An AGV vehicle with the function of lifting the whole vehicle hydraulically

Abstract

The present invention relates to the field of logistics automation, and discloses an AGV vehicle with a vehicle-integrated hydraulic jacking function, which includes a vehicle body and a crawler assembly installed on the outside of the vehicle body. The vehicle body includes a housing and a drive wheel assembly. The drive wheel assembly is located inside the housing. The drive wheels at the lower end of the drive wheel assembly are located below the housing. A crawler assembly is provided on the outside of the housing. The crawler assembly passes through the housing and is connected to the rollers in the drive wheel assembly. The crawler assembly includes a swing oil cylinder. The swing oil cylinder is located inside the housing. The swing oil cylinder is used to change the position of the crawler assembly. The AGV vehicle with a vehicle-integrated hydraulic jacking function provided by the present invention has a crawler assembly, enabling the vehicle to travel on ice, and it can also break thin ice, avoiding affecting other vehicles, while preventing itself from icing and reducing the pollution range on dry roads. Moreover, 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 particularly to an AGV vehicle with a vehicle hydraulic lifting function. Background Art

[0002] In the patent application with the application publication number of CN111003077B, it includes an AGV vehicle body. A first support plate is provided at the top of the AGV vehicle body. A plurality of card slots are formed in the top of the AGV vehicle body. A first clamping block is arranged in the card slot, and the first clamping block is fixedly connected with the first support plate. A limiting mechanism is arranged between the first support plate and the AGV vehicle body. A second support plate is arranged above the first support plate. The first support plate and the second support plate are connected by an electric telescopic rod. A plurality of first telescopic rods are arranged between the first support plate and the second support plate, and both ends of the first telescopic rod are fixedly connected with the first support plate and the second support plate respectively. A load-carrying plate is arranged above the second support plate, and the second support plate and the load-carrying plate are connected by a plurality of second telescopic rods. A spring is sleeved outside the second telescopic rod, and both ends of the spring are fixedly connected with the second support plate and the load-carrying plate respectively; A camera and a processor connected to the camera are arranged on the front surface of the load-carrying plate; The camera is used for shooting the marking line arranged in the middle of the road during the traveling process; The processor is used for judging the traveling route of the AGV vehicle body according to the position of the marking line in the image. The advantages are as follows: Through the combined action of the first support plate, the card slot, the first clamping block, the second support plate, the electric telescopic rod, the first telescopic rod, the second fixing plate, the second threaded rod, the fixing bolt, the second clamping block and the limiting mechanism, the second support plate can be lifted and lowered, so that the load-carrying plate can move to the position where the goods are unloaded, and at the same time, it is convenient to disassemble the electric telescopic rod, which is convenient for the maintenance and repair of the electric telescopic rod, and improves the convenience; When the electric telescopic rod is not needed, or in order to save costs, when some AGV vehicle bodies do not require a lifting 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 vehicle body, making the structure of the AGV vehicle body lighter and more flexible in actual use. Through the combined action of the second telescopic rod, the spring and the square ring, when the AGV vehicle body moves, the object placed on the load-carrying plate is shock-absorbed, the stability of the object is increased, and the object is prevented from sliding off the load-carrying plate. Through the arranged baffle plate, obstacles are prevented from entering the bottom end of the AGV vehicle body, thereby avoiding affecting the normal movement of the AGV vehicle body.

[0003] In the prior art including the above-mentioned patent, in a warehouse, the ground near the platform is directly connected to the outside world. Therefore, when encountering low temperatures, the road surface near the platform in the warehouse is prone to icing, which has a greater impact on the operation of the trolley, causing it to skid and thus unable to ensure its stability during operation. Moreover, when the existing AGV vehicle transports goods, if the center of the load shifts, the trolley can only send a signal to notify the worker to handle it, which will not only reduce the working efficiency of the entire transportation system but also increase the time required for maintenance. Summary of the Invention

[0004] The problems to be solved by the present invention are: it is easy to affect the traveling efficiency of the device due to skidding, and it cannot handle the situation by itself when the load is eccentric and needs to rely on the assistance of manual labor and other tools.

