Automatic guide transport vehicle

Abstract

The utility model relates to the technical field of vehicle production equipment, in particular to an automatic guide transport vehicle, and aims to solve the problems that an existing automatic guide transport vehicle is single in function and cannot execute various transport tasks, so that the equipment utilization rate is low. In order to achieve the purpose, the automatic guide transport vehicle comprises a chassis, the walking module is mounted at the bottom of the chassis and can drive the chassis to move; the jacking module comprises a lifting device and a tray, the lifting device is installed at the top of the chassis, and the tray is installed at the top of the lifting device so as to jack the material vehicle; and the traction module is installed at the top of the chassis and comprises a connecting component, and the connecting component can be connected with the material vehicle in a hooked mode so as to achieve traction of the automatic guide transport vehicle to the material vehicle. Through the arrangement, the automatic guide transport vehicle can be used for pulling the material vehicle and jacking the material vehicle, so that multiple purposes of one vehicle are realized, and the utilization rate of equipment is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of vehicle production equipment, and specifically provides an automatic guided transport vehicle. Background Art

[0002] AGV is the abbreviation of Automated Guided Vehicle, which refers to an automatic guided vehicle with electromagnetic or optical automatic guidance devices. It can travel along a prescribed guide path, realize the function of automatic and safe transfer, effectively replace manpower, greatly improve work efficiency, and has been widely used in the field of automobile production.

[0003] In the process of material transportation, according to the difference of the transported materials, AGV can be roughly divided into two types according to the division of tasks: traction AGV and lifting AGV. Due to the variety of materials in the workshop, two different types of AGVs need to be configured in the workshop at the same time to perform the corresponding transportation tasks.

[0004] However, existing automated guided vehicles have a single function and are unable to perform a variety of transportation tasks, resulting in low equipment utilization and being unfavorable for cost control.

[0005] Therefore, this field needs a new technical solution to solve the above problems. Utility Model Content

[0006] The utility model aims to solve the above technical problem, that is, to solve the problem that the existing automatic guided transport vehicle has a single function and cannot perform a variety of transport tasks, resulting in low equipment utilization.

[0007] The utility model provides an automatic guided transport vehicle, which comprises: a chassis; a walking module, which is installed at the bottom of the chassis and can drive the chassis to move; a lifting module, which comprises a lifting device and a tray, the lifting device is installed at the top of the chassis, and the tray is installed at the top of the lifting device to lift a material vehicle; and a traction module, which is installed at the top of the chassis and comprises a connecting component, and the connecting component can be hooked with the material vehicle to realize the traction of the material vehicle by the automatic guided transport vehicle.

[0008] In the preferred technical solution of the above-mentioned automatic guided transport vehicle, the automatic guided transport vehicle also includes a rotating device, which is installed on the top of the jacking module, and the tray is installed on the rotating device and can rotate under the drive of the rotating device.

[0009] In the preferred technical solution of the above-mentioned automatic guided transport vehicle, the walking module includes a driving device, a driving wheel group and a plurality of universal wheels, the driving device is drivingly connected to the driving wheel group, and the plurality of universal wheels are distributed along the edge of the chassis.

[0010] In the preferred technical solution of the above-mentioned automatic guided transport vehicle, the driving device includes a first driving motor and a second driving motor, the driving wheel group includes a first driving wheel and a second driving wheel arranged opposite to each other along the width direction of the chassis, the first driving motor is drivingly connected to the first driving wheel, and the second driving motor is drivingly connected to the second driving wheel.

[0011] In the preferred technical solution of the above-mentioned automatic guided transport vehicle, the rotating device includes a third drive motor, a driving gear and a driven gear, the third drive motor is installed on the top of the jacking module, the driving gear and the driven gear are both pivotally connected to the top of the jacking module, the third drive motor is drivingly connected to the driving gear, the driving gear is meshingly transmitted with the driven gear, and the pallet is fixed on the top of the driven gear.

[0012] In the preferred technical solution of the above-mentioned automatic guided transport vehicle, the lifting device includes a fourth drive motor, a crank-connecting rod mechanism and a sliding connecting rod mechanism that are driven and connected in sequence, the tray is fixed on the top of the sliding connecting rod mechanism, and the fourth drive motor drives the sliding connecting rod mechanism to perform telescopic movement in the vertical direction through the crank-connecting rod mechanism.

