AGV (Automatic Guided Vehicle) advancing attitude control structure

Abstract

The invention provides an AGV (Automatic Guided Vehicle) advancing attitude control structure, which comprises a main body assembly, and the main body assembly comprises a trolley bottom plate, a controller, a mounting groove, a laser displacement sensor and a wheel driving assembly. Through control of the precise laser displacement sensor and the precise calculation and angle adjusting assembly, the mechanical arm and a clamping jaw on the clamping mechanism can be kept highly parallel or perpendicular to objects on the goods shelf, the material grabbing and placing precision is improved, the precise work requirement is met, and the AGV can be accurately located at any position of the goods shelf. The arrangement of the plurality of laser displacement sensors can ensure effective measurement and control so as to adapt to different goods shelf positions and working scenes, and meanwhile, the cooperative work of the front magnetic stripe code reader, the rear magnetic stripe code reader and the angle control and rotating mechanism is combined, so that the included angle between the body of the AGV and the side line of the goods shelf can be controlled in a narrow environment, and the working efficiency is improved. And the posture of the mechanical arm can be accurately adjusted, and comprehensive and accurate control guarantee is provided for material taking and placing.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV vehicles, and in particular to a traveling posture control structure of an AGV vehicle. Background Art

[0002] As an important means of transportation in the fields of warehousing and logistics, the AGV trolley faces posture changes that may be caused by various factors during its travel. Among them, the speed difference between the left and right wheels is a common reason. When the left and right wheels of the trolley are different due to manufacturing differences, different degrees of wear, or different ground resistance during driving, a speed difference will occur, causing the trolley's driving direction to deviate, and the body of the trolley may form a certain angle with the shelf and no longer maintain a parallel state. Road slippage is also an important factor that causes the AGV trolley's posture change. This non-parallel state will have a serious impact on the work of the manipulator on the trolley; for the precision work of the AGV trolley manipulator, its parallelism with the warehousing and logistics shelves is extremely high. Complete parallelism within the minimum error is the key to ensure that the manipulator accurately grasps and places items. When the AGV trolley is not parallel to the shelf, the relative position between the manipulator's gripper and the items on the shelf will deviate, which may cause the manipulator to be unable to accurately locate the center of the item when grabbing the item, thereby affecting the stability and accuracy of the grab;

[0003] Existing AGVs usually use ultrasonic obstacle avoidance sensors to avoid obstacles with surrounding shelves. They are mainly used to detect the distance between the AGV and surrounding objects to achieve the obstacle avoidance function. However, this sensor has obvious shortcomings in controlling the parallelism between the AGV and the shelves.

[0004] Firstly, the measurement accuracy of ultrasonic obstacle avoidance sensors is relatively low, and there may be large errors in their measurement results. For the working requirements of the manipulator on the precision AGV, this accuracy cannot meet the need to accurately determine the relative position and angle between the trolley and the shelf; secondly, the dimensional information obtained by the ultrasonic obstacle avoidance sensor has difficulties in meeting the use requirements of the manipulator on the precision AGV, and it is impossible to accurately measure the slight deviation between the trolley and the shelf, especially when the parallelism requirements are extremely high. Therefore, an AGV vehicle movement posture control structure is proposed. Summary of the invention

[0005] In view of this, the present invention hopes to provide an AGV vehicle travel posture control structure to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial option.

