AGV (Automatic Guided Vehicle) with whole vehicle hydraulic jacking function

Abstract

The invention relates to the field of logistics automation, and discloses an AGV vehicle with a whole vehicle hydraulic jacking function, the AGV vehicle comprises a vehicle body and a crawler belt assembly installed on the outer side of the vehicle body, the vehicle body comprises a shell and a driving wheel assembly, the driving wheel assembly is located in the shell, and driving wheels at the lower end of the driving wheel assembly are located below the shell; the outer side of the shell is provided with a track assembly, the track assembly penetrates through the shell to be connected with a rolling wheel in the driving wheel assembly, the track assembly comprises a swing oil cylinder, the swing oil cylinder is located in the shell, and the swing oil cylinder is used for changing the position of the track assembly. The AGV with the whole vehicle hydraulic jacking function is provided with the crawler belt assembly, so that the trolley can advance on the ice surface, the thinner ice surface can be broken, the influence on other trolleys is avoided, meanwhile, the AGV can be prevented from being frozen, the pollution range of a dry road surface can be reduced, the overall structure is simple, and the cost is low.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics automation, and in particular to an AGV vehicle with a whole-vehicle hydraulic jacking function. Background Art

[0002] In the patent application with application announcement number CN111003077B, it includes an AGV vehicle body, a first support plate is provided at the top of the AGV vehicle body, a plurality of slots are provided at the top of the AGV vehicle body, a first card block is provided in the card slot, and the first card block is fixedly connected to the first support plate, a limiting mechanism is provided between the first support plate and the AGV vehicle body, a second support plate is provided above the first support plate, the first support plate and the second support plate are connected through an electric telescopic rod, a plurality of first telescopic rods are provided between the first support plate and the second support plate, and the two ends of the first telescopic rod are respectively fixedly connected to the first support plate and the second support plate, a loading plate is provided above the second support plate, and the second support plate and the loading plate are connected through a plurality of second telescopic rods, a spring is provided on the outer sleeve of the second telescopic rod, and the two ends of the spring are respectively fixedly connected to the second support plate and the loading plate; a camera and a processor connected to the camera are provided on the front surface of the loading plate; the camera is used to shoot the marking line set in the middle of the road during the travel process; the processor is used to judge according to the position of the marking line in the image The travel route of the AGV vehicle body is interrupted, and the advantages are: by setting the first support plate, the card slot, the first card block, the second support plate, the electric telescopic rod, the first telescopic rod, the second fixed plate, the second threaded rod, the fixing bolt, the second card block and the limit mechanism, the second support plate can be lifted and lowered, so that the loading plate can move to the position where the goods are unloaded, and the electric telescopic rod can be easily disassembled, and the electric telescopic rod can be easily inspected and maintained, thereby improving convenience; when the electric telescopic rod is not needed, or in order to save costs, part of the AGV vehicle body does not need to be lifted and lowered. When the AGV body is in the lowering function, the first support plate and the electric telescopic rod can be directly removed, and then the second support plate can be combined with the AGV body, making the structure of the AGV body lighter and more flexible in actual use. By setting the cooperation of the second telescopic rod, the spring and the square ring, when the AGV body moves, the objects placed on the loading plate are damped, which increases the stability of the objects and prevents the objects from slipping off the loading plate. The baffle is set to prevent obstacles from entering the bottom of the AGV body, thereby avoiding affecting the normal movement of the AGV body.

[0003] In the prior art including the above-mentioned patents, in the warehouse, the ground near the platform is directly connected to the outside world. Therefore, the warehouse floor near the platform is prone to ice when encountering low temperature weather. The ice on the road surface will have a great impact on the operation of the vehicle, causing it to slip and thus failing to ensure its stability during operation. Moreover, when the existing AGV vehicle is transporting goods, if the center of the load shifts, the vehicle can only send a signal to notify the worker to handle it, which will reduce the working efficiency of the entire transportation system and increase the time required for maintenance. Summary of the invention

