Intelligent agv warehousing robot

Abstract

This invention relates to the field of AGV (Automated Guided Vehicle) warehousing robot technology, and discloses an intelligent AGV warehousing robot, including a flatbed transporter and a controller; a walking mechanism; the walking mechanism is mounted on the flatbed transporter and is used to drive the flatbed transporter to move and transport stored goods; a locking mechanism is disposed between a hydraulic cylinder and a stabilizing mechanism, and can selectively lock or release the stabilizing mechanism relative to the hydraulic cylinder to prevent or allow the extension and retraction of the piston rod. This invention, through the sliding cooperation between the guide post and guide sleeve of the stabilizing mechanism, can guide the piston rod to extend and retract in a straight line, effectively avoiding radial offset during piston rod extension and retraction, and extending the service life of the hydraulic lifting mechanism; furthermore, the locking mechanism adopts two sets of staggered U-shaped locking frames, which achieve synchronous movement through gear and rack transmission, resulting in high locking reliability and effectively preventing accidental extension and retraction of the piston rod from causing displacement of the walking wheel position.

Description

Technical Field

[0001] This invention relates to the field of AGV warehouse robot technology, and more specifically, to an intelligent AGV warehouse robot. Background Technology

[0002] In modern automated warehousing and logistics operations, intelligent AGV (Automated Guided Vehicle) warehouse robots have become core equipment in scenarios such as cargo transfer and warehouse organization due to their advantages of automatic navigation and autonomous handling. Among them, the hydraulic lifting mechanism, as the core execution component for AGV robots to lift and transport goods, directly determines the safety, efficiency, and service life of the goods handling process through its operational stability.

[0003] Currently, in practical applications, especially when lifting and handling medium and heavy goods for extended periods, the hydraulic lifting mechanism of existing intelligent AGV warehouse robots is prone to radial wobble and positional displacement at the mating part of the piston rod and cylinder of the hydraulic cylinder, which is the core power component of the lifting mechanism. This displacement not only aggravates the wear of the piston rod, seals, and cylinder inner wall, leading to a decrease in sealing performance, but also causes oil leakage problems.

[0004] Furthermore, impurities in the hydraulic oil will further accelerate the wear of seals and cylinder walls, creating a vicious cycle of wear, leakage, and even more severe wear. At the same time, prolonged pressure can also cause the hydraulic cylinder to retract or retract, making it impossible for the AGV robot to maintain a stable lifting height, ultimately leading to overall instability. This can not only cause goods to tip over and be damaged, but also shorten the service life of the hydraulic cylinder and the entire lifting mechanism, increasing equipment maintenance costs. Summary of the Invention

[0005] This invention provides an intelligent AGV warehouse robot that solves the technical problem in related technologies where hydraulic cylinders, as the core power component of the lifting mechanism, are prone to radial wobble and positional displacement at the mating part of the piston rod and cylinder barrel. This displacement not only exacerbates the wear of the piston rod, seals, and cylinder barrel inner wall, leading to a decrease in sealing performance, but also causes oil leakage.

[0006] This invention provides an intelligent AGV warehouse robot, comprising: A flatbed transporter and a controller; and a traveling mechanism; the traveling mechanism being mounted on the flatbed transporter for driving the flatbed transporter to move in order to transport stored goods; The walking mechanism includes multiple sets of drive discs disposed inside the flatbed transport vehicle. The multiple sets of drive discs are arranged symmetrically in pairs. A first swing arm is mounted on the drive disc, and a second swing arm is rotatably connected to the first swing arm via a rotating shaft. A power control device is mounted on the second swing arm, and both ends of the output shaft of the power control device are mounted with walking wheels. A hydraulic lifting mechanism includes a hydraulic cylinder rotatably connected to the first swing arm via a rotating shaft. The hydraulic cylinder has a piston rod inside, and the piston rod is rotatably connected to the second swing arm via a rotating shaft. A stabilizing mechanism, which slides with the hydraulic cylinder, is used to guide the piston rod to move relative to the hydraulic cylinder in a linear direction; A locking mechanism is disposed between the hydraulic cylinder and the stabilizing mechanism, and can selectively lock or release the stabilizing mechanism relative to the hydraulic cylinder to prevent or allow the extension and retraction of the piston rod.