[0006] The technical solution of the embodiment of the present invention is implemented as follows: An AGV vehicle traveling attitude control structure includes a main body assembly, and the main body assembly includes a trolley bottom plate, a controller, mounting grooves, laser displacement sensors, a front mounting plate, a rear mounting plate, a front magnetic stripe reader, a rear magnetic stripe reader, a gantry lifting mechanism, a left and right moving mechanism, an angle adjustment assembly, and a wheel drive assembly;

[0007] The controller is fixedly connected to the rear part of the upper surface of the trolley bottom plate. A plurality of mounting grooves are provided on both sides of the trolley bottom plate, and the inner side walls of the plurality of mounting grooves are fixedly connected with laser displacement sensors. The output end of the laser displacement sensor is electrically connected to the input end of the controller. The front part and the rear part center of the lower surface of the trolley bottom plate are respectively fixedly connected with a front mounting plate and a rear mounting plate. The front magnetic stripe reader and the rear magnetic stripe reader are respectively fixedly connected to the closer sides of the front mounting plate and the rear mounting plate. The output ends of the front magnetic stripe reader and the rear magnetic stripe reader are electrically connected to the input end of the controller. The gantry lifting mechanism is installed on the upper surface of the trolley bottom plate near the front of the controller. The left and right moving mechanism is installed on the front surface of the gantry lifting mechanism. The angle adjustment assembly is fixedly connected to the front part of the left and right moving mechanism. The wheel drive assemblies are installed in the middle of both sides of the lower surface of the trolley bottom plate.

[0008] Further preferably, the angle adjustment assembly includes a motor mounting plate, an angle rotation motor, an angle rotation harmonic reducer, a robotic arm, a forward extension mechanism, a forward extension slide rail, and a clamping mechanism;

[0009] The angle rotation motor is fixedly connected to the front part of the upper surface of the motor mounting plate. The output end of the angle rotation motor is equipped with an angle rotation harmonic reducer. The output end of the angle rotation harmonic reducer is fixedly connected to the robotic arm. The rear part of the upper surface of the motor mounting plate is fixedly connected to the left and right moving mechanism. The forward extension mechanism is installed on the upper surface of the robotic arm. The forward extension slide rail is fixedly connected to the lower surface of the robotic arm. The clamping mechanism is slidably connected to the outer side wall of the forward extension slide rail. The input end of the angle rotation motor is electrically connected to the output end of the controller.

[0010] Further preferably, the wheel drive assembly includes a wheel mounting seat, a wheel reducer, a wheel drive motor, and an AGV drive wheel;

[0011] The wheel mounting seats are fixedly connected to the middle of both sides of the lower surface of the trolley bottom plate. The wheel reducers are fixedly connected to the closer sides of the two wheel mounting seats. The wheel drive motors are fixedly connected to the closer sides of the two wheel reducers. The output end of the wheel drive motor is fixedly connected to the input end of the wheel reducer. The output ends of the two wheel reducers are fixedly connected to the AGV drive wheels. The input end of the wheel drive motor is electrically connected to the output end of the controller.

[0012] Further preferably, spring double wheels are fixedly connected to the four corners of the lower surface of the trolley bottom plate.

[0013] Further preferably, it further includes two shelves, the two shelves are respectively located on both sides of the trolley bottom plate, and reflecting plates are fixedly connected to the lower parts of the two shelves close to each other.

[0014] Further preferably, a control panel is arranged in the middle of the rear surface of the controller, a touch screen is arranged in the middle of the upper surface of the control panel, and a plurality of operation buttons are arranged on both sides of the upper surface of the control panel.

[0015] Further preferably, a plurality of heat dissipation holes are opened in the lower parts on both sides of the controller, and heat dissipation fans are fixedly connected to the inner side walls of the plurality of heat dissipation holes.

[0016] Further preferably, wheel grooves are opened in the middle of both sides of the trolley bottom plate, and the two AGV drive wheels are respectively located inside the two wheel grooves.

[0017] Further preferably, a plurality of material placement racks are evenly arranged inside the shelf.

[0018] Further preferably, the input ends of the gantry lifting mechanism, the left - right moving mechanism, the forward extending mechanism and the clamping mechanism are all electrically connected to the output end of the controller.

