CN207917005U - A kind of car wheel structure and automated guided vehicle - Google Patents
A kind of car wheel structure and automated guided vehicle Download PDFInfo
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- CN207917005U CN207917005U CN201820106448.5U CN201820106448U CN207917005U CN 207917005 U CN207917005 U CN 207917005U CN 201820106448 U CN201820106448 U CN 201820106448U CN 207917005 U CN207917005 U CN 207917005U
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Abstract
The utility model discloses a kind of car wheel structure and automated guided vehicles, are related to field of mechanical technique.The car wheel structure includes bottom plate, free bearing, fixed seat, lever arm, the first column and support portion, and support portion includes compressed spring, wherein：One end of free bearing is connect with bottom plate, and the other end of free bearing is connect with lever arm；One end of lever arm is movably connect with the first column, and the other end of lever arm is contacted with compressed spring, and compressed spring is made to be in compressive state；First column and support portion are connect with wheel respectively.The automated guided vehicle is provided with car wheel structure.The beneficial effects of the utility model are：Can ensure that the motor on wheel is driven to avoid leading to rotating speed appearance " driving " phenomenon out of hand because of wheel lift；And then enable the AGV for being equipped with the car wheel structure or other vehicles held stationary when various places are run；Improve the ground adaptability of car wheel structure.
Description
Technical field
The utility model is related to field of mechanical technique, and in particular to a kind of car wheel structure and automated guided vehicle.
Background technology
Automated guided vehicle (AGV) refers to magnetically or optically waiting homing guidances device equipped with electricity, capable of being led along defined
Draw route and the transport vehicle with safeguard protection and various transfer functions.AGV can be used for material transportation etc..
The mode of generally use differential gear train drives AGV, and the differential gear train of AGV usually by two in the same direction side by side
Driving wheel and several passive steering wheel groups at.Height is required to ground planarization using the AGV of differential gear train, still, due to
Differential gear train be by two driving wheel difference differentials into line direction adjustment etc. operations, so driving wheel normal pressure will have certain guarantor
It holds, when injustice causes universal wheel to prop driving wheel when ground, driving force can be caused to lack, " driving " occurs in the motor of driving wheel
Phenomenon, while also resulting in AGV and shaking phenomenon occur." driving " phenomenon refers to that motor speed is out of hand, is far more than highest and turns
Speed.
The prior art adds spring to keep to reduce requirements of the AGV to ground planarization on driving wheel or universal wheel
Driving wheel normal pressure.
During realizing the utility model, inventor has found that aforesaid operations mode has the following disadvantages：
1. in load variation or running ground out-of-flatness, it may appear that pressure distribution is uneven or even driving wheel is liftoff, causes
Driving wheel loses normal pressure, " driving " phenomenon occurs；
2. the mode for adding spring will appear each universal wheel and the uneven phenomenon of driving wheel pressure distribution, cause AGV or its
The operation of its vehicle is unstable；
The ground adaptability of 3.AGV or other vehicles is low.
Utility model content
To solve appearance " driving " phenomenon in the prior art in load variation or running ground out-of-flatness；And AGV
Or other vehicles have that operation is unstable, ground adaptability is low, car wheel structure provided by the utility model and homing guidance
Transport vehicle can ensure that the motor on wheel is driven to avoid leading to rotating speed appearance " driving " phenomenon out of hand because of wheel lift；
Also, be equipped with the car wheel structure AGV or other vehicles can when various places are run held stationary；Improve wheel knot
The ground adaptability of structure.
To achieve the above object, according to the one side of the utility model embodiment, a kind of car wheel structure is provided.
A kind of car wheel structure of the utility model embodiment includes bottom plate, free bearing, lever arm, the first column and support portion,
The support portion includes compressed spring, wherein：One end of the free bearing is connect with the bottom plate, the other end of the free bearing and institute
State lever arm connection；One end of the lever arm is movably connect with first column, the other end of the lever arm with it is described
Compressed spring contacts, and the compressed spring is made to be in compressive state；First column and the support portion connect with wheel respectively
It connects.