[0013] In the preferred technical solution of the above-mentioned automatic guided transport vehicle, the traction modules are provided in two sets, and the two sets of traction modules are arranged at intervals along the length direction of the chassis.

[0014] In the preferred technical solution of the above-mentioned automatic guided transport vehicle, the traction module also includes a fixed seat and a fifth drive motor and a rotating member installed on the fixed seat, the fixed seat is installed on the top of the chassis, the connecting member is configured as a traction pin and is slidably connected to the fixed seat in a vertical direction, the output shaft of the fifth drive motor is fixedly connected to the rotation center of the rotating member, and the edge of the rotating member is slidably connected to the traction pin to drive the traction pin to move in the vertical direction.

[0015] In the preferred technical solution of the above-mentioned automatic guided transport vehicle, the traction module also includes a position sensor installed on the fixed seat to detect the position height of the traction pin.

[0016] In the preferred technical solution of the above-mentioned automatic guided transport vehicle, the automatic guided transport vehicle further includes a navigation device installed at the bottom of the chassis and / or an information recognition device installed on the jacking module.

[0017] In the case of adopting the above technical solution, the automatic guided transport vehicle of the utility model includes: a chassis; a walking module, which is installed at the bottom of the chassis and can drive the chassis to move; a lifting module, which includes a lifting device and a pallet, the lifting device is installed at the top of the chassis, and the pallet is installed on the top of the lifting device to lift the material vehicle; a traction module, which is installed at the top of the chassis and includes a connecting member, which can be hooked with the material vehicle to achieve the traction of the material vehicle by the automatic guided transport vehicle. Through such a setting, the automatic guided transport vehicle has the traction and lifting functions of the material vehicle at the same time, and can be flexibly switched according to different handling tasks, realizing multiple uses of one vehicle and improving the handling efficiency, thereby reducing the number of automatic guided transport vehicles and reducing the operating costs.

[0018] Furthermore, the automatic guided transport vehicle of the utility model also includes a rotating device, which is installed on the top of the lifting module, and the pallet is installed on the rotating device and can rotate under the drive of the rotating device. Through such a setting, on the one hand, the automatic guided transport vehicle has the functions of lifting and rotating the material vehicle at the same time, and can independently rotate the material vehicle lifted by the pallet to adjust the angle and direction of the material vehicle on the automatic guided transport vehicle, so that it can change its direction without going through the walking module; on the other hand, through the cooperation of the rotating device and the walking module, the material vehicle will not rotate synchronously with the automatic guided transport vehicle during the handling process, and can always maintain a fixed direction.

[0019] Furthermore, the walking module of the utility model includes a driving device, a driving wheel set and a plurality of universal wheels, wherein the driving device is drivingly connected to the driving wheel set, and the plurality of universal wheels are distributed along the edge of the chassis. Through such an arrangement, the driving device and the driving wheel set are used to provide the automatic guided transport vehicle with power for walking and steering; the plurality of universal wheels can provide support force for the automatic guided transport vehicle, thereby ensuring the carrying capacity and driving stability of the automatic guided transport vehicle.

[0020] Furthermore, the driving device of the utility model includes a first driving motor and a second driving motor, the driving wheel group includes a first driving wheel and a second driving wheel arranged opposite to each other along the width direction of the chassis, the first driving motor is drivingly connected to the first driving wheel, and the second driving motor is drivingly connected to the second driving wheel. Through such an arrangement, that is, by independently controlling and driving the first driving wheel and the second driving wheel, a wheel speed difference is generated between the first driving wheel and the second driving wheel, thereby realizing the functions of the automatic guided transport vehicle such as straight travel, turning, backward movement and rotation.

[0021] Furthermore, the rotating device of the utility model includes a third driving motor, a driving gear and a driven gear, the third driving motor is installed on the top of the jacking module, the driving gear and the driven gear are both pivotally connected to the top of the jacking module, the third driving motor is drivingly connected to the driving gear, the driving gear and the driven gear are meshed and transmitted, and the tray is fixed on the top of the driven gear. Through such an arrangement, the rotating device has a simple structure and reliable operation, which helps to control production costs while ensuring the transmission efficiency of power.

