CN112478556B - Integral internal rotation AGV intelligent transfer robot - Google Patents
Integral internal rotation AGV intelligent transfer robot Download PDFInfo
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- CN112478556B CN112478556B CN202011458113.8A CN202011458113A CN112478556B CN 112478556 B CN112478556 B CN 112478556B CN 202011458113 A CN202011458113 A CN 202011458113A CN 112478556 B CN112478556 B CN 112478556B
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- 238000005192 partition Methods 0.000 claims description 44
- 230000007246 mechanism Effects 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000005728 strengthening Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 abstract description 6
- 230000006872 improvement Effects 0.000 description 9
- 230000003014 reinforcing effect Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000010415 tidying Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses an integrated internal rotation AGV intelligent transfer robot which comprises a chassis and a frame, wherein the frame comprises a bottom shell and a top conveying frame arranged on the bottom shell, and the bottom shell is fixedly connected with the top conveying frame; the chassis is arranged in the bottom shell, a wheel shaft for driving the frame to move and a slewing bearing for driving the frame to rotate are arranged on the chassis, and the frame is rotationally connected with the chassis through the slewing bearing. The gravity center of the integrally formed frame is lower and more stable. And the whole frame is connected with the driving part of the chassis through the slewing bearing, and only the chassis part is required to be rotated when the direction of the trolley is adjusted, so that the stability of goods on the frame is ensured, the slewing radius is reduced, the rotating range of the trolley is reduced, nearby objects are not easy to touch, and the stability of the trolley during transportation is further improved.
Description
Technical Field
The invention relates to an AGV intelligent transfer robot, in particular to an integrated internal rotation AGV intelligent transfer robot.
Background
An intelligent AGV robot, also called an AGV carriage, is generally a transport vehicle equipped with an automatic guiding device such as electromagnetic or optical, capable of traveling along a predetermined guiding path, and having safety protection and various transfer functions. A typical AGV cart consists of a support portion and a drive portion, often with drive wheel sets on a chassis. AGV dolly among the prior art generally comprises chassis, supporting part, shell, and article is directly placed on supporting part, links to each other with the chassis. The AGV dolly of this kind of structure is convenient for get and puts goods, but the frame sets up with the casing of bottom is most separation, and slewing bearing direct control frame rotates, and when using, the time of taking and putting that can consume the ration of goods shelves, and transport efficiency is lower, and still can produce slight rocking during the transportation, not steady enough.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the integrated type internal rotation AGV intelligent transfer robot, which integrates a top frame and a bottom shell, and adjusts the overall direction through the rotation of a base in the bottom shell.
The technical scheme adopted for solving the technical problems is as follows:
The utility model provides an integral internal rotation AGV intelligence transfer robot, includes chassis and frame, the frame includes bottom shell and the top conveying frame of setting on the bottom shell, bottom shell and top conveying frame fixed connection; the chassis is arranged in the bottom shell, a wheel shaft for driving the frame to move and a slewing bearing for driving the frame to rotate are arranged on the chassis, and the frame is rotationally connected with the chassis through the slewing bearing.
As an improvement of the technical scheme, the chassis is further provided with a supporting plate for bearing articles, the slewing bearing is arranged on the supporting plate, the chassis is movably connected with the supporting plate, the chassis comprises a front chassis and a rear chassis, and the front chassis is movably connected with the rear chassis.
As a further improvement of the technical scheme, a mounting hole is formed in the joint of the front chassis and the rear chassis, a pin shaft is arranged in the mounting hole, and the front chassis and the rear chassis are movably connected through the pin shaft; the mounting holes and the pin shaft assemblies are arranged in two groups, and the two groups of mounting holes and the pin shaft assemblies are respectively positioned at two ends of the connecting edges of the front chassis and the rear chassis.
As a further improvement of the technical scheme, the front chassis is movably connected with the supporting plate through a connecting rod mechanism, and the rear chassis is connected with the supporting plate through a pin shaft; the upper surfaces of the front chassis and the rear chassis are respectively provided with an inserting block, the lower surface of the supporting plate is provided with a clamping block, and the clamping blocks are rotationally connected with the inserting blocks.
As a further improvement of the technical scheme, a connecting block is further arranged between the front chassis and the supporting plate, the connecting block is connected with a corresponding inserting block and a corresponding clamping block on the supporting plate through a pin shaft, and the inserting block, the clamping block, the connecting block and the pin shaft form a connecting rod mechanism; a support column and a limiting spring are further arranged between the front chassis and the support plate, and the rotation angle between the front chassis and the support plate is limited by the limiting spring; the insert block on the rear chassis is rotationally connected with the clamping block on the supporting plate through a pin shaft.
