Three-dimensional walking AGV

Abstract

The application discloses a three-dimensional walking AGV trolley and particularly relates to the technical field of AGV trolleys, and comprises a trolley frame, a walking mechanism is fixedly installed at the bottom end of the trolley frame, a positioning mechanism is fixedly installed at the top middle portion of the trolley frame, and a card adjusting assembly is arranged at the end portion of the positioning mechanism. The application is characterized in that the positioning mechanism is arranged in cooperation with universal wheels and the card adjusting assembly, four outer expansion frames and end columns are synchronously and reversely rotated, the four outer expansion frames are synchronously expanded or synchronously retracted, the two slide seats can always keep a horizontal state with the positioning surface on the moving frame, the positioning of different wide moving frames is facilitated, the four universal wheels are synchronously and reversely moved, the span between the four universal wheels is adjusted, the four universal wheels are located below the side portions of the moving frame after the positioning of different wide moving frames is adapted, the side portions below the different wide moving frames are supported through the connecting effect of the outer expansion frames, and the stability of the subsequent movement of the moving frame is improved.

Description

Technical Field

[0001] This invention relates to the field of AGV (Automated Guided Vehicle) technology, specifically to a three-dimensional walking AGV. Background Technology

[0002] An AGV (Automated Guided Vehicle) is a transport vehicle equipped with electromagnetic or optical automatic navigation devices, enabling it to travel along a predetermined navigation path. It features safety protection and various transfer functions. In industrial applications, it is a driverless transport vehicle powered by rechargeable batteries. Its movement and behavior are typically controlled by a computer, or its path can be established using electromagnetic tracks attached to the floor. The AGV moves and operates based on the signals transmitted by these tracks. It boasts a high degree of automation, controlled by computers, control equipment, magnetic sensors, laser reflectors, etc.; automatic charging; convenience; and reduced floor space.

[0003] Existing AGVs can move in three dimensions, including forward, backward, left, right, and rotation. However, when using AGVs to move and transport goods, they need to be used in conjunction with an external mobile frame. Traditionally, the AGV moves under the mobile frame, and then the positioning structure and the mobile frame are raised for positioning. The AGV moves to control the movement of the mobile frame, thus transporting the goods. However, because the width of mobile frames varies, when using AGVs of the same width for positioning, there will be blank areas on both sides of the bottom of the mobile frame. This makes it difficult to effectively and stably control the movement of the mobile frame when the AGV moves, requiring the replacement with a larger AGV, which is cumbersome and has limited applicability. Therefore, we propose a three-dimensional walking AGV to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a three-dimensional walking AGV (Automated Guided Vehicle) to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a three-dimensional walking AGV trolley, including a frame, a walking mechanism fixedly installed at the bottom of the frame, a positioning mechanism fixedly installed at the top center of the frame, a card adjustment component at the end of the positioning mechanism, a universal wheel at the bottom of the side of the positioning mechanism near the card adjustment component, and a support platform fixedly installed at the top of the positioning mechanism.

[0006] Preferably, the positioning mechanism includes a positioning base frame, which is fixedly installed at the top center of the vehicle frame. A positioning top frame is fixedly installed at the top of the positioning base frame. Rotating shafts are rotatably secured at the four corners of the positioning base frame and the positioning top frame via bearings. An outer expansion frame is fixedly fitted on the top of each rotating shaft. An end post is rotatably secured on the side of the outer expansion frame away from the rotating shaft. A first sprocket is coaxially and movably fitted on the bottom outer side of each rotating shaft. The first sprocket is fixedly installed at the top of the positioning base frame. A second sprocket that cooperates with the first sprocket is fixedly fitted on the outer side of each end post. A transmission chain is meshed with the outer sides of the first sprocket and the second sprocket.

[0007] Preferably, the bottom of each rotating shaft extends into the frame, and a transmission gear is fixedly fitted onto the bottom of each rotating shaft, with adjacent transmission gears meshing together.

[0008] Preferably, a first motor is fixedly installed on the inner side of the vehicle frame, and the drive end of the first motor and the bottom end of one of the rotating shafts are coaxially fixedly installed.