[0019] Due to the adoption of the above - mentioned technical solutions in the embodiments of the present invention, it has the following advantages:

[0020] 1. By installing a plurality of precision laser displacement sensors on both sides of the trolley bottom plate, the present invention can accurately measure the distance and angle between the AGV trolley and the shelf. Compared with the traditional ultrasonic obstacle - avoidance sensors, the laser displacement sensors provide extremely accurate data support for the posture adjustment of the robotic arm with their higher measurement accuracy. This not only meets the strict requirements of precision work, ensures that the robotic arm gripper and the items on the shelf can maintain a high degree of parallelism or perpendicularity, but also greatly improves the accuracy of material grasping and placement. At the same time, the angle rotation motor and the angle rotation harmonic reducer in the angle adjustment component cooperate with each other to accurately control the rotation angle of the robotic arm, making the robotic arm accurately perpendicular to the shelf, further enhancing the accuracy of grasping and placing items;

[0021] 2. By installing a plurality of precision laser displacement sensors on both sides of the trolley bottom plate, no matter where the AGV trolley is located on the shelf, whether it is at the head, middle or tail, the multiple carefully arranged laser displacement sensors can effectively play their roles, real - time monitoring the relative position between the trolley and the shelf, so as to effectively adapt to various different shelf positions and working scenarios;

[0022] 3. The present invention uses a front magnetic stripe reader and a rear magnetic stripe reader to sense the ground magnetic stripe in real time. Even when the AGV vehicle moves in a narrow environment, the included angles between the left and right vehicle lanes of the vehicle body and the side lines of the left and right shelves can be maintained within a relatively small range, which helps to reduce the amplitude of subsequent angle adjustment and thus improve the stability and accuracy of control.

[0023] Through the precise laser displacement sensor, accurate calculation and control, the present invention can make the manipulator gripper keep highly parallel or perpendicular to the items on the shelf, improving the accuracy of material grasping and placement, meeting the requirements of precise work. Regardless of the position of the AGV vehicle on the shelf, the arrangement of multiple laser displacement sensors can ensure effective measurement and control, thus adapting to different shelf positions and working scenarios. At the same time, combined with the collaborative work of the front magnetic stripe reader, the rear magnetic stripe reader, the angle control and the rotation mechanism, it can not only control the included angle between the vehicle body of the AGV vehicle and the shelf side line in a narrow environment, but also accurately adjust the posture of the robotic arm, providing comprehensive and accurate control guarantee for material picking and placing.

[0024] The above summary is only for the purpose of the specification and is not intended to be limiting in any way. In addition to the above-described illustrative aspects, embodiments and features, further aspects, embodiments and features of the present invention will be readily apparent by reference to the drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 It is a structural diagram of one perspective of the present invention;

[0027] Figure 2 It is a structural diagram of another perspective of the present invention;

[0028] Figure 3 It is a structural diagram of the vehicle bottom plate and the shelf of the present invention;

[0029] Figure 4 It is a structural diagram of the angle rotation motor and the robotic arm of the present invention;

[0030] Figure 5 It is a structural diagram of the wheel drive motor and the AGV drive wheel of the present invention.

[0031] Reference numerals: 1, main body assembly; 11, trolley bottom plate; 12, controller; 13, mounting groove; 14, laser displacement sensor; 15, front mounting plate; 16, rear mounting plate; 17, front magnetic stripe reader; 18, rear magnetic stripe reader; 19, gantry lifting mechanism; 20, left and right moving mechanism; 2, angle adjustment assembly; 21, motor mounting plate; 22, angle rotation motor; 23, angle rotation harmonic reducer; 24, robotic arm; 25, forward extension mechanism; 26, forward extension slide rail; 27, clamping mechanism; 3, wheel drive assembly; 31, wheel mounting seat; 32, wheel reducer; 33, wheel drive motor; 34, AGV drive wheel; 35, spring double wheel; 36, control panel; 37, touch screen; 38, operation button; 39, heat dissipation hole; 40, heat dissipation fan; 41, shelf; 42, reflector; 43, wheel groove; 44, material placement rack. Detailed implementation manners

[0032] In the following, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present invention. Therefore, the drawings and the description are regarded as exemplary rather than restrictive in nature.

