AGV small wheel set height self-adjusting structure

Abstract

The invention relates to the technical field of AGV trolleys, in particular to an AGV trolley wheel set height self-adjusting structure. The AGV trolley wheel set height self-adjusting structure comprises a frame which is an installation carrier of parts. The placing plate is detachably connected to the frame; the number of the first motors is four, and the first motors are installed on a driving seat on the frame; the number of the fixing plates is four, and the fixing plates are all connected into the frame. The first motor is started to drive the universal joint to be matched with the universal shaft to achieve power transmission of the wheels, vehicle displacement is achieved, the air pump is started to drive the air bag to conduct air inlet / outlet, the wheels make contact with the raised position / sunken position of the ground and rotate continuously, and the height of the wheels and the height between the vehicle frame and the ground can be adjusted according to the ground condition; and the stability of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV vehicles, and particularly to a self-adjusting structure for the height of an AGV vehicle wheel set. Background Art

[0002] With the development of modern logistics industry, especially the increasing demand for the intelligence of internal logistics in enterprises, AGV vehicles have been more and more widely used, and more and more factories have achieved automation by introducing logistics robots (AGV) to assist in handling work.

[0003] Traditional AGVs mostly adopt fixed-axis suspension or simple spring shock absorption, lacking the ability of active adjustment and unable to dynamically adapt to ground undulations. As a result, when facing uneven ground, the AGV vehicle is prone to vehicle body tipping, and during the transportation process, due to the large size of the transported items, the center of gravity of the vehicle is unstable during driving, resulting in rollover, causing losses to the AGV vehicle and the transported goods.

[0004] In summary, there is an urgent need for a self-adjusting structure for the height of an AGV vehicle wheel set to solve the above problems. Summary of the Invention

[0005] In order to overcome the shortcomings that traditional AGVs mostly adopt fixed-axis suspension or simple spring shock absorption and are unable to dynamically adapt to ground undulations, the present invention mainly provides a self-adjusting structure for the height of an AGV vehicle wheel set.

[0006] An AGV trolley wheel set height self-adjusting structure includes a vehicle frame, which is a mounting carrier for parts; a placement plate detachably connected to the vehicle frame; four first motors mounted on the driving seat of the vehicle frame; four fixing plates all connected inside the vehicle frame; universal joints rotatably connected to the fixing plates, and output shafts of the four first motors are all connected to the adjacent universal joints through couplings; a universal shaft rotatably connected to the other end of the universal joint, and the other end of the universal shaft is connected to another universal joint; a telescopic rod slidably connected to the other end of the universal joint away from the first motor; a wheel connected to the other end of the telescopic rod, and the four wheels are rectangularly distributed on the lower side of the vehicle frame; four mounting brackets all connected inside the vehicle frame, and the four fixing plates are located between the four mounting brackets; a fixing frame symmetrically connected to the lower side of the mounting bracket in the front and back; an airbag detachably connected inside the fixing frame; a folding plate connected to the opposite sides of two adjacent airbags; an air pump mounted on the opposite sides of two adjacent fixing frames, and the air pump is connected to the airbag through a trachea; a first sliding plate symmetrically slidably connected to the opposite sides of two adjacent fixing frames, and the first sliding plate is located between the adjacent airbag and the fixing frame; a second sliding plate slidably connected to the opposite sides of two adjacent first sliding plates; a connecting block connected between two adjacent second sliding plates; and a first elastic member symmetrically wound around the adjacent first sliding plate and the second sliding plate up and down.

[0007] Furthermore, it further includes a pressure-bearing mechanism with a pressure-bearing function. The pressure-bearing mechanism includes four first cylinders, which are rectangularly distributed and connected inside the vehicle frame; four mounting plates, which are rectangularly distributed and connected inside the vehicle frame, and the mounting plates are located below the first cylinders; universal wheels longitudinally slidably connected to the mounting plates, and the universal wheels are slidably connected to the vehicle frame; and second elastic members wound around the adjacent mounting plates and the universal wheels.