All wheels can be made to be in the state that lands, and the pressure distribution of car body by the cooperation of compressed spring and lever arm
Uniformly, to ensure that the motor on wheel is driven to avoid leading to rotating speed appearance " driving " phenomenon out of hand because of wheel lift.And
And be equipped with the car wheel structure AGV or other vehicles can when various places are run held stationary；Improve car wheel structure
Ground adaptability.
Optionally, the support portion further includes fixed seat and the second column, and the fixed seat is provided with through-hole, wherein：Institute
It is T-type, the lower end in contact of the upper end of the fixed seat and the compressed spring, the side of the fixed seat and wheel to state fixed seat
Connection, the lower part of the fixed seat is connect with the bottom plate；It the top of second column can with the other end of the lever arm
The lower part of dynamic connection, second column passes through the through-hole；And the compressed spring, the through-hole and described second stand
Column is coaxial.
The limit of second column and lever arm collective effect and through-hole, make the power that wheel is subject to be straight down, into
One step makes the stress of wheel keep constant.
Optionally, the support portion further includes vertical locating part, wherein：The vertical locating part is located under the through-hole
Side.
By the further limit of the second column of vertical locating part pair, the second column is made not go out when vertical direction moves
The phenomenon that now moving horizontally is conducive to the even running of AGV or other vehicles.
Optionally, the vertical locating part is linear bearing or line slide rail.
A variety of vertical locating parts can make car wheel structure can be applied to each Run-time scenario, improve the ground of car wheel structure
Adaptability.
Optionally, the both ends of the lever arm are set as U-shaped, and U-shaped both sides are respectively arranged with location hole；Described first
Column is provided with the first axis pin；And second column is provided with the second axis pin, wherein：First axis pin and described second
Axis pin is each passed through the location hole.
The replacement of lever arm, the first column and the second column can be made simple to operation by way of axis pin connection,
Convenient for the maintenance of car wheel structure.
Optionally, the location hole is ellipse, enables first axis pin and second axis pin in the horizontal direction
It is mobile.
The location hole of ellipse can be such that first axis pin and second axis pin moves in the horizontal direction, to avoid
First column and the second column shift in the horizontal direction.
Optionally, the car wheel structure further includes top plate, and the lower part of the top plate is provided with coaxial with first column
Guide sleeve, wherein：The top plate is parallel with the bottom plate；The guide sleeve is sheathed on the top of first column, and institute
It can be moved in vertical direction along the guide sleeve on the top for stating the first column.
Guide sleeve can be further ensured that the first column to limit the horizontal position of, and the first column is made to be moved in vertical direction
When be not in be conducive to the even running of AGV or other vehicles the phenomenon that moving horizontally.
Optionally, first column is provided with damper between the lever arm junction and wheel.
Damper can make the first column when vertical direction moves, and reduce the resistances such as the friction being subject to, further increase
The ground adaptability of car wheel structure.
Optionally, the wheel of the first column connection is Universal wheel；The wheel of the fixed seat connection is driving vehicle
Wheel.
Driving wheel is connected using fixed seat, ensures that driving wheel is relatively fixed with car body.
To achieve the above object, according to the other side of the utility model embodiment, a kind of homing guidance fortune is provided
Defeated vehicle.
A kind of automated guided vehicle of the utility model embodiment is provided with a kind of wheel of the utility model embodiment
Structure.
It is provided with the automated guided vehicle of the car wheel structure of the utility model embodiment, all wheels can be made to be in
Ground state, and the pressure of car body is evenly distributed, to ensure that the motor on wheel is driven to avoid causing rotating speed to lose because of wheel lift
Control is gone " driving " phenomenon occur；And then the AGV for being equipped with the car wheel structure or other vehicles is enable to be run in various places
When held stationary；Improve ability and ground adaptability that AGV or other vehicles adapt to load variation.