[0033] The embodiments of the present invention will be described in detail below with reference to the drawings.

[0034] As Figures 1 - 5 shown, the embodiment of the present invention provides an AGV vehicle traveling attitude control structure, including a main body assembly 1. The main body assembly 1 includes a trolley bottom plate 11, a controller 12, a mounting groove 13, a laser displacement sensor 14, a front mounting plate 15, a rear mounting plate 16, a front magnetic stripe reader 17, a rear magnetic stripe reader 18, a gantry lifting mechanism 19, a left and right moving mechanism 20, an angle adjustment assembly 2, and a wheel drive assembly 3;

[0035] The rear part of the upper surface of the trolley bottom plate 11 is fixedly connected with a controller 12. A plurality of mounting grooves 13 are opened on both sides of the trolley bottom plate 11. The inner side walls of the plurality of mounting grooves 13 are fixedly connected with laser displacement sensors 14. The output ends of the laser displacement sensors 14 are electrically connected to the input end of the controller 12. The front and rear centers of the lower surface of the trolley bottom plate 11 are respectively fixedly connected with a front mounting plate 15 and a rear mounting plate 16. The closer sides of the front mounting plate 15 and the rear mounting plate 16 are respectively fixedly connected with a front magnetic stripe reader 17 and a rear magnetic stripe reader 18. The output ends of the front magnetic stripe reader 17 and the rear magnetic stripe reader 18 are electrically connected to the input end of the controller 12. A gantry lifting mechanism 19 is installed on the upper surface of the trolley bottom plate 11 near the front of the controller 12. A left-right moving mechanism 20 is installed on the front surface of the gantry lifting mechanism 19. An angle adjustment assembly 2 is fixedly connected to the front part of the left-right moving mechanism 20. Wheel drive assemblies 3 are installed in the middle of both sides of the lower surface of the trolley bottom plate 11. Among them, the gantry lifting mechanism 19 is used to drive the left-right moving mechanism 20, the angle adjustment assembly 2, the forward extension mechanism 25 and the clamping mechanism 27 to lift, so as to drive the jaws on the clamping mechanism 27 to adjust the height position. The left-right moving mechanism 20 is used to drive the angle adjustment assembly 2, the forward extension mechanism 25 and the clamping mechanism 27 to move left and right, so as to drive the jaws on the clamping mechanism 27 to adjust the left and right positions. The front magnetic stripe reader 17 on the front mounting plate 15 and the rear magnetic stripe reader 18 on the rear mounting plate 16 read the ground magnetic stripe information and transmit the signal to the controller 12, so that the included angle between the left and right side lines of the trolley bottom plate 11 and the side lines of the left and right shelves 41 is maintained within the smallest possible range.

[0036] In one embodiment, specifically: the angle adjustment assembly 2 includes a motor mounting plate 21, an angle rotation motor 22, an angle rotation harmonic reducer 23, a robotic arm 24, a forward extension mechanism 25, a forward extension slide rail 26 and a clamping mechanism 27;

[0037] The front part of the upper surface of the motor mounting plate 21 is fixedly connected with an angle rotation motor 22. The output end of the angle rotation motor 22 is equipped with an angle rotation harmonic reducer 23. The output end of the angle rotation harmonic reducer 23 is fixedly connected with a robotic arm 24. The rear part of the upper surface of the motor mounting plate 21 is fixedly connected with the left-right moving mechanism 20. The upper surface of the robotic arm 24 is equipped with a forward extension mechanism 25. The lower surface of the robotic arm 24 is fixedly connected with a forward extension slide rail 26. The outer side wall of the forward extension slide rail 26 is slidably connected with a clamping mechanism 27. The input end of the angle rotation motor 22 is electrically connected to the output end of the controller 12. The angle rotation motor 22 is driven to work to drive the angle rotation harmonic reducer 23, so as to drive the robotic arm 24 to rotate for angle adjustment. Among them, the forward extension slide rail 26 is used to drive the clamping mechanism 27 to extend, so as to drive the jaws on the clamping mechanism 27 to extend forward to grab materials. The clamping mechanism 27 is used to drive the jaws to open and close to pick up and place materials.