[0008] Further, it further includes an adjustment mechanism capable of adjusting the wheel set spacing. The adjustment mechanism includes a second motor, which is symmetrically installed front and rear inside the frame; connecting frames, the number of connecting frames is set to four, and they are connected in a rectangular distribution inside the frame. The two second motors are located between the four connecting frames; screws, rotatably connected to the connecting frames, and the screws are connected to the output shafts of the adjacent second motors through couplings; moving frames, threadedly connected to the screws, and the moving frames are slidably connected to the connecting frames; connecting plates, slidably connected to the moving frames; fixing blocks, connected to the telescopic rods, and the other ends of the connecting plates are connected to the fixing blocks; a first sensor, installed on the moving frame on the right side near the rear second motor; a controller, installed on the opposite side surfaces of the adjacent two moving frames, and the first sensor is electrically connected to the adjacent controller.

[0009] Further, it further includes a fine-tuning mechanism with a fine-tuning function. The fine-tuning mechanism includes a second cylinder, which is symmetrically installed front and rear inside the inner ring of the mounting frame; a contact plate, connected to the bottom end of the telescopic rod of the second cylinder, and a contact opening is formed in the lower part of the contact plate. The first sliding plate is located in the contact opening of the contact plate; a second sensor, installed on the front side surface of the inner ring of the mounting frame on the right side near the rear second motor. The second sensor is located between the adjacent contact plate and the mounting frame and is electrically connected to the controller.

[0010] Further, it further includes an anti-slip mechanism with an anti-slip function. The anti-slip mechanism includes four third cylinders, which are evenly installed in a rectangular distribution inside the frame; anti-slip plates, slidably connected to the frame, and the bottom ends of the telescopic rods of the third cylinders are connected to the anti-slip plates.

[0011] Further, it further includes buffer pads, which are symmetrically connected front and rear to the frame.

[0012] Further, the first sliding plate is composed of a U-shaped plate and two sliding sleeves, and the two sliding sleeves are connected to the upper and lower side surfaces of the U-shaped plate. The second sliding plate is composed of a contact block and two contact rods, and the two contact rods are connected to the upper and lower side surfaces of the contact block. The contact block on the second sliding plate is slidably connected to the U-shaped plate on the first sliding plate, and the contact rods on the second sliding plate can slide inside the sliding sleeves on the first sliding plate.

[0013] Further, the back sides of the two connecting plates are designed to have an inclined surface trend.

[0014] The present invention has the following advantages:

[0015] The present invention realizes power transmission to the wheels by starting the first motor to drive the universal joint and the universal shaft, thereby achieving vehicle displacement. By starting the air pump to drive the airbag to inflate / deflate, the wheels can make contact with the raised / depressed areas on the ground while continuously rotating, enabling adjustment of the wheel height and the height between the vehicle frame and the ground according to the ground conditions, and improving the stability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the present invention.

[0017] Figure 2 It is a three-dimensional structural schematic diagram of the vehicle frame, placement plate and wheels of the present invention.

[0018] Figure 3 It is a cross-sectional view of the vehicle frame, wheels and other components of the present invention.

[0019] Figure 4 It is an enlarged three-dimensional structural schematic diagram of part A of the present invention.

[0020] Figure 5 It is a cross-sectional view of the first cylinder, second elastic member, mounting plate and other components of the present invention.

[0021] Figure 6 It is a cross-sectional view of the vehicle frame, wheels and other components of the present invention.

[0022] Figure 7 It is an enlarged three-dimensional structural schematic diagram of part B of the present invention.

[0023] Figure 8 It is a cross-sectional view of the vehicle frame, wheels and other components of the present invention.

[0024] Figure 9 It is an enlarged three-dimensional structural schematic diagram of part C of the present invention.

[0025] Figure 10 It is a cross-sectional view of the vehicle frame, placement plate, buffer pad and other components of the present invention.

[0026] Figure 11 It is an enlarged three-dimensional structural schematic diagram of part D of the present invention.

