CN111204203B - Drive mechanism and automated guided vehicle - Google Patents
Drive mechanism and automated guided vehicle Download PDFInfo
- Publication number
- CN111204203B CN111204203B CN202010184711.4A CN202010184711A CN111204203B CN 111204203 B CN111204203 B CN 111204203B CN 202010184711 A CN202010184711 A CN 202010184711A CN 111204203 B CN111204203 B CN 111204203B
- Authority
- CN
- China
- Prior art keywords
- driving
- driving mechanism
- assembly
- frame
- rod sleeve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 79
- 239000003638 chemical reducing agent Substances 0.000 claims description 20
- 230000008602 contraction Effects 0.000 description 5
- 230000006978 adaptation Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- 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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明提供了一种驱动机构和自动导引运输车，涉及物流设备技术领域。其中，该驱动机构用于自动导引运输车，包括驱动组件和顶升组件，顶升组件包括固定部和活动部，固定部连接于驱动组件，活动部用于与自动导引运输车的车架连接；该自动导引运输车包括车架和上述的驱动机构，驱动机构安装于车架。该驱动机构及具有该驱动机构的自动导引运输车中，顶升组件的活动部通过升降适应高低不平的地面，对地面的适应能力增强，承载能力也同时提高。
The present invention provides a driving mechanism and an automatic guided transport vehicle, and relates to the technical field of logistics equipment. The driving mechanism is used for the automatic guided transport vehicle, and includes a driving assembly and a lifting assembly, the lifting assembly includes a fixed part and a movable part, the fixed part is connected to the driving assembly, and the movable part is used to connect with the frame of the automatic guided transport vehicle; the automatic guided transport vehicle includes a frame and the above-mentioned driving mechanism, and the driving mechanism is installed on the frame. In the driving mechanism and the automatic guided transport vehicle having the driving mechanism, the movable part of the lifting assembly adapts to the uneven ground by lifting, the adaptability to the ground is enhanced, and the carrying capacity is also improved at the same time.
Description
Technical Field
The invention relates to the technical field of logistics equipment, in particular to a driving mechanism and an automatic guiding transport vehicle.
Background
An automatic guided vehicle (Automated Guided Vehicle, abbreviated as AGV), also called an unmanned carrier vehicle, an automatic navigation vehicle, a laser navigation vehicle, etc., is equipped with an electromagnetic or optical automatic guiding device, and can travel along a specified guiding path without manual navigation, and has safety protection and various transfer functions, and uses a rechargeable battery as a power source. Generally, the traveling route and behavior of the vehicle can be controlled by a computer, or the traveling route can be established by utilizing an electromagnetic track, the electromagnetic track is adhered to the floor, and the unmanned carrier moves and acts by means of information brought by the electromagnetic track.
In addition, the driving mechanism of the automatic guiding transport vehicle in the prior art adapts to uneven ground through the expansion and contraction of a spring, but the driving mechanism in the arrangement mode has low adaptation capability to the ground and low bearing capability.
Disclosure of Invention
The first object of the present invention is to provide a driving mechanism for an automatic guided vehicle, so as to alleviate the technical problems of low adaptability to the ground and low bearing capacity of the driving mechanism of the automatic guided vehicle in the prior art due to the fact that the driving mechanism adapts to the uneven ground through the expansion and contraction of the springs.
The driving mechanism is used for an automatic guiding transport vehicle and comprises a driving assembly and a jacking assembly, wherein the jacking assembly comprises a fixed part and a movable part, the fixed part is connected with the driving assembly, and the movable part is used for being connected with a frame of the automatic guiding transport vehicle.