[0038] In one embodiment, specifically: The wheel drive assembly 3 includes a wheel mounting seat 31, a wheel reducer 32, a wheel drive motor 33, and an AGV drive wheel 34;

[0039] On both sides of the middle part of the lower surface of the trolley bottom plate 11, there are fixedly connected with wheel mounting seats 31. On the closer side of the two wheel mounting seats 31, there are fixedly connected with wheel reducers 32. On the closer side of the two wheel reducers 32, there are fixedly connected with wheel drive motors 33. The output end of the wheel drive motor 33 is fixedly connected to the input end of the wheel reducer 32. The output ends of the two wheel reducers 32 are both fixedly connected with AGV drive wheels 34. The input end of the wheel drive motor 33 is electrically connected to the output end of the controller 12. By driving the wheel reducer 32 to operate through the wheel drive motor 33, the AGV drive wheel 34 is driven to rotate, and then the AGV vehicle is driven to move.

[0040] In one embodiment, specifically: At the four corners of the lower surface of the trolley bottom plate 11, there are fixedly connected with spring double wheels 35. The spring double wheels 35 at the four corners of the trolley bottom plate 11 are all double AGV wheels with spring-adjustable height and are all elastic. Therefore, the middle AGV drive wheel 34 can always contact the ground, so that during the driving process of the trolley, the driving distances on both sides are basically the same, thus ensuring the driving accuracy of the trolley.

[0041] In one embodiment, specifically: It further includes two shelves 41. The two shelves 41 are respectively located on both sides of the trolley bottom plate 11. At the lower part of the closer side of the two shelves 41, there are fixedly connected with reflectors 42. By receiving and reflecting the signals emitted by the laser displacement sensor 14 through the reflectors 42 on the two shelves 41, the controller 12 can conveniently read the distance value between the laser displacement sensor 14 and the reflector 42.

[0042] In one embodiment, specifically: In the middle of the rear surface of the controller 12, there is provided a control panel 36. In the middle of the upper surface of the control panel 36, there is provided a touch screen 37. On both sides of the upper surface of the control panel 36, there are provided a plurality of operation buttons 38. Through the touch screen 37, it is convenient to read the working information of the AGV vehicle and set working parameters, etc. Through the operation buttons 38, it is convenient to control the AGV vehicle.

[0043] In one embodiment, specifically: On both lower sides of the controller 12, there are provided a plurality of heat dissipation holes 39. On the inner side walls of the plurality of heat dissipation holes 39, there are fixedly connected with heat dissipation fans 40. Through the heat dissipation fans 40 in the heat dissipation holes 39 on both sides of the controller 12, it is convenient to discharge the heat generated by the operation of the internal electronic components of the controller 12, thereby preventing the internal temperature from being too high and causing damage to the internal electronic components.

[0044] In one embodiment, specifically: Wheel grooves 43 are formed in the middle of both sides of the trolley bottom plate 11. Two AGV drive wheels 34 are respectively located inside the two wheel grooves 43. By locating the AGV drive wheels 34 inside the wheel grooves 43, the AGV drive wheels 34 are prevented from protruding from the side of the trolley bottom plate 11, which affects the running of the AGV vehicle.

[0045] In one embodiment, specifically: A plurality of material placement racks 44 are evenly arranged inside the shelf 41. The material placement racks 44 inside the shelf 41 facilitate the placement of SMT trays or lithium batteries.

