Heavy-load AGV (Automatic Guided Vehicle) with low-speed automatic driving capability

Abstract

The invention discloses a heavy-load AGV (Automatic Guided Vehicle) with low-speed automatic driving capability, relates to the technical field of logistics carrying equipment, and solves the technical problem that the conveying stability is easily influenced due to inclination or shaking of a vehicle body when the heavy-load AGV transports goods. Comprising a frame with wheels and a supporting plate located above the frame, a plurality of L-shaped limiting pieces are movably installed between the supporting plate and the frame, a reset spring is further installed between the supporting plate and the frame, a locking mechanism for controlling the supporting plate to descend is installed in the frame, and the supporting plate locks the positions of the L-shaped limiting pieces after descending; the locking mechanism comprises grooves, a shaft sleeve, a driving piece, a hinged moving piece and a linkage control mechanism, and the two grooves are formed in the two ends of the top of the frame. The heavy-load AGV trolley can effectively limit cargos with different widths when transporting the cargos, so that the cargos are not easy to slip off due to inclination or shaking of the trolley body during transportation.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics handling equipment, and in particular to a heavy-load AGV vehicle with low-speed automatic driving capability. Background Art

[0002] The slow-speed, self-driving heavy-duty AGV is an automated transport tool designed for the industrial and logistics fields. It can automatically drive on a pre-set path and perform cargo handling tasks without direct human intervention. This type of AGV is usually equipped with advanced sensors, such as lidar, cameras, and ultrasonic sensors, for environmental perception and obstacle detection. It also integrates high-precision maps and positioning systems to ensure stable and reliable operation of its software system in complex environments, including path planning algorithms and obstacle avoidance algorithms, to achieve intelligent navigation and safe operation. In addition, in order to meet heavy-duty requirements, these AGVs use a rugged and durable structural design and a powerful drive system that can carry several tons of cargo. They also generally support multiple communication protocols to facilitate data exchange with warehouse management systems or production control systems, thereby optimizing the entire logistics process.

[0003] In the prior art, the top of the heavy-load AGV cart is mostly a flat structure, lacking a fixed structure to limit the cargo. When the transfer cart passes through an uneven road surface, the cargo it carries will shake or tilt on the cart due to the uneven road surface. The occurrence of the above situation can easily cause the cargo to fall from the cart, thereby affecting the stability of cargo transportation. Summary of the invention

[0004] The purpose of the present invention is to provide a heavy-loaded AGV with low-speed automatic driving capability, which solves the problem that the heavy-loaded AGV is prone to affecting the transportation stability due to the tilting or shaking of the vehicle body when transporting goods.

[0005] The purpose of the present invention can be achieved through the following technical solutions: A heavy-loaded AGV vehicle with low-speed automatic driving capability comprises a frame with wheels and a pallet located above the frame, a plurality of L-shaped limit members are movably installed between the pallet and the frame, and a return spring is also installed between the pallet and the frame, a locking mechanism for controlling the descent of the pallet is installed in the frame, and the pallet locks the position of the L-shaped limit member after descent; the locking mechanism comprises a groove, a bushing, a driving member, an articulated moving member and a linkage control mechanism, two of the grooves are opened at two end positions on the top of the frame, the bushing is rotatably installed in the groove, the bushing is connected to the pallet through the driving member, the articulated moving member is installed between the groove and the pallet, and the linkage control mechanism is used to synchronously control the rotation of the bushing and the movement of the articulated moving member.

[0006] As a further solution of the present invention: the support plate includes a heavy-load plate, a wing plate, an upper rack and a strip groove, the two wing plates are symmetrically connected on both sides of the heavy-load plate, the strip groove is opened at the bottom of the heavy-load plate, and the strip groove corresponds to the position of the L-shaped limit piece, the upper rack is fixedly installed at the bottom of the strip groove, the strip groove is a structure with openings at both ends, and the two ends of the upper rack extend to the outside of the strip groove.