One embodiment in above-mentioned utility model has the following advantages that or advantageous effect：By free bearing, compressed spring with
The cooperation of lever arm, makes that all wheels are constantly in the state of landing and the pressure of car body is evenly distributed, to ensure to drive wheel
On motor avoid leading to rotating speed appearance " driving " phenomenon out of hand because of wheel lift.Pass through lever arm, compressed spring, second
Column, through-hole and the collective effect of vertical locating part make wheel be constantly subjected to power straight down, and then make being tried hard to keep for wheel
It holds constant.It can make AGV or other vehicles that there is better damping effect by the way that compressed spring and damper is arranged.Also, pacify
AGV or other vehicles equipped with the car wheel structure can when various places are run held stationary；Improve AGV or other vehicles
Adapt to the ability and ground adaptability of load variation.
Description of the drawings
Fig. 1 is a kind of schematic diagram for car wheel structure that the utility model embodiment provides；
Fig. 2 is the enlarged diagram of a-quadrant structure in Fig. 1；
Fig. 3 a are a kind of operation schematic diagrams one for automated guided vehicle that the utility model embodiment provides；
Fig. 3 b are a kind of operation schematic diagrams two for automated guided vehicle that the utility model embodiment provides；
Fig. 4 is a kind of operation schematic diagram three for automated guided vehicle that the utility model embodiment provides；
Fig. 5 is a kind of operation schematic diagram four for automated guided vehicle that the utility model embodiment provides.
In figure,
1- bottom plates；2- free bearings；3- lever arms；31- location holes；The first columns of 4-；The first axis pins of 41-；5- support portions；51-
Compressed spring；52- fixed seats；521- through-holes；The second columns of 53-；The second axis pins of 531-；The vertical locating parts of 54-；6- top plates；61-
Guide sleeve.
Specific implementation mode
It explains to the exemplary embodiment of the utility model below in conjunction with attached drawing, implements including the utility model
The various details of example should think them only exemplary to help understanding.Therefore, those of ordinary skill in the art answer
When recognizing, various changes and modifications can be made to the embodiments described herein, without departing from the scope of the utility model
And spirit.Equally, for clarity and conciseness, the description to known function and structure is omitted in following description.
As depicted in figs. 1 and 2, a kind of car wheel structure of the utility model embodiment offer includes mainly：Bottom plate 1, free bearing
2, lever arm 3, the first column 4 and support portion 5.
The upper surface of bottom plate 1 is provided with free bearing 2 and support portion 5, wherein one end of free bearing 2 is connect with bottom plate 1, free bearing 2 it is another
One end is connect with lever arm 3, and the tie point of free bearing 2 and lever arm 3 can be the arbitrary point at non-both ends on lever arm 3.For example,
Body gravity is among car body, four the first columns 4 connection Universal wheel of car body, two connection driving wheels of support portion 5, and
For the tie point of free bearing 2 and lever arm 3 at the center of lever arm 3, then the gravity of car body is evenly distributed to four free bearings 2, i.e.,
Each free bearing 2 is by the gravity of a quarter, and the brake leverage of lever arm 3 is 1:1, then each Universal wheel is by eight points
One of gravity, it is each to drive wheel simultaneously by the gravity of a quarter.When loading variation, due to free bearing 2 and lever arm 3
Effect, increased or decrease car body weight and can guarantee Universal wheel and drive the stress proportions constant of wheel, to loading
The even running that AGV or other vehicles are not interfered with when variation improves the ability that AGV or other vehicles adapt to load variation.