[0046] In one embodiment, specifically: The input ends of the gantry lifting mechanism 19, the left and right moving mechanism 20, the forward extending mechanism 25, and the clamping mechanism 27 are all electrically connected to the output end of the controller 12. By connecting the input ends of the gantry lifting mechanism 19, the left and right moving mechanism 20, the forward extending mechanism 25, and the clamping mechanism 27 to the output end of the controller 12, it is convenient to send instructions through the controller 12 to control each mechanism to work.

[0047] When the present invention is working: The AGV vehicle starts, and the controller 12 starts to work, receiving signals from each component and performing control. The wheel drive motor 33 in the wheel drive assembly 3 drives the AGV drive wheel 34 to rotate through the wheel reducer 32 under the control of the controller 12, causing the AGV vehicle to start moving. At the same time, the front magnetic stripe reader 17 on the front mounting plate 15 and the rear magnetic stripe reader 18 on the rear mounting plate 16 read information and transmit the signals to the controller 12, so that the included angle between the left and right side lines of the trolley bottom plate 11 and the side lines of the left and right shelves 41 is maintained within the smallest possible range. When the AGV vehicle reaches the target two-dimensional code SMT tray or lithium battery, the controller 12 reads the target two-dimensional code through the clamping reader and calculates through the host computer to obtain the current exact positioning, and determines which two of the plurality of laser displacement sensors 14 are in effect. The control program of the controller 12 reads the distance values of those two laser displacement sensors 14 and processes them into the angle values between the side line of the trolley bottom plate 11 and the reflector 42 on the shelf 41. The controller 12 controls the wheel drive assembly 3 and the angle adjustment assembly 2 to work. The wheel drive assembly 3 adjusts the angle by rotating the AGV drive wheels 34 on both sides. At the same time, the angle rotation motor 22 in the angle adjustment assembly 2 starts to work. The output end of the angle rotation motor 22 drives the robotic arm 24 to rotate through the angle rotation harmonic reducer 23. The angle rotation motor 22 rotates through the compensated angle, making the robotic arm 24 completely perpendicular to the shelf 41, so that the gripper on the clamping mechanism 27 and the access to and from the shelf 41 are completely parallel or perpendicular. At this time, the SMT tray or lithium battery in the gripper can be accurately picked up or put down, thus completing the entire picking and loading process.

[0048] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various changes or substitutions thereof, and these should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claimed rights.

Claims

1. An AGV vehicle travel posture control structure, characterized by: The invention comprises a main body component (1), wherein the main body component (1) comprises a trolley bottom plate (11), a controller (12), a mounting groove (13), a laser displacement sensor (14), a front mounting plate (15), a rear mounting plate (16), a front magnetic stripe reader (17), a rear magnetic stripe reader (18), a gantry lifting mechanism (19), a left-right moving mechanism (20), an angle adjustment component (2) and a wheel driving component (3); A controller (12) is fixedly connected to the rear portion of the upper surface of the trolley bottom plate (11); a plurality of mounting grooves (13) are provided on both sides of the trolley bottom plate (11); laser displacement sensors (14) are fixedly connected to the inner side walls of the plurality of mounting grooves (13); the output end of the laser displacement sensor (14) is electrically connected to the input end of the controller (12); a front mounting plate (15) and a rear mounting plate (16) are fixedly connected to the front and rear centers of the lower surface of the trolley bottom plate (11), and the adjacent sides of the front mounting plate (15) and the rear mounting plate (16) are fixedly connected to the front and rear centers of the lower surface of the trolley bottom plate (11). A front magnetic stripe reader (17) and a rear magnetic stripe reader (18) are connected, and the output ends of the front magnetic stripe reader (17) and the rear magnetic stripe reader (18) are electrically connected to the input end of the controller (12). A gantry lifting mechanism (19) is installed on the front surface of the upper surface of the trolley bottom plate (11) near the front of the controller (12), and a left-right moving mechanism (20) is installed on the front surface of the gantry lifting mechanism (19). The front part of the left-right moving mechanism (20) is fixedly connected to an angle adjustment component (2), and wheel driving components (3) are installed in the middle of both sides of the lower surface of the trolley bottom plate (11).