[0027] In the above drawings: 1: vehicle frame, 2: placement plate, 3: first motor, 4: fixed plate, 5: universal joint, 6: universal shaft, 7: telescopic rod, 8: wheel, 901: mounting bracket, 902: fixing bracket, 903: airbag, 904: folding plate, 905: air pump, 906: first sliding plate, 907: second sliding plate, 908: connecting block, 909: first elastic member, 10: first cylinder, 12: second elastic member, 13: mounting plate, 14: caster, 1501: second motor, 1502: connecting frame, 1503: screw, 1504: connecting plate, 1505: fixed block, 1506: first sensor, 1507: controller, 1508: moving frame, 16: second cylinder, 17: contact plate, 1701: second sensor, 18: buffer pad, 19: third cylinder, 20: anti-slip plate. Detailed implementation manners

[0028] The present invention will be further described below in conjunction with the drawings and the detailed implementation manners.

[0029] Embodiment: A height self-adjusting structure for the wheelset of an AGV vehicle, as Figures 1-4As shown in the figure, it includes a vehicle frame 1, a placement plate 2, a first motor 3, a fixing plate 4, a universal joint 5, a universal shaft 6, a telescopic rod 7, a wheel 8, a mounting bracket 901, a fixing bracket 902, an airbag 903, a folding plate 904, an air pump 905, a first sliding plate 906, a second sliding plate 907, a connecting block 908 and a first elastic member 909. The vehicle frame 1 is the mounting carrier for the parts. The placement plate 2 is detachably connected to the vehicle frame 1. Four first motors 3 are mounted on the driving seat of the vehicle frame 1 by bolts. Four fixing plates 4 are welded inside the vehicle frame 1. The universal joints 5 are rotatably connected to the fixing plates 4. The output shafts of the four first motors 3 are all connected to the adjacent universal joints 5 through couplings. The other end of the universal joint 5 is rotatably connected to the universal shaft 6. The other end of the universal shaft 6 is connected to another universal joint 5. The other end of the universal joint 5 away from the first motor 3 is slidably connected to the telescopic rod 7. The other end of the telescopic rod 7 is connected to the wheel 8. The four wheels 8 are arranged in a rectangle on the lower side of the vehicle frame 1. Four mounting brackets 901 are welded inside the vehicle frame 1. The four fixing plates 4 are located between the four mounting brackets 901. The fixing brackets 902 are symmetrically welded to the front and rear of the lower side of the mounting bracket 901. The airbag 903 is detachably connected inside the fixing bracket 902. The folding plate 904 is connected to the opposite sides of the adjacent two airbags 903. The air pump 905 is mounted on the opposite sides of the adjacent two fixing brackets 902. The air pump 905 is connected to the airbag 903 through a trachea. The first sliding plates 906 are symmetrically slidably connected to the front and rear of the adjacent two fixing brackets 902 on the opposite sides. The first sliding plates 906 are located between the adjacent airbags 903 and the fixing brackets 902. The second sliding plates 907 are slidably connected to the opposite sides of the adjacent two first sliding plates 906. The first sliding plate 906 is composed of a U-shaped plate and two sliding sleeves. The two sliding sleeves are connected to the upper and lower sides of the U-shaped plate. The second sliding plate 907 is composed of a contact block and two contact rods. The two contact rods are connected to the upper and lower sides of the contact block. The contact block on the second sliding plate 907 is slidably connected to the U-shaped plate on the first sliding plate 906. The contact rods on the second sliding plate 907 can slide inside the sliding sleeves on the first sliding plate 906 to adjust the height of the wheel 8. The connecting block 908 is connected between the adjacent two second sliding plates 907. The first elastic members 909 are symmetrically wound around the upper and lower sides between the adjacent first sliding plates 906 and second sliding plates 907. Start the first motor 3 to drive the universal joint 5 and the universal shaft 6 to cooperate to transmit power to the wheel 8 to realize the vehicle displacement. Start the air pump 905 to drive the airbag 903 to inflate / deflate, so that the wheel 8 can continuously rotate while contacting the raised / depressed part of the ground, and can adjust the height of the wheel 8 and the height between the vehicle frame and the ground according to the ground conditions.

