AGV for stereoscopic warehouse

Abstract

This invention relates to the field of transportation equipment technology and discloses an AGV (Automated Guided Vehicle) for automated warehouses. The AGV includes a vehicle body with a vertical frame fixedly mounted on the top. Multiple sets of support plates are fixedly mounted inside the vertical frame, and each support plate has multiple slots. A transfer assembly is located at the top of the vehicle body. An asynchronous motor, in conjunction with the AGV, allows the rotating frame to align directly in front of the target bin. When a hydraulic cylinder is activated, the slots on the support plate are inserted into the corresponding slots on the support plate. When the support plate contacts a pressure sensor, a movement signal is emitted, lifting the corresponding bin. The hydraulic cylinder then axially resets the support plate, allowing the bin to enter the moving frame. The asynchronous motor is then reversed, causing the bin to rotate horizontally by 90 degrees. Combined with the lifting mechanism and hydraulic cylinder, the bin can be pushed into the target position. This allows bins to be prepared for transfer before reaching the target position, improving transfer efficiency.

Description

Technical Field

[0001] This invention relates to the field of transportation equipment technology, specifically to an AGV (Automated Guided Vehicle) for automated warehouses. Background Technology

[0002] With the rapid development of the smart warehousing industry and the gradual popularization of automated storage and retrieval warehouses, automated transfer of material bins has become a core link in warehousing and logistics. AGVs, as core equipment for unmanned transfer, can complete point-to-point handling of goods in the warehouse by relying on autonomous navigation. When combined with a vertical lifting structure, they can be adapted to multi-layer rack storage and retrieval operations.

[0003] At present, AGV trolleys with lifting function for transporting material boxes generally have a vertical lifting frame fixedly installed on the top of the vehicle body. The lifting mechanism drives the forks or pallets to complete the vertical lifting and lowering, and the horizontal telescopic mechanism is used to complete the picking and putting of the material box. Conventional equipment only relies on a single pallet to complete the material box receiving. The picking, transferring and putting of materials all require the trolley to be stationary at a fixed point.

[0004] Existing AGV transfer vehicles of the same type still have certain shortcomings in actual use: Firstly, the existing equipment cannot complete the material box alignment and material picking process in advance during the movement of the trolley. The transfer process relies on the trolley stopping at a fixed point to complete the transfer process. The overall transfer cycle is relatively long, and there is room for improvement in the overall throughput efficiency of the warehouse area. Secondly, the existing equipment relies solely on a single bottom support to fix the material box, lacking lateral mechanical support, pneumatic clamping, and end clamping and limiting structures. During the start-up, stopping, and turning of the trolley, the material box is easily affected by inertia and will shift and sway, resulting in insufficient stability of cargo transfer. Third, some equipment that uses electromagnetic chucks for fixing often adopts a constant suction control mode, which cannot match the suction force according to the real-time load weight. This results in ineffective energy consumption under no-load and light-load conditions, and the overall energy efficiency of the machine is poor. Summary of the Invention

[0005] The purpose of this invention is to provide an AGV (Automated Guided Vehicle) for automated warehouses to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An AGV (Automated Guided Vehicle) for automated warehouses includes a vehicle body, a drive chassis integrated at the bottom of the vehicle body, a power supply connected inside the vehicle body, a controller fixedly installed inside the vehicle body, lidar on both sides of the vehicle body, a vertical frame fixedly installed on the top of the vehicle body, a lifting mechanism at the bottom of the vertical frame, a movable frame fixedly installed on the movable part of the lifting mechanism, multiple sets of bearing plates fixedly installed inside the vertical frame, material boxes placed on the bearing plates, multiple strip grooves formed on each bearing plate, and a transfer assembly at the top of the vehicle body. The transfer assembly includes an asynchronous motor, which is fixedly mounted on a movable frame. The output end of the asynchronous motor is fixedly mounted on a rotating frame via a coupling. A hydraulic cylinder is fixedly mounted inside the side wall of the rotating frame. A support plate is fixedly mounted on the piston end of the hydraulic cylinder. The support plate is provided with multiple strip-shaped protrusions adapted to the size of the strip-shaped groove. A limit rod is fixedly mounted on the outer wall of the support plate and is slidably mounted inside the side wall of the rotating frame. A pressure sensor is fixedly mounted on the inner wall of the bearing plate and is located inside the strip-shaped groove.

[0007] In a further embodiment, the movement trajectory of the rotating frame does not contact the moving frame, thus avoiding motion interference.

[0008] In a further embodiment, the rotating frame is rotatably mounted on the movable frame via bearing components. The rotation range of the rotating frame is 0°-90°, which facilitates transportation while avoiding motion interference.

[0009] In a further embodiment, an adsorption assembly is provided at the top of the vehicle body. The adsorption assembly includes a magnetically conductive steel plate, which is fixedly installed at the bottom of the material box. An electromagnetic chuck driver is fixedly installed at the top of the pallet. A main pipe is fixedly installed on the inner wall of the pallet. The main pipe is T-shaped and has multiple branch pipes fixedly installed on it. Multiple first spring rods are fixedly installed on each branch pipe. The small end of the electromagnetic chuck body is fixedly installed at the movable end of each first spring rod. Multiple sets of through holes are opened on the strip-shaped protrusion of the pallet, and the electromagnetic chuck body is located inside the through holes.

[0010] In a further embodiment, the large end of the electromagnetic chuck body is pressed against the bottom of the magnetically conductive steel plate, thereby making the current material box transfer process more stable.

[0011] In a further embodiment, the pallet is provided with a support assembly, which includes multiple sets of wheel frames. Each set of wheel frames is slidably installed inside the strip-shaped protrusions of the pallet. Side plates are fixedly installed on the side walls of the wheel frames. The two ends of a second spring rod are fixedly installed between the bottom of the pallet and the outer wall of the side plate. Each wheel frame has two sets of side plates and second spring rods. Rollers are rotatably installed inside the wheel frames via bearing components. The support pipe passes through the wheel frames, and the movement trajectories of the wheel frames and rollers do not contact the support pipe, thus avoiding movement interference.

[0012] In a further embodiment, a tire pressure sensor is installed on the roller, and a wireless receiving module is fixedly installed on the top of the pallet to collect multiple sets of tire pressure data in real time and calculate the average value.

[0013] In a further embodiment, the rotating frame is equipped with a fixing component, which includes a connector. The connector is fixedly installed inside the side wall of the rotating frame, and an inflatable airbag is fixedly installed outside the side wall of the rotating frame. The connector is fixedly connected to the inflatable airbag. A rubber sleeve is fitted at the end of the limiting rod, and a bent tube is fixedly installed outside the rotating frame. One end of the rubber sleeve is slidably installed inside one end of the bent tube, and the other end of the bent tube is fixedly installed outside the connector. Two sets of the limiting rod, connector, inflatable airbag, rubber sleeve, and bent tube are provided and mirror-imagely arranged at both ends of the rotating frame to improve the operating effect of the fixing component.