[0007] As a further solution of the present invention: the L-shaped limit member includes an L-shaped column, a T-shaped slider, a lower rack and a longitudinal through groove, the T-shaped slider is installed at the bottom of the L-shaped column, and a T-shaped slide groove for the T-shaped slider to slide is opened on the top of the frame, the lower rack is located below the upper rack, and the lower rack is embedded and installed on the L-shaped column, and the longitudinal through groove is opened in the vertical part of the L-shaped column.

[0008] As a further solution of the present invention: the driving member includes an external gear and a longitudinal rack, the longitudinal rack is fixedly mounted on the lower surface of the end of the heavy-load plate, the external gear is fixedly sleeved on the outer side wall of the sleeve, and the longitudinal rack extends into the groove to mesh with the external gear.

[0009] As a further solution of the present invention: the articulated moving part includes a moving plate, a guide rod and a connecting rod, the two moving plates are symmetrically slidably arranged in the groove, the guide rod is connected to the side wall of the groove near the bottom end, the moving plate is provided with a guide hole for the guide rod to pass through, and the moving plate is slidably connected to the guide rod through the guide hole, the two connecting rods are symmetrically arranged and respectively hinged at the top of the two moving plates, and the other end of the connecting rod is hinged to the lower surface of the wing plate.

[0010] As a further solution of the present invention: the linkage control mechanism includes an internal gear, a gear ring, a push-pull rod, a movable column, an L-shaped rod and a movable plate with a notch, the movable column is located between two shaft sleeves, and a limiting groove for the movable column to slide is provided in the frame, the two push-pull rods are connected at both ends of the movable column, and one end of the push-pull rod extends to the outside of the shaft sleeve, the gear ring is installed on the inner wall of the shaft sleeve, the internal gear is sleeved on the push-pull rod and corresponds to the gear ring, the two L-shaped rods are symmetrically connected to the side wall of one of the push-pull rods, and the end of the L-shaped rod is connected to the movable plate, one end of the movable plate slides through one of the grooves and extends into the other groove, and the movable plate is used to limit the movable plate.

[0011] As a further solution of the present invention: the support plate also includes a transverse through groove and a triangular stabilizing block. The transverse through groove is opened through the wing plate, and the transverse through groove is used for the vertical part of the L-shaped limiter to pass through. The two sides of the triangular stabilizing block are respectively connected to the side of the heavy-load plate and the bottom of the wing plate.

[0012] As a further solution of the present invention: the L-shaped limiter also includes a hidden groove and a mooring ring, the hidden groove is opened at the top of the L-shaped column, the mooring ring is rotatably connected to the bottom of the hidden groove, and the mooring ring is located in the hidden groove.

[0013] As a further solution of the present invention: the ends of the two push-pull rods are respectively provided with a first fixing ring and a second fixing ring, and a limit ring is sleeved on the push-pull rod connected to the first fixing ring, the limit ring is located between the movable column and the gear ring, and the limit ring is movably connected to the shaft sleeve, and the notch is provided on the side of the movable plate close to the movable plate, and after the internal gear is separated from the gear ring, the notch corresponds to the movable plate close to the push-pull rod.

[0014] As a further solution of the present invention: a plurality of L-shaped columns on the same side are commonly connected to a connecting column at their side walls near the bottom ends, and a U-shaped handle is installed on the side wall of the connecting column.

[0015] Beneficial effects of the present invention: 1. In the present invention, a plurality of movably arranged L-shaped limit members are used to adjust the position of the L-shaped limit members according to the width of the goods transported on the pallet, so that the pallet is convenient for carrying the goods. The linkage control mechanism is convenient for synchronously releasing the movement restriction of the shaft sleeve and the hinged movable member as needed, so that the goods on the pallet can be pressed down to contact the top of the frame under the action of gravity, and after the pallet is pressed down, the tops of the plurality of L-shaped limit members will protrude from the top of the pallet, thereby facilitating the limiting of the goods on the pallet and ensuring that the goods are not easily slipped due to tilting on uneven roads. At the same time, the pallet can also automatically lock the position of the L-shaped limit member after it is lowered to ensure the stability of the limit of the goods.