[0009] Preferably, the omnidirectional wheel has multiple corresponding end posts, and the omnidirectional wheel is fixedly installed at the bottom end of the corresponding end post.

[0010] Preferably, the adjustment card assembly has multiple corresponding end posts, and the multiple adjustment card assemblies are symmetrically distributed. The adjustment card assembly includes a sleeve, which is fixedly sleeved on the top of the corresponding end post. Two symmetrically distributed slides are integrally formed on the outer side of the sleeve. A carding plate is slidably engaged on one side of each slide. A double-ended screw is threaded between the two carding plates, and the two ends of the double-ended screw are rotatably mounted on the corresponding slide.

[0011] Preferably, one end of the double-ended screw extends out of the outer side of the corresponding slide, and a button is fixedly installed on one end of the double-ended screw.

[0012] Preferably, the walking mechanism includes a walking base frame, which is fixedly installed at the bottom end of the vehicle frame. Two symmetrically distributed rotating seats are fixedly installed on the inner lower wall of the walking base frame. A walking shaft is rotatably engaged in the middle of each rotating seat. A walking wheel is coaxially fixedly installed at the opposite ends of the two walking shafts. The bottom of the walking wheel extends out of the bottom end of the vehicle frame. A drive inner locking shaft is provided between the two walking shafts. A locking groove corresponding to the drive inner locking shaft is opened on the opposite sides of the two walking shafts. The end of the drive inner locking shaft is movably engaged in the corresponding locking groove. A drive seat is fixedly installed in the middle of the inner lower wall of the walking base frame. A drive cylinder is rotatably installed in the middle of the drive seat. The drive inner locking shaft is slidably inserted into the middle of the drive cylinder.

[0013] Preferably, an electric telescopic rod is fixedly installed on the inner lower wall of the walking base frame, a translation frame is fixedly installed on the drive end of the electric telescopic rod, a rotary bearing is fixedly clamped at the end of the translation frame, a fixing sleeve is fixedly clamped in the middle of the rotary bearing, and the fixing sleeve is fixedly sleeved on the outside of the drive inner clamp shaft.

[0014] Preferably, a second motor is fixedly installed on the lower inner wall of the walking frame near the drive cylinder, a drive gear is fixedly installed on the drive end of the second motor, and a driven gear is fixedly sleeved on the outer side of the drive cylinder, and the drive gear and the driven gear are meshed together.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. By setting up a positioning mechanism and using casters and adjustment components, the four expansion frames and end columns are driven to rotate synchronously in opposite directions. The four expansion frames expand or retract synchronously, and the side slides are always kept horizontal with the positioning surface on the mobile frame. This facilitates the positioning of mobile frames of different widths. The four casters move synchronously in opposite directions, thereby adjusting the span between the four casters. After adapting to the positioning of mobile frames of different widths, the four casters are located on the lower side of the mobile frame. Through the connecting action of the expansion frames, the lower side of the mobile frames of different widths is supported, thereby improving the stability of the subsequent movement of the mobile frame.

[0017] 2. When used in conjunction with a walking mechanism, the AGV can be flexibly controlled to move straight, turn left, and turn right using a second motor, thus improving the overall flexibility of the AGV during use;

[0018] 3. By setting a support platform at the top of the positioning mechanism, it is convenient to transport small quantities of items directly through the support platform, thereby improving the overall efficiency of the AGV. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the present invention.

[0021] Figure 2 This is a schematic diagram of the structural connections after the invention has been disassembled.

[0022] Figure 3 This is a schematic diagram of the connection structure between the vehicle frame and the positioning mechanism in this invention.

[0023] Figure 4 This is a schematic diagram of the connection structure between the vehicle frame, the positioning mechanism, and the traveling mechanism in this invention.

[0024] Figure 5 This is a schematic diagram of the card adjustment component in this invention.

[0025] Figure 6 This is a schematic diagram of the structural connection of the walking mechanism in this invention.

[0026] Figure 7 For the present invention Figure 6 Enlarged view of point A in the middle.