[0030] When the device needs to be used, start the first motor 3. The output shaft of the first motor 3 rotates to drive the universal joint 5 to rotate, thereby driving the universal shaft 6, another universal joint 5, and the telescopic rod 7 to rotate, performing a power transmission function on the wheel 8 and making it rotate to achieve vehicle displacement. The first elastic member 909 is initially set in a stretched state. During the vehicle displacement process, the wheel 8 will contact the ground with different slopes and move up and down under its extrusion. The wheel 8 drives the first slide plate 906 and the second slide plate 907 to displace through the connecting block 908, and the first elastic member 909 deforms adaptively. When the wheel 8 is displaced to a flat ground, the first elastic member 909 returns to its original state, and the wheel 8, the telescopic rod 7, the connecting block 908, and the second slide plate 907 reset under the elastic force of the first elastic member 909. When there is a bulge on the ground of the driving section, start the air pump 905 at the corresponding position to control the air intake of the airbag 903, causing the airbag 903 to expand and the telescopic plate to open. The airbag 903 squeezes the first slide plate 906 to move upward. The first slide plate 906 drives the second slide plate 907, the connecting block 908, the first elastic member 909, the universal joint 5 close to the mounting bracket 901, the telescopic rod 7, and the wheel 8 to displace. While the wheel 8 makes contact with the bulge on the ground, it continuously rotates, and the first elastic member 909 deforms adaptively. The telescopic rod 7, the second slide plate 907, and the connecting block 908 move upward under the influence of the wheel 8, and the vehicle frame 1 is inclined. When the wheel 8 disengages from the bulge on the ground, the first elastic member 909 returns to its original state. When there is a depression on the ground of the driving section, operate in the reverse according to the above content, so that the wheel 8 continuously rotates while making contact with the depression on the ground. The above operations can adjust the height of the corresponding wheel 8 and the height between the vehicle frame 1 and the ground according to the ground conditions, improving the stability of the vehicle.

[0031] As Figure 5 shown, it further includes a pressure-bearing mechanism with a pressure-bearing function. The pressure-bearing mechanism includes a first cylinder 10, a second elastic member 12, a mounting plate 13, and a universal wheel 14. Four first cylinders 10 are connected inside the vehicle frame 1, and the four first cylinders 10 are distributed in a rectangle. Four mounting plates 13 are welded inside the vehicle frame 1, and the four mounting plates 13 are distributed in a rectangle. The mounting plate 13 is located below the first cylinder 10. A universal wheel 14 is longitudinally slidably connected to the mounting plate 13, and the universal wheel 14 is slidably connected to the vehicle frame 1. A second elastic member 12 is wound around between two adjacent mounting plates 13 and universal wheels 14. Starting the first cylinder 10 to drive the universal wheel 14 to move downward can cooperate with the wheel 8 to bear pressure together and reduce the pressure on the wheel 8.

[0032] When there is too much cargo placed at a certain location on the placement board 2, the second elastic member 12 is initially set in a compressed state. The first cylinder 10 at the corresponding position is activated, and the telescopic rod 7 on the first cylinder 10 extends to drive the mounting plate 13 to move downward. The second elastic member 12 deforms adaptively, and the universal wheel 14 is affected and moves downward to contact and rotate with the ground. The universal wheel 14 can cooperate with the wheels 8 in a timely manner according to the different weight distributions on the placement board 2 to bear the pressure and prevent the vehicle body from tilting. Finally, the telescopic rod 7 of the first cylinder 10 is shortened to drive the mounting plate 13 to move upward, and the second elastic member 12 returns to its original state. The universal wheel 14 is reset under the elastic force of the second elastic member 12.