Further, the driving assembly comprises a motor, a speed reducer and driving wheels, the number of the motor, the number of the speed reducer and the number of the driving wheels are consistent, the driving wheels are arranged side by side along the axis direction of the driving wheels, and each motor independently drives one driving wheel through one speed reducer;
the driving assembly further comprises a mounting seat, the plurality of speed reducers are fixedly arranged on the mounting seat, the fixing portions are hinged to the mounting seat, and the mounting seat extends along the horizontal direction relative to the swing axis of the fixing portions and forms an included angle which is larger than 0 degrees and not larger than 90 degrees with the axis of the driving wheel.
Further, in the driving assembly, the number of the motor, the speed reducer and the driving wheels is two, the two motors and the two speed reducers are located between the two driving wheels, and the four driving wheels are distributed in a horizontal plane.
Further, the mounting seat comprises a first mounting plate and a hinge plate fixedly arranged on the first mounting plate, and the fixing part is hinged with the hinge plate through a rotating shaft.
Further, the fixed part comprises a cylinder barrel, the movable part comprises a rod sleeve, the jacking assembly further comprises a driving piece, the cylinder barrel is connected with the driving assembly, the rod sleeve is connected with the frame, and the driving piece is used for driving the rod sleeve to lift relative to the cylinder barrel in the vertical direction.
Further, the driving piece comprises a hydraulic cylinder, a cylinder body of the hydraulic cylinder is fixedly arranged in the cylinder barrel, and a piston rod of the hydraulic cylinder is fixedly arranged in the rod sleeve.
Further, the driving mechanism further comprises a limiting piece and an encoder assembly, wherein the limiting piece is used for limiting the rotation of the rod sleeve around the vertical direction, the encoder assembly is fixedly arranged on the rod sleeve, and the encoder assembly is used for detecting the rotation angle of the driving mechanism relative to the frame.
Further, the driving mechanism further comprises a turntable bearing, the turntable bearing is provided with an inner ring and an outer ring, one of the inner ring and the outer ring is fixedly connected with the movable part, and the other of the inner ring and the outer ring is fixedly connected with the frame.
The driving mechanism provided by the invention has the following beneficial effects:
the driving mechanism provided by the invention is used for automatically guiding the transport vehicle, and comprises a driving assembly and a jacking assembly, wherein the fixed part of the jacking assembly is connected with the driving assembly, and the movable part of the jacking assembly is used for being connected with the frame of the automatically guiding transport vehicle. Compared with the situation that the movable part of the jacking component adapts to the uneven ground through lifting in the prior art, the lifting mechanism adapts to the uneven ground through the expansion and contraction of the spring, the adaptation capacity to the ground is improved, and the bearing capacity is also improved.
The second object of the present invention is to provide an automatic guided vehicle, so as to alleviate the technical problems of the prior art that the driving mechanism of the automatic guided vehicle adapts to uneven ground through the expansion and contraction of the spring, has low adaptability to the ground, and has low bearing capacity.
The automatic guiding transport vehicle comprises a vehicle frame and the driving mechanism, wherein the driving mechanism is arranged on the vehicle frame.
Further, the number of the driving mechanisms is four, and the four driving mechanisms are arranged on the frame in two rows and two columns.
The automatic guiding transport vehicle provided by the invention has all the beneficial effects of the driving mechanism, so that the description is omitted here.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is an exploded view of a driving mechanism according to an embodiment of the present invention;
FIG. 2 is a bottom view of an automated guided vehicle according to an embodiment of the present invention;
fig. 3 is a front view of an automatic guided vehicle according to an embodiment of the present invention.
Icon:
010-driving mechanism 020-frame;
100-driving components, 110-motors, 120-speed reducers, 130-driving wheels, 140-mounting seats, 141-first mounting plates, 142-hinge plates and 143-rotating shafts;
200-jacking components, 210-cylinder barrels, 220-rod sleeves and 230-hydraulic cylinders;
300-limiting piece;
410-a second mounting plate;
500-turntable bearing.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or vertical, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly stated and limited otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, or electrically connected. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Fig. 1 is an exploded view of a driving mechanism according to the present embodiment.