[0027] In the diagram: 1. Car frame; 2. Traveling mechanism; 3. Positioning mechanism; 4. Adjusting card assembly; 5. Universal wheel; 6. Support platform; 7. First motor; 31. Positioning bottom frame; 32. Positioning top frame; 33. Rotating shaft; 34. Outer expansion frame; 35. End column; 36. First sprocket; 37. Second sprocket; 38. Transmission chain; 39. Transmission gear; 41. Sleeve; 42. Slide seat; 43. Card plate; 44. Double-ended screw; 45. Button; 21. Traveling bottom frame; 22. Rotating seat; 23. Traveling shaft; 231. Card slot; 24. Traveling wheel; 25. Drive inner card shaft; 26. Electric telescopic rod; 261. Translation frame; 262. Rotary bearing; 263. Fixed sleeve; 27. Drive cylinder; 28. Drive seat; 29. ​​Second motor; 291. Drive gear; 292. Driven gear. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Example: Figure 1-7 As shown, the present invention provides a three-dimensional walking AGV trolley, including a frame 1. A walking mechanism 2 is fixedly installed at the bottom of the frame 1, and a positioning mechanism 3 is fixedly installed at the top center of the frame 1. A card adjustment component 4 is provided at the end of the positioning mechanism 3. Universal wheels 5 are provided on the bottom side of the positioning mechanism 3 near the card adjustment component 4. A support platform 6 is fixedly installed at the top of the positioning mechanism 3. By setting the support platform 6 at the top of the positioning mechanism 3, it is convenient to transport a small number of items directly through the support platform 6, thereby improving the overall use effect of the AGV trolley.

[0030] The positioning mechanism 3 includes a positioning base frame 31, which is fixedly installed at the top center of the frame 1. A positioning top frame 32 is fixedly installed at the top of the positioning base frame 31. Rotating shafts 33 are rotatably secured at the four corners of the positioning base frame 31 and the positioning top frame 32 via bearings. The rotating shafts 33 can rotate stably at the four corners of the positioning base frame 31 and the positioning top frame 32. An expansion frame 34 is fixedly fitted onto the top of each rotating shaft 33. An end post 35 is rotatably secured on the side of the expansion frame 34 away from the rotating shaft 33. The end post 35 can rotate stably on the side of the expansion frame 34 away from the rotating shaft 33. A first sprocket 36 is coaxially and movably fitted onto the bottom outer side of each rotating shaft 33. The first sprocket 36 is fixedly installed at the top of the positioning base frame 31. The rotating shaft 33 can rotate in the middle of the first sprocket 36. The outer side of the end post 35 is fixedly fitted with a second sprocket 37 that works with the first sprocket 36. The outer sides of the first sprocket 36 and the second sprocket 37 are meshed with a transmission chain 38. When the rotating shaft 33 rotates stably between the positioning base frame 31 and the positioning top frame 32, the outer expansion frame 34 rotates stably. With the transmission connection of the first sprocket 36, the second sprocket 37 and the transmission chain 38, the transmission chain 38 rotates on the outer side of the first sprocket 36 and drives the second sprocket 37 and the end post 35 to rotate on the outer expansion frame 34, while keeping the end post 35 in a relatively stationary state.

[0031] The bottom of each rotating shaft 33 extends into the frame 1. A transmission gear 39 is fixedly sleeved on the bottom of each rotating shaft 33. Two adjacent transmission gears 39 are meshed together. By driving one of the rotating shafts 33 to rotate, two adjacent transmission gears 39 are meshed together, driving the four rotating shafts 33 to rotate synchronously in opposite directions. This, in turn, drives the four outward expansion frames 34 and end posts 35 to rotate synchronously in opposite directions. The four outward expansion frames 34 expand outward or retract inward synchronously, thereby flexibly adjusting the spacing of the four end posts 35 to facilitate the positioning of subsequent moving frames of different widths.

[0032] A first motor 7 is fixedly installed on the inner side of the frame 1. The drive end of the first motor 7 and the bottom end of one of the rotating shafts 33 are coaxially fixedly installed. In use, by controlling and turning on the first motor 7, one of the rotating shafts 33 is driven to rotate stably between the positioning bottom frame 31 and the positioning top frame 32.