[0007] As a further optimization of the present invention, the stabilizing mechanism includes a connecting frame mounted on the piston rod, with guide posts installed on both sides inside the connecting frame, and guide sleeves slidably connected to the outside of the guide posts, the guide sleeves being mounted on the hydraulic cylinder.

[0008] As a further optimization of the present invention, the guide post is wrapped with a rubber sleeve, and a gap is provided between the rubber sleeve and the guide sleeve.

[0009] As a further optimization of the present invention, the locking mechanism includes locking frames disposed on both sides of the hydraulic cylinder. Each end of the locking frame is equipped with a clamping block, and the clamping block has a clamping groove on the side near the guide post. Each locking frame is equipped with a rack, and gears mesh between the racks. A connecting shaft is installed inside the gear, and a connecting seat is connected to the connecting shaft by a bearing. The connecting seat is installed on the hydraulic cylinder. A bracket is also installed on the hydraulic cylinder, and an electric push rod is installed on the bracket. The telescopic end of the electric push rod is fixedly connected to one of the locking frames.

[0010] As a further optimization of the present invention, the two sets of locking frames are arranged in an alternating vertical arrangement, and the locking frames are designed with a U-shaped structure.

[0011] As a further optimization of the present invention, a sealing mechanism is provided between the hydraulic cylinder and the piston rod. The sealing mechanism includes a sealing ring disposed along the piston rod axially at the opening inside the hydraulic cylinder. The sealing ring is installed inside the hydraulic cylinder. A sealing cavity is formed inside the sealing ring, and a flexible sealing ring is disposed inside the sealing cavity. The two ends of the flexible sealing ring are connected to the inner wall of the sealing cavity.

[0012] As a further optimization of the present invention, a sliding sleeve is installed inside the sealing cavity, and a pressure rod is slidably connected inside the sliding sleeve. A push plate is installed at the end of the pressure rod away from the sliding sleeve. The push plate is in contact with the outer surface of the flexible sealing ring to transmit the force to the flexible sealing ring, so that the flexible sealing ring deforms radially to hold the piston rod.

[0013] As a further optimization of the present invention, a connecting end block is installed inside the sliding sleeve, and a memory metal is installed between the connecting end block and the pressure rod.

[0014] As a further optimization of the present invention, the push plate has an arc-shaped plate structure and is made of rubber. The two sides of the push plate are symmetrically provided with clearance grooves.

[0015] As a further optimization of the present invention, a pressure sensor is installed at one end of the hydraulic cylinder near the piston rod, and the detection end of the pressure sensor extends into the interior of the hydraulic cylinder to monitor the internal pressure of the hydraulic cylinder near the piston rod. When the pressure sensor detects an abnormal drop in hydraulic cylinder pressure or excessive pressure fluctuation, the controller outputs a control current to the shape memory metal. The shape memory metal heats up when energized, generating shape memory deformation, which drives the push plate to press and tighten, causing the flexible sealing ring to deform radially to hold the piston rod and suppress oil leakage at the telescopic connection.

[0016] The beneficial effects of this invention are as follows: 1. This invention, through the sliding cooperation between the guide post and guide sleeve of the stabilizing mechanism, guides the piston rod to extend and retract in a straight line, effectively avoiding radial offset during piston rod extension and retraction, reducing wear between the hydraulic cylinder and the piston rod, and extending the service life of the hydraulic lifting mechanism. Furthermore, the locking mechanism employs two sets of staggered U-shaped locking frames, achieving synchronous movement through gear and rack transmission. The clamping grooves and rubber strips on the clamping blocks tightly clamp the guide post, ensuring high locking reliability and effectively preventing accidental piston rod extension and retraction from causing displacement of the traveling wheels. Simultaneously, the locking and releasing are controlled by an electric push rod, making operation convenient and responsive, further improving the stability and automation of the equipment.