In the utility model embodiment, the first column 4 and support portion 5 may be incorporated for connecting with wheel, such as connect simultaneously
When being connected to Universal wheel and driving wheel, the first column 4 can be connect with Universal wheel and support portion 5 connects with driving wheel
It connects.One end of lever arm 3 is movably connect with the first column 4, keeps solid when the first column 4 being enable to move up and down in the horizontal direction
Fixed, the upper-end contact of the other end of lever arm 3 and the compressed spring 51 of support portion 5 makes compressed spring 51 be in compressive state, from
And ensure AGV or other vehicles when rough road surface is run, all wheels can be enabled to be in the state that lands, such as encounter
When pit, the compressed spring 51 in compressive state can jack up the other end of lever arm 3, and the first column 4 is made to move down,
That is the wheel of the first column 4 connection at this time still can hold ground state.It can make each vehicle by free bearing 2 and lever arm 3
The stress of wheel is kept constant, can also by adjusting the tie point of free bearing 2 and lever arm 3 come increase or reduce each wheel by
Power.After first column 4 is connect by lever arm 3 with support portion 5, by the effect of free bearing 2 and compressed spring 51, it can make to own
Wheel is constantly in the state of landing and the pressure of car body is evenly distributed, to ensure drive wheel on motor avoid because wheel from
Ground leads to rotating speed appearance " driving " phenomenon out of hand；And then the AGV for being equipped with the car wheel structure or other vehicles is enable to exist
Held stationary when various place operations；Improve the ground adaptability of car wheel structure.
In the utility model embodiment, support portion 5 can also include fixed seat 52, vertical locating part 54 and the second column
53。
Fixed seat 52 could be provided as T-type, can be used for supporting compressed spring 51, the i.e. upper end of fixed seat 52 and compression bullet
The lower end in contact of spring 51.The side of fixed seat 52 is connect with wheel, and the lower part of fixed seat 52 is connect with bottom plate 1, passes through fixed seat
52 connect piece wheel with bottom plate 1, to make piece wheel be relatively fixed with bottom plate 1.
Compressed spring 51 can be sheathed on the periphery of the second column 53, and the top of the second column 53 is another with lever arm 3
The movable connection in end, the lower part of the second column 53 pass through the through-hole 521 (not showed that in figure) of fixed seat 52, and compressed spring
51, through-hole 521 and the second column 53 are coaxial.Because the second column of position-limiting action 53 of through-hole 521 is only capable of moving in vertical direction,
That is the second column 53 and 3 collective effect of lever arm make compressed spring 51 only by the power of vertical direction, to make wheel by
Power be straight down, further to keep constant the stress of wheel.
In the utility model embodiment, support portion 5 can also include the vertical locating part 54 for being located at 521 lower section of through-hole.
Vertical locating part 54 can be equally used for limiting the second column 53, be further ensured that the second column 53 in water
Square to limit, make the second column 53 be not in when vertical direction moves the phenomenon that moving horizontally be conducive to AGV or its
The even running of its vehicle.
In the utility model embodiment, vertical locating part 54 can be linear bearing, can also be line slide rail.Its
In, linear bearing is a kind of linear motion system, is used cooperatively for rectilinear path and cylindrical shaft；Line slide rail can be used for directly
Line moves back and forth occasion, and can undertake certain torque, can realize high-precision linear motion in high-load situations, this.It is more
Planting vertical locating part 54 can make car wheel structure can be applied to each Run-time scenario, improve the ground adaptability of car wheel structure.
The selection of vertical locating part 54 can according to application or installation it needs to be determined that.
In the utility model embodiment, the both ends of lever arm 3 are set as U-shaped, and U-shaped both sides are respectively arranged with positioning
Hole 31.First column 4 can be provided with the first axis pin 41 coordinated with location hole 31, and same second column 53 can also be provided with
The second axis pin 531 coordinated with location hole 31.First axis pin 41 and the second axis pin 531 are each passed through location hole 31, to make
One column 4 and the second column 53 are connect with lever arm 3 respectively.It can make lever arm 3, the first column by way of axis pin connection
4 and second column 53 replacement it is simple to operation, be convenient for car wheel structure maintenance.
In the utility model embodiment, location hole 31 is ellipse.Lever arm 3 is revolved around with the tie point of free bearing 2
When turning, the first column 4 and the second column 53 can be driven to be moved in vertical direction, oval location hole 31 can make the first pin
Axis 41 and the second axis pin 531 move in the horizontal direction, to avoid the first column 4 and the second column 53 from occurring in the horizontal direction partially
It moves.
In the utility model embodiment, car wheel structure may also include the top plate 6 parallel with bottom plate 1.
The lower part of top plate 6 is provided with the guide sleeve 61 coaxial with the first column 4, and guide sleeve 61 is sheathed on the first column 4
Top, so that the top of the first column 4 is moved in vertical direction along guide sleeve 61.To be further ensured that the first column 4
To limit the horizontal position of, it is not in the phenomenon that moving horizontally, to be conducive to AGV when vertical direction moves to make the first column 4
Or the even running of other vehicles.
It should be noted that the height of the first column 4 and guide sleeve 61 can be arranged as required to, meet the first column 4
The top of the first column 4 will not be left guide sleeve 61 when moving down.
In the utility model embodiment, the first column 4 is provided with damping between 3 junction of lever arm and wheel
Device.Damper is a kind of device for the resistance, depletion kinergety for providing and moving.Damper can make the first column 4 vertical
When direction is moved, reduce the resistances such as the friction being subject to, can make AGV or other vehicles by the way that compressed spring 51 and damper is arranged
With better damping effect, the ground adaptability of car wheel structure is further increased.
In the utility model embodiment, the wheel of the first column 4 connection is Universal wheel；The wheel that fixed seat 52 connects
It is driving wheel.
First column 4 and fixed seat 52 can be all connected with Universal wheel or driving wheel, when car wheel structure connects ten thousand simultaneously
When to wheel and driving wheel, the connection driving wheel of fixed seat 52 can be utilized, ensures that driving wheel is relatively fixed with bottom plate 1,
That is driving wheel is relatively fixed with car body.
In addition, the utility model embodiment additionally provides a kind of automated guided vehicle, automated guided vehicle setting
There is car wheel structure.
It is provided with a kind of automated guided vehicle of car wheel structure of the utility model embodiment, can be made at all wheels
In the state of landing, and the stress proportions constant that can guarantee all wheels when variation is being loaded, to ensure to drive the electricity on wheel
Machine avoids leading to rotating speed appearance " driving " phenomenon out of hand because of wheel lift；And then make the AGV for being equipped with the car wheel structure or
Other vehicles can when various places are run held stationary；Improve AGV or other vehicles adapt to load variation ability with
And ground adaptability.
In order to which the technological thought of the utility model is expanded on further, in conjunction with specific application scenarios, to the utility model
Technical solution illustrate.
By taking AGV as an example, it is assumed that there are two driving wheels for setting in the middle part of the car body of the AGV, and are arranged in the quadrangle of car body
There are four Universal wheels.
As shown in Figure 3a, the AGV advance forward (in figure to the left be direction of travel) encounter barrier, hinder the fortune of the AGV
Row.As shown in Figure 3b, the first column 4 being connect with Universal wheel moves up, at this point, due to lever principle lever arm 3 and
The junction of two columns 53 moves down, and to compress compressed spring 51, and then driving wheel is made still to keep the state that lands, kept away
Exempt from " driving " phenomenon occur.Also, since the gravity of AGV is shared by four free bearings 2 and two support portions 5 by fixed proportion,
Therefore, AGV still being capable of held stationary operation.
In addition, when pass by barrier when, due to the tension of compressed spring 51, the second column 53 moves up, and passes through lever
Arm 3 makes the first column 4 move down, and Universal wheel is made equally to keep the state that lands.
It is assumed that the AGV is arranged equally in the middle part of car body, there are two driving wheels, and are set in the quadrangle of car body
Universal wheel there are four setting.
During traveling, when front and back Universal wheel encounters barrier, four the first columns 4 being connect with Universal wheel
It moves up simultaneously, at this point, the junction of lever arm 3 and the second column 53 moves down compression compressed spring 51.
In addition, when pass by barrier when, due to the tension of compressed spring 51, the second column 53 moves up, and passes through lever
Arm 3 makes the first column 4 move down, and Universal wheel is made equally to keep the state that lands.
As shown in fig. 5, it is assumed that there are two driving wheel and two Universal wheels for AGV settings.
During traveling, when only encountering barrier there are one Universal wheel, first connect with the Universal wheel is vertical
Column 4 moves up simultaneously, at this point, one end that lever arm 3 (not showed that in figure) is connect with first column 4 rotates up, thick stick
It is rotated down at the other end that lever arm 3 is connect with the second column 53 (not showed that in figure), lever arm 3 and the second column 53 are common
Compressed spring 51 (not showed that in figure) is compressed, compressed spring 51 is made to be in compressive state, and other parts are constant, i.e., all vehicles
Wheel still keeps landing state, and free bearing 2 (not showed that in figure) and support portion 5 share the constant rate of AGV gravity, AGV according to
It so being capable of held stationary operation.
It should be noted that since unsprung mass is much smaller than sprung mass, and car wheel structure is relatively independent suspension,
The car body of AGV has good damping effect.Wherein, unsprung mass refers to the non-weight supported by automobile suspension system；On spring
Quality is the quality of vehicle remainder.
As described above as can be seen that by free bearing 2, the cooperation of compressed spring 51 and lever arm 3, make all wheels one
The straight pressure in the state that lands and car body is evenly distributed, to ensure that the motor on wheel is driven to avoid causing because of wheel lift
Rotating speed appearance " driving " phenomenon out of hand.Pass through lever arm 3, compressed spring 51, the second column 53, through-hole 521 and vertical limit
The collective effect of position part 54 makes wheel be constantly subjected to power straight down, and then the stress of wheel is made to keep constant.Pass through setting
Compressed spring 51 and damper can make AGV or other vehicles have better damping effect.Also, the car wheel structure is installed
AGV or other vehicles can when various places are run held stationary；It improves AGV or other vehicles and adapts to load variation
Ability and ground adaptability.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all in this practicality
Any modification, equivalent replacement and simple modifications etc., should be included in the protection of the utility model made by novel substantive content
Within the scope of.
Claims (10)
1. a kind of car wheel structure, which is characterized in that including bottom plate (1), free bearing (2), lever arm (3), the first column (4) and support
Portion (5), the support portion (5) they include compressed spring (51), wherein：
One end of the free bearing (2) is connect with the bottom plate (1), and the other end and the lever arm (3) of the free bearing (2) connect
It connects；
One end of the lever arm (3) is movably connect with first column (4), the other end of the lever arm (3) with it is described
Compressed spring (51) contacts, and the compressed spring (51) is made to be in compressive state；
First column (4) and the support portion (5) are connect with wheel respectively.
2. car wheel structure according to claim 1, which is characterized in that the support portion (5) further include fixed seat (52) and
Second column (53), the fixed seat (52) are provided with through-hole (521), wherein：
The fixed seat (52) is T-type, and the lower end in contact of the upper end and the compressed spring (51) of the fixed seat (52) is described
The side of fixed seat (52) is connect with wheel, and the lower part of the fixed seat (52) is connect with the bottom plate (1)；
The top of second column (53) is movably connect with the other end of the lever arm (3), second column (53)
Lower part passes through the through-hole (521)；And
The compressed spring (51), the through-hole (521) and second column (53) are coaxial.
3. car wheel structure according to claim 2, which is characterized in that the support portion (5) further includes vertical locating part
(54), wherein：
The vertical locating part (54) is located at the lower section of the through-hole (521).
4. car wheel structure according to claim 3, which is characterized in that the vertical locating part (54) is linear bearing or straight
Line sliding rail.
5. car wheel structure according to claim 2, which is characterized in that the both ends of the lever arm (3) are set as U-shaped, and U
The both sides of type are respectively arranged with location hole (31)；First column (4) is provided with the first axis pin (41)；And described second is vertical
Column (53) is provided with the second axis pin (531), wherein：
First axis pin (41) and second axis pin (531) are each passed through the location hole (31).
6. car wheel structure according to claim 5, which is characterized in that the location hole (31) is ellipse, makes described the
One axis pin (41) and second axis pin (531) can move in the horizontal direction.
7. car wheel structure according to claim 2, which is characterized in that the car wheel structure further includes top plate (6), the top
The lower part of plate (6) is provided with the guide sleeve (61) coaxial with first column (4), wherein：
The top plate (6) is parallel with the bottom plate (1)；
The guide sleeve (61) is sheathed on the top of first column (4), and the top of first column (4) can be along institute
Guide sleeve (61) is stated to move in vertical direction.
8. according to the car wheel structure described in any one of claim 1-7, which is characterized in that first column (4) with institute
It states lever arm (3) and is provided with damper between junction and wheel.
9. car wheel structure according to claim 2, which is characterized in that the wheel of the first column (4) connection is universal
Wheel；The wheel of fixed seat (52) connection is driving wheel.
10. a kind of automated guided vehicle, which is characterized in that the automated guided vehicle is arranged just like in claim 1-9
Any one of them car wheel structure.
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| CN201820106448.5U CN207917005U (en) | 2018-01-22 | 2018-01-22 | A kind of car wheel structure and automated guided vehicle |
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| CN201820106448.5U CN207917005U (en) | 2018-01-22 | 2018-01-22 | A kind of car wheel structure and automated guided vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109823442A (en) * | 2019-03-19 | 2019-05-31 | 浙江欣奕华智能科技有限公司 | Anti-tilt chassis structure of a mobile robot |
| CN109941917A (en) * | 2019-04-29 | 2019-06-28 | 广东嘉腾机器人自动化有限公司 | The mobile load carrier of AGV and AGV trolley |
| CN110550572A (en) * | 2019-09-02 | 2019-12-10 | 泰州市白马机械工具制造有限公司 | low-chassis hydraulic lifter |
| WO2020221211A1 (en) * | 2019-04-28 | 2020-11-05 | 锥能机器人（上海）有限公司 | Handling vehicle and chassis assembly thereof |
| CN111907280A (en) * | 2020-08-30 | 2020-11-10 | 深圳市普渡科技有限公司 | Chassis with reversing transmission suspension and robot |
| CN116161142A (en) * | 2023-04-26 | 2023-05-26 | 无锡米洛智能工业科技有限公司 | AGV chassis for workshop cargo loading and transportation |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109823442A (en) * | 2019-03-19 | 2019-05-31 | 浙江欣奕华智能科技有限公司 | Anti-tilt chassis structure of a mobile robot |
| WO2020221211A1 (en) * | 2019-04-28 | 2020-11-05 | 锥能机器人（上海）有限公司 | Handling vehicle and chassis assembly thereof |
| CN109941917A (en) * | 2019-04-29 | 2019-06-28 | 广东嘉腾机器人自动化有限公司 | The mobile load carrier of AGV and AGV trolley |
| CN109941917B (en) * | 2019-04-29 | 2024-01-23 | 广东嘉腾机器人自动化有限公司 | AGV removes bearing mechanism and AGV dolly |
| CN110550572A (en) * | 2019-09-02 | 2019-12-10 | 泰州市白马机械工具制造有限公司 | low-chassis hydraulic lifter |
| CN111907280A (en) * | 2020-08-30 | 2020-11-10 | 深圳市普渡科技有限公司 | Chassis with reversing transmission suspension and robot |
| CN116161142A (en) * | 2023-04-26 | 2023-05-26 | 无锡米洛智能工业科技有限公司 | AGV chassis for workshop cargo loading and transportation |
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