As a further improvement of the technical scheme, the front chassis is provided with the universal wheels, the two universal wheels are horizontally arranged on one side of the front chassis away from the rear chassis, the rear chassis is provided with the two groups of driving wheels and the two universal wheels, the driving wheels are arranged on one side of the rear chassis close to the front chassis, and the universal wheels are positioned on one side of the rear chassis away from the front chassis.
As a further improvement of the above technical solution, the bottom housing includes a top plate and a support plate disposed around the top plate, the top plate is used for mounting a slewing bearing, and the support plate is used for connecting with a top conveying plate; the top plate is provided with screw holes, the screw holes are arranged in an annular shape at positions on the top plate corresponding to the slewing bearings, and the bottom of the top plate is also provided with supporting ribs for increasing the supporting force of the top plate.
As a further improvement of the technical scheme, the top conveying frame comprises a bottom plate and a frame, wherein a partition plate is further arranged in the frame, and divides the frame into grid grooves in the frame; the frame comprises a transverse frame and a vertical frame, the transverse frame is vertically connected with the vertical frame, the partition board comprises a transverse partition board arranged on the transverse frame and a vertical partition board arranged on the vertical frame, and the transverse partition board is connected with the vertical partition board to form a grid groove; the middle part of the transverse partition plate is also provided with an intermediate partition plate, and the intermediate partition plate is vertically arranged to divide the grid grooves.
As a further improvement of the technical scheme, a plurality of partition boards are arranged, and a plurality of grid grooves are formed between the frames by the plurality of partition boards; the bottom of frame still is provided with the strengthening rib, the strengthening rib sets up in the horizontal baffle bottom of bottommost, the strengthening rib is equipped with many.
As a further improvement of the technical scheme, the top conveying frame is also provided with a goods indicator lamp, and the goods indicator lamp is used for indicating the storage condition of goods on the frame; the cargo indicator lamp is arranged at the bottom of the transverse partition plate, and indicator lamps are arranged at the bottoms of the transverse partition plates above each grid groove.
The beneficial effects of the invention are as follows: the top conveying frame and the bottom shell of the AGV intelligent transfer robot are fixedly arranged, the structure is simplified, and the gravity center of the integrally formed frame is lower and more stable. And the whole frame is connected with the driving part of the chassis through the slewing bearing, and only the chassis part is required to be rotated when the direction of the trolley is adjusted, so that the stability of goods on the frame is ensured, the slewing radius is reduced, the rotating range of the trolley is reduced, nearby objects are not easy to touch, and the stability of the trolley during transportation is further improved. The time for supporting and putting down the goods shelf is saved, the turnover time is faster, and the transportation efficiency is improved.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic view of the assembly of the present invention;
FIG. 2 is a schematic view of a frame portion structure of the present invention;
FIG. 3 is a schematic view of a frame portion of the present invention in a disassembled configuration;
FIG. 4 is an angular isometric view of a chassis portion of the present invention;
fig. 5 is another angular isometric view of a chassis section of the present invention.
1. A front chassis; 11. a support column; 12. a limit spring; 13. a link mechanism; 2. a rear chassis; 3. a driving wheel; 4. a universal wheel; 5. a support plate; 6. a slewing bearing; 7. a bottom housing; 71. a top plate; 72. a support plate; 8. a top transport frame; 81. a bottom plate; 82. a frame; 83. a partition plate; 9. cargo indicator lights.
Detailed Description
The conception, specific structure, and technical effects produced by the present invention will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, features, and effects of the present invention. It is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present invention based on the embodiments of the present invention. In addition, all the coupling/connection relationships referred to in the patent are not direct connection of the single-finger members, but rather, it means that a better coupling structure can be formed by adding or subtracting coupling aids depending on the specific implementation. The technical features in the invention can be interactively combined on the premise of no contradiction and conflict.
Referring to fig. 1, an integrated internal swivel AGV intelligent transfer robot comprises a chassis and a frame, wherein the frame comprises a bottom shell 7 and a top conveying frame 8 arranged on the bottom shell 7, and the bottom shell 7 is fixedly connected with the top conveying frame 8; the chassis is arranged in the bottom shell 7, an axle for driving the frame to move and a slewing bearing 6 for driving the frame to rotate are arranged on the chassis, and the frame is in rotary connection with the chassis through the slewing bearing 6. The gravity center of the integrally formed frame is lower and more stable. And the whole frame is connected with the driving part of the chassis through the slewing bearing 6, and when the direction of the trolley is adjusted, only the chassis part is required to be rotated, so that the stability of goods on the frame is ensured, the slewing radius is reduced, the rotation range of the trolley is reduced, nearby objects are not easy to touch, and the stability of the trolley during transportation is further improved.