[0017] 2. This invention effectively prevents oil leakage inside the hydraulic cylinder through a flexible sealing ring. At the same time, a pressure sensor monitors the hydraulic pressure in real time. When an abnormal pressure occurs, the shape memory metal drives the push plate to press the flexible sealing ring, achieving adaptive sealing enhancement and suppressing oil leakage. After the pressure returns to normal, it automatically resets without manual intervention. This solves the problems of limited sealing performance and inability to adaptively adjust existing sealing structures, improves the reliability of equipment operation, and reduces maintenance costs. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ; Figure 3 This is a three-dimensional structural diagram of the walking mechanism of the present invention; Figure 4This is a schematic diagram of the walking mechanism of the present invention in its deployed state; Figure 5 This is a schematic diagram of the retracted state structure of the walking mechanism of the present invention; Figure 6 This is a schematic diagram of the three-dimensional structure of the hydraulic lifting mechanism of the present invention. Figure 1 ; Figure 7 This is a schematic diagram of the three-dimensional structure of the hydraulic lifting mechanism of the present invention. Figure 2 ; Figure 8 This is a three-dimensional structural diagram of the locking mechanism of the present invention; Figure 9 This is a cross-sectional view of the hydraulic lifting mechanism of the present invention; Figure 10 This is the invention Figure 9 Enlarged view of the structure at point A in the middle; Figure 11 This is a partial three-dimensional cross-sectional view of the sealing mechanism of the present invention; Figure 12 This is a partial three-dimensional structural diagram of the sealing mechanism of the present invention.

[0019] In the diagram: 100, Robot body; 110, Flatbed transporter; 120, Controller; 200, Walking mechanism; 210, Drive disk; 220, First swing arm; 230, Second swing arm; 240, Power control device; 250, Wheels; 260, Hydraulic lifting mechanism; 261, Hydraulic cylinder; 262, Piston rod; 263, Pressure sensor; 300, Stabilizing mechanism; 310, Connecting frame; 320, Guide column; 330, Guide sleeve; 340, Rubber sleeve. ; 400, Locking mechanism; 410, Locking frame; 420, Clamping block; 430, Rack; 440, Gear; 450, Connecting shaft; 460, Connecting seat; 470, Bracket; 480, Electric push rod; 490, Rubber strip; 500, Sealing mechanism; 510, Sealing ring; 520, Sealing cavity; 530, Flexible sealing ring; 540, Sliding sleeve; 550, Pressure rod; 560, Connecting end block; 570, Memory metal; 580, Push plate; 590, Relief groove. Detailed Implementation

[0020] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0021] According to the appendix Figure 1 To be continued Figure 12 As shown, the intelligent AGV warehouse robot of this embodiment includes a handling robot body 100, a walking mechanism 200, a stabilizing mechanism 300, a locking mechanism 400, and a sealing mechanism 500. Specifically, the handling robot body 100 includes a flatbed transport vehicle 110 and a controller 120. The flatbed transport vehicle 110 is used to place warehouse goods, and the bottom is reserved for mounting components such as the walking mechanism 200 and the stabilizing mechanism 300. The controller 120 is controlled by a PLC and is fixedly installed on one side of the top of the flatbed transport vehicle 110. The controller 120 is electrically connected to the power control device 240 of the walking mechanism 200, the electric push rod 480 of the locking mechanism 400, the memory metal 570 of the sealing mechanism 500, and the pressure sensor 263, respectively, to receive the detection signals of each component and output control commands to realize the automated control of the equipment.

[0022] According to the appendix Figure 2 and attached Figure 3 As shown, the traveling mechanism 200 is located at the bottom of the flatbed transporter 110 and is used to drive the flatbed transporter 110 to move and transport stored goods. The traveling mechanism 200 includes four sets of drive discs 210, which are symmetrically arranged in pairs at the four corners inside the flatbed transporter 110. The drive discs 210 are fixedly connected to the bottom inner wall of the flatbed transporter 110. Each set of drive discs 210 is rotatably connected to a first swing arm 220 via a rotating shaft. The first swing arm 220 is made of stainless steel and its length is adapted to the size of the flatbed transporter 110. The end of the first swing arm 220 away from the drive disc 210 is rotatably connected to a second swing arm 230 via a rotating shaft. The second swing arm 230 is made of the same material as the first swing arm 220 and its length is slightly shorter than that of the first swing arm 220.