[0014] In a further embodiment, the inflatable airbag fits against the side wall of the material box when inflated, and an auxiliary pipe is integrally formed at the end of the bend away from the joint. An adjustment valve is provided on the auxiliary pipe to improve adaptability.

[0015] In a further embodiment, the vertical frame is equipped with a clamping assembly, which includes multiple sets of mounting brackets. Each set of mounting brackets is fixedly installed on the outside of the vertical frame. An asynchronous motor is fixedly installed on each mounting bracket, and a bidirectional lead screw is fixedly installed at the output end of the asynchronous motor via a coupling. The end of the bidirectional lead screw is rotatably mounted inside the side wall of the mounting bracket via a bearing. Two mirror-image clamping brackets are threaded onto each bidirectional lead screw, and the two clamping brackets are attached to the corresponding side wall of the material box. The multiple asynchronous motors are arranged vertically in a staggered array, making the vertical frame more stable overall.

[0016] Compared with the prior art, the present invention provides an AGV (Automated Guided Vehicle) for automated warehouses, which has the following advantages: 1. This automated warehouse uses AGVs (Automated Guided Vehicles), along with a drive chassis, power supply, controller, and LiDAR, enabling the AGVs to move automatically within the target area according to instructions. The lifting mechanism on the vertical frame allows the moving frame to move up and down. With multiple sets of pallets and bins, it can simultaneously transport various goods. To improve transport efficiency, a transport component is installed. When the asynchronous motor is started, the rotating frame can rotate horizontally by 90 degrees, aligning it directly in front of the target bin. When the hydraulic cylinder is activated, the pallet can move axially, with the limit rod simultaneously moving within the moving frame. The slide allows the strip-shaped protrusions of the pallet to penetrate into the corresponding groove of the bearing plate. When the pallet contacts the pressure sensor, it sends a signal indicating that the movement has reached its position. The lifting mechanism then moves the pallet up a certain distance, lifting the corresponding material box. In conjunction with the hydraulic cylinder, the pallet is axially reset, allowing the current material box to enter the moving frame. The asynchronous motor then reverses, causing the material box to rotate horizontally by 90 degrees. When the trolley reaches the target transfer point, the lifting mechanism and hydraulic cylinder push the material box into the target position. This allows the material box to be transferred to be prepared in advance before reaching the target position, improving transfer efficiency.

[0017] 2. This automated warehouse uses AGV trolleys. To improve the stability of the transfer, an adsorption component is set up. When the pressure sensor sends a signal, the lifting mechanism moves the pallet up a certain distance, which simultaneously causes multiple sets of electromagnetic chucks inside the through hole to press against the magnetic steel plate. The first spring rod is compressed and deformed, and the electromagnetic chuck driver is activated simultaneously, so that multiple sets of electromagnetic chucks can adsorb and fix the magnetic steel plate, thereby making the current material box transfer process more stable. In conjunction with the main pipe and multiple sets of branch pipes, it is convenient for wiring.

[0018] 3. The automated warehouse uses AGV trolleys. To further improve the stability of transportation, a support component is set up. When the pressure sensor sends a signal, the lifting mechanism moves the pallet up a certain distance. The top of the wheel frame is squeezed by the magnetic steel plate, which, together with the side plate, causes the second spring rod to stretch and deform. When the pallet retracts into the rotating frame, the rollers contact and press against the side wall of the rotating frame, causing the second spring rod to recover its deformation. Thus, multiple sets of rollers roll synchronously on the side wall of the rotating frame, providing support for the pallet and further improving the stability of transportation.

[0019] 4. This automated warehouse uses AGVs. To improve energy efficiency, when the rollers roll on the side wall of the rotating frame, multiple tire pressure sensors, along with a wireless receiving module, collect multiple tire pressure data in real time and calculate the average value. Combined with a calibration coefficient, the total weight of the pallet and its contents is estimated, thereby intelligently adjusting the suction force of the electromagnetic chuck. The greater the total weight, the stronger the electromagnetic chuck suction, allowing for on-demand adjustment and avoiding energy loss caused by a single suction force, thus achieving greater energy savings.

[0020] 5. The automated warehouse uses AGV trolleys. To make the transfer process more stable, a fixing component is set up, which, together with the joint and the inflatable airbag, can fix the material box inside the retractable rotating frame on the side, thereby making the transfer process more stable.

[0021] 6. This automated warehouse uses AGVs. To improve the performance of the fixed components, when it's necessary to retrieve a material box from the support plate or transfer a material box from inside the rotating frame to the target placement point, the limit rod moves the rubber sleeve towards the center of the rotating frame. The rubber sleeve moves synchronously inside the bend, allowing the gas inside the inflatable airbag to be drawn back into the bend, causing the inflatable airbag to gradually shrink. This allows the pallet to smoothly connect with the corresponding support plate, or the material box inside the rotating frame to be transferred to the target placement point. Conversely, when it's necessary to remove a material box from the support plate or the target point, the limit rod moves the rubber sleeve away from the center of the rotating frame. This allows the gas inside the bend to be gradually injected into the inflatable airbag, causing it to gradually expand and press against the side wall of the current material box, resulting in better fixation. With the help of auxiliary pipes and regulating valves, air can be replenished inside the bend. When the regulating valve is in the normally open state, the inflatable airbag will be in a constantly shrinking state and will no longer play an auxiliary fixing role, thus improving adaptability.

[0022] 7. The automated warehouse uses AGVs. To improve safety, a clamping assembly is installed. When the asynchronous motor on the corresponding mounting frame is started, the bidirectional lead screw rotates, allowing the two sets of clamping frames to move towards each other. When they get close to each other, they can clamp and fix the two ends of the current material box, improving the safety of transportation. When the current pressure sensor sends a signal, the corresponding asynchronous motor reverses, and the clamping frames move away from each other, ending the clamping and allowing the current material box to be removed. In addition, the vertically staggered array of multiple sets of asynchronous motors can balance the center of gravity on both sides of the vertical frame, making the overall vertical frame more stable.

[0023] 8. The automated warehouse uses AGV trolleys, which, together with the above components, prevent the trolley body from swinging or tilting due to inertia when it stops, starts, or turns, thus reducing the risk of goods falling and minimizing safety hazards. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the present invention from another perspective; Figure 3 This is a schematic diagram of the structural connections of the transfer component of the present invention; Figure 4 This is a schematic diagram of the connection structure of the fixing component part of the present invention; Figure 5 This is a schematic cross-sectional view of part of the structure of the present invention; Figure 6 This is a schematic diagram of the tray and some structural connections of the present invention; Figure 7 This is a schematic cross-sectional view of part of the structure of the present invention; Figure 8 This is a schematic diagram of the connection of a portion of the adsorption component of the present invention; Figure 9 This is a schematic diagram of the roller and some structural connections of the present invention; Figure 10 This is a schematic diagram of the cross-section of the vertical frame of the present invention; Figure 11 This is a schematic cross-sectional view of the vertical frame of the present invention; Figure 12 This is a schematic diagram of the vertical frame of the present invention from another perspective; Figure 13 This is an exploded view of part of the structure of the present invention.