[0033] The omnidirectional wheels 5 are provided in multiple ways corresponding to the end posts 35. The omnidirectional wheels 5 are fixedly installed at the bottom end of the corresponding end posts 35. By setting the omnidirectional wheels 5 at the bottom end of the end posts 35, when in use, the omnidirectional wheels 5 are in contact with the ground, driving the four outer expansion frames 34 and the end posts 35 to rotate synchronously in opposite directions, thereby driving the four omnidirectional wheels 5 to move synchronously in opposite directions, thereby adjusting the span between the four omnidirectional wheels 5. After adapting to the positioning of different width mobile frames, the four omnidirectional wheels 5 are respectively located on the lower side of the mobile frame. Through the connecting action of the outer expansion frames 34, the lower side of the mobile frames of different widths is supported, thereby improving the stability of the subsequent movement of the mobile frame.

[0034] The adjusting assembly 4 has multiple corresponding end posts 35, and the multiple adjusting assemblies 4 are symmetrically distributed. Each adjusting assembly 4 includes a sleeve 41, which is fixedly sleeved on the top of the corresponding end post 35. The end post 35 always remains in a relatively non-rotating state, thereby keeping the sleeve 41 in a relatively non-rotating state. Two symmetrically distributed slides 42 are integrally formed on the outer side of the sleeve 41, so that the two slides 42 on both sides always remain horizontal with the positioning surface on the moving frame. A locking plate 43 is slidably locked on one side of each slide 42. By the four outward expansion frames 34 expanding outward or retracting inward simultaneously, the sleeve 41, the two corresponding slides 42, and the locking plate 43 expand outward or retract inward simultaneously, and the slide 42 always remains horizontal with the positioning surface on the moving frame. Until the two side slides 42 and the positioning surfaces on the different width moving frames make contact, a double-ended screw 44 is threaded between the two clamping plates 43. The two ends of the double-ended screw 44 are rotatably mounted on the corresponding slides 42. One end of the double-ended screw 44 extends out of the outer side of the corresponding slide 42. A screw 45 is fixedly installed on one end of the double-ended screw 44. When the two side slides 42 and the positioning surfaces on the different width moving frames make contact, the corresponding screw 45 is screwed on to drive the double-ended screw 44 to rotate, thereby synchronously driving the two corresponding clamping plates 43 to move towards each other until the two clamping plates 43 make contact with the outer wall of the positioning frame (referring to the frame used for positioning below the moving frame) on the moving frame, thereby positioning the moving frame and positioning the AGV trolley and the different width moving frames.

[0035] The walking mechanism 2 includes a walking base frame 21, which is fixedly installed at the bottom end of the vehicle frame 1. Two symmetrically distributed rotating seats 22 are fixedly installed on the inner lower wall of the walking base frame 21. A walking shaft 23 is rotatably engaged in the center of each rotating seat 22, allowing the walking shaft 23 to rotate within its corresponding rotating seat 22. A walking wheel 24 is coaxially fixedly installed at the opposite ends of the two walking shafts 23. The rotation of the walking shaft 23 drives the corresponding walking wheel 24 to rotate. The bottom of the walking wheel 24 extends beyond the bottom end of the vehicle frame 1. The rotation of the walking wheel 24, in conjunction with four universal wheels 5, moves the entire AGV vehicle. A drive inner clamping shaft 25 is provided between the two walking shafts 23. Each of the opposite sides of the walking shaft 23 is provided with a sliding groove 231 corresponding to the drive inner locking shaft 25. The end of the drive inner locking shaft 25 is movably locked in the corresponding sliding groove 231. By driving the drive inner locking shaft 25 to rotate, the walking shafts 23 on both sides are driven to rotate synchronously. A drive seat 28 is fixedly installed in the middle of the inner lower wall of the walking base frame 21. A drive cylinder 27 is rotatably installed in the middle of the drive seat 28. The drive inner locking shaft 25 is slidably inserted into the middle of the drive cylinder 27. The drive inner locking shaft 25 can slide in the middle of the drive cylinder 27. By driving the drive cylinder 27 to rotate stably in the middle of the drive seat 28, the drive inner locking shaft 25 can be driven to rotate synchronously.