[0033] As Figures 6-7 shown, it further includes an adjustment mechanism capable of adjusting the wheel set spacing. The adjustment mechanism includes a second motor 1501, a connecting frame 1502, a screw rod 1503, a connecting plate 1504, a fixing block 1505, a first sensor 1506, a controller 1507, and a moving frame 1508. The second motors 1501 are symmetrically installed at the front and rear in the vehicle frame 1 by means of bolts. Four connecting frames 1502 are welded in the vehicle frame 1. The four connecting frames 1502 are distributed in a rectangular shape. The two second motors 1501 are located between the four connecting frames. The screw rod 1503 is rotatably connected to the connecting frame 1502. The screw rod 1503 is connected to the output shaft of the adjacent second motor 1501 through a coupling. The moving frame 1508 is threadedly connected to the screw rod 1503. The moving frame 1508 is slidably connected to the connecting frame 1502. The connecting plate 1504 is slidably connected to the moving frame 1508. The back sides of the two connecting plates 1504 are designed to be inclined, which is convenient for adjusting the spacing between the left and right wheels 8. The fixing block 1505 is welded to the telescopic rod 7. The other end of the connecting plate 1504 is connected to the fixing block 1505. The first sensor 1506 is installed on the moving frame 1508 on the right side of the second motor 1501 near the rear side. The controller 1507 is installed on the opposite side of the adjacent two moving frames 1508. The first sensor 1506 is electrically connected to the adjacent controller 1507. When the second motor 1501 is started to drive the screw rod 1503 to rotate, the telescopic rod 7 and the wheels 8 are displaced outward from the vehicle frame 1, and the spacing between the left and right wheels can be adjusted.

[0034] When a large stone appears on the front driving section, the first sensor 1506 senses this situation. After the controller 1507 receives this information, it controls the start of the second motor 1501. The output shaft of the second motor 1501 rotates to drive the screw 1503 to rotate. The screw 1503 drives the moving frame 1508, the connecting plate 1504, the fixed block 1505, the telescopic rod 7 and the wheel 8 to move outward from the vehicle frame 1. Then the air pump 905 is started, and the above operations are repeated to make the wheel 8 move downward. In this way, the vehicle frame 1 can be lifted while adjusting the distance between the wheels 8. The above operations can adjust the mechanical structure of the left and right wheelbases as needed, lift the vehicle frame 1 to avoid obstacles, enhance the stability and passability of the vehicle, and the ability to adapt to different working environments. When the vehicle frame 1 passes the stone, after the first sensor 1506 senses this situation, the controller 1507 controls the air pump 905 and the second motor 1501 to operate in reverse in sequence to make the wheel 8 reset.

[0035] As Figures 8-9 shown, it further includes a fine-tuning mechanism with a fine-tuning function. The fine-tuning mechanism includes a second cylinder 16, a contact plate 17 and a second sensor 1701. The second cylinders 16 are symmetrically installed at the front and rear of the inner ring of the mounting frame 901. The bottom ends of the telescopic rods 7 of the second cylinders 16 are connected to the contact plate 17. A contact port is opened at the lower part of the contact plate 17. The first slide plate 906 is located in the contact port on the contact plate 17. The second sensor 1701 is installed on the front side of the inner ring of the mounting frame 901 near the right side of the second motor 1501 at the rear. The second sensor 1701 is located between the adjacent contact plate 17 and the mounting frame 901 and is electrically connected to the controller 1507. Starting the second cylinder 16 to drive the contact plate 17 to move downward can fine-tune the wheel 8 near the inclined part on the vehicle frame 1 to make the vehicle frame 1 return to a horizontal posture.

[0036] When the vehicle frame 1 is displaced and tilts downward at a certain place, the second sensor 1701 senses this situation. After the controller 1507 receives this information, it controls the start of the second cylinder 16. The telescopic rod 7 of the second cylinder 16 extends to drive the contact plate 17 to move downward. The contact plate 17 drives the first slide plate 906 to move downward. The controller 1507 controls the air pump 905 at the corresponding position to start, driving the airbag 903 to discharge air, so that the wheel 8 moves downward. The first elastic member 909 deforms adaptively, and the corresponding position on the vehicle frame 1 is lifted to keep the vehicle frame 1 balanced. The wheel 8 near the inclined part on the vehicle frame 1 can be fine-tuned to make the vehicle frame 1 return to a horizontal posture. Finally, it controls the telescopic rod 7 of the cylinder to shorten to drive the contact plate 17 to reset, and operates in reverse according to the above content to make the wheel 8 reset.