Referring to fig. 4 and 5, the chassis is further provided with a support plate 5 for carrying articles, the slewing bearing 6 is arranged on the support plate 5, the chassis is movably connected with the support plate 5, the chassis comprises a front chassis 1 and a rear chassis 2, and the front chassis 1 is movably connected with the rear chassis 2. The chassis of the AGV trolley in the prior art is generally an integrally formed chassis like a conventional trolley chassis, but because the AGV trolley is an unmanned transport tool, the AGV trolley is difficult to avoid when encountering a slope or an uneven road surface in the moving and driving process, and the planar chassis and the wheel sets do not have buffering and adjustment when passing through obstacles, and rollover and other accidents are easy to occur. The support chassis for mounting the wheel axle is thus divided into two movable front and rear parts, between which the support chassis is movably connected, while being movably connected with the support plate 5 for carrying the articles. When the AGV trolley encounters obstacles in the running process, the wheel groups at different positions can be bent at different angles, so that the supporting plate 5 connected with the wheel groups in a rotating mode and articles on the supporting plate 5 can be kept stable, and the stability of the AGV intelligent robot in the transportation process is improved.
A mounting hole is formed in the joint of the front chassis 1 and the rear chassis 2, a pin shaft is arranged in the mounting hole, and the front chassis 1 and the rear chassis 2 are movably connected through the pin shaft; the mounting holes and the pin shaft assemblies are particularly arranged in two groups, and the two groups of mounting holes and the pin shaft assemblies are respectively positioned at two ends of the connecting edge of the front chassis 1 and the rear chassis 2. Because the front chassis 1 and the rear chassis 2 are horizontally arranged and cannot be directly connected, two groups of connecting blocks are respectively arranged at two ends of the connecting edge of the front chassis 1 and the rear chassis 2, mounting holes are formed in the connecting blocks, and the pin shafts penetrate through the mounting holes to rotate and fix the two groups of connecting blocks.
Because the supporting plate 5 is in rotary connection with the chassis, dislocation can be generated between the supporting plate 5 and the chassis during rotation, the stress of the front chassis 1 and the rear chassis 2 is different, and the rotation direction is different, if the same rotary part is arranged between the front chassis 1 and the supporting plate 5, the overall stability of the trolley is easily affected, the front chassis 1 and the supporting plate 5 are movably connected through a connecting rod mechanism 13, and the rear chassis 2 and the supporting plate 5 are connected through a pin shaft; the upper surfaces of the front chassis 1 and the rear chassis 2 are respectively provided with an inserting block, the lower surface of the supporting plate 5 is provided with a clamping block, and the clamping blocks are rotationally connected with the inserting blocks. A connecting block is further arranged between the front chassis 1 and the supporting plate 5, the connecting block is connected with a corresponding inserting block and a corresponding clamping block on the supporting plate 5 through a pin shaft, and the inserting block, the clamping block, the connecting block and the pin shaft form a connecting rod mechanism 13. A support column 11 and a limit spring 12 are further arranged between the front chassis 1 and the support plate 5, and the rotation angle between the front chassis 1 and the support plate 5 is limited by the limit spring 12; the insert block on the rear chassis 2 is rotationally connected with the clamping block on the supporting plate 5 through a pin shaft. The setting of support column 11 and spacing spring 12 can restrict nimble pivoted back chassis 2 and backup pad 5, prevents that rotation angle from being too big between the two, causes the holistic side turning of dolly, has further increased the stability of dolly.
The front chassis 1 is provided with universal wheels 4, the rear chassis 2 is provided with driving wheels 3 and universal wheels 4, the universal wheels 4 on the front chassis 1 are two, the two universal wheels 4 are horizontally arranged on one side of the front chassis 1 away from the rear chassis 2, the rear chassis 2 is provided with two groups of driving wheels 3 and two universal wheels 4, the driving wheels 3 are arranged on one side of the rear chassis 2 close to the front chassis 1, and the universal wheels 4 are positioned on one side of the rear chassis 2 away from the front chassis 1. When the trolley runs to a slope, the universal wheels 4 on the front chassis 1 movably connected with the driving wheels 3 are in contact with the upward slope or are in contact with the downward slope under the influence of gravity, and the universal wheels 4 can also perform contact buffering and gravity center adjustment on the trolley which suddenly changes the gravity when adjusting the direction, so that the safety and stability of articles arranged on the supporting plate 5 are ensured.