[0022] Furthermore, the lifting device of the utility model includes a fourth drive motor, a crank connecting rod mechanism and a sliding connecting rod mechanism that are sequentially driven and connected, the tray is fixed on the top of the sliding connecting rod mechanism, and the fourth drive motor drives the sliding connecting rod mechanism to perform telescopic movement in the vertical direction through the crank connecting rod mechanism. Through such an arrangement, the crank connecting rod mechanism can be used to convert the rotational motion of the fourth drive motor into linear motion, thereby driving the sliding connecting rod to rise and fall. At the same time, the force transmission of the sliding connecting rod mechanism is balanced, ensuring the bearing capacity and stability of the jacking module, so that the lifting device has a simple structure and reliable operation.

[0023] Furthermore, the utility model has two sets of traction modules, which are arranged at intervals along the length direction of the chassis. With such an arrangement, the material vehicle can be fixed on the automatic guided transport vehicle through the front and rear points, which limits the relative rotation between the material vehicle and the automatic guided transport vehicle, improves the stability during the traction process, and at the same time, compared with the traction method of using a single-point pivot fixation at the end of the vehicle body, avoids the difference in turning radius between the automatic guided transport vehicle and the material vehicle, helps to reduce the overall turning radius of the two, and saves traction space.

[0024] Furthermore, the traction module of the utility model also includes a fixed seat and a fifth drive motor and a rotating member installed on the fixed seat, the fixed seat is installed on the top of the chassis, the connecting member is set as a traction pin and is slidably connected to the fixed seat in the vertical direction, the output shaft of the fifth drive motor is fixedly connected to the rotation center of the rotating member, and the edge of the rotating member is slidably connected to the traction pin to drive the traction pin to move in the vertical direction. Through such a setting, on the one hand, the traction pin has a simple structure, is strong and durable, and is quick to connect; on the other hand, the height adjustment of the traction pin is realized to connect material vehicles of different heights, thereby improving the compatibility of the automatic guided transport vehicle.

[0025] Furthermore, the traction module of the utility model also includes a position sensor installed on the fixing seat to detect the position height of the traction pin. Through such an arrangement, the controller can obtain the position height of the traction pin in real time, so as to control the height of the traction pin as needed.

[0026] Furthermore, the automatic guided transport vehicle of the utility model also includes a navigation device installed at the bottom of the chassis and / or an information identification device installed on the lifting module. Through such a setting, on the one hand, the automatic driving, searching and positioning of the automatic guided transport vehicle can be realized; on the other hand, the information of the material vehicle can be accurately identified to improve the handling efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings, in which:

[0028] Figure 1 This is a schematic diagram of the structure of the automatic guided transport vehicle of the utility model. Figure 1 ;

[0029] Figure 2 This is a schematic diagram of the structure of the automatic guided transport vehicle of the utility model. Figure 2 ;

[0030] Figure 3 This is a schematic diagram of the structure of the automatic guided transport vehicle of the utility model. Figure 3 ;

[0031] Figure 4 This is a schematic diagram of the assembly of the lifting module and the rotating device of the utility model. Figure 1 ;

[0032] Figure 5 This is a schematic diagram of the assembly of the lifting module and the rotating device of the utility model. Figure 2 ;

[0033] Figure 6 It is a structural schematic diagram of the traction module of the utility model.

[0034] List of reference numerals:

[0035] 1. chassis; 21. first drive wheel; 22. second drive wheel; 23. universal wheel; 31. tray; 32. crank-connecting rod mechanism; 33. sliding connecting rod mechanism; 34. fourth drive motor; 41. traction pin; 42. fixed seat; 43. rotating member; 44. limiting sleeve; 45. fifth drive motor; 46. position sensor; 51. driving gear; 52. driven gear; 53. third drive motor; 6. navigation device; 7. information recognition device. DETAILED DESCRIPTION

[0036] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0037] It should be noted that in the description of the present invention, the terms "inside", "outside", "upper", "lower", "top", "bottom" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", "fourth", and "fifth" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0038] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "connect", and "install" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] Based on the problem pointed out in the background technology, the existing automatic guided transport vehicles have a single function and cannot perform multiple transport tasks, resulting in low equipment utilization. The utility model provides an automatic guided transport vehicle, which is equipped with a lifting module, a traction module and a rotating device at the same time on the automatic guided transport vehicle, so that the automatic guided transport vehicle can both tow and lift the material vehicle, and can also use the rotating device to independently adjust the direction of the material vehicle, so that the material vehicle can always maintain a fixed direction during the transportation process to meet specific transportation requirements, thereby realizing multiple uses of one vehicle and improving transportation efficiency and equipment utilization.