[0023] A power control device 240 is fixedly installed at the end of the second swing arm 230 away from the first swing arm 220. The power control device 240 uses a geared motor, and both ends of its output shaft are connected to the walking wheels 250 by keys. The walking wheels 250 are made of rubber and have anti-slip textures on the surface to improve grip during walking. A hydraulic lifting mechanism 260 is provided between the first swing arm 220 and the second swing arm 230 to drive the second swing arm 230 to rotate relative to the first swing arm 220, thereby adjusting the height of the walking wheels 250 to adapt to different road conditions.

[0024] According to the appendix Figure 4 To be continued Figure 6As shown, the hydraulic lifting mechanism 260 includes a hydraulic cylinder 261, which is rotatably connected to the middle position of the first swing arm 220 via a rotating shaft. A piston rod 262 is slidably disposed inside the hydraulic cylinder 261. The end of the piston rod 262 away from the hydraulic cylinder 261 is rotatably connected to the middle position of the second swing arm 230 via a rotating shaft. The hydraulic cylinder 261 is filled with hydraulic oil. The piston rod 262 is extended and retracted by the pressure change of the hydraulic oil, thereby driving the second swing arm 230 to rotate around the rotating shaft. A pressure sensor 263 is fixedly installed at the end of the hydraulic cylinder 261 near the piston rod 262. The detection end of the pressure sensor 263 extends into the interior of the hydraulic cylinder 261 to monitor the internal pressure of the hydraulic cylinder 261 near the piston rod 262. The signal output end of the pressure sensor 263 is electrically connected to the controller 120 to transmit the detected pressure signal to the controller 120 in real time.

[0025] According to the appendix Figure 6 and attached Figure 7 As shown, the stabilizing mechanism 300 is slidably engaged with the hydraulic cylinder 261 to guide the piston rod 262 to move in a straight line relative to the hydraulic cylinder 261, preventing radial offset during piston rod 262 extension and retraction. The stabilizing mechanism 300 includes a connecting frame 310, which is fixedly installed at the end of the piston rod 262 away from the hydraulic cylinder 261. Guide posts 320 are fixedly installed on both sides inside the connecting frame 310. The guide posts 320 have a cylindrical structure and are made of high-strength alloy steel. The outside of the guide posts 320 is wrapped with rubber. The rubber sleeve 340 is made of wear-resistant rubber and is used to reduce wear between the guide post 320 and the guide sleeve 330. The guide sleeve 330 is slidably connected to the outside of the guide post 320. The guide sleeve 330 is fixedly installed on the outer wall of the hydraulic cylinder 261. The guide sleeve 330 and the guide post 320 are coaxially arranged. A gap of 0.5-1mm is provided between the rubber sleeve 340 and the guide sleeve 330, so that the rubber sleeve 340 on the guide post 320 can move freely inside the guide sleeve 330, which not only ensures the stability of the guide but also avoids excessive friction.

[0026] According to the appendix Figure 6 To be continued Figure 8As shown, the locking mechanism 400 is disposed between the hydraulic cylinder 261 and the stabilizing mechanism 300, and is used to selectively lock or release the stabilizing mechanism 300 relative to the hydraulic cylinder 261 to prevent or allow the extension and retraction of the piston rod 262. The locking mechanism 400 includes two sets of locking frames 410, which are staggered vertically and both have a U-shaped structure design. The locking frames 410 are made of stainless steel and are symmetrically arranged on both sides of the hydraulic cylinder 261. Both ends of each set of locking frames 410 are fixedly mounted. The device is equipped with a clamping block 420. The clamping block 420 has a clamping groove adapted to the guide post 320 on the side near the guide post 320. Multiple sets of rubber strips 490 are evenly distributed inside the clamping groove. The rubber strips 490 are fixedly connected to the inner wall of the clamping groove. The rubber strips 490 are made of flexible rubber to increase the friction between the clamping block 420 and the guide post 320 and improve the locking reliability. Each set of clamping blocks 420 has a movable groove adapted to the adjacent locking frame 410 to avoid mutual interference when the two sets of locking frames 410 move.