[0004] The problem to be solved by the present invention is that the travel efficiency of the device is easily affected by slipping, and when the load is eccentric, it cannot be handled by itself and needs to rely on manual assistance and other tools.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: an AGV vehicle with a whole-vehicle hydraulic jacking function, comprising a vehicle body and a track assembly installed on the outside of the vehicle body, the vehicle body comprising an outer shell and a driving wheel assembly, the driving wheel assembly is located inside the outer shell, the driving wheel at the lower end of the driving wheel assembly is located below the outer shell, a track assembly is arranged on the outside of the outer shell, the track assembly passes through the outer shell and is connected with a roller in the driving wheel assembly, the track assembly comprises a swing cylinder, the swing cylinder is located inside the outer shell, the swing cylinder is used to change the position of the track assembly, after the position of the track assembly is changed by the swing cylinder, the vehicle body can be lifted upward, thereby improving the detection range and movement stability of the radar, and the load can also be lifted by reverse movement, so that the load center of the vehicle body can be adjusted without assistance.

[0006] Preferably, the track assembly includes a connecting shaft, which is connected to the roller in the outer shell, and the other end of the connecting shaft is located outside the outer shell. A driving wheel is fixedly provided at one end of the connecting shaft located outside the outer shell, and the number of the connecting shafts is consistent with the number of the outer shells. A driven wheel is provided outside the driving wheel.

[0007] Preferably, the number of the driven wheels is consistent with the connecting shaft, the driven wheels are located on the side away from the connecting shaft and the central axis of the housing, tooth grooves are opened in the middle of the outer surfaces of the driven wheels and the driving wheel, and a mounting plate is provided on the side of the driven wheel close to the housing.

[0008] Preferably, the mounting plate is rotationally connected to the driven wheel, the mounting plate is configured in a cam shape, the other end of the mounting plate is rotationally connected to the outer shell, and the end of the mounting plate connected to the outer shell in the middle part passes through the outer shell and is connected to the rotating shaft of the swing cylinder.

[0009] Preferably, the swing cylinder is in a neutral position when the mounting plate is in a horizontal position, and when the mounting plate rotates upward or downward, the axial direction in the swing cylinder moves toward the outside of the outer shell or the center line of the outer shell.

[0010] Preferably, a plurality of chain links are provided on the outer surfaces of the driving wheel and the driven wheel, and the distance between the chain links can be changed with the change of the mounting plate. A tooth block is fixedly provided in the middle of the upper end of the chain link, and the width of the protrusions on both sides of the tooth block is smaller than the width of the tooth groove, and the distance between the recess in the middle of the tooth block and the tooth groove is consistent.

[0011] Preferably, a mounting groove is provided in the middle of the chain link, and two mounting grooves are symmetrically arranged along the center line of the chain link. An elastic band is arranged between every two chain links, and both ends of the elastic band are located in the corresponding mounting grooves and fixedly connected to the chain link. A pin is fixedly arranged in the middle of the outer surface of the chain link, and two pins are symmetrically arranged along the center line of the chain link, and the pins and the elastic bands are perpendicular to each other.

[0012] Preferably, a bushing is rotatably provided on the outer surface of the pin shaft, and the bushings are grouped in two groups according to their positions, wherein one group of bushings is located on one side close to the chain link, and the other group of bushings is located on the other side. A mounting hole is provided inside the lower end of the chain link, and there are four mounting holes in total, all of which are located on the outside of the tooth block, and two mounting holes are symmetrically provided along the center line of the tooth block, and a slide groove is provided inside the mounting hole.

[0013] Preferably, the length of the slide groove is smaller than the mounting hole, and there are six slide grooves evenly distributed around the center of the mounting hole. A spring is fixedly provided at the inner upper end of the mounting hole, and a mounting block is fixedly provided at the lower end of the spring. The outer side of the mounting block is slidably connected to the slide groove, and a slider is slidably provided in the middle of the mounting block. The tension of the spring is greater than that of the slider, and a crampon is fixedly provided at the lower end of the mounting block.

[0014] Preferably, there are two crampons in total, both of which are located on the outside of the slider, a cavity is opened between the mounting holes, two cavities are symmetrically arranged along the center line of the tooth block, the cavity can connect two adjacent mounting holes, a mounting bridge is slidably arranged in the middle of the cavity, the mounting bridge is arranged in an A shape, and two mounting bridges are symmetrically arranged up and down along the center line of the cavity, a reed is slidably arranged between the mounting bridges, the ends of both sides of the reed are located within the range of the slide groove, and the reed is fixedly connected to the mounting bridge and the chain link by bolts.