[0025] Explanation of reference numerals: 1. Vehicle body; 1001. Drive chassis; 12. Power supply; 13. Controller; 14. LiDAR; 2. Vertical frame; 3. Lifting mechanism; 4. Moving frame; 5. Loading plate; 6. Material box; 7. Transfer assembly; 71. Asynchronous motor; 72. Rotating frame; 73. Hydraulic cylinder; 74. Pallet; 75. Limit rod; 76. Pressure sensor; 8. Adsorption assembly; 81. Magnetic steel plate; 82. Electromagnetic chuck driver; 83. Main pipe; 84. Branch pipe; 85. First spring rod; 86. Electromagnetic chuck body; 87. Through hole; 9. Support assembly; 91. Wheel frame; 92. Side plate; 93. Second spring rod; 94. Roller; 95. Tire pressure sensor; 96. Wireless receiver module; 10. Fixing components; 101. Connector; 102. Inflatable airbag; 103. Rubber sleeve; 104. Bend; 105. Auxiliary pipe; 106. Regulating valve; 11. Clamping assembly; 111. Mounting bracket; 112. Asynchronous motor; 113. Bidirectional lead screw; 114. Clamping frame. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In this application, the term "above" indicates the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is primarily used to better describe this application and its embodiments, and is not intended to limit the indicated device, element, or component to having a specific orientation, or to construct and operate in a specific orientation. Furthermore, the term "above" may also be used in certain circumstances to indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances.

[0028] Please see Figures 1-13 The present invention provides a technical solution: An AGV (Automated Guided Vehicle) for automated warehouses includes a vehicle body 1, a drive chassis 1001 integrated at the bottom of the vehicle body 1, a power supply 12 connected inside the vehicle body 1, a controller 13 fixedly installed inside the vehicle body 1, laser radars 14 installed on both sides of the vehicle body 1, a vertical frame 2 fixedly installed on the top of the vehicle body 1, a lifting mechanism 3 installed at the bottom of the vertical frame 2, a movable frame 4 fixedly installed on the movable part of the lifting mechanism 3, six sets of bearing plates 5 fixedly installed inside the vertical frame 2, material boxes 6 placed on the bearing plates 5, and four strip grooves opened on each bearing plate 5.

[0029] Specifically, power supply 12 serves as the vehicle's power supply unit, continuously providing a stable rated operating voltage to ensure uninterrupted vehicle operation. Controller 13 has a built-in preset warehouse transfer path program and equipment linkage control program, issuing timed operation commands to all vehicle actuators. LiDAR 14 continuously scans the warehouse interior environment, including shelf outlines, obstacle positions, and coordinates, generating real-time environmental point data and continuously transmitting it to controller 13. Controller 13 compares the preset path with the real-time environmental data, corrects travel deviations in real-time, and outputs speed adjustment and steering signals to drive chassis 1001. Drive chassis 1001 receives speed adjustment and steering signals. After the turn signal, the vehicle body 1 completes a fully autonomous driving action of constant speed straight driving, acceleration, deceleration, turning, precise fixed-point stopping, and full-area autonomous navigation without human intervention. The vertical frame 2 is fixed to the top of the vehicle body 1 as the supporting base of the upper execution mechanism. After receiving the lifting command from the controller 13, the lifting mechanism 3 drives the moving frame 4 to achieve high-precision vertical lifting and displacement. The moving frame 4 provides an installation carrier for all transfer execution components. The vertical frame 2 has multiple sets of bearing plates 5 arranged in an array. Each set of bearing plates 5 can independently place a set of material boxes 6. The trolley can simultaneously carry multiple sets of goods of different specifications for simultaneous transfer, effectively increasing the load capacity of a single transfer.

[0030] Example 1

[0031] Please see Figures 3-7 , Figures 10-12 A transfer assembly 7 is provided at the top of the vehicle body 1. The transfer assembly 7 includes an asynchronous motor 71, which is fixedly installed on the movable frame 4. The output end of the asynchronous motor 71 is fixedly installed on a rotating frame 72 through a coupling. Furthermore, the movement trajectory of the rotating frame 72 does not contact the movable frame 4 to avoid movement interference. Furthermore, the rotating frame 72 is rotatably installed on the movable frame 4 through bearing components. The rotation range of the rotating frame 72 is 0°-90°, which facilitates transfer while avoiding movement interference. A hydraulic cylinder 73 is fixedly installed inside the side wall of the rotating frame 72. A support plate 74 is fixedly installed on the piston end of the hydraulic cylinder 73. The support plate 74 is provided with four strip-shaped protrusions that are adapted to the size of the strip-shaped groove. A limit rod 75 is fixedly installed on the outer wall of the support plate 74. The limit rod 75 is slidably installed inside the side wall of the rotating frame 72. A pressure sensor 76 is fixedly installed on the inner wall of the bearing plate 5. The pressure sensor 76 is located inside the strip-shaped groove.

[0032] In this embodiment, the vehicle body 1, guided by the laser radar 14, arrives at the preset material picking coordinates and locks itself in place. The controller 13 first outputs a running signal to the asynchronous motor 71. After receiving the signal, the asynchronous motor 71 stably drives the rotating frame 72 to rotate 90 degrees in one direction horizontally, achieving precise angle positioning. This ensures that the working end of the rotating frame 72 is completely aligned with the front of the target material box 6, eliminating alignment deviation. After the alignment process is completed, the controller 13 outputs an extension signal to the hydraulic cylinder 73. The piston end of the hydraulic cylinder 73 extends outward at a uniform speed, simultaneously driving the pallet 74 to move axially. The limit rod 75 follows the pallet 74 in a linear guide sliding motion, constraining the movement trajectory of the pallet 74 to prevent deviation. The noodle-shaped protrusion at the end of the pallet 74 is precisely inserted into the strip-shaped groove structure inside the bearing plate 5. When the pallet 74 is fully inserted into the groove and touches the sensing surface of the pressure sensor 76, the pressure sensor 76 is triggered and immediately sends a positioning signal back to the controller 13. After receiving the positioning signal, the controller 13 immediately pauses the action of the hydraulic cylinder 73 and outputs a small amplitude signal. The lifting command is sent to the lifting mechanism 3, which drives the moving frame 4, the pallet 74, and the upper material box 6 to lift slightly upwards by a fixed stroke, so that the bottom of the material box 6 is completely separated from the support surface of the bearing plate 5, thus completely severing the contact friction between the material box 6 and the bearing plate 5. Then, the controller 13 outputs a retraction command to the hydraulic cylinder 73, and the piston end of the hydraulic cylinder 73 returns to its axial position, driving the pallet 74 and the suspended material box 6 to retract synchronously into the rotating frame 72, completing the grabbing and storage of the material box 6. Afterwards, the controller 13 outputs a reverse command to the asynchronous... Motor 71, an asynchronous motor 71, drives the rotating frame 72 and the material box 6 to rotate 90 degrees in the opposite direction, returning to the initial standby angle. The entire material picking process can be completed simultaneously while the vehicle body 1 is traveling to the target material placement point. There is no need for the vehicle to stop at a fixed point to wait for material picking. When the vehicle body 1 arrives at the target material placement point, the controller 13 controls the lifting mechanism 3 hydraulic cylinder 73 to act in reverse in sequence, which can smoothly push the material box 6 into the target shelf strip groove, greatly shortening the transfer waiting time and improving the overall warehouse transfer cycle and transfer efficiency.

