral balance of body, buffers the vibration of generation, keeps its walking more stable.
In the present embodiment, the universal wheel 33 includes stabilizer 331, support 332, the first deep groove ball bearing 333 and balance
Axle sleeve 334, the stabilizer 331 are arranged in support 332, and the peace of 332 two sides of support is arranged in the first deep groove ball bearing 333
In dress portion 4, stabilizer axle sleeve 334 passes through the first deep groove ball bearing 333 and stabilizer 331 and is locked by hexagon-headed bolt 5.It is logical
Above-mentioned technical proposal is crossed, enables stabilizer convenient for assembling, rolls more flexible.
In the present embodiment, universal wheel 33 includes thrust ball bearing 335, stabilizer bearing block 336, the second deep groove ball bearing
337 and through type lubricating cup 338, the thrust ball bearing 335 is arranged on the positioning seat 6 at 332 top of support, the balancing axle
It holds seat 336 and thrust ball bearing 335 is connect and accommodated with support, through type lubricating cup 338 is connect with stabilizer bearing block 336, described
Second deep groove ball bearing 337 is connect with support.Through the above technical solutions, stabilizer is rotated around vertical axis, it is real
The rotation of existing different directions.
In the present embodiment, elevating mechanism 7 is equipped in the fork leg 2, elevating mechanism 7 includes oil cylinder 71, pushing rod 72, pendulum
The lifting shaft 721 of arm component 73 and guide plate 74, pushing rod 72 is arranged in the groove body 741 of guide plate 74, swing arm unit 73 and liter
It drops axis 721 to connect, the piston driving pushing rod of oil cylinder 71 swings swing arm unit 73.In above-mentioned technical proposal, pass through oil
The piston of cylinder is able to drive pushing rod, and lifting shaft is moved in groove body 741, and lifting shaft drives swing arm unit pendulum
It is dynamic, so that elevating mechanism be enable to go up and down.
In the present embodiment, the swing arm unit 73 includes the first swing arm 731, the second swing arm 732, main shaft 733 and arm shaft
734, first swing arm 731 and the second swing arm 732 are connected by arm shaft 734, and main shaft 733 is fixed in fork leg 2, the first pendulum
731 one end of arm is connect with main shaft 733, and 732 one end of the second swing arm is connect with lifting shaft 721.In above-mentioned technical proposal, the first swing arm
And second produced relative rotation by arm shaft between swing arm.
In the present embodiment, elevating mechanism 7 includes upper plate 75, and upper plate 75 is connect with the second swing arm 732, to make top
Plate, which is realized, to be gone up and down, and in the present embodiment, the lifter plate 10 of upper plate and fork leg is connected, to realize the cargo lifting in fork leg.
Specifically, the lifting principle of the elevating mechanism of the present embodiment is as follows: hydraulic by the intracorporal pumping plant offer of machine is arranged in
Oil enters oil cylinder 71, cylinder piston motion, and piston drives pushing rod 72 to move by top plate 79, and pushing rod drives lifting shaft
721 move forward and backward in groove body 741, while driving the second swing arm 732 movement；And main shaft 733 is fixed, the first swing arm 731
Rotation is connect by arm shaft 734 with the second swing arm 732, then the second swing arm 732 will drive upper plate 75 and move upwards, reach by
The promotion purpose of platform from low to high；Conversely, oil cylinder oil inlet mouth and oil cylinder are connected, because the gravity of cargo and platform itself is made
With hydraulic oil outflows back to the intracorporal fuel tank of machine, reversed rail of second swing arm along enhancing action from Cylinder Plunger lower end in oil cylinder
Mark movement, final platform drop to extreme position.The intracorporal pumping plant of machine in the present embodiment can refer to the application of applicant's application
Number be 201810844219.8 patent.
In the present embodiment, elevating mechanism 7 includes that upper limit is put close to switch 76 and lower limit close to switch 77, described first
Arm 731 has notch 735, and notch 735 is correspondingly arranged with upper limit close to switch 76, the close switch 77 of lower limit and upper plate 75
It is correspondingly arranged.Through the above technical solutions, can be realized the limit control to elevating mechanism, concrete principle is as follows: elevating mechanism
When upper plate 75 does not rise, because of the first swing arm 731 jagged 735, upper limit is non-inductive in effective range close to switch 76, nothing
Signal output；In uphill process, rotated with the first swing arm 731 around elevating mechanism main shaft 733, notch polishing gradually, when notch side
When edge is reached at upper limit switch half, inductive output signal is generated, upper plate 75 rises to highest point at this time；Mechanism does not rise
When, upper plate 75 can be by lower limit close to inductive switching, then output signal, and upper plate 75 connects beyond lower limit after mechanism rises
Nearly inductive switching range, then noninductive induction signal output.