The present embodiment provides a driving mechanism 010 for an automatic guided vehicle, as shown in fig. 1, the driving mechanism 010 includes a driving assembly 100 and a jacking assembly 200, the jacking assembly 200 includes a fixed portion and a movable portion, the fixed portion is connected to the driving assembly 100, and the movable portion is used for being connected to a frame of the automatic guided vehicle.
The driving mechanism 010 provided in this embodiment includes a driving assembly 100 and a jacking assembly 200, wherein a fixing portion of the jacking assembly 200 is connected to the driving assembly 100, and a movable portion of the jacking assembly 200 is used for being connected to a frame of an automatic guided vehicle. Compared with the condition that the prior art adapts to uneven ground through the expansion and contraction of the spring, in the driving mechanism 010, the movable part of the jacking component 200 adapts to the uneven ground through lifting, the adaptation capacity to the ground is enhanced, and the bearing capacity is also improved.
In this embodiment, as further shown in fig. 1, the driving assembly 100 includes a motor 110, a reducer 120, and driving wheels 130, where the number of the motor 110, the reducer 120, and the driving wheels 130 is the same and two, the two driving wheels 130 are arranged side by side along the axis direction of the motor 110, each motor 110 drives one driving wheel 130 separately through one reducer 120, the driving assembly 100 further includes a mounting seat 140, the two reducers 120 are fixedly arranged on the mounting seat 140, the fixing portion is hinged to the mounting seat 140, and the mounting seat 140 extends along the horizontal direction relative to the swing axis of the fixing portion and forms an included angle of greater than 0 ° and not greater than 90 ° with the axis of the driving wheel 130. When the driving mechanism 010 is used, if the ground is approximately horizontal, the part above the mounting seat 140 of the driving mechanism 010 and the frame and the like are fixed, and when the vehicle runs to the uneven position, the mounting seat 140 can swing relative to the part above the mounting seat, so that the mounting seat 140 can drive the two driving wheels 130 to swing, one of the two driving wheels 130 is contacted with the high position of the ground, and the other is contacted with the low position of the ground, thereby the whole driving mechanism 010 is kept in good contact with the ground, and the phenomena of slipping and the like are effectively avoided. In addition, under the setting condition, the same-direction rotation of the two driving wheels 130 can be realized by controlling the rotation directions of the two motors 110, so that the driving mechanism 010 drives the frame and the like to move along the set direction, or the reverse rotation of the two driving wheels 130 can be realized by controlling the rotation directions of the two motors 110, so that the driving mechanism 010 drives the frame and the like to move along the other preset direction, namely, the driving mechanism 010 can realize the steering function besides normal walking.
It should be noted that, the configuration of the control component for the driving mechanism 010 or the automatic guided vehicle and the control component can control the motor 110 of the driving mechanism 010 to realize forward and reverse rotation are all mature prior art, so the application will not be repeated.
It should be noted that, in other embodiments of the present application, the number of the motor 110, the speed reducer 120, and the driving wheel 130 of the driving assembly 100 is consistent, but not limited to two, for example, the number of the motor 110, the speed reducer 120, and the driving wheel 130 may be three, and the three driving wheels 130 are disposed side by side along the axis direction thereof and are individually driven by one motor 110. That is, the number of the driving wheels 130 and the like is not particularly limited as long as the plurality of driving wheels 130 can achieve traveling and steering.
Specifically, in the present embodiment, the swing axis of the mounting base 140 relative to the fixing portion of the jacking assembly 200 is perpendicular to the axis of the driving wheel 130, i.e. an included angle of 90 ° is formed between the two. When the driving mechanism 010 drives the frame or the like to run forward and the ground is uneven, the mount 140 and the portion below it swing left and right with respect to the portion above it.
It should be noted that, in other embodiments of the present application, the swing axis of the mounting base 140 and the axis of the driving wheel 130 are not limited to an angle of 90 °, for example, the swing axis of the mounting base 140 and the axis of the driving wheel 130 form an angle of 45 °.