2. The AGV vehicle travel posture control structure according to claim 1 is characterized in that: The angle adjustment assembly (2) comprises a motor mounting plate (21), an angle rotating motor (22), an angle rotating harmonic reducer (23), a mechanical arm (24), a forward extension mechanism (25), a forward extension slide rail (26) and a clamping mechanism (27); The front portion of the upper surface of the motor mounting plate (21) is fixedly connected to an angular rotation motor (22); an angular rotation harmonic reducer (23) is installed at the output end of the angular rotation motor (22); a mechanical arm (24) is fixedly connected to the output end of the angular rotation harmonic reducer (23); the rear portion of the upper surface of the motor mounting plate (21) is fixedly connected to the left-right moving mechanism (20); a forward extension mechanism (25) is installed on the upper surface of the mechanical arm (24); a forward extension slide rail (26) is fixedly connected to the lower surface of the mechanical arm (24); a clamping mechanism (27) is slidably connected to the outer side wall of the forward extension slide rail (26); and the input end of the angular rotation motor (22) is electrically connected to the output end of the controller (12).

3. The AGV vehicle travel posture control structure according to claim 1 is characterized in that: The wheel drive assembly (3) comprises a wheel mounting seat (31), a wheel reducer (32), a wheel drive motor (33) and an AGV drive wheel (34); The middle parts of both sides of the lower surface of the trolley bottom plate (11) are fixedly connected with wheel mounting seats (31), the adjacent sides of the two wheel mounting seats (31) are fixedly connected with wheel reducers (32), the adjacent sides of the two wheel reducers (32) are fixedly connected with wheel drive motors (33), the output end of the wheel drive motor (33) is fixedly connected to the input end of the wheel reducer (32), the output ends of the two wheel reducers (32) are fixedly connected with AGV drive wheels (34), and the input end of the wheel drive motor (33) is electrically connected to the output end of the controller (12).

4. The AGV vehicle travel posture control structure according to claim 3 is characterized in that: The four corners of the lower surface of the trolley bottom plate (11) are fixedly connected with spring double wheels (35).

5. The AGV vehicle travel posture control structure according to claim 1 is characterized in that: It also comprises two shelves (41), the two shelves (41) are respectively located on two sides of the bottom plate (11) of the trolley, and the lower parts of the adjacent sides of the two shelves (41) are fixedly connected with a reflective plate (42).

6. The AGV vehicle travel posture control structure according to claim 3 is characterized by: A control panel (36) is arranged in the middle of the rear surface of the controller (12), a touch screen (37) is arranged in the middle of the upper surface of the control panel (36), and a plurality of operation buttons (38) are arranged on both sides of the upper surface of the control panel (36).

7. The AGV vehicle travel posture control structure according to claim 6 is characterized in that: A plurality of heat dissipation holes (39) are provided at the lower parts of both sides of the controller (12), and a heat dissipation fan (40) is fixedly connected to the inner side walls of the plurality of heat dissipation holes (39).

8. The AGV vehicle travel posture control structure according to claim 3 is characterized by: Wheel grooves (43) are provided in the middle of both sides of the trolley bottom plate (11), and the two AGV driving wheels (34) are respectively located inside the two wheel grooves (43).

9. The AGV vehicle travel posture control structure according to claim 5, characterized in that: A plurality of material placement racks (44) are evenly arranged inside the shelf (41).

10. The AGV vehicle travel posture control structure according to claim 2, characterized in that: The input ends of the gantry lifting mechanism (19), the left-right moving mechanism (20), the forward extension mechanism (25) and the clamping mechanism (27) are all electrically connected to the output end of the controller (12).

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