[0016] 2. In the present invention, by locking the rotation of the shaft sleeve and the movement of the articulated movable part, it is convenient to provide dual support for the pallet and the goods placed on the top of the pallet. The locked shaft sleeve cooperates with the driving part to facilitate the support of the pallet, and the immovable articulated movable part further supports the pallet, thereby effectively ensuring the stability of the support. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings.

[0018] Figure 1 It is a three-dimensional diagram of a heavy-load AGV vehicle with low-speed automatic driving capability according to the present invention; Figure 2 This is a three-dimensional diagram of a heavy-duty AGV with low-speed automatic driving capability transporting goods with a large width according to the present invention; Figure 3 It is a three-dimensional diagram of a heavy-duty AGV with low-speed automatic driving capability in the present invention when transporting goods with a small width; Figure 4 It is a three-dimensional diagram of a heavy-duty AGV with low-speed automatic driving capability after the pallet is removed; Figure 5 It is a three-dimensional diagram of the connection part between the frame and the locking mechanism of a heavy-duty AGV vehicle with low-speed automatic driving capability of the present invention; Figure 6 It is a three-dimensional diagram of a pallet in a heavy-duty AGV vehicle with low-speed automatic driving capability according to the present invention; Figure 7 It is a three-dimensional diagram of an L-shaped limiter in a heavy-load AGV vehicle with low-speed automatic driving capability according to the present invention; Figure 8 yes Figure 5 Stereoscopic image after sectioning; Fig. 9 It is a partial stereogram of a locking mechanism in a heavy-duty AGV vehicle with low-speed automatic driving capability according to the present invention; Fig.10 It is a partial stereoscopic diagram of a heavy-load AGV with low-speed automatic driving capability after the locking mechanism is unlocked in the present invention.

[0019] In the figure: 1, wheel; 2, frame; 21, T-shaped slide; 3, support plate; 31, heavy load plate; 32, wing plate; 33, upper rack; 34, strip groove; 35, transverse through groove; 36, triangular stabilizing block; 4, L-shaped limiter; 41, L-shaped column; 42, T-shaped slider; 43, lower rack; 44, longitudinal through groove; 45, hidden groove; 46, tie-down ring; 5, reset spring; 6, locking mechanism; 61, groove; 62, bushing; 63, driving member; 6 31. External gear; 632. Longitudinal rack; 64. Articulated moving part; 641. Moving plate; 642. Guide rod; 643. Connecting rod; 65. Linkage control mechanism; 651. Internal gear; 652. Gear ring; 653. Push-pull rod; 6531. First fixing ring; 6532. Second fixing ring; 6533. Limiting ring; 654. Movable column; 655. L-shaped rod; 656. Notch; 657. Movable plate; 7. Connecting column; 8. U-shaped handle. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] like Figure 1-Figure 10As shown, the present invention is a heavy-duty AGV with low-speed automatic driving capability, including a frame 2 with wheels 1 and a pallet 3 located above the frame 2. The AGV achieves low-speed automatic driving capability mainly by integrating advanced electronic technology, computer technology and automatic control technology (this is the prior art and will not be described in detail here). A plurality of L-shaped limit members 4 are movably installed between the pallet 3 and the frame 2, and a return spring 5 is also installed between the pallet 3 and the frame 2. A locking mechanism for controlling the pallet 3 to descend is installed in the frame 2. 6. After the support plate 3 is lowered, the position of the L-shaped limit member 4 is locked; the locking mechanism 6 includes a groove 61, a sleeve 62, a driving member 63, an articulated moving member 64 and a linkage control mechanism 65. The two grooves 61 are opened at the two end positions of the top of the frame 2, the sleeve 62 is rotatably installed in the groove 61, the sleeve 62 is connected to the support plate 3 through the driving member 63, the articulated moving member 64 is installed between the groove 61 and the support plate 3, and the linkage control mechanism 65 is used to synchronously control the rotation of the sleeve 62 and the movement of the articulated moving member 64.