In the present embodiment, the two motors 110 and the two reducers 120 are located between the two driving wheels 130, and the four are distributed in a horizontal plane. This arrangement can reduce the space occupied by the drive assembly 100 and make the structure of the drive assembly 100 more compact, while the drive wheel 130 can also protect the motor 110 and the reduction gear 120.
As further shown in fig. 1, in the present embodiment, the mounting base 140 includes a first mounting plate 141 and a hinge plate 142 fixedly provided to the first mounting plate 141, and the fixing portion is hinged to the hinge plate 142 through a rotation shaft 143.
Specifically, the number of both hinge plates 142 and the rotation shafts 143 is two, the two rotation shafts 143 can be detachably mounted to the two hinge plates 142, respectively, and the two rotation shafts 143 can coaxially rotate. The two hinge plates 142 support more than the hinge plates, thereby improving the bearing capacity of the driving mechanism 010 and the supporting stability of the driving mechanism 010. In the installation, the rotation shaft 143 may be first connected to the fixing portion of the lift assembly 200, and then the rotation shaft 143 may be connected to the hinge plate 142.
It should be noted that, in other embodiments of the present application, the number of the hinge plates 142 and the rotating shafts 143 is not limited to two, for example, the number of the hinge plates 142 and the rotating shafts 143 is three, the three rotating shafts 143 can be detachably mounted on the three hinge plates 142, and the three rotating shafts 143 can coaxially rotate, so long as reliable hinge connection between the mounting seat 140 and the jacking assembly 200 can be achieved, the number of the hinge plates 142 and the rotating shafts 143 is not particularly limited.
In this embodiment, the fixed portion of the jacking assembly 200 includes a cylinder 210, the movable portion of the jacking assembly 200 includes a rod sleeve 220, the jacking assembly 200 further includes a driving member, the cylinder 210 is connected with the driving assembly 100, the rod sleeve 220 is used for being connected with a frame of an automatic guided vehicle, and the driving member is used for driving the rod sleeve 220 to lift in a vertical direction relative to the cylinder 210.
Specifically, the cylinder 210 is hinged to the hinge plate 142 via a hinge shaft 143, and the top end of the rod sleeve 220 is used for connection to the frame.
Specifically, in this embodiment, the driving member may include a hydraulic cylinder 230, where a cylinder body of the hydraulic cylinder 230 is fixedly disposed in the cylinder tube 210, and a piston rod of the hydraulic cylinder 230 is fixedly disposed in the rod sleeve 220. The cylinder 210 and the rod sleeve 220 respectively protect the cylinder body and the piston rod, and by arranging the cylinder 210 and the rod sleeve 220, hydraulic cylinders 230 with different radial dimensions can be selected, and when the hydraulic cylinders 230 fail, the hydraulic cylinders 230 can be conveniently detached for maintenance or replacement.
In this embodiment, the driving mechanism 010 further includes a limiting member 300 and an encoder assembly, wherein the limiting member 300 is used for limiting the rotation of the rod sleeve 220 around the vertical direction, and the encoder assembly is fixedly arranged on the rod sleeve 220 and is used for detecting the rotation angle of the driving mechanism 010 relative to the frame.
Specifically, the encoder assembly includes a second mounting plate 410 and an encoder, the second mounting plate 410 is fixedly disposed on the jacking assembly 200, and the encoder is mounted on the second mounting plate 410.
It should be noted that, the encoder and the working principle of detecting the rotation angle are all very mature existing technologies, and the application does not make any improvement on the existing technologies, so the description is omitted here.
More specifically, the second mounting plate 410 is fixedly mounted to the sleeve 220.
In this embodiment, the limiting member 300 may be a fastener, and the circumferential wall of the cylinder 210 is provided with a oblong hole extending along the axial direction thereof in the length direction, and the fastener penetrates through the oblong hole to be fixedly connected with the rod sleeve 220.