[0015] Compared with the prior art, the technical solution of the present invention has the following advantages: (1) By setting up a track assembly, when the trolley drives on the ice surface, the swing cylinder in the control device can be used to change the contact mode between the trolley and the ground, and the track can be used to increase the contact area with the ground, so that the trolley can move on the ice surface. If the friction force of the track is not enough to cope with the ice surface conditions, the crampons inside the track will extend and grab the ice surface to ensure that the trolley can move normally on the ice surface. Moreover, when the crampons are thrown out and grab the ice surface, the combined effect of the trolley's own weight, the reverse force on the ice surface during movement, and the force of the crampons hitting the ice surface when thrown out can move the trolley to the ice surface. The ice claws can be peeled off from the ground and broken into pieces to prevent large areas of ice from affecting the operation of other subsequent vehicles. In addition, the crampons will automatically retract after leaving the ice surface, and will not damage the dry road surface and guide wires in the warehouse. At the same time, the force generated by the rebound of the crampons can discharge the broken ice and accumulated water, which can prevent the track surface from freezing and reduce the pollution range of the dry road surface after the track leaves the ice surface. It is worth mentioning that the track assembly does not require additional control units and drive components during operation, which effectively simplifies the overall structure and reduces economic costs. (2) The track assembly works in conjunction with the internal swing cylinder to lift the entire vehicle upward. This lifting operation can expand the detection range of the vehicle's built-in radar, allowing the radar to move in the Z-axis direction, thereby improving the accuracy of detection. When driving on dry roads, the track assembly can increase friction after the vehicle body is lifted, effectively reducing the instability caused by the increased center of gravity, and can also increase the vehicle's obstacle avoidance capability. In addition, the swing cylinder also has the function of lifting cargo upward. When the load center of gravity shifts, the vehicle can use this feature to independently adjust the relative position of the cargo and itself at any position. This process does not require long-term parking, nor does it require the assistance of workers or other tools, thereby greatly reducing the "traffic jam" phenomenon and reducing the labor intensity of workers, effectively ensuring the efficiency and stability of the entire system during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of a partial cross-sectional structure of the housing of the present invention; Figure 3 For the present invention Figure 2 The enlarged structural diagram at A in the middle; Figure 4 It is a schematic diagram of the partial structure of the crawler assembly of the present invention; Figure 5 It is a schematic diagram of a single chain link structure of the present invention; Figure 6 This is a schematic diagram of the bottom view of the chain link structure of the present invention; Figure 7 It is a schematic diagram of a partial cross-sectional structure of a chain link of the present invention; Figure 8 This is a schematic diagram of the installation position of the crampon and related parts of the present invention; Fig. 9 This is a schematic diagram of the installation position of the reed and related parts of the present invention.

[0017] In the figure: 1, vehicle body; 101, shell; 102, driving wheel assembly; 2, track assembly; 201, connecting shaft; 202, driving wheel; 203, driven wheel; 204, tooth groove; 205, mounting plate; 206, swing cylinder; 207, chain link; 208, tooth block; 209, mounting groove; 210, elastic belt; 211, pin shaft; 212, bushing; 213, mounting hole; 214, slide groove; 215, spring; 216, mounting block; 217, slider; 218, crampon; 219, cavity; 220, mounting bridge; 221, reed. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0019] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. "Include" or "comprise" and other similar words used in the present disclosure mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and other similar words are not limited to physical or mechanical connections, but may also include electrical connections, whether direct or indirect. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0020] like Figures 1 to 9As shown, the present invention provides an AGV vehicle with a whole-vehicle hydraulic jacking function, comprising a vehicle body 1 and a track assembly 2 installed on the outside of the vehicle body 1, the vehicle body 1 comprising an outer shell 101 and a driving wheel assembly 102, the driving wheel assembly 102 is located inside the outer shell 101, the driving wheel at the lower end of the driving wheel assembly 102 is located below the outer shell 101, a track assembly 2 is arranged on the outside of the outer shell 101, the track assembly 2 passes through the outer shell 101 and is connected with a roller in the driving wheel assembly 102, the track assembly 2 comprises a swing cylinder 206, the swing cylinder 206 is located inside the outer shell 101, the swing cylinder 206 is used to change the position of the track assembly 2, after the position of the track assembly 2 is changed by the swing cylinder 206, the vehicle body 1 can be lifted upward, thereby improving the detection range and movement stability of the radar, and the load can also be lifted by reverse movement, so that the load center of the vehicle body 1 can be adjusted without assistance.