Referring to fig. 2 and 3, the bottom housing 7 includes a top plate 71 and a support plate 72 disposed around the top plate 71, the top plate 71 being used for mounting the slewing bearing 6, the support plate 72 being used for connecting with a top conveying plate; since the slewing bearing 6 is connected to the supporting frame, the supporting frame is driven to rotate, the mass of the frame 82 is large, and the radial force applied during rotation is also large, so that the top plate 71 is provided with screw holes, and the screw holes are annularly arranged at positions on the top plate 71 corresponding to the slewing bearing 6. The screw holes are connected with the slewing bearing 6 through the annular arrangement, so that the firmness of connection is increased, the bearing of the radial force at the connection position is increased, and the overall structure of the AGV trolley is more stable. The bottom of the top plate 71 is also provided with supporting ribs for increasing the supporting force of the top plate 71, and the supporting ribs also increase the hardness of the top plate 71, so that the supporting capacity of the top plate 71 is stronger.
The top conveying frame 8 comprises a bottom plate 81 and a frame 82, wherein a partition plate 83 is further arranged in the frame 82, and the partition plate 83 divides the frame 82 into grid grooves in the frame 82; the frame 82 comprises a transverse frame 82 and a vertical frame 82, the transverse frame 82 is vertically connected with the vertical frame 82, the partition 83 comprises a transverse partition 83 arranged on the transverse frame 82 and a vertical partition 83 arranged on the vertical frame 82, and the transverse partition 83 is connected with the vertical partition 83 to form a grid groove; the middle part of the transverse partition plate 83 is also provided with an intermediate partition plate 83, and the intermediate partition plate 83 is vertically arranged to divide the grid grooves. The partition plate 83 is provided with a plurality of, a plurality of check grooves are formed between the side frames 82 by the plurality of partition plates 83, the top conveying frame 8 is used for placing articles to be conveyed, the articles are required to be stored separately during conveying, and the articles can be separated just by the plurality of check grooves, so that the articles can be taken and placed conveniently. The bottom of the frame 82 is also provided with reinforcing ribs, the reinforcing ribs are arranged at the bottom of the bottommost transverse partition 83, and a plurality of reinforcing ribs are arranged. The same reinforcing ribs arranged at the bottom of the transverse partition 83 are used for increasing the supporting capacity of the partition 83, so that the whole structure of the AGV trolley is firmer.
The top conveying frame 8 is also provided with a goods indicating lamp 9, and the goods indicating lamp 9 is used for indicating the storage condition of goods on the frame; the cargo indicator lamp 9 is arranged at the bottom of the transverse partition 83, and indicator lamps are arranged at the bottoms of the transverse partition 83 above each grid groove. The pilot lamp sets up in the top in check groove, still is provided with the sensor of being connected with the pilot lamp in the check groove, and when the sensor response had not had article in the check groove, the pilot lamp appeared green, and when the sensor was sensed when having had article in the check groove memory, the pilot lamp appeared red. Therefore, whether articles exist in each grid groove or not can be visually seen without approaching the frame 82, articles in the grid grooves are visually tidied by using the indicator lamp, and a great deal of tidying time and energy are saved.
While the preferred embodiment of the present application has been described in detail, the present application is not limited to the embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present application, and the equivalent modifications or substitutions are included in the scope of the present application as defined in the appended claims.
Claims (5)
1. An integral interior AGV intelligent handling robot that turns, its characterized in that: the device comprises a chassis and a frame, wherein the frame comprises a bottom shell and a top conveying frame arranged on the bottom shell, and the bottom shell is fixedly connected with the top conveying frame; the chassis is arranged in the bottom shell, a wheel shaft for driving the frame to move and a slewing bearing for driving the frame to rotate are arranged on the chassis, and the frame is in rotary connection with the chassis through the slewing bearing;
the chassis is also provided with a supporting plate for bearing articles, the slewing bearing is arranged on the supporting plate, the chassis is movably connected with the supporting plate, the chassis comprises a front chassis and a rear chassis, and the front chassis is movably connected with the rear chassis;
the joint of the front chassis and the rear chassis is provided with a mounting hole, a pin shaft is arranged in the mounting hole, and the front chassis and the rear chassis are movably connected through the pin shaft; the mounting holes and the pin shaft assemblies are arranged in two groups, and the two groups of mounting holes and the pin shaft assemblies are respectively positioned at two ends of the connecting edges of the front chassis and the rear chassis;
The front chassis is movably connected with the supporting plate through a connecting rod mechanism, and the rear chassis is connected with the supporting plate through a pin shaft; the upper surfaces of the front chassis and the rear chassis are respectively provided with an inserting block, the lower surface of the supporting plate is provided with a clamping block, and the clamping blocks are rotationally connected with the inserting blocks;
the top conveying frame comprises a bottom plate and a frame, wherein a partition plate is further arranged in the frame and divides the frame into grid grooves in the frame; the frame comprises a transverse frame and a vertical frame, the transverse frame is vertically connected with the vertical frame, the partition board comprises a transverse partition board arranged on the transverse frame and a vertical partition board arranged on the vertical frame, and the transverse partition board is connected with the vertical partition board to form a grid groove; the middle part of the transverse partition plate is also provided with an intermediate partition plate, and the intermediate partition plate is vertically arranged to divide the grid grooves;
The plurality of the partition boards are arranged, and a plurality of grid grooves are formed between the frames by the plurality of partition boards; the bottom of frame still is provided with the strengthening rib, the strengthening rib sets up in the horizontal baffle bottom of bottommost, the strengthening rib is equipped with many.