In this embodiment, the driving mechanism 010 further includes a turntable bearing 500, the turntable bearing 500 has an inner ring and an outer ring, the inner ring is fixedly connected with the movable portion, and the outer ring is fixedly connected with the frame.
It should be noted that, in other embodiments of the present application, the outer ring of the turntable bearing 500 may be fixedly connected to the movable portion, and the inner ring of the turntable bearing 500 is fixedly connected to the frame.
Fig. 2 is a bottom view of the automated guided vehicle according to the present embodiment, and fig. 3 is a front view of the automated guided vehicle according to the present embodiment.
As shown in fig. 2 and 3, the present embodiment further provides an automatic guided vehicle, which includes a frame 020 and the driving mechanism 010 described above, and the driving mechanism 010 is mounted on the frame 020.
Specifically, in the automated guided vehicle of the present embodiment, as shown in fig. 2, the frame 020 has a rectangular top view outer contour.
However, in other embodiments of the present application, the top view outer contour of the frame 020 is not limited to a rectangular shape, and for example, the top view outer contour of the frame 020 may be a circular shape, and the user may set the shape of the top view outer contour of the frame 020 according to the shape of the load to be transferred.
Specifically, in the automated guided vehicle of the present embodiment, as shown in fig. 2, the number of driving mechanisms 010 is four, and four driving mechanisms 010 are all mounted on the frame 020 and are arranged in two rows and two columns.
It should be noted that, in other embodiments of the present embodiment, the number of driving mechanisms 010 of the automated guided transporting vehicle is not limited to four, but may be other number, and the user may set a specific number of driving mechanisms 010 according to the weight of the goods to be transferred, for example, in this embodiment, the automated guided transporting vehicle of the four driving mechanisms 010 may transfer 20 tons of goods, when the weight of the goods to be transferred is 30 tons, six driving mechanisms 010 may be set, and the arrangement manner of the six driving mechanisms 010 may be three rows, two columns, or a circle, etc., and the user may specifically set according to the external contour of the frame 020 and the shape of the goods to be transferred, that is, the present application does not specifically limit the number of driving mechanisms 010 in the automated guided transporting vehicle, and does not specifically limit the arrangement manner of the plurality of driving mechanisms 010.
More specifically, in the present embodiment, the inner ring of the turntable bearing 500 of the driving mechanism 010 is fixedly connected with the rod sleeve 220 of the driving mechanism 010, and the outer ring of the turntable bearing 500 of the driving mechanism 010 is fixedly connected with the carriage 020.
In summary, the implementation process of the functions of walking, steering, lifting and the like of the automatic guided vehicle provided in this embodiment may be summarized as follows:
When the goods are loaded on the frame 020, if the running direction of the driving wheels 130 is different from the set direction, the control component drives the eight driving wheels 130 to rotate by controlling the eight motors 110 of the four driving mechanisms 010 to realize the rotation of the four driving mechanisms 010 relative to the frame 020 around the vertical direction, the four encoders detect whether the rotation angles of the four driving mechanisms 010 reach the target angle in real time, and when the four driving mechanisms 010 are all turned to the set direction, the control component controls the eight driving wheels 130 of the four driving mechanisms 010 to rotate in the same direction, namely, the automatic guiding transport vehicle is driven along the set direction.