[0040] Specifically, Figures 1 to 3 As shown, the automatic guided transport vehicle of the utility model includes: a chassis 1; a walking module, which is installed at the bottom of the chassis 1 and can drive the chassis 1 to move; a lifting module, which includes a lifting device and a tray 31, and the lifting device is installed on the top of the chassis 1, and the tray 31 is installed on the top of the lifting device to lift the material vehicle; a traction module, which is installed on the top of the chassis 1 and includes a connecting member, and the connecting member can be hooked with the material vehicle to realize the traction of the material vehicle by the automatic guided transport vehicle.

[0041] For example, in a production workshop, there are usually multiple automatic guided vehicles with different functions, such as traction vehicles and lifting vehicles. When materials need to be transported in large quantities, the materials need to be loaded on multiple non-powered material vehicles, and then the traction vehicles are connected to the material vehicles and towed to the predetermined location. The traction vehicle can tow one or more material vehicles at a time. When towing multiple material vehicles, they are usually connected in series, and the traction vehicle is connected to the front material vehicle to complete the towing of multiple material vehicles; when a single material vehicle needs to be transferred, the lifting vehicle can be used to lift the material vehicle directly from below and then transport it to the predetermined location. Under the control of the control system, the two automatic guided vehicles have clear division of labor and do not interfere with each other. However, such a configuration results in the automatic guided vehicles having a single function and a large number, which makes the utilization rate of the transport vehicles low and is not conducive to cost control.

[0042] Based on this, the automatic guided transport vehicle of the utility model integrates a lifting module and a traction module. Specifically, the chassis 1 contacts the ground through the walking module and realizes the walking function. The walking module is installed at the bottom of the chassis 1. It can adopt a roller structure or a slide rail structure, etc. Under the control of the control module, the automatic guided transport vehicle can perform the material vehicle transfer task along the set route.

[0043] The top of the chassis 1 is used to install various functional modules, among which the jacking module is installed in the middle of the chassis 1. On the one hand, it is convenient for the overall structural layout; on the other hand, it is convenient for the control of the center of gravity of the whole vehicle to ensure the stability of the transport vehicle during the jacking and handling process. Specifically, the tray 31 of the jacking module is used to support the bottom of the material or the material vehicle. The lifting device can drive the tray 31 to rise and fall to complete the jacking of the material or the material vehicle. The lifting device can be in the form of a drive motor plus a threaded screw mechanism, or in the form of a drive motor plus a sliding connecting rod, or in the form of a hydraulic cylinder, etc.

[0044] The connecting component of the traction module can be set as a traction pin 41 or a traction hook, etc., and the connection between the automatic guided transport vehicle and the material vehicle is completed by fixing the connecting component to the corresponding component on the material vehicle, so as to realize the traction of the material vehicle by the transport vehicle. It should be noted that in actual applications, technical personnel in this field can flexibly set the number and position of the connecting components as needed. For example, a connecting component can be set at the front or rear of the vehicle, or a connecting component can be set at the front and rear of the vehicle, or more, as long as it can improve the traction capacity and stability of the transport vehicle. Such flexible adjustment and change does not deviate from the principle and scope of the utility model, and should be limited within the protection scope of the utility model.

[0045] As a result, the automated guided transport vehicle has the functions of towing and lifting the material vehicle at the same time, and can be flexibly switched according to different handling tasks, realizing multiple uses of one vehicle, improving handling efficiency, thereby reducing the number of automated guided transport vehicles and reducing operating costs.

[0046] Preferably, if Figure 1 , Figure 4 and Figure 5 As shown, the automatic guided transport vehicle of the present invention further comprises a rotating device, which is mounted on the top of the lifting module, and the tray 31 is mounted on the rotating device and can rotate under the drive of the rotating device.

[0047] By independently controlling the rotating device through the control module, the automatic guided transport vehicle has the functions of lifting and rotating the material cart at the same time. It can independently rotate the material cart lifted by the pallet 31 to adjust the angle and direction of the material cart on the automatic guided transport vehicle, and its direction change can be completed without the need for a walking module.

[0048] At the same time, through the cooperation of the rotating device and the walking module, the material cart can maintain a fixed orientation as the direction of the automatic guided transport vehicle changes during the handling process. This requires that under the unified control of the control module, the rotating device and the automatic guided transport vehicle always rotate in opposite directions at the same speed to adapt to the requirements for the orientation of the material cart under specific working conditions.

[0049] Preferably, if Figures 1 to 3 As shown, the walking module of the present invention includes a driving device, a driving wheel set and a plurality of universal wheels 23 , the driving device is drivingly connected to the driving wheel set, and the plurality of universal wheels 23 are distributed along the edge of the chassis 1 .

[0050] Exemplarily, the driving wheel group and the universal wheel 23 are both in contact with the bottom surface, and the driving device and the driving wheel group provide the automatic guided transport vehicle with power for walking and turning; the number of universal wheels 23 is preferably set to four, which are respectively installed at the four corners of the chassis 1, which can provide support for the automatic guided transport vehicle, ensure the carrying capacity and driving stability of the automatic guided transport vehicle, and can change direction with the driving wheel group.

[0051] Preferably, if Figures 1 to 3 As shown, the driving device of the utility model includes a first driving motor (not shown in the figure) and a second driving motor (not shown in the figure), and the driving wheel group includes a first driving wheel 21 and a second driving wheel 22 which are arranged opposite to each other along the width direction of the chassis 1, the first driving motor is drivingly connected to the first driving wheel 21, and the second driving motor is drivingly connected to the second driving wheel 22.

[0052] Specifically, the first drive motor and the second drive motor are both electrically connected to the control module and can operate independently under the control of the control module. By independently controlling and driving the first drive wheel 21 and the second drive wheel 22, a wheel speed difference can be generated between the first drive wheel 21 and the second drive wheel 22. When the rotation directions and rotation speeds of the drive wheels on both sides are the same, the transport vehicle travels in a straight line. When the directions of the drive wheels on both sides are the same and the rotation speed of the right drive wheel is greater than that of the left, the transport vehicle turns to the left, and vice versa. When the directions of the drive wheels on both sides are opposite and the rotation speeds are equal, the transport vehicle rotates in place. Therefore, the functions of straight travel, backward movement, turning and rotation of the automatic guided transport vehicle are realized by controlling the speed difference and rotation direction between the first drive motor and the second drive motor.

[0053] Preferably, if Figure 1 , Figure 4 and Figure 5 As shown, the rotating device of the utility model includes a third driving motor 53, a driving gear 51 and a driven gear 52. The third driving motor 53 is installed on the top of the jacking module. The driving gear 51 and the driven gear 52 are both pivotally connected to the top of the jacking module. The third driving motor 53 is drivingly connected to the driving gear 51, and the driving gear 51 is meshed with the driven gear 52 for transmission. The tray 31 is fixed on the top of the driven gear 52.

[0054] Among them, the diameter of the driving gear 51 is smaller than the diameter of the driven gear 52, so as to achieve the effect of reducing speed and increasing torque, so that the torque applied to the material cart by the driven gear 52 is greater, thereby being able to easily turn the heavy material cart. Preferably, the diameter of the driving gear 51 is six times the diameter of the driven gear 52, so that the requirements of torque and speed can be taken into account at the same time. In addition, the driving form of the drive motor and the gear set has a simple structure and reliable operation, which not only ensures the power transmission efficiency but also helps to control production costs.

[0055] Preferably, if Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the lifting device of the utility model includes a fourth drive motor 34, a crank-connecting rod mechanism 32 and a sliding connecting rod mechanism 33 which are sequentially driven and connected. The tray 31 is fixed on the top of the sliding connecting rod mechanism 33. The fourth drive motor 34 drives the sliding connecting rod mechanism 33 to perform telescopic movement in the vertical direction through the crank-connecting rod mechanism 32.