In the present embodiment, the elevating mechanism 7 includes spring 78, and 78 one end of spring connect with elevating mechanism, the other end and
Fork leg 2 connects.By the way that spring is arranged, when elevating mechanism rises, spring elongation accumulates elastic force；When elevating mechanism decline, lead to
The elastic force for crossing spring being capable of the reset of assist elevator structure.
In the present embodiment, in the fork leg 2 be equipped with driving mechanism 8, driving mechanism 8 include servo motor 81, speed reducer 82,
Chain 83, driving wheel 84, the first sprocket wheel 85 and the second sprocket wheel 86, the servo motor 81 are connect with speed reducer 82, the first sprocket wheel
85 connect with speed reducer 82, and the second sprocket wheel 86 is connect with driving wheel 84, and chain 83 is arranged in the first sprocket wheel 85 and the second sprocket wheel 86
Between.In above-mentioned technical proposal, servo motor 81 is rotated, and is increased torque by speed reducer 82 and is driven the rotation of the first sprocket wheel 85,
First sprocket wheel 85 drives chain 83 to rotate, and chain 83 drives the rotation of the second sprocket wheel 86, and final second sprocket wheel 86 drives driving rotation
Dynamic, the advantages of above-mentioned technical proposal, is that by driving wheel and rotates and simplify assembly technology.
In the present embodiment, the end of each fork leg 2 is equipped with anti-collision sensor 9, can by the way that anti-collision sensor is arranged
Automatic guided vehicle is avoided to collide when advancing with barrier.
A kind of automatic guided vehicle of the present embodiment can reduce the inclination of vehicle during traveling by balance wheel system
And vibration, avoid cargo from toppling over；Furthermore it is possible to realize cargo lifting by elevating mechanism, cargo can be avoided in lifting process
In shaking, keep the stability of lifting process more preferable.
It is pointed out that the technical concepts and features of above-mentioned preferred embodiment only to illustrate the invention, its object is to
Those skilled in the art can understand the contents of the present invention and implements accordingly, and protection of the invention can not be limited with this
Range.Any equivalent change or modification in accordance with the spirit of the invention should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of automatic guided vehicle, including body and fork leg, fork leg are connect with body, which is characterized in that the body is equipped with flat
Weigh wheel system, and balance wheel system includes balance wheel assembly, and in body two sides, balancing wheel assembly includes for two groups of balance wheel assembly settings
Oil pipe, oil cylinder and universal wheel, oil cylinder include floating cylinder barrel, floating cylinder rod and spring, and floating cylinder rod one end is plugged in floating cylinder barrel
In, the other end is connect with universal wheel, spring between floating cylinder rod and floating cylinder barrel, oil pipe both ends respectively with two floating cylinders
Cylinder connection.
2. automatic guided vehicle according to claim 1, which is characterized in that the universal wheel includes stabilizer, support, and first
Deep groove ball bearing and balance axle sleeve, in the holder, support two sides are arranged in the first deep groove ball bearing for the stabilizer setting
On mounting portion, balancing axle set is locked across the first deep groove ball bearing and stabilizer and by hexagon-headed bolt.
3. automatic guided vehicle according to claim 2, which is characterized in that universal wheel includes thrust ball bearing, balancing axle
Seat, the second deep groove ball bearing and through type lubricating cup are held, the thrust ball bearing is arranged on the positioning seat of holder top, described flat
Weighing apparatus wheel bearing seat connect with support and accommodates thrust ball bearing, and through type lubricating cup is connect with stabilizer bearing block, and described second is deep
Ditch ball bearing 337 is connect with support.
4. automatic guided vehicle according to claim 1, which is characterized in that be equipped with elevating mechanism, elevator in the fork leg
Structure includes oil cylinder, pushing rod, swing arm unit and guide plate, and the lifting shaft of pushing rod is arranged in the groove body of guide plate, swing arm set
Part and lifting axis connection, the piston driving pushing rod of oil cylinder swing swing arm unit.
5. automatic guided vehicle according to claim 4, which is characterized in that the swing arm unit include the first swing arm, second
Swing arm, main shaft and arm shaft, first swing arm and the second swing arm are fixed in fork leg by swing arm axis connection, main shaft, and first
Swing arm one end is connect with main shaft, second swing arm one end and lifting axis connection.