[0021] The track assembly 2 includes a connecting shaft 201, which is connected to the roller in the outer shell 101. The other end of the connecting shaft 201 is located outside the outer shell 101. A driving wheel 202 is fixedly provided at one end of the connecting shaft 201 located outside the outer shell 101. The number of connecting shafts 201 is consistent with the number of outer shells 101. A driven wheel 203 is provided outside the driving wheel 202.

[0022] The number of driven wheels 203 is consistent with the connecting shaft 201. The driven wheels 203 are located on the side away from the central axis of the connecting shaft 201 and the housing 101. A tooth groove 204 is opened in the middle of the outer surface of the driven wheel 203 and the driving wheel 202. A mounting plate 205 is provided on the side of the driven wheel 203 close to the housing 101.

[0023] The mounting plate 205 is rotationally connected to the driven wheel 203 , and the mounting plate 205 is configured in a cam shape. The other end of the mounting plate 205 is rotationally connected to the outer shell 101 , and the end of the mounting plate 205 connected to the outer shell 101 passes through the outer shell 101 and is connected to the rotating shaft of the swing cylinder 206 .

[0024] When the mounting plate 205 is in a horizontal position, the swing cylinder 206 is in a neutral position. When the mounting plate 205 rotates upward or downward, the axial direction in the swing cylinder 206 moves to the outside of the housing 101 or the center line of the housing 101.

[0025] A plurality of chain links 207 are arranged on the outer surfaces of the driving wheel 202 and the driven wheel 203. The distance between the chain links 207 can be changed with the change of the mounting plate 205. A tooth block 208 is fixedly arranged in the middle of the upper end of the chain link 207. The width of the protrusions on both sides of the tooth block 208 is smaller than the width of the tooth groove 204. The recess in the middle of the tooth block 208 is consistent with the spacing between the tooth grooves 204.

[0026] A mounting groove 209 is provided in the middle of the link 207, and two mounting grooves 209 are symmetrically arranged along the center line of the link 207. An elastic band 210 is arranged between every two links 207. Both ends of the elastic band 210 are located in the corresponding mounting groove 209 and fixedly connected to the link 207. A pin shaft 211 is fixedly arranged in the middle of the outer surface of the link 207, and two pin shafts 211 are symmetrically arranged along the center line of the link 207, and the pin shaft 211 and the elastic band 210 are perpendicular to each other.

[0027] A bushing 212 is rotatably provided on the outer surface of the pin shaft 211. The bushing 212 is grouped into two groups according to position. One group of bushings 212 is located on the side close to the chain link 207, and the other group of bushings 212 is located on the other side. A mounting hole 213 is provided inside the lower end of the chain link 207. There are four mounting holes 213 in total. All of the mounting holes 213 are located on the outside of the tooth block 208. Two mounting holes 213 are symmetrically provided along the center line of the tooth block 208. A slide groove 214 is provided inside the mounting hole 213.

[0028] The length of the slide groove 214 is smaller than the mounting hole 213, and there are six slide grooves 214 evenly distributed around the center of the mounting hole 213. A spring 215 is fixedly provided at the inner upper end of the mounting hole 213, and a mounting block 216 is fixedly provided at the lower end of the spring 215. The outer side of the mounting block 216 is slidably connected to the slide groove 214, and a slider 217 is slidably provided in the middle of the mounting block 216. The pulling force of the spring 215 is greater than that of the slider 217, and a crampon 218 is fixedly provided at the lower end of the mounting block 216.

[0029] There are two crampons 218, both of which are located on the outside of the slider 217. A cavity 219 is opened between the mounting holes 213. Two cavities 219 are symmetrically arranged along the center line of the tooth block 208. The cavity 219 can connect two adjacent mounting holes 213. A mounting bridge 220 is slidably arranged in the middle of the cavity 219. The mounting bridge 220 is set in an A shape. Two mounting bridges 220 are symmetrically arranged up and down along the center line of the cavity 219. A reed 221 is slidably arranged between the mounting bridges 220. The ends of both sides of the reed 221 are located within the range of the slide groove 214. The reed 221 is fixedly connected to the mounting bridge 220 and the chain link 207 by bolts.