[0036] A second motor 29 is fixedly installed on the lower inner wall of the walking base frame 21 near the drive cylinder 27. A drive gear 291 is fixedly installed on the drive end of the second motor 29. A driven gear 292 is fixedly sleeved on the outer side of the drive cylinder 27. The drive gear 291 and the driven gear 292 are meshed together. In use, by controlling and turning on one of the second motors 29, the drive gear 291 is driven to rotate, thereby driving the driven gear 292 to rotate, thereby driving the drive cylinder 27 to rotate stably in the middle of the drive seat 28.

[0037] An electric telescopic rod 26 is fixedly installed on the inner lower wall of the walking frame 21. A translation frame 261 is fixedly installed on the drive end of the electric telescopic rod 26. A rotary bearing 262 is fixedly fastened to the end of the translation frame 261. A fixing sleeve 263 is fixedly fastened to the middle of the rotary bearing 262. By setting the rotary bearing 262, the fixing sleeve 263 can rotate stably at the end of the translation frame 261. When the electric telescopic rod 26 is activated, the translation frame 261 is driven to translate, which in turn drives the fixing sleeve 263 to translate. The fixing sleeve 263 is fixedly sleeved. On the outside of the inner drive shaft 25, the fixed sleeve 263 moves, causing the inner drive shaft 25 to move, without affecting the rotation of the inner drive shaft 25. When the AGV needs to turn left, the electric telescopic rod 26 is activated to drive the translation frame 261 to move, which in turn drives the fixed sleeve 263 to move, causing the inner drive shaft 25 to move, so that the inner drive shaft 25 disengages from the left side of the sliding groove 231. At this time, a second motor 29 is used to drive the inner drive shaft 25 to rotate, which can only drive the right side walking shaft 23 and the corresponding walking wheel 24 to rotate. At this time, the AGV turns left.

[0038] When the AGV needs to turn right, the electric telescopic rod 26 drives the translation frame 261 to translate, which in turn drives the fixed sleeve 263 to translate, causing the drive inner locking shaft 25 to translate. This disengages the drive inner locking shaft 25 from the right-side locking groove 231. At this time, a second motor 29 drives the inner locking shaft 25 to rotate, which can only drive the left-side traveling shaft 23 and the corresponding traveling wheel 24 to rotate. At this point, the AGV turns right.

[0039] When the AGV needs to move straight, the electric telescopic rod 26 is activated to drive the translation frame 261 to move, which in turn drives the fixed sleeve 263 to move, and drives the inner drive shaft 25 to move. This causes the two ends of the inner drive shaft 25 to engage in the corresponding slots 231 on both sides. At this time, a second motor 29 drives the inner drive shaft 25 to rotate, which in turn drives the two walking shafts 23 and the corresponding walking wheels 24 to rotate synchronously. The AGV then moves straight, thus enabling flexible control of the AGV to move straight, turn left, and turn right using a second motor 29, improving the overall flexibility of the AGV during use.

[0040] Working principle: When in use, a second motor 29 is controlled and turned on, which drives the drive gear 291 to rotate, thereby driving the driven gear 292 to rotate, thereby driving the drive cylinder 27 to rotate stably in the middle of the drive base 28, and synchronously driving the drive inner clamping shaft 25 to rotate. At this time, the two ends of the drive inner clamping shaft 25 are movably engaged in the corresponding clamping grooves 231 on both sides, synchronously driving the two side walking shafts 23 and the corresponding walking wheels 24 to rotate synchronously. At this time, the AGV trolley moves straight.

[0041] When the AGV needs to turn left, the electric telescopic rod 26 is activated to drive the translation frame 261 to translate, which in turn drives the fixed sleeve 263 to translate, which in turn drives the inner drive shaft 25 to translate, causing the inner drive shaft 25 to disengage from the left-side sliding groove 231. At this time, a second motor 29 is used to drive the inner drive shaft 25 to rotate, which can only drive the right-side walking shaft 23 and the corresponding walking wheel 24 to rotate. At this time, the AGV turns left.