When the goods are required to be lifted, the control component controls the piston rod of the hydraulic cylinder 230 to ascend, the piston rod drives the rod sleeve 220 and further drives the frame 020 and the goods on the frame to ascend integrally, and when the goods are not required to be lifted, the control component controls the piston rod of the hydraulic cylinder 230 to descend, and the piston rod drives the rod sleeve 220 and further drives the frame 020 and the goods on the frame to descend integrally.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some or all of the technical features may be equivalently replaced, and these modifications or substitutions do not deviate from the essence of the corresponding technical solution from the scope of the technical solution of the embodiment of the present invention.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010184711.4A CN111204203B (en) | 2020-03-16 | 2020-03-16 | Drive mechanism and automated guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010184711.4A CN111204203B (en) | 2020-03-16 | 2020-03-16 | Drive mechanism and automated guided vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111204203A CN111204203A (en) | 2020-05-29 |
| CN111204203B true CN111204203B (en) | 2025-01-28 |
Family
ID=70781792
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010184711.4A Active CN111204203B (en) | 2020-03-16 | 2020-03-16 | Drive mechanism and automated guided vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111204203B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115476677B (en) * | 2021-05-31 | 2025-03-11 | 比亚迪股份有限公司 | Drive failure protection method, vehicle controller and vehicle |
| CN114802445A (en) * | 2022-05-19 | 2022-07-29 | 北京京东乾石科技有限公司 | Chassis structure and omnidirectional transport vehicle |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209395867U (en) * | 2018-06-01 | 2019-09-17 | 杭州迦智科技有限公司 | A kind of steering driving unit and its automated guided vehicle |
| CN211710612U (en) * | 2020-03-16 | 2020-10-20 | 三一机器人科技有限公司 | Driving mechanism and automatic guide transport vehicle |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017201108A1 (en) * | 2017-01-24 | 2018-07-26 | Robert Bosch Gmbh | Improved industrial truck |
| CN106809769A (en) * | 2017-03-28 | 2017-06-09 | 南通弘铭机械有限公司 | A kind of portable multifunctional logistics carrier and its application method |
-
2020
- 2020-03-16 CN CN202010184711.4A patent/CN111204203B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209395867U (en) * | 2018-06-01 | 2019-09-17 | 杭州迦智科技有限公司 | A kind of steering driving unit and its automated guided vehicle |
| CN211710612U (en) * | 2020-03-16 | 2020-10-20 | 三一机器人科技有限公司 | Driving mechanism and automatic guide transport vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111204203A (en) | 2020-05-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108658012B (en) | Lifting mechanism and lifting device applying same | |
| CN107985946B (en) | Double-lifting AGV trolley | |
| US11919358B2 (en) | Suspension system and a carrying mobile robot | |
| EP3660619B1 (en) | Two wheel automatic guided vehicles used in combination | |
| US7789175B2 (en) | Modular dual wheel drive assembly, wheeled devices that include modular dual wheel drive assemblies and methods for moving and/or maneuvering wheeled devices using modular dual wheel drive assemblies | |
| US12139191B2 (en) | Autonomous omnidirectional drive unit | |
| US9908549B2 (en) | Dual motor drive system for a material handling device | |
| JP2019519450A (en) | Electric rod type automated warehouse robot | |
| US11059707B2 (en) | Load supporting apparatus for an automated guide vehicle | |
| US12264051B2 (en) | Compact autonomous omnidirectional drive unit | |
| CN111204203B (en) | Drive mechanism and automated guided vehicle | |
| CN114084845B (en) | Submarine AGV capable of reversing in suspended state of chassis without turning radius | |
| CN211710612U (en) | Driving mechanism and automatic guide transport vehicle | |
| CN109534233B (en) | An unmanned transport vehicle | |
| JP6329297B1 (en) | Transport cart | |
| CN216684221U (en) | Rotary jacking mechanism and AGV jacking trolley with same | |
| CN116040527A (en) | Laser navigation vehicle | |
| CN210973746U (en) | handling robot | |
| CN111348122B (en) | Load support device for automated guided vehicle | |
| CN110539822A (en) | Formula automated guided transporting vehicle lifts in hiding | |
| CN219277672U (en) | AGV dolly | |
| CN212332345U (en) | electric vehicle | |
| JP7732813B2 (en) | Mobile | |
| CN214932956U (en) | Novel lifting structure AGV dolly | |
| JP7632772B1 (en) | Automated guided vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |