CN103482317B - AGV is from walking discharging transport trolley - Google Patents
AGV is from walking discharging transport trolley Download PDFInfo
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- CN103482317B CN103482317B CN201310404275.7A CN201310404275A CN103482317B CN 103482317 B CN103482317 B CN 103482317B CN 201310404275 A CN201310404275 A CN 201310404275A CN 103482317 B CN103482317 B CN 103482317B
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Abstract
The present invention relates to a kind of AGV from walking discharging transport trolley, it is characterized in that rear and front end, chassis is respectively provided with 2 cardan wheels, driving roller box is arranged on the below in the middle part of chassis, two coaxial drive wheels are separately positioned on the both sides driving roller box, and two drive wheels connect separately independently driver train respectively; The end face of vehicle frame is provided with blanking lifting switching mechanism, and band conveyor is arranged on the side of blanking lifting switching mechanism.The present invention combines with blanking lifting switching mechanism, band conveyor with AGV autonomous traveling vehicle, substitutes and manually completes feeding, upset, discharging and transport, alleviates the labour intensity of behaviour workman, increases work efficiency, and reduces productive costs; And, the present invention arranges the drive wheel of two individual drive between the flower wheel of car body rear and front end, and two drive wheels are rotated backward with identical rotating speed, realizes transport trolley original place and turns to, reduce the taking of space, realize turning in slype, feeding and discharging operations.
Description
Technical field
The present invention relates to a kind of transport conveyor, especially relate to a kind of AGV from walking discharging transport trolley.
Background technology
Copper cash, yarn, chemical fibre etc. are after being again wound into all size line cylinder, need manually take off from winding apparatus and be stacked in together, mostly rely at present and manually take off from equipment and transport, the mode of this hand haulage's operation, because the weight of line cylinder is large, inefficiency, the labour intensity of operator is large, especially in today that cost of labor is more and more higher, productive costs is added to a great extent.The applicant has applied for that name is called " Yarn roll conveying vehicle for spooler " (application number: patent application 201110318177.2) solves above-mentioned problem, but still it is large to there is equipment volume, takes up room large, complex structure, the problem that productive costs is high.
Summary of the invention
The applicant, for above-mentioned problem, is studied improvement, provides a kind of AGV from walking discharging transport trolley, substitute and manually complete feeding, upset and discharging and transport, alleviate the labour intensity of behaviour workman, increase work efficiency, reduce productive costs, meanwhile, reduce taking of space.
In order to solve the problems of the technologies described above, the present invention adopts following technical scheme:
A kind of AGV is from walking discharging transport trolley, comprise car body, battery, control system and electromagnetic guiding device, described car body comprises chassis and vehicle frame, and control box is arranged on the described frame inside above described chassis, and described battery, control system and electromagnetic guiding device are arranged in described control box; Rear and front end, described chassis is respectively provided with 2 cardan wheels, drives roller box to be arranged on below in the middle part of described chassis, and two coaxial drive wheels are separately positioned on the both sides of described driving roller box, and two described drive wheels connect separately independently driver train respectively; When transport trolley arrives steering position, two described drive wheels are driven to rotate backward with identical rotating speed by respective driver train respectively and realize transport trolley pivot stud; The end face of described vehicle frame is provided with blanking lifting switching mechanism, and band conveyor is arranged on the side of described blanking lifting switching mechanism.
Further:
Described blanking lifting switching mechanism comprises substrate, 2 lifting guide plate at right angle settings on the substrate, described lifting guide plate is provided with the chute perpendicular to described substrate, lifting shaft level side is arranged, and the two ends of described lifting shaft are set with axle sleeve and are slidably mounted in the chute on described lifting guide plate; The substrate of described lifting guide plate side is provided with lifting turnover driving mechanism and lift drive mechanism; Lifting drives seat to connect described lift drive mechanism, two ends hinged described lifting driving seat and the described lifting shaft respectively of lifting push rod; Lifting upset drives seat to connect described lifting turnover driving mechanism, the rear portion of material taking claw is fixedly connected with the axle sleeve at described lifting shaft two ends, the bottom of described material taking claw is provided with upset connecting panel, two ends hinged described lifting upset driving seat and the described upset connecting panel respectively of lifting upset push rod.
Described material taking claw comprises front end-plate, back plate and lower back panel, described back plate is set in parallel between described front end-plate and described lower back panel, described front end-plate, the top of back plate and lower back panel is the circular arc of indent, 4 be arranged in parallel and axis be circular arc arrangement pipe link be fixedly connected with described front end-plate, back plate and lower back panel, the front end of described pipe link is connected to the middle part of described front end-plate, the rear end of described pipe link and middle part are connected to the indent circular arc place on described back plate and lower back panel top, described lower back panel is fixedly connected with the axle sleeve at described lifting shaft two ends.
The bilateral symmetry of described front end-plate and described back plate is connected with pin, and axis and the described pipe link axis of described pin are arranged on same circular arc.
Described lifting turnover driving mechanism and lift drive mechanism are screw mandrel drive mechanism.
Described blanking lifting switching mechanism is enhancement mode blanking lifting switching mechanism, comprises substrate, and on the substrate, the top of described scissors fork mechanism is provided with mounting plate to two groups of scissors fork organization establishes; The rear end lower of feeding bucket is connected through the hinge described mounting plate, and stirring oil cylinder is arranged on the side of described feeding bucket, and tail end and the described mounting plate of stirring cylinder block are hinged, the upper rear end of the hinged described feeding bucket of piston rod of described stirring oil cylinder; Described scissors fork mechanism is made up of hinged the first arm in middle part and the second arm, upper end and the described mounting plate of described first arm are hinged, lower end and the described substrate of described second arm are hinged, described in two groups, the lower end of described first arm of scissors fork mechanism is hinged with the two ends of pulling shaft respectively, the two ends of described pulling shaft are provided with bottom roller, lower guideway is arranged on the substrate, and bottom roller is spacing to be arranged in described lower guideway; Tail end and the described substrate of hoist cylinder cylinder body are hinged, and piston rod and the described pulling shaft of hoist cylinder are hinged; Upper roller is connected to the upper end of described second arm by mandrel, and the bottom surface of described mounting plate is provided with upper rail, and described upper roller is spacing to be arranged in described upper rail.
Described feeding bucket comprises hopper body, and described hopper body is provided with V-type hopper, and the front end of described hopper body is provided with end plate, and the top of described end plate is the circular arc of indent.
Described upper rail and lower guideway are rectangle frame structure.
Described cardan wheel is damping universal wheels.
Described driver train takes motor and gear reduction forms by waiing upon.
Technique effect of the present invention is:
A kind of AGV disclosed by the invention is from walking discharging transport trolley, combine with blanking lifting switching mechanism, band conveyor with AGV autonomous traveling vehicle, substitute and manually complete feeding, upset and discharging and transport, alleviate the labour intensity of behaviour workman, increase work efficiency, reduce productive costs; And, the present invention arranges the drive wheel of two individual drive between the flower wheel of car body rear and front end, and two drive wheels are rotated backward with identical rotating speed, realize transport trolley original place to turn to, car body quick steering, reduce the taking of space, thus realize AGV from walking discharging transport trolley turning in slype, feeding and discharging operations.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is front view of the present invention.
Fig. 3 is the front view driving roller box.
Fig. 4 is the three-dimensional structure schematic diagram driving roller box.
Fig. 5 is the three-dimensional structure schematic diagram (lifting rollover states) of blanking lifting switching mechanism.
Fig. 6 is the three-dimensional structure schematic diagram of the material taking claw of blanking lifting switching mechanism.
Fig. 7 is the lifting rotary movement schematic diagram of blanking lifting switching mechanism.
Fig. 8 is the front view of enhancement mode blanking lifting switching mechanism.
Fig. 9 is the right elevation of Fig. 8.
Figure 10 is the three-dimensional structure schematic diagram of the feeding bucket of enhancement mode blanking lifting switching mechanism.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
As shown in Fig. 1 ~ 4, the present invention includes car body 100, battery, control system and electromagnetic guiding device, car body 100 comprises chassis 1 and vehicle frame 5, and control box 3 is arranged on inside the vehicle frame 5 above chassis 1, and battery, control system and electromagnetic guiding device are arranged in control box 3.Rear and front end, chassis 1 is respectively provided with 2 cardan wheels 2, driving roller box 6 is arranged on the below in the middle part of chassis 1, two coaxial drive wheels 7 are separately positioned on the both sides driving roller box 6, two drive wheels 7 connect separately independently driver train respectively, that is, two drive wheels 7 have respective driver train respectively, velocity of rotation and the rotation direction of two drive wheels 7 can be controlled respectively, and two drive wheels 7 are positioned at the midway location of rear and front end, chassis 1 cardan wheel 2, in the present embodiment, the axis of drive wheel 7 is equal with the distance between rear and front end cardan wheel 2.Driver train takes motor 8 and gear reduction 9 forms by waiing upon, and waits upon and takes power that motor 8 exports after gear reduction 9 for driving drive wheel 7.The end face of vehicle frame 5 is provided with blanking lifting switching mechanism 4, band conveyor 11 is arranged on the end face of the vehicle frame 5 of blanking lifting switching mechanism 4 side, walks the automatic blanking of the line cylinder realizing copper cash, yarn, chemical fibre etc. together with transport trolley, upset, conveying and discharging voluntarily by blanking lifting switching mechanism 4, band conveyor 11 and AGV.
When AGV runs from walking discharging transport trolley, guide AGV from the direction of travel of walking discharging transport trolley by electromagnetic guiding device along sticking in electromagnetic path on floor, 4 cardan wheels 2 being positioned at rear and front end, chassis 1, as flower wheel, drive AGV to walk from walking discharging transport trolley by two drive wheels 7.When AGV is from walking discharging transport trolley straight line moving, under the driving of respective driver train, two drive wheels 7 rotate with the rotation direction that identical rotating speed is identical.When AGV arrives steering position from walking discharging transport trolley, electromagnetic guiding device feeds back signal to control system, under control system controls, two drive wheels 7 are driven by respective driver train respectively and rotate backward with identical rotating speed, AGV walks discharging transport trolley with the mid point between two drive wheels 7 certainly for pivot center turns to, thus realize AGV from walking discharging transport trolley pivot stud, can continue after having turned to linearly to walk.In addition, control the rotating speed of drive wheel 7 and direction of walking around also can realize AGV and turn to from the small swing radius of walking discharging transport trolley.In the present embodiment, cardan wheel 2 is damping universal wheels, when AGV is slightly uneven from the floor of walking discharging transport trolley walking, due to the effect of damping universal wheels, makes two drive wheels 7 still can be close to floor, realizes the driving of stable and continuous.
As shown in Fig. 1,2,5,6,7, blanking lifting switching mechanism 4 comprises substrate 4-1,2 lifting guide plate 4-2 are vertically mounted on substrate 4-1, lifting guide plate 4-2 is provided with the chute 4-201 perpendicular to substrate 4-1, lifting shaft 4-3 level side is arranged, the two ends of lifting shaft 4-3 are set with axle sleeve 4-12, and lifting shaft 4-3 is slidably mounted in the chute 4-201 on lifting guide plate 4-2 by axle sleeve 4-12, and lifting shaft 4-3 can make upper and lower lifting crank motion along chute 4-201.The substrate 4-1 of lifting guide plate 4-2 side is provided with lifting turnover driving mechanism 4-4 and lift drive mechanism 4-6, and lifting turnover driving mechanism 4-4 and lift drive mechanism 4-6 is screw mandrel drive mechanism.Lifting drives seat 4-8 to connect lift drive mechanism 4-6, lifting drives seat 4-8 connect the feed screw nut of lift drive mechanism 4-6 and under the driving of screw mandrel, do straight reciprocating motion together with feed screw nut, the two ends hinged lifting driving seat 4-8 and lifting shaft 4-3 respectively of lifting push rod 4-7, lifting push rod 4-7 plays the effect of connecting rod in operation.Lifting upset drives seat 4-10 to connect lifting turnover driving mechanism 4-4, lifting upset drives seat 4-10 connect the feed screw nut of lifting turnover driving mechanism 4-4 and under the driving of screw mandrel, do straight reciprocating motion together with feed screw nut, the rear portion of material taking claw 4-5 is fixedly connected with the axle sleeve 4-12 at lifting shaft 4-3 two ends, the bottom of material taking claw 4-5 is provided with upset connecting panel 4-11, the two ends hinged lifting upset driving seat 4-10 and upset connecting panel 4-11 respectively of lifting upset push rod 4-9, lifting upset push rod 4-9 plays the effect of connecting rod in operation.Material taking claw 4-5 comprises front end-plate 4-501, back plate 4-502 and lower back panel 4-503, front end-plate 4-501, back plate 4-502 and lower back panel 4-503 be arranged in parallel, back plate 4-502 is arranged between front end-plate 4-501 and lower back panel 4-503, front end-plate 4-501, the top of back plate 4-502 and lower back panel 4-503 is the circular arc of indent, 4 be arranged in parallel and axis be circular arc arrangement pipe link 4-504 be fixedly connected with front end-plate 4-501, back plate 4-502 and lower back panel 4-503, the front end of pipe link 4-504 is connected to the middle part of front end-plate 4-501, the rear end of pipe link 4-504 and middle part are connected to the indent circular arc place on back plate 4-502 and lower back panel 4-503 top, lower back panel 4-503 is fixedly connected with the axle sleeve 4-12 at lifting shaft 4-3 two ends.The bilateral symmetry of front end-plate 4-501 and back plate 4-502 is connected with pin 4-505, and axis and the pipe link 4-504 axis of pin 4-505 are arranged on same circular arc.In use, material taking claw 4-5 is for taking off the line cylinder of copper cash, yarn, chemical fibre etc. and hold line cylinder in course of conveying, and pin 4-505 can prevent line cylinder from skidding off from the both sides of material taking claw.
Operate use time, blanking lifting switching mechanism 4 is arranged on AGV on discharging transport trolley of walking, realizes the automatic blanking of the line cylinder of copper cash, yarn, chemical fibre etc., upset, conveying and discharging together with band conveyor 11.When AGV receives the instruction of feeding from walking discharging transport trolley, AGV marches to from walking discharging transport trolley the station sending feeding instruction automatically, and makes material taking claw 4-5 enter the below of line cylinder, and as shown in Figure 7, now material taking claw 4-5 is at position A, is in horizontality, lifting turnover driving mechanism 4-4 and lift drive mechanism 4-6 synchronously drives lifting push rod 4-7 and lifting upset push rod 4-9 that lifting shaft 4-3 is moved up along chute 4-201, make material taking claw 4-5 keep horizontality upwards lifting simultaneously, when material taking claw 4-5 picking-up line cylinder leaves line cylinder axle, AGV moves backward from walking discharging transport trolley, at this moment relies on the top of the front end-plate 4-501 of material taking claw 4-5 to be taken off from line cylinder axle by line cylinder, AGV from walking discharging transport trolley according to instruction automatically row play discharge position, lifting turnover driving mechanism 4-4 and lift drive mechanism 4-6 synchronously drives lifting push rod 4-7 and lifting upset push rod 4-9 to continue to make lifting shaft 4-3 be moved upward to the upper end of chute 4-201 along chute 4-201, make material taking claw 4-5 keep horizontality to be upwards lifted to position B simultaneously, lifting turnover driving mechanism 4-4 continues to drive lifting upset push rod 4-9, lifting upset push rod 4-9 promotes material taking claw 4-5 and turn to position C around lifting shaft 4-3, thus make the line cylinder in material taking claw 4-5 be discharged on band conveyor 11, by band conveyor 11, line cylinder is discharged into windrow position.
As shown in Fig. 1,2,8,9,10, blanking lifting switching mechanism 4 is enhancement mode blanking lifting switching mechanism, and enhancement mode blanking lifting switching mechanism is simple and compact for structure, and structural strength is high, increases the service life.Enhancement mode blanking lifting switching mechanism comprises substrate 4-1, and two groups of scissors fork mechanism 4-2100 are arranged on substrate 4-1, and the top of scissors fork mechanism 4-2100 is provided with mounting plate 4-27.The rear end lower of feeding bucket 4-26 connects mounting plate 4-27 by hinge 4-24, feeding bucket 4-26 comprises hopper body 4-2601, hopper body 4-2601 is provided with V-type hopper 4-2602, the front end of hopper body 4-2601 is provided with end plate 4-2603, the top of end plate 4-2603 is the circular arc of indent, and the line cylinder taken off from spooling equipment is contained in V-type hopper 4-2602.Stirring oil cylinder 4-25 is arranged on the side of feeding bucket 4-26, and cylinder body tail end and the mounting plate 4-27 of stirring oil cylinder 4-25 are hinged, the upper rear end of the piston rod hinged feeding bucket 4-26 of stirring oil cylinder 4-25.Scissors fork mechanism 4-2100 is made up of hinged the first arm 4-23 in middle part and the second arm 4-22, upper end and the mounting plate 4-27 of the first arm 4-23 are hinged, lower end and the substrate 4-1 of the second arm 4-22 are hinged, the lower end of the first arm 4-23 of two groups of scissors fork mechanism 4-2100 respectively with the two ends of pulling shaft 4-213 hinged (Fig. 9), the two ends of pulling shaft 4-213 are provided with bottom roller 4-211, lower guideway 4-210 is arranged on substrate 4-1, bottom roller 4-211 is spacing to be arranged in lower guideway 4-210, rolls in the scope that bottom roller 4-211 can limit at lower guideway 4-210.Hoist cylinder 4-212 is arranged on below mounting plate 4-27, and tail end and the substrate 4-1 of hoist cylinder 4-212 cylinder body are hinged, and piston rod and the pulling shaft 4-213 of hoist cylinder 4-212 are hinged.Upper roller 4-28 is connected to the upper end of the second arm 4-22 by mandrel, and the bottom surface of mounting plate 4-27 is provided with upper rail 4-29, and upper roller 4-28 is spacing to be arranged in upper rail 4-29, rolls in the scope that upper roller 4-28 can limit at upper rail 4-29.In the present embodiment, upper rail 4-29 and lower guideway 4-210 is rectangle frame structure, and such structure can limit the stroke range of upper roller 4-28 and bottom roller 4-211, the height be elevated with limit mounting plate 4-27 and feeding bucket 4-26.
Operate use time, enhancement mode blanking lifting switching mechanism is arranged on AGV on discharging transport trolley of walking, realizes the automatic blanking of the line cylinder of copper cash, yarn, chemical fibre etc., upset, conveying and discharging together with band conveyor 11.When AGV receives the instruction of feeding from walking discharging transport trolley, AGV marches to from walking discharging transport trolley the station sending feeding instruction automatically, and make feeding bucket 4-26 enter the below of line cylinder, now the piston rod of stirring oil cylinder 4-25 is in retracted mode, feeding bucket 4-26 is placed on mounting plate 4-27 (be horizontal), the piston rod of hoist cylinder 4-212 is in the state of stretching out, upper roller 4-28 and bottom roller 4-211 lays respectively at the high order end of upper rail 4-29 and lower guideway 4-210, now, feeding bucket 4-26 is positioned on minimum height and position; Control system sends instruction, the piston rod retraction of hoist cylinder 4-212, pulling shaft 4-213 and bottom roller 4-211 is pulled to move to the right, thus make scissors pitch mechanism 4-2100 drive mounting plate 4-27 to rising, feeding bucket 4-26 rises simultaneously, when feeding bucket 4-26 picking-up line cylinder leaves line cylinder axle, AGV moves backward from walking discharging transport trolley, at this moment relies on the end plate 4-2603 of feeding bucket 4-26 to be taken off from line cylinder axle by line cylinder; AGV from walking discharging transport trolley according to instruction automatically row play discharge position, the piston rod of hoist cylinder 4-212 continues retraction, feeding bucket 4-26 continues to rise to the height identical with band conveyor 11, the piston rod of stirring oil cylinder 4-25 stretches out, feeding bucket 4-26 is driven upwards to dig around hinge 4-24, thus make the line cylinder in feeding bucket 4-26 be discharged on band conveyor 11, by band conveyor 11, line cylinder is discharged into windrow position.
Claims (9)
1. an AGV is from walking discharging transport trolley, comprise car body, battery, control system and electromagnetic guiding device, it is characterized in that: described car body comprises chassis and vehicle frame, control box is arranged on the described frame inside above described chassis, and described battery, control system and electromagnetic guiding device are arranged in described control box; Rear and front end, described chassis is respectively provided with 2 cardan wheels, drives roller box to be arranged on below in the middle part of described chassis, and two coaxial drive wheels are separately positioned on the both sides of described driving roller box, and two described drive wheels connect separately independently driver train respectively; When transport trolley arrives steering position, two described drive wheels are driven to rotate backward with identical rotating speed by respective driver train respectively and realize transport trolley pivot stud; The end face of described vehicle frame is provided with blanking lifting switching mechanism, and band conveyor is arranged on the side of described blanking lifting switching mechanism;
Described blanking lifting switching mechanism comprises substrate, 2 lifting guide plate at right angle settings on the substrate, described lifting guide plate is provided with the chute perpendicular to described substrate, lifting shaft level side is arranged, and the two ends of described lifting shaft are set with axle sleeve and are slidably mounted in the chute on described lifting guide plate; The substrate of described lifting guide plate side is provided with lifting turnover driving mechanism and lift drive mechanism; Lifting drives seat to connect described lift drive mechanism, two ends hinged described lifting driving seat and the described lifting shaft respectively of lifting push rod; Lifting upset drives seat to connect described lifting turnover driving mechanism, the rear portion of material taking claw is fixedly connected with the axle sleeve at described lifting shaft two ends, the bottom of described material taking claw is provided with upset connecting panel, two ends hinged described lifting upset driving seat and the described upset connecting panel respectively of lifting upset push rod.
2. according to AGV according to claim 1 walking discharging transport trolley certainly, it is characterized in that: described material taking claw comprises front end-plate, back plate and lower back panel, described back plate is set in parallel between described front end-plate and described lower back panel, described front end-plate, the top of back plate and lower back panel is the circular arc of indent, 4 be arranged in parallel and axis be circular arc arrangement pipe link be fixedly connected with described front end-plate, back plate and lower back panel, the front end of described pipe link is connected to the middle part of described front end-plate, the rear end of described pipe link and middle part are connected to the indent circular arc place on described back plate and lower back panel top, described lower back panel is fixedly connected with the axle sleeve at described lifting shaft two ends.
3., according to AGV according to claim 2 walking discharging transport trolley certainly, it is characterized in that: the bilateral symmetry of described front end-plate and described back plate is connected with pin, axis and the described pipe link axis of described pin are arranged on same circular arc.
4., according to AGV according to claim 1 walking discharging transport trolley certainly, it is characterized in that: described lifting turnover driving mechanism and lift drive mechanism are screw mandrel drive mechanism.
5. according to AGV according to claim 1 walking discharging transport trolley certainly, it is characterized in that: described blanking lifting switching mechanism is enhancement mode blanking lifting switching mechanism, comprise substrate, on the substrate, the top of described scissors fork mechanism is provided with mounting plate to two groups of scissors fork organization establishes; The rear end lower of feeding bucket is connected through the hinge described mounting plate, and stirring oil cylinder is arranged on the side of described feeding bucket, and tail end and the described mounting plate of stirring cylinder block are hinged, the upper rear end of the hinged described feeding bucket of piston rod of described stirring oil cylinder; Described scissors fork mechanism is made up of hinged the first arm in middle part and the second arm, upper end and the described mounting plate of described first arm are hinged, lower end and the described substrate of described second arm are hinged, described in two groups, the lower end of described first arm of scissors fork mechanism is hinged with the two ends of pulling shaft respectively, the two ends of described pulling shaft are provided with bottom roller, lower guideway is arranged on the substrate, and bottom roller is spacing to be arranged in described lower guideway; Tail end and the described substrate of hoist cylinder cylinder body are hinged, and piston rod and the described pulling shaft of hoist cylinder are hinged; Upper roller is connected to the upper end of described second arm by mandrel, and the bottom surface of described mounting plate is provided with upper rail, and described upper roller is spacing to be arranged in described upper rail.
6., according to AGV according to claim 5 walking discharging transport trolley certainly, it is characterized in that: described feeding bucket comprises hopper body, described hopper body is provided with V-type hopper, and the front end of described hopper body is provided with end plate, and the top of described end plate is the circular arc of indent.
7., according to AGV according to claim 5 walking discharging transport trolley certainly, it is characterized in that: described upper rail and lower guideway are rectangle frame structure.
8., according to AGV according to claim 1 walking discharging transport trolley certainly, it is characterized in that: described cardan wheel is damping universal wheels.
9. according to AGV according to claim 1 from walking discharging transport trolley, it is characterized in that: described driver train takes motor and gear reduction forms by waiing upon.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310404275.7A CN103482317B (en) | 2013-09-09 | 2013-09-09 | AGV is from walking discharging transport trolley |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310404275.7A CN103482317B (en) | 2013-09-09 | 2013-09-09 | AGV is from walking discharging transport trolley |
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| CN103482317A CN103482317A (en) | 2014-01-01 |
| CN103482317B true CN103482317B (en) | 2015-10-28 |
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