[0056] Specifically, the crank-connecting rod mechanism 32 includes a crankshaft and a crank. The output end of the fourth drive motor 34 is fixedly connected to the crankshaft to drive the crankshaft and the crank to rotate synchronously. The other end of the crank is pivotally connected to the bottom of the sliding connecting rod mechanism 33. When the crank rotates, it drives the bottom of the sliding connecting rod mechanism 33 to slide in the horizontal direction, so that each connecting rod in the sliding connecting rod mechanism 33 rotates from a horizontal position to a vertical position, thereby realizing the extension and retraction of the sliding connecting rod mechanism 33 in the vertical direction and driving the tray 31 to rise and fall.

[0057] Therefore, the crank-connecting rod mechanism 32 can be used to convert the rotational motion of the fourth drive motor 34 into linear motion, so as to push the sliding connecting rod mechanism 33 to slide, thereby driving the sliding connecting rod to rise and fall. At the same time, the force transmission of the sliding connecting rod mechanism 33 is balanced, ensuring the bearing capacity and stability of the jacking module, making the lifting device simple in structure and reliable in operation.

[0058] Preferably, if Figure 1 and Figure 2 As shown, the traction modules of the present invention are arranged in two sets, and the two sets of traction modules are arranged at intervals along the length direction of the chassis 1.

[0059] Exemplarily, two sets of traction modules are respectively arranged at the front and rear of the vehicle. When towing the material cart, the material cart can be fixed on the automatic guided transport vehicle through the front and rear points, which limits the relative rotation between the material cart and the automatic guided transport vehicle and improves the stability during the traction process. At the same time, compared with the traction method of using a single-point pivot fixation at the end of the vehicle body, it avoids the turning radius difference between the automatic guided transport vehicle and the material cart, helps to reduce the overall turning radius of the two and saves traction space.

[0060] Preferably, if Figure 1 , Figure 2 and Figure 6 As shown, the traction module of the utility model also includes a fixed seat 42 and a fifth drive motor 45 and a rotating member 43 installed on the fixed seat 42. The fixed seat 42 is installed on the top of the chassis 1. The connecting member is configured as a traction pin 41 and is slidably connected to the fixed seat 42 in the vertical direction. The output shaft of the fifth drive motor 45 is fixedly connected to the rotation center of the rotating member 43, and the edge of the rotating member 43 is slidably connected to the traction pin 41 to drive the traction pin 41 to move in the vertical direction.

[0061] Specifically, the fixed seat 42 is installed on the top of the chassis 1 and is set as a frame structure with a cavity formed inside. The traction pin 41 is penetrated through the top plate of the fixed seat 42 in the vertical direction and can slide up and down relative to the top plate. A limiting sleeve 44 is also provided on the top plate and is sleeved on the traction pin 41 to limit the movement of the traction pin 41 in the vertical direction to ensure the position accuracy of the traction pin 41. The fifth drive motor 45 is installed on the outer side of the side plate of the fixed seat 42. The rotating member 43 is driven and connected to the fifth drive motor 45. The edge of the rotating member 43 has a slider, which is slidably connected to the traction pin 41. When the rotating member 43 and the slider rotate synchronously under the action of the fifth drive motor 45, the traction pin 41 is driven to move in the vertical direction to achieve height adjustment of the traction pin 41.

[0062] Through such a setting, on the one hand, the traction pin 41 has a simple structure, is sturdy and durable, and is easy and quick to connect to the material vehicle; on the other hand, the height adjustment of the traction pin 41 is achieved to connect to material vehicles of different heights, thereby improving the compatibility of the automatic guided transport vehicle.

[0063] Preferably, if Figure 6 As shown, the traction module of the present invention further includes a position sensor 46 mounted on the fixing seat 42 to detect the position height of the traction pin 41 .

[0064] Exemplarily, two position sensors 46 are provided, which are spaced apart in the vertical direction on the fixed seat 42. When the traction pin 41 reaches the upper dead center, the upper position sensor 46 is triggered. When the traction pin 41 reaches the lower dead center, the lower position sensor 46 is triggered and the signal is synchronously transmitted to the control module, so that the control module can obtain the position height of the traction pin 41 in real time, which is convenient for adjusting the height of the traction pin 41.