[0022] It should be noted that when in use, the goods are placed on the top of the pallet 3, and the position of the L-shaped limit piece 4 is slidably adjusted according to the actual width of the pallet 3. When the width of the goods is greater than the width of the pallet 3, the L-shaped limit piece 4 is pulled outward, and when the width of the goods is less than the width of the pallet 3, the L-shaped limit piece 4 is pushed inward, and the linkage control mechanism 65 is used to simultaneously release the rotation restriction of the sleeve 62 and the movement restriction of the hinged movable member 64. The pallet 3 can be driven to descend under the action of the gravity of the goods until the pallet 3 contacts the top of the frame 2 (supported by the frame 2). After descending, the vertical part of the L-shaped limit piece 4 protrudes from the top of the pallet 3, thereby limiting the position of the goods and preventing it from slipping off due to tilting. At the same time, the pallet 3 can automatically lock the position of the L-shaped limit piece 4 to ensure the stability of the position of the L-shaped limit piece 4.

[0023] like Figure 1 and Figure 6 As shown, the support plate 3 includes a heavy-load plate 31, a wing plate 32, an upper rack 33 and a strip groove 34. The two wing plates 32 are symmetrically connected on both sides of the heavy-load plate 31. The strip groove 34 is opened at the bottom of the heavy-load plate 31, and the position of the strip groove 34 corresponds to the L-shaped limit member 4. The upper rack 33 is fixedly installed at the bottom of the strip groove 34. The strip groove 34 is a structure with openings at both ends. The two ends of the upper rack 33 extend to the outside of the strip groove 34.

[0024] It should be noted that the thickness of the heavy-load plate 31 is greater than the thickness of the wing plates 32 on both sides thereof, and the upper rack 33 is used to lock the position of the L-shaped limit member 4 after the pallet 3 is lowered. The size of the strip groove 34 corresponds to that of the L-shaped limit member 4, so that the horizontal part of the L-shaped limit member 4 can be docked with the strip groove 34 after the pallet 3 is lowered.

[0025] like Figure 1 , Figure 4 and Figure 7 As shown, the L-shaped limit member 4 includes an L-shaped column 41, a T-shaped slider 42, a lower rack 43 and a longitudinal through groove 44. The T-shaped slider 42 is installed at the bottom of the L-shaped column 41, and a T-shaped slide groove 21 for the T-shaped slider 42 to slide is provided on the top of the frame 2. The lower rack 43 is located below the upper rack 33, and the lower rack 43 is embedded and installed on the L-shaped column 41. The longitudinal through groove 44 is provided in the vertical part of the L-shaped column 41.

[0026] It should be noted that the L-shaped column 41 can move forward and backward along the length direction of the T-shaped slide groove 21 through the T-shaped slider 42. After the support plate 3 is lowered, the upper rack 33 will engage with the lower rack 43, thereby locking the position of the L-shaped column 41. The longitudinal through groove 44 not only allows the upper rack 33 to pass through the longitudinal through groove 44 smoothly when the L-shaped column 41 is pushed inward, but also drives the upper rack 33 to move downward along the longitudinal through groove 44 after the support plate 3 is lowered, without hindering its movement.

[0027] like Figure 4-Figure 6 As shown, the driving member 63 includes an external gear 631 and a longitudinal rack 632. The longitudinal rack 632 is fixedly mounted on the lower surface of the end of the heavy-load plate 31. The external gear 631 is fixedly sleeved on the outer wall of the sleeve 62. The longitudinal rack 632 extends into the groove 61 and meshes with the external gear 631.

[0028] It should be noted that when the pallet 3 moves downward, the longitudinal rack 632 will be driven to move downward synchronously, thereby driving the sleeve 62 with the external gear 631 to rotate. If the rotation of the sleeve 62 is locked, the pallet 3 will not drop when carrying goods.