[0030] The working principle and use process of the present invention: When in use, there are three situations: When the trolley is traveling on an icy road, the swing cylinder 206 controls the mounting plate 205 to rotate downward and slightly lift the vehicle body, so that the driving wheel is off the ground and the track contacts the ice surface, thereby increasing the contact area to increase the friction. If the friction between the track and the ice surface is still insufficient, under the action of the driving wheel and the driven wheel 203, the internal ice claw 218 will be thrown outward and caught on the ice surface, further increasing the friction. After the ice claw 218 leaves the ice surface, the slider 217 slides inside the mounting block 216 and knocks the mounting block 216 with the help of the rebound force of the spring 215, and the crushed ice remaining on the ice claw 218 is discharged outward by the vibration generated by the knocking. At the same time, when the mounting block 216 rebounds and extends, it will move the middle reed 221. The reed 221 generates a long-lasting vibration under the action of the mounting bridge 220, and the water droplets and crushed ice remaining on the current chain link 207 are shaken off. When the radar detects an obstacle on the path of the trolley, the swing cylinder 206 controls the mounting plate 205 to rotate downward and greatly lift the vehicle body to increase the detection range of the laser radar. If the obstacle is small, the trolley can directly pass over it after lifting. When the load center of the trolley is offset, the swing cylinder 206 controls the mounting plate 205 to rotate upward and slightly lift the cargo away from the original lifting platform of the trolley. At this time, by controlling the rotation direction of the driving wheel assembly 102, the relative position of the trolley and the cargo can be changed without significantly changing the position of the cargo relative to the ground. It is worth noting that no matter the mounting plate 205 is in the upper, middle or lower position, the chain link 207 is always connected with the driving wheel 202 and the driven wheel 203 under the action of the elastic belt 210. When the driven wheel 203 is in a horizontal position, the distance between the chain links 207 is the smallest; when the driven wheel 203 is at the lowest end (when the vehicle body 1 is lifted to the highest point), the distance between the chain links 207 is the largest. At this time, there is no gap between the bushing 212 and the pin 211. The belt 210 is tightened; when the driven wheel 203 is in other positions, the chain link 207 automatically adapts under the action of the elastic belt 210. In addition, when the tooth block 208 moves to the tooth groove 204, if the notch of the tooth block 208 does not directly engage with the tooth groove 204, the tooth block 208 can be pushed to one side. After the next tooth groove 204 moves to a suitable position, under the action of the tooth groove 204 and the elastic belt 210, the tooth block 208 engages with the next tooth groove 204.

[0031] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. An AGV vehicle with a whole-vehicle hydraulic lifting function, comprising a vehicle body (1) and a crawler assembly (2) mounted on the outside of the vehicle body (1), characterized in that: The vehicle body (1) comprises a shell (101) and a driving wheel assembly (102), wherein the driving wheel assembly (102) is located inside the shell (101), and a driving wheel at the lower end of the driving wheel assembly (102) is located below the shell (101). A track assembly (2) is arranged outside the shell (101), and the track assembly (2) passes through the shell (101) and is connected to a roller in the driving wheel assembly (102). The track assembly (2) comprises a swinging oil cylinder (206), and the swinging oil cylinder (206) is located inside the shell (101). The swinging oil cylinder (206) is used to change the position of the track assembly (2). When the position of the track assembly (2) is changed by the swinging oil cylinder (206), the vehicle body (1) can be lifted upwards, thereby improving the detection range and movement stability of the radar. The load can also be lifted by reverse movement, so that the load center of the vehicle body (1) can be adjusted without assistance.

2. The AGV with the whole vehicle hydraulic lifting function according to claim 1, characterized in that: The track assembly (2) comprises a connecting shaft (201), the connecting shaft (201) being connected to a roller in the outer shell (101), the other end of the connecting shaft (201) being located outside the outer shell (101), a driving wheel (202) being fixedly provided at one end of the connecting shaft (201) located outside the outer shell (101), the number of the connecting shafts (201) being the same as the number of the outer shell (101), and a driven wheel (203) being provided outside the driving wheel (202).