[0033] Example 2 Please see Figures 3-8 , Figure 12 Based on Embodiment 1, an adsorption assembly 8 is also provided at the top of the vehicle body 1. The adsorption assembly 8 includes a magnetic steel plate 81, which is fixedly installed at the bottom of the material box 6. An electromagnetic chuck driver 82 is fixedly installed at the top of the pallet 74. A main pipe 83 is fixedly installed on the inner wall of the pallet 74. The main pipe 83 is T-shaped and has four branch pipes 84 fixedly installed on it. Four first spring rods 85 are fixedly installed on each branch pipe 84. The small end of the electromagnetic chuck body 86 is fixedly installed at the movable end of the first spring rod 85. Four sets of through holes 87 are opened on the strip-shaped protrusion of the pallet 74. The electromagnetic chuck body 86 is located inside the through holes 87. Furthermore, the large end of the electromagnetic chuck body 86 presses against the bottom of the magnetic steel plate 81, thereby making the current material box 6 transfer process more stable.

[0034] In this embodiment, during the simultaneous operation of the pressure sensor 76 providing a positioning signal and the lifting mechanism 3 driving the pallet 74 to slightly lift the material box 6, the magnetically conductive steel plate 81 fixedly installed at the bottom of the material box 6 simultaneously presses downwards against the electromagnetic chuck body 86 arranged inside the through hole 87. The electromagnetic chuck body 86 moves axially along the through hole 87 and compresses the first spring rod 85 connected at the bottom. The first spring rod 85 undergoes axial compression elastic deformation until the top end face of the electromagnetic chuck body 86 is completely and tightly attached to the lower end face of the magnetically conductive steel plate 81, ensuring no gaps in the magnetic contact surface. At the same time, the controller 13 synchronously outputs a start signal to the electromagnetic chuck driver 82. After receiving the signal, the suction cup driver 82 outputs the rated power supply current to supply power to all electromagnetic chuck bodies 86. After being powered on, the electromagnetic chuck body 86 generates a strong electromagnetic attraction force, firmly adsorbing and fixing the magnetic steel plate 81, achieving all-round rigid fixation from the bottom of the material box 6, avoiding slippage and displacement of the bottom of the material box 6 during the transfer process. The main pipe 83 completes the centralized collection of the main control circuit of the whole vehicle adsorption assembly 8, and the branch pipe 84 splits the circuit of the main pipe 83 and connects to each group of electromagnetic chuck bodies 86 respectively, realizing the orderly arrangement of the circuit in the partition, avoiding bending, pulling and wear of the circuit during the reciprocating extension and retraction movement of the pallet 74, and ensuring the long-term stable conduction of the magnetic power supply circuit.

[0035] Example 3

[0036] Please see Figures 5-9 , Figure 12 Based on embodiments 1 and 2, a support assembly 9 is provided on the support plate 74. The support assembly 9 includes multiple sets of wheel frames 91, which are slidably installed inside the strip-shaped protrusions of the support plate 74. Side plates 92 are fixedly installed on the side walls of the wheel frames 91. The two ends of a second spring rod 93 are fixedly installed between the bottom of the support plate 74 and the outer wall of the side plate 92. Two sets of side plates 92 and second spring rods 93 are provided on a single wheel frame 91. Rollers 94 are rotatably installed inside the wheel frame 91 through bearing components. The branch pipe 84 passes through the wheel frame 91, and the movement trajectories of the wheel frame 91 and the rollers 94 do not contact the branch pipe 84 to avoid movement interference.

[0037] In this embodiment, during the process of lifting the pallet 74 driven by the lifting mechanism 3 to lift the material box 6, the weight of the material box 6 itself and the weight of the pallet 74 form a downward load. The load is directly transmitted through the pallet 74 to the wheel frame 91 that is slidably installed inside the strip-shaped protrusion. The wheel frame 91 is subjected to downward pressure and generates vertical displacement, which simultaneously drives the side plate 92 fixed to the side wall to move down. The side plate 92 stretches the second spring rod 93 fixed at both ends, causing the second spring rod 93 to undergo tensile elastic deformation. When the hydraulic cylinder 73 drives the pallet 74 to axially retract and be stored inside the rotating frame 72, the outer wall of the roller 94 installed on the inner side of the wheel frame 91 continues to be in close contact with the inner wall of the rotating frame 72. The second spring rod 93 gradually returns to its initial shape, and the roller 94 rolls synchronously against the wall. Throughout the entire extension and retraction stroke of the pallet 74, multiple sets of rollers 94 continuously provide support reaction force for the pallet 74, reducing the probability of unilateral deformation of the pallet 74 and further improving the operational stability of the material box 6 throughout the entire transfer process from a mechanical structure perspective.

[0038] Example 4

[0039] Please see Figure 9 Based on embodiments 1-3, a tire pressure sensor 95 is provided on the roller 94 (the tire pressure sensor 95 can be screwed onto the valve of the roller 94), and a wireless receiving module 96 is fixedly installed on the top of the support plate 74 to collect multiple sets of tire pressure in real time and calculate the average value.

[0040] Specifically: I. The load calculation principle for N sets of rollers with a load capacity of 94 is as follows: 1. Initial calibration (basic parameters) Let the net weight of pallet 74, hopper 6, and magnetic steel plate 81 be: ;;

[0041] Initial tire pressure under no-load conditions for a single wheel (after ambient temperature compensation): ;

[0042] Group roller 94 unloaded average tire pressure: ; The load-tire pressure change ratio coefficient obtained from on-site calibration is k (a fixed value, obtained by multiple loading and calibration with standard weights). 2. Real-time data acquisition and preprocessing N tire pressure sensors in various working states simultaneously collect real-time tire pressure data. ; The system performs filtering and outlier removal: eliminating sudden changes in data caused by leaks or impacts; Calculate the real-time average tire pressure of N sets of rollers (94): ; 3. Tire pressure change & total weight calculation Mean tire pressure change: ; Net weight of goods: ; gross weight:

[0043] II. The overall workflow logic is as follows: Activate suction power adaptive adjustment: The processor retrieves N sets of valid tire pressure data and calculates the total weight of the current cargo plus pallet 74, hopper 6, and magnetic steel plate 81 according to the above formula. ; Call the preset comparison table: The greater the total weight, the greater the required electromagnetic chuck suction force; The PLC outputs a PWM adjustment signal to the electromagnetic chuck driver 82, which changes the output current and precisely adjusts the suction force of the electromagnetic chuck body 86.