[0005] To solve the above technical problems, the technical solution of the present invention is: an AGV vehicle with a vehicle hydraulic lifting function, including a vehicle body and a crawler assembly installed on the outside of the vehicle body. The vehicle body includes a housing and a drive wheel assembly. The drive wheel assembly is located inside the housing. The drive wheels at the lower end of the drive wheel assembly are located below the housing. A crawler assembly is provided on the outside of the housing. The crawler assembly passes through the housing and is connected to the rollers in the drive wheel assembly. The crawler assembly includes a swing oil cylinder. The swing oil cylinder is located inside the housing. The swing oil cylinder is used to change the position of the crawler assembly. After the position of the crawler assembly is changed by the swing oil cylinder, the vehicle body can be lifted upward to improve the detection range and moving stability of the radar, or it can move in the reverse direction to lift the load, so that the vehicle body can adjust the load center without assistance. The crawler assembly includes a connecting shaft. The connecting shaft is connected to the rollers in the housing. The other end of the connecting shaft is located outside the housing. A driving wheel is fixedly provided at the end of the connecting shaft located outside the housing. The number of connecting shafts is the same as the number of housings. A driven wheel is provided on the outside of the driving wheel. The number of driven wheels is the same as the number of connecting shafts. The driven wheels are located on the side away from the central axis of the connecting shaft and the housing. Tooth grooves are provided in the middle of the outer surfaces of the driven wheel and the driving wheel. An installation plate is provided on the side of the driven wheel close to the housing. A plurality of chain links are provided on the outer surfaces of the driving wheel and the driven wheel. The distance between the chain links can be changed with the change of the installation plate. A tooth block is fixedly provided in the middle of the upper end of the chain link. The width of the protrusions on both sides of the tooth block is smaller than the width of the tooth groove. The distance between the notch in the middle of the tooth block and the tooth groove is the same. Installation grooves are provided in the middle of the chain link. Two installation grooves are symmetrically arranged along the center line of the chain link. An elastic band is provided between every two chain links. Both ends of the elastic band are located in the corresponding installation grooves and are fixedly connected to the chain link. A pin shaft is fixedly provided in the middle of the outer surface of the chain link. Two pin shafts are symmetrically arranged along the center line of the chain link. The pin shaft and the elastic band are perpendicular to each other.

[0006] Preferably, the mounting plate is rotatably connected to the driven wheel. The mounting plate is cam-shaped. The other end of the mounting plate is rotatably connected to the housing. The middle part of the mounting plate is connected to one end of the housing and passes through the housing to be connected to the rotating shaft of the swing oil cylinder.

[0007] Preferably, when the mounting plate is in a horizontal position, the swing oil cylinder is in the middle position. When the mounting plate rotates upward or downward, the swing oil cylinder moves to the outside of the axial housing or the center line of the housing.

[0008] Preferably, a bushing is rotatably arranged on the outer surface of the pin shaft. There are two groups of bushings grouped by position. One group of bushings is located on the side close to the link, and the other group of bushings is located on the other side. Installation holes are opened inside the lower end of the link. There are four installation holes in total. The installation holes are all located outside the tooth block. Two of the installation holes are symmetrically arranged along the center line of the tooth block. A chute is opened inside the installation hole.

[0009] Preferably, the length of the chute is less than that of the installation hole. Six chutes are evenly distributed around the center of the installation hole. A spring is fixedly arranged at the upper end inside the installation hole. The lower end of the spring is fixedly provided with an installation block. The outside of the installation block is slidably connected to the chute. A slider is slidably arranged in the middle of the installation block. The pulling force of the spring is greater than that of the slider. An ice claw is fixedly arranged at the lower end of the installation block.

[0010] Preferably, there are two ice claws in total. The ice claws are both located outside the slider. A cavity is opened between the installation holes. There are two cavities symmetrically arranged along the center line of the tooth block. The cavity can connect two adjacent installation holes. An installation bridge is slidably arranged in the middle of the cavity. The installation bridge is A-shaped. There are two installation bridges symmetrically arranged up and down along the center line of the cavity. A reed is slidably arranged between the installation bridges. The two ends of the reed are located within the range of the chute. The reed is fixedly connected to the installation bridge and the link through bolts.

[0011] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0012] (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.

[0013] (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

[0014] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0015] Figure 2 It is a schematic diagram of a partial cross-sectional structure of the housing of the present invention;

[0016] Figure 3 For the present invention Figure 2 The enlarged structural diagram at A in the middle;

[0017] Figure 4 This is a schematic diagram of the local structure of the deer generation component of the present invention;

[0018] Figure 5 It is a schematic diagram of a single chain link structure of the present invention;

[0019] Figure 6 Schematic diagram of the upward view structure of the link of the present invention;

[0020] Figure 7 Schematic diagram of the partial sectional view structure of the link of the present invention;

[0021] Figure 8 Schematic diagram of the installation positions of the ice claw and related parts of the present invention;

[0022] Figure 9 Schematic diagram of the installation positions of the reed and related parts of the present invention.