[0027] A rack 430 is fixedly installed on the inner side of each locking frame 410. Two sets of racks 430 are arranged opposite each other and are meshed with a gear 440. A connecting shaft 450 is fixedly installed inside the gear 440. The two ends of the connecting shaft 450 are connected to the connecting seat 460 through bearings. The connecting seat 460 is fixedly installed on the outer wall of the hydraulic cylinder 261, so that the gear 440 can rotate freely around the connecting shaft 450. A bracket 470 is also fixedly installed on the outer wall of the hydraulic cylinder 261. The bracket 470 has an L-shaped structure. An electric push rod 480 is fixedly installed on the bracket 470. The telescopic end of the electric push rod 480 is fixedly connected to one of the locking frames 410. The control end of the electric push rod 480 is electrically connected to the controller 120, and its telescopic movement is controlled by the controller 120.

[0028] According to the appendix Figure 9 To be continued Figure 12 As shown, a sealing mechanism 500 is provided between the hydraulic cylinder 261 and the piston rod 262 to prevent oil leakage inside the hydraulic cylinder 261. The sealing mechanism 500 includes a sealing ring 510, which is arranged along the axial direction of the piston rod 262 at the opening inside the hydraulic cylinder 261. The sealing ring 510 is fixedly installed on the inner wall of the hydraulic cylinder 261. An annular sealing cavity 520 is opened inside the sealing ring 510. A flexible sealing ring 530 is provided inside the sealing cavity 520. The flexible sealing ring 530 is made of fluororubber and has good sealing performance and wear resistance. The two ends of the flexible sealing ring 530 are fixedly connected to the inner wall of the sealing cavity 520.

[0029] Multiple sliding sleeves 540 are fixedly installed inside the sealing cavity 520. The multiple sliding sleeves 540 are evenly distributed along the circumference of the sealing ring 510. A pressure rod 550 is slidably connected inside the sliding sleeve 540. A push plate 580 is fixedly installed at the end of the pressure rod 550 away from the sliding sleeve 540. The push plate 580 has an arc-shaped plate structure and is made of rubber. The two sides of the push plate 580 are symmetrically provided with relief grooves 590 so that the push plate 580 can deform more evenly when under pressure and transmit the force to the flexible sealing ring 530. The push plate 580 is tightly fitted to the outer surface of the flexible sealing ring 530.

[0030] A connecting end block 560 is fixedly installed inside the sliding sleeve 540. A memory metal 570 is fixedly installed between the connecting end block 560 and the pressure rod 550. The memory metal 570 is arranged in a spiral structure. The two ends of the memory metal 570 are fixedly connected to the connecting end block 560 and the pressure rod 550 respectively. The memory metal 570 is electrically connected to the controller 120 through the connecting end block 560, and the controller 120 controls it to heat up when powered on or cool down when powered off.

[0031] In this embodiment, the preset pressure threshold and pressure drop judgment logic are set according to the needs of the actual warehousing and handling scenario. For example, the preset normal working pressure range is 0.5-1.2MPa. When the pressure sensor 263 detects that the internal pressure of the hydraulic cylinder 261 drops by more than 0.2MPa within 10s, or the pressure fluctuation exceeds ±0.1MPa, it is determined to be an abnormal pressure.

[0032] According to the appendix Figure 1 To be continued Figure 12 As shown, the overall working principle of the intelligent AGV warehouse robot of the present invention is as follows: the controller 120 receives the handling instructions of the warehouse system, controls the walking mechanism 200 to drive the flatbed transport vehicle 110 to move, and at the same time adjusts the height of the walking wheels 250 through the hydraulic lifting mechanism 260 to adapt to the road conditions. The stabilizing mechanism 300 ensures that the piston rod 262 extends and retracts smoothly. The locking mechanism 400 fixes the position of the piston rod 262 when needed. The sealing mechanism 500 prevents oil leakage. The pressure sensor 263 monitors the hydraulic pressure in real time to realize adaptive sealing adjustment, thereby completing the automated handling of warehouse goods.