[0044] In this embodiment, during full-transfer operation of the trolley, the tire pressure sensor 95 collects the real-time tire pressure value inside the corresponding roller 94. All tire pressure sensors 95 synchronously collect data and wirelessly transmit it to the wireless receiving module 96 installed on the top of the pallet 74. After the wireless receiving module 96 centrally summarizes all tire pressure data, it automatically completes the preprocessing work of data filtering, peak anomaly removal, and leakage fault data removal. Then, it calculates the real-time average tire pressure of multiple sets of rollers 94. The system has pre-entered the unloaded basic parameters, including the overall unloaded net weight of the pallet 74 material box 6 magnetic steel plate 81, as well as the initial unloaded tire pressure and the unloaded average tire pressure of each set of rollers 94 after environmental temperature compensation. The system retrieves the real-time average tire pressure and the unloaded average tire pressure. The average tire pressure is calculated, and the average change in tire pressure is combined with the fixed load tire pressure ratio coefficient obtained from on-site weight calibration to calculate the net weight of the cargo. Finally, the total weight is calculated. The controller 13 retrieves the built-in weight-force matching table and outputs a PWM adjustment signal with the corresponding duty cycle to the electromagnetic chuck driver 82 according to the real-time total weight. The larger the total weight, the higher the output current, increasing the electromagnetic force of the electromagnetic chuck body 86. The smaller the total weight, the lower the output current, decreasing the electromagnetic force of the electromagnetic chuck body 86. This dynamic adjustment mode abandons the traditional constant force working mode, avoiding excessive force under light load and no load conditions, which would cause ineffective power loss. It realizes precise matching of magnetic force on demand, achieving the effect of energy-saving operation of the whole vehicle.

[0045] Example 5

[0046] Please see Figures 3-5 , Figure 11Based on embodiments 1-4, a fixing component 10 is provided on the rotating frame 72. The fixing component 10 includes a connector 101, which is fixedly installed inside the side wall of the rotating frame 72. An inflatable airbag 102 is fixedly installed outside the side wall of the rotating frame 72. The connector 101 is fixedly connected to the inflatable airbag 102. A rubber sleeve 103 is sleeved on the end of the limiting rod 75. A bent tube 104 is fixedly installed outside the rotating frame 72. One end of the rubber sleeve 103 is slidably installed inside one end of the bent tube 104. 04 The other end is fixedly installed on the outside of the connector 101. Two sets of limit rod 75, connector 101, expansion airbag 102, rubber sleeve 103 and bend 104 are provided and mirrored at both ends of the rotating frame 72. In order to make the fixed component 10 operate better, the expansion airbag 102 is in contact with the side wall of the material box 6 when it is inflated. The end of the bend 104 away from the connector 101 is integrally formed with an auxiliary tube 105. An adjustment valve 106 is provided on the auxiliary tube 105 to improve adaptability.

[0047] In this embodiment, when it is necessary to remove the material box 6 from the bearing plate 5 or the target position, the hydraulic cylinder 73 continuously drives the limiting rod 75 to move axially in sync. The rubber sleeve 103 sleeved at the end of the limiting rod 75 follows the limiting rod 75 and slides along the inside of the bent tube 104 in a direction away from the center of the rotating frame 72, reducing the volume of the sealed cavity of the bent tube 104 and squeezing the sealed gas inside the bent tube 104. The high-pressure gas is quickly filled into the expansion airbag 102 through the connector 101. The expansion airbag 102 expands rapidly under the action of air pressure. After expansion, the outer wall of the airbag tightly fits the two side walls of the material box 6, clamping and limiting the material box 6 from the side in both directions to prevent the material box 6 from shaking and shifting laterally during the transfer process. When the trolley needs to dock with the support plate 5 to complete the material picking operation or reach the target point to lower the material box 6, the hydraulic cylinder 73 drives the limit rod 75 to move in the opposite direction. The rubber sleeve 103 simultaneously slides closer to the center of the rotating frame 72. The volume of the sealed cavity of the bend 104 expands to form a negative pressure, drawing the gas inside the inflatable airbag 102 back into the bend 104. The inflatable airbag 102 quickly deflates and resets, releasing the lateral clamping limit on the material box 6, eliminating the side wall obstruction and interference, and ensuring that the pallet 74 can smoothly complete the material picking and unloading operations. The auxiliary pipe 105 connected to the side wall of 04 can artificially compensate for the slight air pressure loss generated by the long-term operation of the pneumatic circuit, maintain the air pressure balance of the circuit and ensure the consistency of pneumatic action. The regulating valve 106 is installed in the auxiliary pipe 105. When the regulating valve 106 is kept in the normally open state, the cavity of the bend 104 is directly connected to the outside atmosphere. Negative and positive pressure cannot be formed inside the cavity. The expansion bladder 102 always remains in a deflated state. The lateral clamping function is closed, which is suitable for the transfer conditions that do not require lateral reinforcement and improves the overall adaptability of the equipment.

[0048] Example 6

[0049] Please see Figure 1 , Figure 2 , Figures 10-13 Based on embodiment 1, a clamping assembly 11 is provided on the vertical frame 2. The clamping assembly 11 includes six sets of mounting brackets 111, all of which are fixedly installed on the outside of the vertical frame 2. An asynchronous motor 112 is fixedly installed on the mounting bracket 111. A bidirectional lead screw 113 is fixedly installed on the output end of the asynchronous motor 112 through a coupling. The end of the bidirectional lead screw 113 is rotatably installed inside the side wall of the mounting bracket 111 through a bearing. Two mirror-shaped clamping brackets 114 are threaded onto each bidirectional lead screw 113. The two clamping brackets 114 are attached to the side wall of the corresponding material box 6. The six asynchronous motors 112 are arranged vertically in an alternating array, making the vertical frame 2 more stable as a whole.

[0050] In this embodiment, when the pressure sensor 76 does not provide a signal indicating that the position is in place, the asynchronous motor 112 is started. The output of the asynchronous motor 112 drives the bidirectional lead screw 113 to rotate synchronously. The bidirectional lead screw 113, relying on its positive and negative thread structure, drives two sets of mirror-arranged clamping frames 114 to move synchronously and linearly towards each other. The two sets of clamping frames 114 respectively fit and press against the front and rear end faces of the material box 6, realizing full-limit clamping and fixing of the material box 6 in the front and rear directions, and preventing the material box 6 from moving back and forth during the start, stop and turn of the vehicle body 1. When the pressure sensor 76 returns a signal indicating it is in position, the controller 13 outputs a reversal signal to the asynchronous motor 112. The asynchronous motor 112 drives the bidirectional lead screw 113 to rotate in the opposite direction, and the two sets of clamping frames 114 move synchronously in opposite directions, quickly releasing the clamping limits on both ends of the material box 6, and completing the subsequent lowering operation of the material box 6 without obstruction. The six sets of asynchronous motors 112 are installed in a vertical staggered array to distribute the load on both sides of the vertical frame 2, offset the center of gravity shift caused by the concentrated load on one side, optimize the overall stress state of the vertical frame 2, and improve the structural stability of the vertical frame 2 during long-term operation.