[0037] As Figures 10-11As shown, it further includes an anti-slip mechanism with anti-slip function. The anti-slip mechanism includes a third cylinder 19 and an anti-slip plate 20. Four third cylinders 19 are installed in the vehicle frame 1, and the four third cylinders 19 are distributed in a rectangle. The anti-slip plate 20 is slidably connected to the vehicle frame 1, and the bottom end of the telescopic rod 7 of the third cylinder 19 is connected to the anti-slip plate 20.

[0038] When there is a risk of vehicle body skidding, start the third cylinder 19. The telescopic rod 7 of the third cylinder 19 extends to drive the anti-slip plate 20 to move downward and contact the ground. The anti-slip plate 20 can increase the friction force to prevent the wheels 8 from skidding. Finally, control the telescopic rod 7 of the third cylinder 19 to shorten to drive the anti-slip plate 20 to reset.

[0039] As Figure 10 shown, it further includes a buffer pad 18. The buffer pads 18 are symmetrically connected to the front and rear of the vehicle frame 1.

[0040] When the vehicle has a minor collision or contacts an obstacle, the buffer pad 18 absorbs the impact energy through its own deformation, reducing the direct damage to the vehicle body structure or components.

[0041] Although the present invention has been described with reference to exemplary embodiments, it should be understood that the present invention is not limited to the disclosed exemplary embodiments. The scope of the following claims should be given the broadest interpretation so as to cover all modifications and equivalent structures and functions.

Claims

1. A self-adjusting structure for the height of an AGV wheel group. Its characteristics include: The frame (1) is a mounting carrier for the parts; A placement plate (2) is detachably connected to the vehicle frame (1), and the placement plate (2) is used to place goods; First motors (3), the number of which is set to four, mounted on a drive seat on the vehicle frame (1); A fixing plate (4), the number of the fixing plates (4) is set to four, and all of the fixing plates (4) are connected to the vehicle frame (1); A universal joint (5) is rotatably connected to the fixed plate (4), and the output shafts of the four first motors (3) are connected to the adjacent universal joints (5) through couplings; A universal shaft (6) rotatably connected to the other end of the universal joint (5), and the other end of the universal shaft (6) is connected to another universal joint (5); A telescopic rod (7) slidably connected to the other end of the universal joint (5) away from the first motor (3); A wheel (8) connected to the other end of the telescopic rod (7), the four wheels (8) being distributed in a rectangular shape on the lower side of the frame (1), and the wheels (8) being used to achieve displacement of the frame (1); Mounting frames (901), the number of the mounting frames (901) is set to four, all of which are connected to the vehicle frame (1), and the four fixing plates (4) are located between the four mounting frames (901); A fixing frame (902) connected to the lower side of the mounting frame (901) in a front-to-back symmetrical manner; An air bag (903) is detachably connected to the fixing frame (902); A folding plate (904) connected to the opposite sides of the two adjacent air bags (903), the folding plate (904) being used to protect the air bags (903); An air pump (905) is installed on the opposite side of the two adjacent fixing frames (902), and the air pump (905) is connected to the air pipe of the air bag (903); A first slide plate (906) is symmetrically slidably connected to opposite sides of two adjacent fixing frames (902) in a front-to-back manner, and the first slide plate (906) is located between the adjacent airbags (903) and the fixing frames (902); A second slide plate (907) is slidably connected to the opposite sides of two adjacent first slide plates (906); A connecting block (908) connected between two adjacent second slide plates (907); The first elastic member (909) is symmetrically wound between the first sliding plate (906) and the second sliding plate (907) which are adjacent to each other.

2. The AGV wheel assembly height self-adjusting structure as claimed in claim 1 is characterized in that: It also includes a pressure-bearing mechanism with a pressure-bearing function, and the pressure-bearing mechanism includes: First cylinders (10), the number of which is set to four and which are distributed in a rectangular shape and connected to the vehicle frame (1); A mounting plate (13), the number of the mounting plates (13) being set to four, distributed in a rectangular shape and connected to the vehicle frame (1), the mounting plate (13) being located at the lower side of the first cylinder (10); A universal wheel (14) is longitudinally slidably connected to the mounting plate (13), the universal wheel (14) is slidably connected to the frame (1), and the universal wheel (14) is used to cooperate with the frame (1) to bear pressure; The second elastic member (12) is wound between the two adjacent mounting plates (13) and the universal wheel (14).