[0065] It should be noted that, in actual applications, those skilled in the art can flexibly set the position sensor 46 to an electromagnetic induction sensor, an infrared sensor or a laser sensor, etc., as long as it is able to detect the height of the traction pin 41. Such flexible adjustment and change does not deviate from the principle and scope of the present utility model and should be limited within the protection scope of the present utility model.

[0066] Preferably, if Figures 1 to 5 As shown, the automatic guided transport vehicle of the present invention further includes a navigation device 6 installed at the bottom of the chassis 1 and / or an information identification device 7 installed on the lifting module.

[0067] Exemplarily, the navigation device 6 can be set to at least one of the forms of ribbon navigation, QR code navigation and electromagnetic navigation. The ribbon, magnetic strip or QR code is pre-laid on the set route, and the route is identified by high-definition cameras, electromagnetic sensors or scanners on the automatic guided transport vehicle, so as to realize automatic driving, searching and positioning of the automatic guided transport vehicle.

[0068] The information identification device 7 is configured as a barcode scanner, which can identify the two-dimensional code at the bottom of the material vehicle, thereby obtaining the information corresponding to the material vehicle and improving the handling efficiency and accuracy.

[0069] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. An automated guided transport vehicle, characterized in that: The automatic guided transport vehicle comprises: Chassis; A walking module, which is installed at the bottom of the chassis and can drive the chassis to move; A lifting module, the lifting module comprising a lifting device and a tray, the lifting device is installed on the top of the chassis, and the tray is installed on the top of the lifting device to lift the material vehicle; A traction module is installed on the top of the chassis and includes a connecting component. The connecting component can be hooked with the material vehicle to enable the automatic guided transport vehicle to tow the material vehicle.

2. The automated guided vehicle according to claim 1, characterized in that: The automatic guided transport vehicle further comprises a rotating device, which is mounted on the top of the lifting module. The tray is mounted on the rotating device and can rotate under the drive of the rotating device.

3. The automated guided vehicle according to claim 1, characterized in that: The walking module comprises a driving device, a driving wheel group and a plurality of universal wheels. The driving device is drivingly connected to the driving wheel group, and the plurality of universal wheels are distributed along the edge of the chassis.

4. The automated guided vehicle according to claim 3, characterized in that: The driving device includes a first driving motor and a second driving motor, the driving wheel group includes a first driving wheel and a second driving wheel arranged opposite to each other along the width direction of the chassis, the first driving motor is drivingly connected to the first driving wheel, and the second driving motor is drivingly connected to the second driving wheel.

5. The automated guided vehicle according to claim 2, characterized in that: The rotating device includes a third driving motor, a driving gear and a driven gear. The third driving motor is installed on the top of the jacking module. The driving gear and the driven gear are both pivotally connected to the top of the jacking module. The third driving motor is drivingly connected to the driving gear. The driving gear is meshed with the driven gear for transmission, and the tray is fixed on the top of the driven gear.

6. The automated guided vehicle according to any one of claims 1 to 5, characterized in that: The lifting device includes a fourth drive motor, a crank connecting rod mechanism and a sliding connecting rod mechanism which are sequentially driven and connected, the tray is fixed on the top of the sliding connecting rod mechanism, and the fourth drive motor drives the sliding connecting rod mechanism to perform telescopic movement in the vertical direction through the crank connecting rod mechanism.

7. The automated guided vehicle according to claim 1, characterized in that: The traction modules are provided in two sets, and the two sets of traction modules are arranged at intervals along the length direction of the chassis.

8. The automated guided vehicle according to claim 1 or 7, characterized in that: The traction module also includes a fixed seat and a fifth drive motor and a rotating member installed on the fixed seat. The fixed seat is installed on the top of the chassis. The connecting member is configured as a traction pin and is slidably connected to the fixed seat in a vertical direction. The output shaft of the fifth drive motor is fixedly connected to the rotation center of the rotating member. The edge of the rotating member is slidably connected to the traction pin to drive the traction pin to move in the vertical direction.

9. The automated guided vehicle according to claim 8, characterized in that: The traction module further includes a position sensor mounted on the fixing seat to detect the position height of the traction pin.

10. The automated guided vehicle according to any one of claims 1 to 5, characterized in that: The automatic guided transport vehicle further comprises a navigation device installed at the bottom of the chassis and / or an information identification device installed on the lifting module.

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