[0042] When the AGV needs to turn right, the electric telescopic rod 26 is activated to drive the translation frame 261 to translate, which in turn drives the fixed sleeve 263 to translate, which in turn drives the inner drive shaft 25 to translate, causing the inner drive shaft 25 to disengage from the right-side sliding groove 231. At this time, a second motor 29 is used to drive the inner drive shaft 25 to rotate, which can only drive the left-side walking shaft 23 and the corresponding walking wheel 24 to rotate. At this time, the AGV turns right.

[0043] Until the AGV trolley moves to the lower center of the mobile frame, the first motor 7 is controlled and turned on, driving one of the rotating shafts 33 to rotate stably between the positioning bottom frame 31 and the positioning top frame 32. In conjunction with the meshing connection of two adjacent transmission gears 39, the four rotating shafts 33 are driven to rotate synchronously in opposite directions, thereby driving the four outward expansion frames 34 and end columns 35 to rotate synchronously in opposite directions, driving the four universal wheels 5 to move synchronously in opposite directions, thereby adjusting the span between the four universal wheels 5. The four outward expansion frames 34 expand outward or retract inward synchronously, thereby flexibly adjusting the spacing of the four end columns 35.

[0044] When the drive shaft 33 rotates stably between the positioning bottom frame 31 and the positioning top frame 32, the outer expansion frame 34 rotates stably. This, in conjunction with the transmission connection of the first sprocket 36, the second sprocket 37, and the transmission chain 38, causes the transmission chain 38 to rotate outside the first sprocket 36, driving the second sprocket 37 and the end post 35 to rotate on the outer expansion frame 34. This ensures that the end post 35 remains relatively stationary, keeping the sleeve 41 relatively stationary, thus ensuring that the two sliding blocks 42 are always in contact with the moving parts. The positioning surface on the moving frame remains horizontal until the two side slides 42 and the positioning surfaces on the moving frames of different widths come into contact. After the two side slides 42 and the positioning surfaces on the moving frames of different widths come into contact, the corresponding screw 45 is turned to drive the double-headed screw 44 to rotate, thereby synchronously driving the two corresponding clamping plates 43 to move towards each other until the two clamping plates 43 come into contact with the outer wall of the positioning frame on the moving frame (referring to the frame used for positioning below the moving frame), thereby positioning the moving frame and positioning the AGV trolley and the moving frames of different widths.

[0045] At this time, the four casters 5 are located on the lower side of the mobile frame. Through the connecting action of the outer expansion frame 34, they support the lower side of the mobile frames of different widths, thereby improving the stability of the subsequent movement of the mobile frame.

[0046] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A three-dimensional walking AGV vehicle comprising a vehicle frame (1), characterized in that: The bottom end of the car frame (1) is fixedly installed with a walking mechanism (2), the middle of the top end of the car frame (1) is fixedly installed with a positioning mechanism (3), the end of the positioning mechanism (3) is provided with a card adjusting assembly (4), the bottom of the side of the positioning mechanism (3) close to the card adjusting assembly (4) is provided with a universal wheel (5), the top end of the positioning mechanism (3) is fixedly installed with a supporting table (6), the four corners of the positioning mechanism (3) are all provided with a rotating shaft (33), the top of the rotating shaft (33) is fixedly sleeved with an outward expansion frame (34), the side away from the rotating shaft (33) of the outward expansion frame (34) is rotatably clamped with an end column (35), the bottom end of the corresponding end column (35) is fixedly installed with the universal wheel (5), the top end of the corresponding end column (35) is fixedly installed with the card adjusting assembly (4), and the card adjusting assembly (4) positions the moving frame.

2. The three-dimensional walking AGV vehicle according to claim 1, characterized in that: The positioning mechanism (3) comprises a positioning bottom frame (31), the positioning bottom frame (31) is fixedly installed at the middle of the top end of the car frame (1), the top end of the positioning bottom frame (31) is fixedly installed with a positioning top frame (32), the outer bottom of the rotating shaft (33) is coaxially movably sleeved with a first sprocket (36), the first sprocket (36) is fixedly installed at the top end of the positioning bottom frame (31), the outer side of the end column (35) is fixedly sleeved with a second sprocket (37) used in cooperation with the first sprocket (36), and the outer sides of the first sprocket (36) and the second sprocket (37) are meshedly connected with a transmission chain (38).