3. The AGV wheel assembly height self-adjusting structure as claimed in claim 2 is characterized in that: It also includes an adjustment mechanism capable of adjusting the distance between the wheel sets, and the adjustment mechanism includes: A second motor (1501) is symmetrically mounted in the vehicle frame (1); Connecting frames (1502), the number of connecting frames (1502) is set to four, which are connected to the vehicle frame (1) in a rectangular distribution, and the two second motors (1501) are located between the four connecting frames; A screw rod (1503) is rotatably connected to the connecting frame (1502), and the screw rod (1503) is connected to the output shaft of the second motor (1501) via a coupling; A movable frame (1508) is threadedly connected to the screw rod (1503), the movable frame (1508) is slidably connected to the connecting frame (1502), and the movable frame (1508) is used to adjust the distance between the left and right vehicle frames (1); A connecting plate (1504) is slidably connected to the movable frame (1508), and the connecting plate (1504) is used to guide the vehicle frame (1); A fixed block (1505) is connected to the telescopic rod (7), and the other end of the connecting plate (1504) is connected to the fixed block (1505); A first sensor (1506) is installed on the right side of the moving frame (1508) close to the rear side of the second motor (1501), and the first sensor (1506) is used to detect obstacles on the road section; The controller (1507) is installed on the side facing each other of the two adjacent moving frames (1508), and the first sensor (1506) is electrically connected to the adjacent controller (1507).

4. The AGV wheel assembly height self-adjusting structure as claimed in claim 3 is characterized in that: It also includes a fine-tuning mechanism with a fine-tuning function, and the fine-tuning mechanism includes: A second cylinder (16) is symmetrically mounted on the inner ring of the mounting frame (901); A contact plate (17) is connected to the bottom end of the telescopic rod (7) of the second cylinder (16), a contact opening is formed at the bottom of the contact plate (17), and the first slide plate (906) is located in the contact opening on the contact plate (17). The contact plate (17) is used to adjust the frame (1) back to a horizontal state; The second sensor (1701) is installed on the front side of the inner ring of the mounting frame (901) close to the right side of the second motor (1501) at the rear side. The second sensor (1701) is located between the adjacent contact plate (17) and the mounting frame (901) and is electrically connected to the controller (1507).

5. The AGV wheel assembly height self-adjusting structure as claimed in claim 4 is characterized in that: It also includes an anti-skid mechanism with an anti-skid function, and the anti-skid mechanism includes: The third cylinders (19) are four in number and are arranged in a rectangular shape and are installed in the vehicle frame (1); An anti-skid plate (20) is slidably connected to the vehicle frame (1); the bottom end of the telescopic rod (7) of the third cylinder (19) is connected to the anti-skid plate (20); and the anti-skid plate (20) is used to assist the wheel (8) in preventing from slipping.

6. The AGV wheel assembly height self-adjusting structure as claimed in claim 5, characterized in that: Also included are: A buffer pad (18) is connected to the vehicle frame (1) in a front-to-rear symmetrical manner.

7. The AGV wheel assembly height self-adjusting structure as claimed in claim 6, characterized in that: The first slide plate (906) is composed of a U-shaped plate and two sliding sleeves, and the two sliding sleeves are connected to the upper and lower side surfaces of the U-shaped plate. The second slide plate (907) is composed of a contact block and two contact rods, and the two contact rods are connected to the upper and lower side surfaces of the contact block. The contact block on the second slide plate (907) is slidably connected to the U-shaped plate on the first slide plate (906), and the contact rod on the second slide plate (907) can slide in the sliding sleeve on the first slide plate (906).

8. The AGV wheel assembly height self-adjusting structure as claimed in claim 7, characterized in that: The two connecting plates (1504) are designed to be inclined with their backs facing one side.

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