[0029] like Figure 4 , Figure 6 and Fig. 9 As shown, the articulated movable member 64 includes a movable plate 641, a guide rod 642 and a connecting rod 643. The two movable plates 641 are symmetrically slidably arranged in the groove 61. The guide rod 642 is connected to the side wall of the groove 61 near the bottom end. A guide hole is provided on the movable plate 641 for the guide rod 642 to pass through, and the movable plate 641 is slidably connected to the guide rod 642 through the guide hole. The two connecting rods 643 are symmetrically arranged and are respectively hinged on the top of the two movable plates 641. The other end of the connecting rod 643 is hinged to the lower surface of the wing plate 32.

[0030] It should be noted that when the pallet 3 moves downward, pressure is applied to the hinged connecting rod 643, thereby driving the two movable plates 641 to slide downward in the groove 61. The guide rod 642 can ensure the stability of the sliding of the movable plates 641. If the movable plates 641 are limited to slide toward each other, the hinged movable member 64 will support the pallet 3 and the cargo on top of it.

[0031] like Figure 4-Figure 5 and Figure 9-10 As shown, the linkage control mechanism 65 includes an internal gear 651, a ring gear 652, a push-pull rod 653, a movable column 654, an L-shaped rod 655 and a movable plate 657 with a notch 656. The movable column 654 is located between the two shaft sleeves 62. A limiting groove for the movable column 654 to slide is provided in the frame 2. Two push-pull rods 653 are connected to the two ends of the movable column 654, and one end of the push-pull rod 653 extends to the outside of the shaft sleeve 62. The ring gear 652 is installed on the inner wall of the shaft sleeve 62. The internal gear 651 is sleeved on the push-pull rod 653 and corresponds to the ring gear 652. Two L-shaped rods 655 are symmetrically connected to the side wall of one of the push-pull rods 653, and the end of the L-shaped rod 655 is connected to the movable plate 657. One end of the movable plate 657 slides through one of the grooves 61 and extends into the other groove 61. The movable plate 657 is used to limit the movable plate 641.

[0032] It should be noted that by pulling the push-pull rod 653 connected to the L-shaped rod 655 outward, the movable column 654 and the other push-pull rod 653 at its end can be driven to move synchronously. During the movement, the internal gear 651 will be separated from the ring gear 652 in the sleeve 62, thereby releasing the rotation restriction of the sleeve 62. At the same time, the two movable plates 657 are pulled to move synchronously during the movement, and the ends of the movable plates 657 will slide out of the corresponding grooves 61, thereby releasing the movement restriction of the movable plate 641 in the groove 61. The movable plate 641 in the other groove 61 will correspond to the notch 656 on the side of the movable plate 657 at this time, so it will not hinder the movement of the movable plate 641, so that the pallet 3 can be smoothly lowered under the action of the gravity of the cargo.

[0033] like Figure 1 and Figure 6 As shown, the support plate 3 also includes a transverse through groove 35 and a triangular stabilizing block 36. The transverse through groove 35 is opened through the wing plate 32, and the transverse through groove 35 is used for the vertical part of the L-shaped limit member 4 to pass through. The two sides of the triangular stabilizing block 36 are respectively connected to the side of the heavy-load plate 31 and the bottom of the wing plate 32.

[0034] It should be noted that when the width of the cargo is smaller than the width of the pallet 3, after the L-shaped limit piece 4 is pushed inward, the transverse through groove 35 can ensure that the vertical part of the L-shaped limit piece 4 can pass smoothly after the pallet 3 is subsequently lowered, which not only does not affect the lowering of the pallet 3, but also facilitates the limiting of the cargo.

[0035] like Figure 7 As shown, the L-shaped limiter 4 also includes a hidden groove 45 and a mooring ring 46 . The hidden groove 45 is opened at the top of the L-shaped column 41 . The mooring ring 46 is rotatably connected to the bottom of the hidden groove 45 , and the mooring ring 46 is located in the hidden groove 45 .