[0033] The specific work process is as follows: First, the controller 120 controls the power control device 240 of the walking mechanism 200 to start according to the handling instruction. The power control device 240 drives the walking wheels 250 to rotate, thereby moving the flatbed transport vehicle 110 to the designated cargo location.

[0034] When the height of the walking wheel 250 needs to be adjusted to adapt to road undulations or cargo handling height, the controller 120 controls the hydraulic cylinder 261 to work. The hydraulic oil inside the hydraulic cylinder 261 generates pressure, driving the piston rod 262 to extend and retract. During the extension and retraction of the piston rod 262, the guide post 320 of the stabilizing mechanism 300 slides along the guide sleeve 330, guiding the piston rod 262 to move in a straight line to avoid radial deviation. At the same time, the extension and retraction of the piston rod 262 of the hydraulic lifting mechanism 260 drives the second swing arm 230 to rotate relative to the first swing arm 220, thereby adjusting the height of the walking wheel 250 to meet the needs of different scenarios.

[0035] Once the traveling wheel 250 is adjusted to a suitable height, the controller 120 controls the locking mechanism 400 to operate. The electric push rod 480 extends and retracts, driving one set of locking frames 410 to move. This locking frame 410 drives the gear 440 to rotate via the rack 430. The gear 440 then drives the other set of locking frames 410 to move synchronously in the opposite direction, causing the two sets of locking frames 410 to move away from the hydraulic cylinder 261. This causes the clamping block 420 to move closer to the guide post 320. The guide post 320 is clamped by the clamping groove on the clamping block 420 and the rubber strip 490, thus locking the stabilizing mechanism 300 relative to the hydraulic cylinder 261. This prevents the piston rod 262 from extending and retracting, fixes the height of the traveling wheel 250, and ensures stability during transportation.

[0036] When the height of the walking wheel 250 needs to be adjusted again, the controller 120 controls the electric push rod 480 to extend and retract in the opposite direction, which drives the two sets of locking brackets 410 to approach the hydraulic cylinder 261, the clamping block 420 disengages from the guide column 320, releases the stabilizing mechanism 300, and the piston rod 262 can extend and retract normally.

[0037] During the operation of the hydraulic lifting mechanism 260, the pressure sensor 263 monitors the pressure inside the hydraulic cylinder 261 in real time and transmits the detection signal to the controller 120. The controller 120 determines whether the pressure is normal based on the preset pressure threshold and pressure drop judgment logic.

[0038] When an abnormal drop in pressure or excessive pressure fluctuation is detected in hydraulic cylinder 261, controller 120 outputs control current to shape memory metal 570. Shape memory metal 570 heats up when energized, causing shape memory deformation, which pushes pressure rod 550 to move along sliding sleeve 540. Pressure rod 550 drives push plate 580 to press flexible sealing ring 530, causing flexible sealing ring 530 to deform radially and tightly hug piston rod 262, enhancing sealing performance and suppressing oil leakage at telescopic connection.

[0039] When the internal pressure of the hydraulic cylinder 261 returns to the normal range, the controller 120 disconnects the power supply to the memory metal 570, the memory metal 570 cools and resets, driving the pressure rod 550 and the push plate 580 back to the initial position, and the flexible sealing ring 530 releases its clamping state, completing the adaptive closed-loop adjustment.

[0040] The embodiments of this specific implementation have been described above. However, this embodiment is not limited to the specific implementation described above. The specific implementation described above is merely illustrative and not restrictive. Those skilled in the art can make many other forms based on the guidance of this embodiment, all of which are within the protection scope of this embodiment.