6. automatic guided vehicle according to claim 5, which is characterized in that elevating mechanism includes upper plate, upper plate and
Two swing arms connection.
7. automatic guided vehicle according to claim 6, which is characterized in that elevating mechanism include upper limit close to switch and under
The close switch of limit, first swing arm have notch, and notch is correspondingly arranged with upper limit close to switch, the close switch of lower limit
It is correspondingly arranged with upper plate.
8. automatic guided vehicle according to claim 7, which is characterized in that the elevating mechanism includes spring, spring one end
It is connect with elevating mechanism, the other end is connect with fork leg.
9. automatic guided vehicle according to claim 1, which is characterized in that be equipped with driving mechanism, driving machine in the fork leg
Structure includes servo motor, speed reducer, chain, driving wheel, the first sprocket wheel and the second sprocket wheel, and the servo motor and speed reducer connect
Connect, the first sprocket wheel is connect with speed reducer, and the second sprocket wheel is connect with driving wheel, chain setting the first sprocket wheel and the second sprocket wheel it
Between.
10. automatic guided vehicle according to claim 1, which is characterized in that the end of each fork leg is sensed equipped with anticollision
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910004020.9A CN109534233A (en) | 2019-01-03 | 2019-01-03 | A kind of automatic guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910004020.9A CN109534233A (en) | 2019-01-03 | 2019-01-03 | A kind of automatic guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109534233A true CN109534233A (en) | 2019-03-29 |
Family
ID=65833899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910004020.9A Pending CN109534233A (en) | 2019-01-03 | 2019-01-03 | A kind of automatic guided vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109534233A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109969985A (en) * | 2019-05-06 | 2019-07-05 | 青岛四机设备工程有限公司 | A kind of both arms car lifting J-Horner |
| CN111776990A (en) * | 2020-07-08 | 2020-10-16 | 合肥井松智能科技股份有限公司 | Unmanned carrying automatic guided vehicle and guiding method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102774781A (en) * | 2012-07-26 | 2012-11-14 | 中国科学院自动化研究所 | Movable type reverse self-locking lift platform |
| CN204226549U (en) * | 2014-10-09 | 2015-03-25 | 林德（中国）叉车有限公司 | Hydraulic balance wheel apparatus |
| WO2016091491A1 (en) * | 2014-12-09 | 2016-06-16 | Bayerische Motoren Werke Aktiengesellschaft | Damper assembly for a single-track vehicle |
| WO2018041484A1 (en) * | 2016-09-02 | 2018-03-08 | Hubtex Maschinenbau Gmbh & Co. Kg | Industrial truck and drive wheel bearing device for industrial trucks |
| CN108285107A (en) * | 2018-04-17 | 2018-07-17 | 浙江科钛机器人股份有限公司 | Scissors fork type jacking mechanism and AGV trolleies |
| CN108622823A (en) * | 2018-07-27 | 2018-10-09 | 苏州海豚之星智能科技有限公司 | A kind of mini carriers of unmanned AGV |
| CN209291905U (en) * | 2019-01-03 | 2019-08-23 | 苏州海豚之星智能科技有限公司 | A kind of automatic guided vehicle |
-
2019
- 2019-01-03 CN CN201910004020.9A patent/CN109534233A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102774781A (en) * | 2012-07-26 | 2012-11-14 | 中国科学院自动化研究所 | Movable type reverse self-locking lift platform |
| CN204226549U (en) * | 2014-10-09 | 2015-03-25 | 林德（中国）叉车有限公司 | Hydraulic balance wheel apparatus |
| WO2016091491A1 (en) * | 2014-12-09 | 2016-06-16 | Bayerische Motoren Werke Aktiengesellschaft | Damper assembly for a single-track vehicle |
| WO2018041484A1 (en) * | 2016-09-02 | 2018-03-08 | Hubtex Maschinenbau Gmbh & Co. Kg | Industrial truck and drive wheel bearing device for industrial trucks |
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| CN108622823A (en) * | 2018-07-27 | 2018-10-09 | 苏州海豚之星智能科技有限公司 | A kind of mini carriers of unmanned AGV |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109969985A (en) * | 2019-05-06 | 2019-07-05 | 青岛四机设备工程有限公司 | A kind of both arms car lifting J-Horner |
| CN109969985B (en) * | 2019-05-06 | 2024-02-09 | 青岛四机设备工程有限公司 | Double-arm car lifting jack |
| CN111776990A (en) * | 2020-07-08 | 2020-10-16 | 合肥井松智能科技股份有限公司 | Unmanned carrying automatic guided vehicle and guiding method thereof |
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