3. The AGV with the whole vehicle hydraulic lifting function according to claim 2, characterized in that: The number of the driven wheels (203) is consistent with the number of the connecting shaft (201); the driven wheels (203) are located on a side away from the central axis of the connecting shaft (201) and the housing (101); tooth grooves (204) are provided in the middle of the outer surfaces of the driven wheels (203) and the driving wheel (202); and a mounting plate (205) is provided on a side of the driven wheels (203) close to the housing (101).

4. The AGV with the whole vehicle hydraulic lifting function according to claim 3 is characterized in that: The mounting plate (205) is rotatably connected to the driven wheel (203); the mounting plate (205) is configured in a cam shape; the other end of the mounting plate (205) is rotatably connected to the outer shell (101); and the end of the mounting plate (205) connected to the outer shell (101) passes through the outer shell (101) and is connected to the rotating shaft of the swing oil cylinder (206).

5. The AGV with the whole vehicle hydraulic lifting function according to claim 4, characterized in that: The swing cylinder (206) is in a neutral position when the mounting plate (205) is in a horizontal position, and when the mounting plate (205) rotates upward or downward, the axial direction in the swing cylinder (206) moves to the outside of the housing (101) or the center line of the housing (101).

6. The AGV with the whole vehicle hydraulic lifting function according to claim 5, characterized in that: A plurality of chain links (207) are arranged on the outer surfaces of the driving wheel (202) and the driven wheel (203); the spacing between the chain links (207) can be changed as the mounting plate (205) changes; a tooth block (208) is fixedly arranged at the middle of the upper end of the chain link (207); the width of the protrusions on both sides of the tooth block (208) is smaller than the width of the tooth groove (204).

7. The AGV with the whole vehicle hydraulic lifting function according to claim 6, characterized in that: A mounting groove (209) is provided in the middle of the chain link (207), two mounting grooves (209) are symmetrically arranged along the center line of the chain link (207), an elastic band (210) is arranged between every two chain links (207), both ends of the elastic band (210) are located in the corresponding mounting groove (209) and are fixedly connected to the chain link (207), a pin shaft (211) is fixedly arranged in the middle of the outer surface of the chain link (207), two pin shafts (211) are symmetrically arranged on the center line of the chain link (207), and the pin shaft (211) and the elastic band (210) are perpendicular to each other.

8. The AGV with the whole vehicle hydraulic lifting function according to claim 7, characterized in that: The outer surface of the pin shaft (211) is rotatably provided with a bushing (212), and the bushings (212) are grouped in two groups according to position, wherein one group of bushings (212) is located on a side close to the chain link (207), and the other group of bushings (212) is located on the other side. A mounting hole (213) is provided inside the lower end of the chain link (207), and there are four mounting holes (213) in total. The mounting holes (213) are all located outside the tooth block (208), and two mounting holes (213) are symmetrically provided along the center line of the tooth block (208), and a slide groove (214) is provided inside the mounting hole (213).

9. The AGV with the whole vehicle hydraulic lifting function according to claim 8, characterized in that: The length of the slide groove (214) is smaller than the mounting hole (213), and six slide grooves (214) are evenly distributed around the center of the mounting hole (213). A spring (215) is fixedly arranged at the upper end of the interior of the mounting hole (213), and a mounting block (216) is fixedly arranged at the lower end of the spring (215). The outer side of the mounting block (216) is slidably connected to the slide groove (214), and a slider (217) is slidably arranged in the middle of the mounting block (216). The tension of the spring (215) is greater than that of the slider (217), and a crampon (218) is fixedly arranged at the lower end of the mounting block (216).

10. The AGV with the whole vehicle hydraulic lifting function according to claim 9, characterized in that: Two crampons (218) are provided in total, and both crampons (218) are located outside the slider (217). A cavity (219) is provided between the mounting holes (213). Two cavities (219) are symmetrically provided along the center line of the tooth block (208). The cavity (219) can connect two adjacent mounting holes (213). A mounting bridge (220) is slidably provided in the middle of the cavity (219). The mounting bridge (220) is arranged in an A shape. Two mounting bridges (220) are symmetrically provided up and down along the center line of the cavity (219). A reed (221) is slidably provided between the mounting bridges (220). The ends of both sides of the reed (221) are located within the range of the slide groove (214). The reed (221) is fixedly connected to the mounting bridge (220) and the chain link (207) by bolts.

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