[0051] Working Principle: Power supply 12 serves as the power supply unit for the entire vehicle, continuously providing a stable rated operating voltage to ensure uninterrupted operation. Controller 13 has a built-in preset warehouse transfer path program and equipment linkage control program, issuing timed operation commands to all executing components of the vehicle. LiDAR 14 continuously scans the warehouse interior environment, including the outline of shelves, obstacle positions, and coordinates, generating real-time environmental point data and continuously transmitting it to controller 13. Controller 13 compares the preset path with the real-time environmental data, corrects travel deviations in real time, and outputs speed adjustment and steering signals to drive chassis 1001. Drive chassis 1001 receives speed adjustment and steering signals... After the turn signal, the vehicle body 1 completes a fully autonomous driving action of constant speed straight driving, acceleration, deceleration, turning, precise fixed-point stopping, and full-area autonomous navigation without human intervention. The vertical frame 2 is fixed to the top of the vehicle body 1 as the supporting base of the upper execution mechanism. After receiving the lifting command from the controller 13, the lifting mechanism 3 drives the moving frame 4 to achieve high-precision vertical lifting and displacement. The moving frame 4 provides an installation carrier for all transfer execution components. The vertical frame 2 has multiple sets of bearing plates 5 arranged in an array. Each set of bearing plates 5 can independently place a set of material boxes 6. The trolley can simultaneously carry multiple sets of goods of different specifications for simultaneous transfer, effectively increasing the load capacity of a single transfer.

[0052] After the vehicle body 1 reaches the preset material picking coordinates using the LiDAR 14 for navigation, it completes the fixed-point locking. The controller 13 first outputs an operation signal to the asynchronous motor 71. After receiving the signal, the asynchronous motor 71 stably drives the rotating frame 72 to rotate 90 degrees in one direction horizontally, completing the precise angle positioning and ensuring that the working end of the rotating frame 72 is completely aligned with the front of the target material box 6, eliminating alignment deviation. After the alignment process is completed, the controller 13 outputs an extension signal to the hydraulic cylinder 73. The piston end of the hydraulic cylinder 73 extends outward axially at a uniform speed, synchronously driving the pallet 74 to move axially. The limit rod 75 follows the pallet 74 to perform a linear guide sliding motion, constraining the movement trajectory of the pallet 74 to prevent deviation. The noodle-shaped protrusion at the end of the pallet 74 is precisely inserted into the strip-shaped groove structure inside the bearing plate 5. When the pallet 74 is fully inserted into the groove and touches the sensing surface of the pressure sensor 76, the pressure sensor 76 is triggered and immediately feeds back an arrival signal to the controller 13. After receiving the arrival signal, the controller 13 immediately stops the action of the hydraulic cylinder 73 and outputs a small lifting command. The lifting mechanism 3 drives the moving frame 4, pallet 74, and the upper material box 6 to lift slightly upwards by a fixed stroke, so that the bottom of the material box 6 is completely separated from the support surface of the bearing plate 5, completely cutting off the contact friction between the material box 6 and the bearing plate 5. Then, the controller 13 outputs a retraction command to the hydraulic cylinder 73, and the piston end of the hydraulic cylinder 73 returns to its axial position, driving the pallet 74 and the suspended material box 6 to retract synchronously into the rotating frame 72, completing the grabbing and storage of the material box 6. After that, the controller 13 outputs a reverse command to the asynchronous motor 71, and the asynchronous motor 71 drives the rotating frame 72 and the material box 6 to rotate 90 degrees in the opposite direction, returning to the initial standby angle. The entire material picking process can be completed simultaneously while the vehicle 1 is traveling to the target material placement point, without the need for the vehicle to stop at a fixed point to wait for material picking. When the vehicle 1 arrives at the target material placement point, the controller 13 reverses the control of the lifting mechanism 3 and the hydraulic cylinder 73 to act sequentially, so that the material box 6 can be smoothly pushed into the target shelf slot, greatly shortening the transfer waiting time and improving the overall warehouse transfer cycle and transfer efficiency.

[0053] At the same time that the pressure sensor 76 provides a feedback signal and the lifting mechanism 3 slightly lifts the pallet 74, the magnetically conductive steel plate 81 fixedly installed at the bottom of the material box 6 simultaneously presses downwards against the electromagnetic chuck body 86 arranged inside the through hole 87. The electromagnetic chuck body 86 moves axially along the through hole 87 and compresses the first spring rod 85 connected at the bottom. The first spring rod 85 undergoes axial compression elastic deformation until the top end face of the electromagnetic chuck body 86 is completely and tightly attached to the lower end face of the magnetically conductive steel plate 81, ensuring that there is no gap in the magnetic contact surface. At the same time, the controller 13 synchronously outputs a start signal to the electromagnetic chuck driver 82, and the electromagnetic chuck driver... After receiving the signal, device 82 outputs the rated power supply current to supply power to all electromagnetic chuck bodies 86. After being powered on, the electromagnetic chuck body 86 generates a strong electromagnetic attraction force, firmly adsorbing and fixing the magnetic steel plate 81, achieving all-round rigid fixation from the bottom of the material box 6, avoiding slippage and displacement of the bottom of the material box 6 during the transfer process. The main pipe 83 completes the centralized collection of the main control circuit of the whole vehicle adsorption assembly 8, and the branch pipe 84 divides the main pipe 83 circuit and connects to each group of electromagnetic chuck bodies 86 respectively, realizing the orderly arrangement of the circuit in different areas, avoiding bending, pulling and wear of the circuit during the reciprocating extension and retraction movement of the pallet 74, and ensuring the long-term stable conduction of the magnetic power supply circuit.

[0054] During the process of lifting the pallet 74 driven by the lifting mechanism 3 to lift the material box 6, the weight of the material box 6 itself and the weight of the pallet 74 form a downward load. The load is directly transmitted through the pallet 74 to the wheel frame 91 that is slidably installed inside the strip-shaped protrusion. The wheel frame 91 is subjected to downward pressure and generates vertical displacement, which simultaneously drives the side plate 92 fixed to the side wall to move down. The side plate 92 stretches the second spring rod 93 fixed at both ends, causing the second spring rod 93 to undergo tensile elastic deformation. When the hydraulic cylinder 73 drives the pallet 74 to axially retract and be stored inside the rotating frame 72, the outer wall of the roller 94 installed on the inner side of the wheel frame 91 continues to be in close contact with the inner wall of the rotating frame 72. The second spring rod 93 gradually returns to its initial shape, and the roller 94 rolls synchronously against the wall. Throughout the entire extension and retraction stroke of the pallet 74, multiple sets of rollers 94 continuously provide support reaction force for the pallet 74, reducing the probability of unilateral deformation of the pallet 74 and further improving the operational stability of the material box 6 throughout the entire transfer process from a mechanical structure perspective.