3. The three-dimensional walking AGV vehicle according to claim 2, characterized in that: The bottom of the rotating shaft (33) extends into the car frame (1), the bottom of the rotating shaft (33) is fixedly sleeved with a transmission gear (39), and the adjacent two transmission gears (39) are meshedly connected.

4. The three-dimensional walking AGV vehicle according to claim 3, characterized in that: The inner side of the car frame (1) is fixedly installed with a first motor (7), and the driving end of the first motor (7) and the bottom end of one of the rotating shafts (33) are coaxially fixedly installed.

5. The three-dimensional walking AGV cart according to claim 1, wherein: The universal wheel (5) is provided with a plurality of corresponding end columns (35).

6. The three-dimensional walking AGV cart according to claim 5, characterized in that: The card adjusting assembly (4) is provided with a plurality of corresponding end columns (35), a plurality of card adjusting assemblies (4) are in a symmetrical distribution structure, the card adjusting assembly (4) comprises a sleeve seat (41), the sleeve seat (41) is fixedly sleeved at the top of the corresponding end column (35), the outer side of the sleeve seat (41) is integrally formed with two symmetrical slide seats (42), one side of the slide seat (42) is slidably clamped with a clamping plate (43), a double-headed screw rod (44) is threadedly installed between the two clamping plates (43), and the two ends of the double-headed screw rod (44) are rotatably installed on the corresponding slide seat (42).

7. The three-dimensional walking AGV cart according to claim 6, characterized in that: One end of the double-headed screw rod (44) extends out of the outer side of the corresponding slide seat (42), and the one end of the double-headed screw rod (44) is fixedly installed with a screw knob (45).

8. The three-dimensional walking AGV cart according to claim 1, characterized in that: The walking mechanism (2) comprises a walking bottom frame (21), which is fixedly installed at the bottom end of the vehicle frame (1), the inner lower wall of the walking bottom frame (21) is fixedly installed with two rotating seats (22) distributed symmetrically, the middle part of the rotating seat (22) is rotatably clamped with a walking shaft (23), the opposite ends of the two walking shafts (23) are coaxially fixedly installed with walking wheels (24), the bottom of the walking wheel (24) extends out of the bottom end of the vehicle frame (1), a driving inner clamping shaft (25) is arranged between the two walking shafts (23), the opposite sides of the two walking shafts (23) are each provided with a clamping sliding groove (231) corresponding to the driving inner clamping shaft (25), the end of the driving inner clamping shaft (25) is movably clamped in the corresponding clamping sliding groove (231), the middle part of the inner lower wall of the walking bottom frame (21) is fixedly installed with a driving seat (28), the middle part of the driving seat (28) is rotatably installed with a driving cylinder (27), and the driving inner clamping shaft (25) is slidably inserted into the middle part of the driving cylinder (27).

9. The three-dimensional walking AGV cart according to claim 8, characterized in that: The inner lower wall of the walking bottom frame (21) is fixedly installed with an electric telescopic rod (26), the driving end of the electric telescopic rod (26) is fixedly installed with a translation frame (261), the end of the translation frame (261) is fixedly clamped with a rotating bearing (262), the middle part of the rotating bearing (262) is fixedly clamped with a fixed sleeve (263), and the fixed sleeve (263) is fixedly sleeved on the outer side of the driving inner clamping shaft (25).

10. The three-dimensional walking AGV cart according to claim 8, characterized in that: The inner lower wall of the walking bottom frame (21) is fixedly installed with a second motor (29) close to the driving cylinder (27), the driving end of the second motor (29) is fixedly installed with a driving gear (291), the outer side of the driving cylinder (27) is fixedly sleeved with a driven gear (292), and the driving gear (291) and the driven gear (292) are meshedly connected.

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