[0036] It should be noted that the mooring ring 46 is convenient for connecting with a rope. Since the cargo has a certain height, the stability of cargo transportation can be further improved by connecting the rope to the mooring ring 46 and binding it around the cargo. The setting of the hidden groove 45 prevents the mooring ring 46 from protruding from the top of the L-shaped column 41, thereby not hindering the movement of the L-shaped column 41.

[0037] like Figure 5 , Figure 8 and Fig.10 As shown, the ends of the two push-pull rods 653 are respectively provided with a first fixing ring 6531 and a second fixing ring 6532, and a limit ring 6533 is sleeved on the push-pull rod 653 connected to the first fixing ring 6531, the limit ring 6533 is located between the movable column 654 and the gear ring 652, and the limit ring 6533 is movably connected to the shaft sleeve 62, and the notch 656 is provided on the side of the movable plate 657 close to the movable plate 641, and after the internal gear 651 is separated from the gear ring 652, the notch 656 corresponds to the movable plate 641 close to the push-pull rod 653.

[0038] It should be noted that the cross-section of the limit ring 6533 is larger than the cross-section of the movable column 654. When the internal gear 651 is meshed with the ring gear 652, the limit ring 6533 fits against the side of the groove 61 close to the movable column 654, thereby playing a positioning role, which is convenient for positioning when the internal gear 651 and the ring gear 652 are meshed and reset.

[0039] like Figure 1 and Figure 7 As shown, a plurality of L-shaped columns 41 on the same side are commonly connected to a connecting column 7 at their side walls near the bottom ends, and a U-shaped handle 8 is installed on the side wall of the connecting column 7 .

[0040] It should be noted that when the U-shaped handle 8 is pushed, the connecting column 7 can drive the multiple L-shaped columns 41 to move synchronously, so that the positions of the multiple L-shaped columns 41 can be quickly adjusted as needed.

[0041] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A heavy-load AGV with low-speed automatic driving capability, comprising a frame (2) with wheels (1) and a support plate (3) located above the frame (2), characterized in that: A plurality of L-shaped limiting members (4) are movably mounted between the support plate (3) and the frame (2), and a return spring (5) is also mounted between the support plate (3) and the frame (2). A locking mechanism (6) for controlling the support plate (3) to descend is mounted in the frame (2), and the support plate (3) locks the position of the L-shaped limiting member (4) after descending. The locking mechanism (6) comprises a groove (61), a shaft sleeve (62), a driving member (63), an articulated moving member (64) and a linkage control mechanism (65), wherein two grooves (61) are provided at two end positions of the top of the frame (2), the shaft sleeve (62) is rotatably mounted in the grooves (61), the shaft sleeve (62) is connected to the support plate (3) via the driving member (63), the articulated moving member (64) is mounted between the groove (61) and the support plate (3), and the linkage control mechanism (65) is used for synchronously controlling the rotation of the shaft sleeve (62) and the movement of the articulated moving member (64).

2. A heavy-duty AGV with low-speed automatic driving capability according to claim 1, characterized in that: The support plate (3) comprises a heavy-load plate (31), a wing plate (32), an upper rack (33) and a strip groove (34); the two wing plates (32) are symmetrically connected to the two sides of the heavy-load plate (31); the strip groove (34) is opened at the bottom of the heavy-load plate (31), and the position of the strip groove (34) corresponds to the position of the L-shaped limiter (4); the upper rack (33) is fixedly mounted on the bottom of the strip groove (34); the strip groove (34) is a structure with two ends open, and the two ends of the upper rack (33) extend to the outside of the strip groove (34).

3. A heavy-load AGV with low-speed automatic driving capability according to claim 2, characterized in that: The L-shaped stopper (4) comprises an L-shaped column (41), a T-shaped slider (42), a lower rack (43) and a longitudinal through groove (44); the T-shaped slider (42) is mounted on the bottom of the L-shaped column (41); a T-shaped slide groove (21) for the T-shaped slider (42) to slide is provided on the top of the frame (2); the lower rack (43) is located below the upper rack (33); the lower rack (43) is embedded and mounted on the L-shaped column (41); and the longitudinal through groove (44) is provided on the vertical portion of the L-shaped column (41).