2. The integrated internal swivel AGV intelligent transfer robot of claim 1, wherein: a connecting block is further arranged between the front chassis and the supporting plate, the connecting block is connected with a corresponding inserting block and a corresponding clamping block on the supporting plate through a pin shaft, and the inserting block, the clamping block, the connecting block and the pin shaft form a connecting rod mechanism; a support column and a limiting spring are further arranged between the front chassis and the support plate, and the rotation angle between the front chassis and the support plate is limited by the limiting spring; the insert block on the rear chassis is rotationally connected with the clamping block on the supporting plate through a pin shaft.
3. The integrated internal swivel AGV intelligent transfer robot of claim 1, wherein: the front chassis is provided with universal wheels, the rear chassis is provided with driving wheels and universal wheels, the front chassis is provided with two universal wheels, the two universal wheels are horizontally arranged on one side of the front chassis away from the rear chassis, the rear chassis is provided with two groups of driving wheels and two universal wheels, the driving wheels are arranged on one side of the rear chassis close to the front chassis, and the universal wheels are positioned on one side of the rear chassis away from the front chassis.
4. The integrated internal swivel AGV intelligent transfer robot of claim 1, wherein: the bottom shell comprises a top plate and support plates arranged around the top plate, the top plate is used for installing a slewing bearing, and the support plates are used for connecting a top conveying plate; the top plate is provided with screw holes, the screw holes are arranged in an annular shape at positions on the top plate corresponding to the slewing bearings, and the bottom of the top plate is also provided with supporting ribs for increasing the supporting force of the top plate.
5. The integrated internal swivel AGV intelligent transfer robot of claim 1, wherein: the top conveying frame is also provided with a goods indicating lamp which is used for indicating the storage condition of goods on the frame; the cargo indicator lamp is arranged at the bottom of the transverse partition plate, and indicator lamps are arranged at the bottoms of the transverse partition plates above each grid groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011458113.8A CN112478556B (en) | 2020-12-10 | 2020-12-10 | Integral internal rotation AGV intelligent transfer robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011458113.8A CN112478556B (en) | 2020-12-10 | 2020-12-10 | Integral internal rotation AGV intelligent transfer robot |
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| Publication Number | Publication Date |
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| CN112478556A CN112478556A (en) | 2021-03-12 |
| CN112478556B true CN112478556B (en) | 2024-08-20 |
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| CN202011458113.8A Active CN112478556B (en) | 2020-12-10 | 2020-12-10 | Integral internal rotation AGV intelligent transfer robot |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN214058774U (en) * | 2020-12-10 | 2021-08-27 | 深圳奥唐智能科技有限公司 | Integral inner rotating body AGV intelligent transfer robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2983630A1 (en) * | 2015-04-27 | 2016-11-03 | Scott GRAVELLE | Storage and retrieval system |
| CA3086277A1 (en) * | 2018-01-09 | 2019-07-18 | Autostore Technology AS | A displacement mechanism for a remotely operated vehicle |
| CN209833774U (en) * | 2019-05-05 | 2019-12-24 | 浙江迈睿机器人有限公司 | Hinged chassis for warehousing transfer robot |
| CN110092130B (en) * | 2019-06-17 | 2021-06-29 | 珠海格力智能装备有限公司 | Transport vehicle |
| CN111716359B (en) * | 2020-06-30 | 2021-09-28 | 福州大学 | Composite navigation type differential storage robot and working method thereof |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN214058774U (en) * | 2020-12-10 | 2021-08-27 | 深圳奥唐智能科技有限公司 | Integral inner rotating body AGV intelligent transfer robot |
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