Claims

1. An intelligent AGV warehouse robot for transporting warehouse goods, characterized in that, include: Flatbed transporter and controller; And, a traveling mechanism; the traveling mechanism is mounted on the flatbed transport vehicle and is used to drive the flatbed transport vehicle to move in order to transport stored goods; The walking mechanism includes multiple sets of drive discs disposed inside the flatbed transport vehicle. The multiple sets of drive discs are arranged symmetrically in pairs. A first swing arm is mounted on the drive disc, and a second swing arm is rotatably connected to the first swing arm via a rotating shaft. A power control device is mounted on the second swing arm, and both ends of the output shaft of the power control device are mounted with walking wheels. A hydraulic lifting mechanism includes a hydraulic cylinder rotatably connected to the first swing arm via a rotating shaft. The hydraulic cylinder has a piston rod inside, and the piston rod is rotatably connected to the second swing arm via a rotating shaft. A stabilizing mechanism, which slides with the hydraulic cylinder, is used to guide the piston rod to move relative to the hydraulic cylinder in a linear direction; A locking mechanism is provided between the hydraulic cylinder and the stabilizing mechanism, and can selectively lock or release the stabilizing mechanism relative to the hydraulic cylinder to prevent or allow the extension and retraction of the piston rod, so that the flatbed truck can transport and move stored goods more stably.

2. The intelligent AGV warehouse robot according to claim 1, characterized in that, The stabilizing mechanism includes a connecting frame mounted on the piston rod, with guide posts installed on both sides inside the connecting frame, and guide sleeves slidably connected to the outside of the guide posts, the guide sleeves being mounted on the hydraulic cylinder.

3. The intelligent AGV warehouse robot according to claim 2, characterized in that, The guide post is covered with a rubber sleeve, and a gap is provided between the rubber sleeve and the guide sleeve.

4. The intelligent AGV warehouse robot according to claim 2, characterized in that, The locking mechanism includes locking frames disposed on both sides of the hydraulic cylinder. Each end of the locking frame is equipped with a clamping block, and the clamping block has a clamping groove on the side near the guide post. Each locking frame is equipped with a rack, and gears mesh between the racks. A connecting shaft is installed inside the gear, and a connecting seat is connected to the connecting shaft by a bearing. The connecting seat is installed on the hydraulic cylinder. A bracket is also installed on the hydraulic cylinder, and an electric push rod is installed on the bracket. The telescopic end of the electric push rod is fixedly connected to one of the locking frames.

5. The intelligent AGV warehouse robot according to claim 4, characterized in that, The two sets of locking frames are arranged in an alternating vertical arrangement, and the locking frames have a U-shaped structure design.

6. The intelligent AGV warehouse robot according to claim 1, characterized in that, A sealing mechanism is provided between the hydraulic cylinder and the piston rod. The sealing mechanism includes a sealing ring disposed along the piston rod axially at the opening inside the hydraulic cylinder. The sealing ring is installed inside the hydraulic cylinder. A sealing cavity is formed inside the sealing ring, and a flexible sealing ring is disposed inside the sealing cavity. The two ends of the flexible sealing ring are connected to the inner wall of the sealing cavity.

7. The intelligent AGV warehouse robot according to claim 6, characterized in that, A sliding sleeve is installed inside the sealing cavity, and a pressure rod is slidably connected inside the sliding sleeve. A push plate is installed at the end of the pressure rod away from the sliding sleeve. The push plate is in contact with the outer surface of the flexible sealing ring to transmit the force to the flexible sealing ring, so that the flexible sealing ring deforms radially to hold the piston rod.

8. The intelligent AGV warehouse robot according to claim 7, characterized in that, The sliding sleeve has a connecting end block installed inside, and a memory metal is installed between the connecting end block and the pressure rod.

9. The intelligent AGV warehouse robot according to claim 7, characterized in that, The push plate has an arc-shaped plate structure and is made of rubber. The two sides of the push plate are symmetrically provided with clearance grooves.

10. The intelligent AGV warehouse robot according to claim 8, characterized in that, A pressure sensor is installed at one end of the hydraulic cylinder near the piston rod, and the detection end of the pressure sensor extends into the interior of the hydraulic cylinder to monitor the internal pressure of the hydraulic cylinder near the piston rod. When the pressure sensor detects an abnormal drop in hydraulic cylinder pressure or excessive pressure fluctuation, the controller outputs a control current to the shape memory metal. The shape memory metal heats up and undergoes shape memory deformation, driving the push plate to press and tighten, causing the flexible sealing ring to deform radially to hold the piston rod and suppress oil leakage at the telescopic connection.

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