4. A heavy-load AGV with low-speed automatic driving capability according to claim 2, characterized in that: The driving member (63) comprises an external gear (631) and a longitudinal rack (632), wherein the longitudinal rack (632) is fixedly mounted on the lower surface of the end of the heavy-load plate (31), the external gear (631) is fixedly sleeved on the outer side wall of the shaft sleeve (62), and the longitudinal rack (632) extends into the groove (61) to mesh with the external gear (631).

5. The heavy-load AGV with low-speed automatic driving capability according to claim 2 is characterized in that: The hinged moving member (64) comprises a moving plate (641), a guide rod (642) and a connecting rod (643); the two moving plates (641) are symmetrically slidably arranged in the groove (61); the guide rod (642) is connected to the side wall of the groove (61) near the bottom end; a guide hole for the guide rod (642) to pass through is provided on the moving plate (641); the moving plate (641) is slidably connected to the guide rod (642) via the guide hole; the two connecting rods (643) are symmetrically arranged and respectively hinged to the top of the two moving plates (641); the other end of the connecting rod (643) is hinged to the lower surface of the wing plate (32).

6. A heavy-load AGV with low-speed automatic driving capability according to claim 5, characterized in that: The linkage control mechanism (65) comprises an internal gear (651), a gear ring (652), a push-pull rod (653), a movable column (654), an L-shaped rod (655), and a movable plate (657) with a notch (656); the movable column (654) is located between two shaft sleeves (62); a limit groove for the movable column (654) to slide is provided in the vehicle frame (2); the two push-pull rods (653) are connected to the two ends of the movable column (654); one end of the push-pull rod (653) extends to the outside of the shaft sleeve (62); the gear ring (652) is installed on the inner wall of the shaft sleeve (62), the internal gear (651) is mounted on the push-pull rod (653) and corresponds to the gear ring (652), the two L-shaped rods (655) are symmetrically connected to the side wall of one of the push-pull rods (653), and the ends of the L-shaped rods (655) are connected to the movable plate (657), one end of the movable plate (657) slides through one of the grooves (61) and extends into the other groove (61), and the movable plate (657) is used to limit the movable plate (641).

7. A heavy-load AGV with low-speed automatic driving capability according to claim 2, characterized in that: The support plate (3) further comprises a transverse through slot (35) and a triangular stabilizing block (36); the transverse through slot (35) is formed through the wing plate (32) and is used for allowing the vertical portion of the L-shaped stopper (4) to pass through; and two sides of the triangular stabilizing block (36) are respectively connected to the side of the heavy-load plate (31) and the bottom of the wing plate (32).

8. The heavy-load AGV with low-speed automatic driving capability according to claim 3 is characterized in that: The L-shaped limiting member (4) further comprises a hidden groove (45) and a mooring ring (46), wherein the hidden groove (45) is formed at the top of the L-shaped column (41), the mooring ring (46) is rotatably connected to the bottom of the hidden groove (45), and the mooring ring (46) is located in the hidden groove (45).

9. A heavy-load AGV with low-speed automatic driving capability according to claim 6, characterized in that: The ends of the two push-pull rods (653) are respectively provided with a first fixing ring (6531) and a second fixing ring (6532); a limit ring (6533) is sleeved on the push-pull rod (653) connected to the first fixing ring (6531); the limit ring (6533) is located between the movable column (654) and the gear ring (652); and the limit ring (6533) is movably connected to the shaft sleeve (62); the notch (656) is provided on a side of the movable plate (657) close to the movable plate (641); after the internal gear (651) is separated from the gear ring (652), the notch (656) corresponds to the movable plate (641) close to the push-pull rod (653).

10. The heavy-load AGV with low-speed automatic driving capability according to claim 3, characterized in that: The side walls of the plurality of L-shaped columns (41) on the same side close to the bottom ends are commonly connected to a connecting column (7), and a U-shaped handle (8) is installed on the side wall of the connecting column (7).

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