[0023] In the figure: 1, vehicle body; 101, outer shell; 102, drive wheel assembly; 2, crawler assembly; 201, connecting shaft; 202, driving wheel; 203, driven wheel; 204, tooth groove; 205, mounting plate; 206, swing oil cylinder; 207, link; 208, tooth block; 209, mounting groove; 210, elastic band; 211, pin shaft; 212, bushing; 213, mounting hole; 214, chute; 215, spring; 216, mounting block; 217, slider; 218, ice claw; 219, cavity; 220, mounting bridge; 221, reed. Specific embodiments

[0024] To make the objectives, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. Apparently, the described embodiments are some but not all of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0025] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure shall have the ordinary meanings understood by those of ordinary skill in the art to which the present disclosure pertains. The use of words such as "including" or "comprising" in the present disclosure means that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. "Connection" or "coupling" and other similar words are not limited to physical or mechanical connections, and may also include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0026] Such as Figures 1 to 9As shown in the figure, an AGV vehicle with a vehicle hydraulic lifting function provided by the present invention includes a vehicle body 1 and a crawler assembly 2 installed on the outside of the vehicle body 1. The vehicle body 1 includes a housing 101 and a drive wheel assembly 102. The drive wheel assembly 102 is located inside the housing 101, and the drive wheels at the lower end of the drive wheel assembly 102 are located below the housing 101. A crawler assembly 2 is provided on the outside of the housing 101. The crawler assembly 2 passes through the housing 101 and is connected to the rollers in the drive wheel assembly 102. The crawler assembly 2 includes a swing oil cylinder 206. The swing oil cylinder 206 is located inside the housing 101. The swing oil cylinder 206 is used to change the position of the crawler assembly 2. After the position of the crawler assembly 2 is changed by the swing oil cylinder 206, the vehicle body 1 can be lifted upward, improving the detection range and moving stability of the radar. It can also move in the reverse direction to lift the load, enabling the vehicle body 1 to adjust the load center without assistance. The crawler assembly 2 includes a connecting shaft 201. The connecting shaft 201 is connected to the rollers in the housing 101. The other end of the connecting shaft 201 is located outside the housing 101. A driving wheel 202 is fixedly provided at the end of the connecting shaft 201 located outside the housing 101. The number of connecting shafts 201 is the same as the number of the housing 101. A driven wheel 203 is provided outside the driving wheel 202. The number of driven wheels 203 is the same as the number of connecting shafts 201. The driven wheels 203 are located on one 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. A mounting plate 205 is provided on the side of the driven wheel 203 close to the housing 101. A plurality of chain links 207 are provided 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 provided 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 distance between the notch in the middle of the tooth block 208 and the tooth groove 204 is the same. Mounting grooves 209 are 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 provided between every two chain links 207. Both ends of the elastic band 210 are located in the corresponding mounting grooves 209 and are fixedly connected to the chain link 207. A pin shaft 211 is fixedly provided in the middle of the outer surface of the chain link 207. Two pin shafts 211 are symmetrically arranged along the center line of the chain link 207. The pin shaft 211 and the elastic band 210 are perpendicular to each other.

[0027] The mounting plate 205 is rotatably connected to the driven wheel 203. The mounting plate 205 is provided in a cam shape. The other end of the mounting plate 205 is rotatably connected to the housing 101. The end of the middle of the mounting plate 205 connected to the housing 101 passes through the housing 101 and is connected to the rotating shaft of the swing oil cylinder 206.

[0028] The swing cylinder 206 is in the middle position when the mounting plate 205 is in the horizontal position. When the mounting plate 205 rotates upward or downward, it moves to the outside of the axial housing 101 or the center line of the housing 101 inside the swing cylinder 206.

[0029] A bushing 212 is rotatably arranged on the outer surface of the pin shaft 211. There are two groups of bushings 212 grouped by position. One group of bushings 212 is located on the side close to the link 207, and the other group of bushings 212 is located on the other side. Mounting holes 213 are provided inside the lower end of the link 207. There are four mounting holes 213 in total. The mounting holes 213 are all located outside the tooth block 208. Two mounting holes 213 are symmetrically arranged along the center line of the tooth block 208. A chute 214 is provided inside the mounting hole 213.

[0030] The length of the chute 214 is less than that of the mounting hole 213. Six chutes 214 are evenly distributed around the center of the mounting hole 213. A spring 215 is fixedly arranged at the upper end inside the mounting hole 213. The lower end of the spring 215 is fixedly provided with a mounting block 216. The outside of the mounting block 216 is slidably connected to the chute 214. A slider 217 is slidably arranged in the middle of the mounting block 216. The pulling force of the spring 215 is greater than that of the slider 217. An ice claw 218 is fixedly arranged at the lower end of the mounting block 216.

[0031] There are two ice claws 218 in total. The ice claws 218 are both located outside the slider 217. A cavity 219 is provided between the mounting holes 213. Two cavities 219 are symmetrically arranged along the center line of the tooth block 208. The cavity 219 can communicate two adjacent mounting holes 213. A mounting bridge 220 is slidably arranged in the middle of the cavity 219. The mounting bridge 220 is arranged 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 two ends of the reed 221 are located within the range of the chute 214. The reed 221 is fixedly connected to the mounting bridge 220 and the link 207 by bolts.

[0032] The working principle and usage process of the present invention: When in use, it is divided into three cases:

[0033] When the trolley is running on an icy road surface, the swing oil cylinder 206 will control the mounting plate 205 to rotate downward and slightly lift the vehicle body, so that the driving wheels are separated from the ground and the crawler comes into contact with the ice surface, thereby increasing the contact area to increase the friction force. If the friction force between the crawler and the ice surface is still insufficient, under the action of the driving wheel and the driven wheel 203, the internal ice claws 218 will be thrown outwards and grab onto the ice surface to further increase the friction force. After the ice claws 218 leave the ice surface, the slider 217 slides inside the mounting block 216 and knocks on the mounting block 216 by virtue of the elastic force of the spring 215, and uses the vibration generated by the knocking to discharge the broken ice remaining on the ice claws 218 outwards. At the same time, when the mounting block 216 rebounds and extends, it will deflect the middle reed 221, and the reed 221 generates vibrations with a relatively long duration under the action of the mounting bridge 220, shaking off the water droplets and broken ice remaining on the current link 207;

[0034] When the radar detects an obstacle in the path of the trolley, the swing oil cylinder 206 controls the mounting plate 205 to rotate downward and greatly lift the vehicle body, so as to increase the detection range of the lidar. If the obstacle is small, the trolley can directly cross over after being lifted;

[0035] When the load center of the trolley is offset, the swing oil cylinder 206 controls the mounting plate 205 to rotate upward and slightly lift the goods, so that they are away from the original lifting platform of the trolley. At this time, by controlling the rotation direction of the drive wheel assembly 102, the relative position between the trolley and the goods can be changed without significantly changing the position of the goods relative to the ground;

[0036] It should be noted that regardless of whether the mounting plate 205 is in the upper, middle or lower position, the link 207 is always connected to the driving wheel 202 and the driven wheel 203 under the action of the elastic band 210. When the driven wheel 203 is in the horizontal position, the distance between the 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 position), the distance between the links 207 is the largest. At this time, there is no gap between the bushing 212 and the pin shaft 211, and it is tightened under the action of the elastic band 210; when the driven wheel 203 is in other positions, the link 207 automatically adapts under the action of the elastic band 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 the appropriate position, under the action of the tooth groove 204 and the elastic band 210, the tooth block 208 engages with the next tooth groove 204.

[0037] The above embodiments are only exemplary embodiments of the present invention and are not used to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent replacements should also be regarded as falling within the protection scope of the present invention.

Claims

1. An AGV vehicle with a vehicle hydraulic lifting function, comprising a vehicle body (1) and a crawler assembly (2) installed outside the vehicle body (1), characterized in that: The vehicle body (1) includes a housing (101) and a drive wheel assembly (102). The drive wheel assembly (102) is located inside the housing (101). The drive wheels at the lower end of the drive wheel assembly (102) are located below the housing (101). A crawler assembly (2) is provided on the outer side of the housing (101). The crawler assembly (2) passes through the housing (101) and is connected to the rollers in the drive wheel assembly (102). The crawler assembly (2) includes a swing cylinder (206). The swing cylinder (206) is located inside the housing (101). The swing cylinder (206) is used to change the position of the crawler assembly (2). After the position of the crawler assembly (2) is changed by the swing cylinder (206), the vehicle body (1) can be lifted upward to increase the detection range of the radar and the moving stability. It can also move in the reverse direction to lift the load, enabling the vehicle body (1) to adjust the load center without assistance. The crawler assembly (2) includes a connecting shaft (201). The connecting shaft (201) is connected to the rollers in the housing (101). The other end of the connecting shaft (201) is located outside the housing (101). A driving wheel (202) is fixedly provided at the end of the connecting shaft (201) located outside the housing (101). The number of the connecting shafts (201) is the same as the number of the housing (101). A driven wheel (203) is provided on the outer side of the driving wheel (202). The number of the driven wheels (203) is the same as the number of the connecting shafts (201). The driven wheels (203) are located on one 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 wheels (202). A mounting plate (205) is provided on the side of the driven wheel (203) close to the housing (101). A number of chain links (207) are provided on the outer surfaces of the driving wheel (202) and the driven wheel (203). The spacing between the chain links (207) can be changed with the change of the mounting plate (205). A tooth block (208) is fixedly provided 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). An installation groove (209) is provided in the middle of the chain link (207). Two installation grooves (209) are symmetrically arranged along the center line of the chain link (207). An elastic band (210) is provided between every two chain links (207). Both ends of the elastic band (210) are located in the corresponding installation grooves (209) and are fixedly connected to the chain link (207). A pin shaft (211) is fixedly provided in the middle of the outer surface of the chain link (207). Two pin shafts (211) are symmetrically arranged along the center line of the chain link (207). The pin shaft (211) is perpendicular to the elastic band (210).

2. The AGV vehicle with the function of lifting the whole vehicle hydraulically according to claim 1, wherein: The mounting plate (205) is rotatably connected to the driven wheel (203). The mounting plate (205) is arranged in a cam shape. The other end of the mounting plate (205) is rotatably connected to the housing (101). The middle part of the mounting plate (205) passes through the housing (101) at the connected end and is connected to the rotating shaft of the swing oil cylinder (206).

3. The AGV vehicle with the function of lifting the whole vehicle hydraulically according to claim 2, wherein: When the mounting plate (205) is in the horizontal position, the swing oil cylinder (206) is in the middle position. When the mounting plate (205) rotates upward or downward, the swing oil cylinder (206) moves outside the axial housing (101) or at the center line of the housing (101).

4. The AGV vehicle with the function of vehicle hydraulic lifting according to claim 1, characterized in that: A bushing (212) is rotatably arranged on the outer surface of the pin shaft (211). There are two groups of the bushings (212) grouped by position. One group of the bushings (212) is located on the side close to the link (207), and the other group of the bushings (212) is located on the other side. An installation hole (213) is opened inside the lower end of the link (207). There are four installation holes (213) in total. The installation holes (213) are all located outside the tooth block (208). Two of the installation holes (213) are symmetrically arranged along the center line of the tooth block (208). A chute (214) is opened inside the installation hole (213).

5. The AGV vehicle with the function of vehicle hydraulic lifting according to claim 4, wherein: The length of the chute (214) is less than that of the installation hole (213). There are six chutes (214) evenly distributed around the center of the installation hole (213). A spring (215) is fixedly arranged at the upper end inside the installation hole (213). The lower end of the spring (215) is fixedly provided with a mounting block (216). The outside of the mounting block (216) is slidably connected to the chute (214). A slider (217) is slidably arranged in the middle of the mounting block (216). The pulling force of the spring (215) is greater than that of the slider (217). The lower end of the mounting block (216) is fixedly provided with an ice claw (218).

6. The AGV vehicle with the function of vehicle hydraulic lifting according to claim 5, characterized in that: There are two ice claws (218) in total. The ice claws (218) are both located outside the slider (217). A cavity (219) is opened between the installation holes (213). There are two cavities (219) symmetrically arranged along the center line of the tooth block (208). The cavity (219) can communicate two adjacent installation holes (213). An installation bridge (220) is slidably arranged in the middle of the cavity (219). The installation bridge (220) is arranged in an A shape. There are two installation bridges (220) symmetrically arranged up and down along the center line of the cavity (219). A reed (221) is slidably arranged between the installation bridges (220). The two ends of the reed (221) are located within the range of the chute (214). The reed (221) is fixedly connected to the installation bridge (220) and the link (207) by bolts.

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