[0055] Under full transport conditions, the tire pressure sensor 95 collects the real-time tire pressure value inside the corresponding roller 94. All tire pressure sensors 95 synchronously collect data and wirelessly transmit it to the wireless receiving module 96 installed on the top of the pallet 74. After the wireless receiving module 96 centrally summarizes all tire pressure data, it automatically completes the preprocessing work of data filtering, peak outlier removal, and leakage fault data removal. Then, it calculates the real-time average tire pressure of multiple rollers 94. The system has pre-entered the unloaded basic parameters, including the overall unloaded net weight of the pallet 74 material box 6 magnetic steel plate 81, as well as the initial unloaded tire pressure and unloaded average tire pressure of each roller 94 after environmental temperature compensation. The system retrieves the real-time average tire pressure and the unloaded average tire pressure. The average change in tire pressure is calculated, and combined with the fixed load tire pressure ratio coefficient obtained from on-site weight calibration, the net weight of the cargo is calculated. Finally, the total weight is calculated. The controller 13 retrieves the built-in weight-force matching table and outputs a PWM adjustment signal with the corresponding duty cycle to the electromagnetic chuck driver 82 according to the real-time total weight. The larger the total weight, the higher the output current, increasing the electromagnetic force of the electromagnetic chuck body 86. The smaller the total weight, the lower the output current, decreasing the electromagnetic force of the electromagnetic chuck body 86. This dynamic adjustment mode abandons the traditional constant force working mode, avoiding excessive force under light load and no load conditions, which would cause ineffective power loss. It achieves precise matching of magnetic force as needed, achieving the effect of energy-saving operation of the whole vehicle.

[0056] When it is necessary to remove the material box 6 from the bearing plate 5 or the target position, the hydraulic cylinder 73 continuously drives the limit rod 75 to move axially synchronously. The rubber sleeve 103 sleeved at the end of the limit rod 75 follows the limit rod 75 and slides synchronously along the inside of the bend 104 tube body away from the center of the rotating frame 72, reducing the volume of the sealed cavity of the bend 104 and squeezing the sealed gas inside the bend 104. The high-pressure gas is quickly filled into the expansion airbag 102 through the connector 101. The expansion airbag 102 expands rapidly under the action of air pressure. After expansion, the outer wall of the airbag tightly fits the two side walls of the material box 6, clamping and limiting the material box 6 from the side in both directions to prevent the material box 6 from shaking and shifting laterally during the transfer process. When the trolley needs to dock with the support plate 5 to complete the material picking operation or reach the target point to lower the material box 6, the hydraulic cylinder 73 drives the limit rod 75 to move in the opposite direction. The rubber sleeve 103 simultaneously slides closer to the center of the rotating frame 72. The volume of the sealed cavity of the bend 104 expands to form a negative pressure, drawing the gas inside the inflatable airbag 102 back into the bend 104. The inflatable airbag 102 quickly deflates and resets, releasing the lateral clamping limit on the material box 6, eliminating the side wall obstruction and interference, and ensuring that the pallet 74 can smoothly complete the material picking and unloading operations. The auxiliary pipe 105 connected to the side wall of 04 can artificially compensate for the slight air pressure loss generated by the long-term operation of the pneumatic circuit, maintain the air pressure balance of the circuit and ensure the consistency of pneumatic action. The regulating valve 106 is installed in the auxiliary pipe 105. When the regulating valve 106 is kept in the normally open state, the cavity of the bend 104 is directly connected to the outside atmosphere. Negative and positive pressure cannot be formed inside the cavity. The expansion bladder 102 always remains in a deflated state. The lateral clamping function is closed, which is suitable for the transfer conditions that do not require lateral reinforcement and improves the overall adaptability of the equipment.

[0057] When the pressure sensor 76 does not provide a signal indicating that it is in position, the asynchronous motor 112 is started. The output of the asynchronous motor 112 drives the bidirectional lead screw 113 to rotate synchronously. The bidirectional lead screw 113, relying on its positive and negative thread structure, drives two sets of mirror-arranged clamping frames 114 to move synchronously and linearly towards each other. The two sets of clamping frames 114 respectively fit and press against the front and rear end faces of the material box 6, realizing full-limit clamping and fixing of the material box 6 in the front and rear directions, and preventing the material box 6 from moving back and forth during the start, stop and turn of the vehicle body 1. When the pressure sensor 76 returns a signal indicating it is in position, the controller 13 outputs a reversal signal to the asynchronous motor 112. The asynchronous motor 112 drives the bidirectional lead screw 113 to rotate in the opposite direction, and the two sets of clamping frames 114 move synchronously in opposite directions, quickly releasing the clamping limits on both ends of the material box 6, and completing the subsequent lowering operation of the material box 6 without obstruction. The six sets of asynchronous motors 112 are installed in a vertical staggered array to distribute the load on both sides of the vertical frame 2, offset the center of gravity shift caused by the concentrated load on one side, optimize the overall stress state of the vertical frame 2, and improve the structural stability of the vertical frame 2 during long-term operation.

[0058] In summary, during actual transport, when encountering situations such as emergency stops, instantaneous acceleration, and high-speed turns, vehicle body 1 will generate inertial impact forces in different directions. These inertial forces can easily cause the material box 6 to swing, tilt, or even fall. This equipment forms a comprehensive protection system through multi-component collaborative limiting. The transport component 7 provides bottom support and positioning for the material box 6, the adsorption component 8 provides magnetic anti-slip protection for the bottom of the material box 6, the support component 9 counteracts the lateral deformation load of the pallet 74, the fixing component 10 provides lateral anti-shaking limiting for the material box 6, and the clamping component 11 provides front and rear anti-movement clamping for the material box 6. This multi-layered protection structure comprehensively restricts the displacement of the material box 6, counteracts the inertial impact forces, and prevents the material box 6 from shifting, swinging, or tilting relative to vehicle body 1. This significantly reduces the probability of goods falling and being damaged, and eliminates potential safety hazards in the automated transport process of the automated warehouse.

[0059] The shelf at the target transfer location is also equipped with the same strip-shaped groove structure and pressure sensor 76 (not shown in the figure) as the bearing plate 5. All electrical components mentioned in this application are electrically connected to the controller 13 (which integrates a processor) and the power supply 12. The controller 13 is a conventional and known device that can control the drive chassis 1001, the lidar 14, the lifting mechanism 3, the asynchronous motor 71, the hydraulic cylinder 73, the pressure sensor 76, the electromagnetic chuck driver 82, the electromagnetic chuck body 86, the tire pressure sensor 95, the wireless receiver module 96, and the asynchronous motor 112. The signal interaction of each component adopts the PLC control protocol commonly used in industrial equipment, which is common knowledge to those skilled in the art and can be implemented without additional detailed description. The control logic and signal interaction method are existing technologies and will not be described in detail. All standard parts used in this application can be purchased from the market. The specific connection methods of each part are all connected by conventional means such as riveting and welding that are mature in the prior art. The standard parts all adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art.

[0060] It should be noted that the above electrical components are all existing technology products. Those skilled in the art should select, install, and complete the circuit debugging work according to the needs of use to ensure that each electrical appliance can work normally. The components are all general standard parts or components known to those skilled in the art. Their structure and principle can be known by those skilled in the art through technical manuals or conventional experimental methods. No specific restrictions are made here. The supporting structures of the hydraulic drive structure appearing in this application document, such as hydraulic tanks and hydraulic pumps, are existing equipment and will not be described in detail here.

[0061] It should be noted that in this paper, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0062] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. An AGV (Automated Guided Vehicle) for automated warehouses, comprising a vehicle body (1), a drive chassis (1001) integrated at the bottom of the vehicle body (1), a power supply (12) connected inside the vehicle body (1), a controller (13) fixedly installed inside the vehicle body (1), laser radars (14) provided on both sides of the vehicle body (1), a vertical frame (2) fixedly installed on the top of the vehicle body (1), a lifting mechanism (3) provided at the bottom of the vertical frame (2), a movable frame (4) fixedly installed on the movable part of the lifting mechanism (3), and multiple sets of bearing plates (5) fixedly installed inside the vertical frame (2), with a material box (6) placed on the bearing plate (5), characterized in that: Multiple strip grooves are provided on a single bearing plate (5), and a transfer assembly (7) is provided at the top of the vehicle body (1). The transfer assembly (7) includes an asynchronous motor (71), which is fixedly mounted on the moving frame (4). The output end of the asynchronous motor (71) is fixedly mounted on a rotating frame (72) via a coupling. A hydraulic cylinder (73) is fixedly mounted inside the side wall of the rotating frame (72). A support plate (74) is fixedly mounted on the piston end of the hydraulic cylinder (73). The support plate (74) is provided with multiple strip-shaped protrusions that are adapted to the size of the strip groove. A limit rod (75) is fixedly mounted on the outer wall of the support plate (74). The limit rod (75) is slidably mounted inside the side wall of the rotating frame (72). A pressure sensor (76) is fixedly mounted on the inner wall of the bearing plate (5). The pressure sensor (76) is located inside the strip groove.

2. The AGV (Automated Guided Vehicle) for automated warehouses according to claim 1, characterized in that: The movement trajectory of the rotating frame (72) is not in contact with the moving frame (4).

3. The AGV (Automated Guided Vehicle) for automated warehouses according to claim 1, characterized in that: The rotating frame (72) is rotatably mounted on the movable frame (4) via bearing components, and the rotation range of the rotating frame (72) is 0°-90°.

4. The AGV (Automated Guided Vehicle) for automated warehouses according to claim 1, characterized in that: The top of the vehicle body (1) is also provided with an adsorption assembly (8), which includes a magnetic steel plate (81). The magnetic steel plate (81) is fixedly installed at the bottom of the material box (6). An electromagnetic chuck driver (82) is fixedly installed on the top of the tray (74). A main pipe (83) is fixedly installed on the inner wall of the tray (74). The main pipe (83) is T-shaped. Multiple branch pipes (84) are fixedly installed on the main pipe (83). Multiple first spring rods (85) are fixedly installed on a single branch pipe (84). The small end of the electromagnetic chuck body (86) is fixedly installed on the movable end of the first spring rod (85). Multiple sets of through holes (87) are opened on the strip-shaped protrusion of the tray (74). The electromagnetic chuck body (86) is located inside the through holes (87).

5. The AGV (Automated Guided Vehicle) for automated warehouses according to claim 4, characterized in that: The large end of the electromagnetic chuck body (86) is pressed against the bottom of the magnetic steel plate (81).

6. The AGV (Automated Guided Vehicle) for automated warehouses according to claim 4, characterized in that: The pallet (74) is provided with a support assembly (9), which includes multiple sets of wheel frames (91). The multiple sets of wheel frames (91) are slidably installed inside the strip-shaped protrusion of the pallet (74). The side wall of the wheel frame (91) is fixedly installed with a side plate (92). The bottom of the pallet (74) and the outer wall of the side plate (92) are fixedly installed at both ends of a second spring rod (93). The side plate (92) and the second spring rod (93) on a single wheel frame (91) are provided with two sets. The wheel frame (91) is rotatably installed with a roller (94) through a bearing component. The branch pipe (84) passes through the wheel frame (91), and the movement trajectories of the wheel frame (91) and the roller (94) are not in contact with the branch pipe (84).

7. The AGV (Automated Guided Vehicle) for automated warehouses according to claim 6, characterized in that: A tire pressure sensor (95) is provided on the roller (94), and a wireless receiving module (96) is fixedly installed on the top of the tray (74).

8. The AGV (Automated Guided Vehicle) for automated warehouses according to claim 1, characterized in that: The rotating frame (72) is provided with a fixing component (10), the fixing component (10) includes a connector (101), the connector (101) is fixedly installed inside the side wall of the rotating frame (72), an inflatable airbag (102) is fixedly installed outside the side wall of the rotating frame (72), the connector (101) is fixedly connected to the inflatable airbag (102), a rubber sleeve (103) is sleeved on the end of the limiting rod (75), a bent tube (104) is fixedly installed outside the rotating frame (72), one end of the rubber sleeve (103) is slidably installed inside one end of the bent tube (104), and the other end of the bent tube (104) is fixedly installed outside the connector (101). The limiting rod (75), connector (101), inflatable airbag (102), rubber sleeve (103) and bent tube (104) are provided in two sets and are mirror images of each other at both ends of the rotating frame (72).

9. The AGV (Automated Guided Vehicle) for automated warehouses according to claim 8, characterized in that: When the inflatable airbag (102) is inflated, it fits against the side wall of the material box (6). The end of the bent pipe (104) away from the joint (101) is integrally formed with an auxiliary pipe (105), and an adjustment valve (106) is provided on the auxiliary pipe (105).

10. The AGV (Automated Guided Vehicle) for automated warehouses according to claim 1, characterized in that: The vertical frame (2) is provided with a clamping assembly (11), which includes multiple sets of mounting brackets (111). The multiple sets of mounting brackets (111) are fixedly installed on the outside of the vertical frame (2). An asynchronous motor (112) is fixedly installed on the mounting bracket (111). The output end of the asynchronous motor (112) is fixedly installed with a bidirectional lead screw (113) through a coupling. The end of the bidirectional lead screw (113) is rotatably installed inside the side wall of the mounting bracket (111) through a bearing. Two mirror-shaped clamping brackets (114) are threaded onto a single bidirectional lead screw (113). The two clamping brackets (114) are attached to the side wall of the corresponding material box (6). The multiple asynchronous motors (112) are arranged vertically in an alternating array.

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