Sudden stop mechanism for automatic guided vehicle and automatic guided vehicle

Abstract

The utility model discloses a sudden stop mechanism for an automatic guide carrier, the sudden stop mechanism comprises a base, a driving unit and a sudden stop button, the driving unit and the sudden stop button are both arranged on the base, and the sudden stop button is connected with the driving unit and can be driven by the driving unit to switch between an initial position and an extension position; the distance between the initial position and the extending position is not smaller than a set value; the base is installed on a chassis of the automatic guiding carrying vehicle, and the driving unit and the scram button are both electrically connected with a controller of the automatic guiding carrying vehicle. The utility model further discloses the automatic guide carrier comprising the emergency stop mechanism. The emergency stop button can be driven by the driving unit to be located at the extending position, the set value is designed, the emergency stop button can be exposed relative to the goods shelf when the automatic guide carrier carries the goods shelf, and therefore an operator can trigger the emergency stop button conveniently.

Description

Technical Field

[0001] The present application relates to the technical field of automatic transport robots, and in particular to an emergency stop mechanism for an automatic guided transport vehicle and an automatic guided transport vehicle. Background Art

[0002] AGVs are widely used in intelligent warehousing. Lurking AGVs are often used in conjunction with shelves. Materials are placed on the shelves. Lurking AGVs can lurk under the shelves and then transport the materials through the shelves. To ensure safety, an emergency stop button is generally configured on the AGV. When an emergency occurs, the operator can press (or rotate) the emergency stop button to control the AGV to stop suddenly. However, most of the current AGVs have the emergency stop button set on their shells. When they transport shelves, the shelves will block the emergency stop button. There are also solutions in the related art to set emergency stop buttons on the shelves, but it requires additional communication or power supply between the AGV and the shelves, which will greatly increase the cost of the AGV and the shelves. There are also operators who use kicking to extend their feet under the shelves to trigger the emergency stop button, but this method may not be able to find the position of the emergency stop button on the one hand, and may cause personal injury on the other hand. Utility Model Content

[0003] The present application aims to solve one of the technical problems in the related art to a certain extent. To this end, the present application provides an emergency stop mechanism for an automatic guided vehicle and an automatic guided vehicle.

[0004] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: an emergency stop mechanism for an automatic guided vehicle, the emergency stop mechanism comprising a base, a drive unit and an emergency stop button, the drive unit and the emergency stop button are both arranged on the base, the emergency stop button is connected to the drive unit and can be driven by the drive unit to switch between an initial position and an extended position, and the distance between the initial position and the extended position is not less than a set value; the base is installed on the chassis of the automatic guided vehicle, and the drive unit and the emergency stop button are both electrically connected to the controller of the automatic guided vehicle.

[0005] The application of this application has the following beneficial effects: the emergency stop mechanism is applied to an automatic guided vehicle, and the driving unit can be controlled by the controller of the automatic guided vehicle to work, and the driving unit drives the emergency stop button to switch between the initial position and the extended position. In this way, when the controller carries a shelf, the emergency stop button can be driven to the extended position by the driving unit, and by designing the set value, the emergency stop button can be exposed relative to the shelf, so that it is convenient for the operator to trigger the emergency stop button.

[0006] Optionally, the driving unit includes a power source and a transmission mechanism, one end of the transmission mechanism is connected to the output end of the power source, and the other end of the transmission mechanism is connected to the emergency stop button, and the transmission mechanism has a contracted state and an extended state. When the transmission mechanism is in the contracted state, the emergency stop button is in an initial position, and when the transmission mechanism is in the extended state, the emergency stop button is in an extended position.

[0007] Optionally, the power source is an electric push rod, and the transmission mechanism includes a push-pull rod and a scissors-fork assembly, the push-pull rod is slidably arranged on the base, and one end of the push-pull rod is movably hinged to the output end of the electric push rod, and the scissors-fork assembly is movably hinged to the other end of the push-pull rod, and the emergency stop button is arranged on a side of the scissors-fork assembly away from the push-pull rod; the electric push rod drives the push-pull rod to move back and forth to drive the scissors-fork assembly to extend and contract, so that the transmission mechanism switches between the extended state and the contracted state.

[0008] Optionally, the scissors-fork assembly includes two groups of first scissors-fork parts respectively located at both ends and at least one group of second scissors-fork parts arranged between the two groups of the first scissors-fork parts, the first scissors-fork parts include two first connecting rods, the second scissors-fork parts include two second connecting rods, the two first connecting rods in one group of the first scissors-fork parts are movably hinged at their end positions, and the two second connecting rods in one group of the second scissors-fork parts are movably hinged at their middle positions; the emergency stop button is arranged on a group of first scissors-fork parts away from the push-pull rod.

[0009] Optionally, the end of the push-pull rod is movably hinged to the middle part of a group of the second scissors-fork parts, the push-pull rod is provided with an oblong hole along its axial direction, and a limiting piece adapted to the oblong hole is provided in the middle part of a group of the first scissors-fork parts close to the push-pull rod, and the limiting piece is slidably set in the oblong hole.

[0010] Optionally, the base includes:

[0011] A connecting seat, which is formed with a bearing portion and a connecting portion for fixed installation with the chassis;

[0012] a side support plate fixed on the bearing portion; and

[0013] A connecting plate fixed to the side support plate;

[0014] Among them, the electric push rod is fixedly installed on the bearing part, the push-pull rod is slidably set on the connecting plate, and the electric push rod is located between the connecting plate and the bearing part, the connecting plate is located between the electric push rod and the push-pull rod, and the extension direction of the electric push rod is the same as the direction of the extended position pointing to the initial position.

[0015] Optionally, the transmission mechanism further includes a position limiting and centering component, and the position limiting and centering component includes:

[0016] A mounting seat, which is movably hinged to the scissor assembly;

[0017] A limit block formed on the mounting seat;

[0018] Two limit pins are provided, and both limit pins are fixedly provided on the scissor assembly and are respectively located on both sides of the limit block; and,

[0019] An elastic member, wherein one elastic member is provided between each of the limit pins and the limit block;

[0020] Wherein, the emergency stop button is fixedly arranged on the mounting seat, and the two limit pins and the two elastic members are symmetrical about the axis of the push-pull rod.

[0021] Optionally, arc-shaped rods are provided on both sides of the limit block, and the elastic member is a spring sleeved outside the arc-shaped rod, one end of the spring abuts against the limit block, and the other end of the spring abuts against the limit pin.

[0022] Optionally, arc-shaped holes matching the shape of the arc-shaped rod are provided on both sides of the limit block on the mounting seat, the limit pin passes through the arc-shaped hole, and the limit pin is provided with a through hole matching the arc-shaped rod, and the arc-shaped rod is slidably arranged in the through hole.

[0023] In addition, the present application also provides an automatic guided vehicle, including a chassis and a controller, the automatic guided vehicle also includes an emergency stop mechanism as described in any one of the above technical solutions, wherein the base is mounted on the chassis, the drive unit and the emergency stop button are electrically connected to the controller, and the drive unit is controlled by the controller to drive the emergency stop button to switch between an initial position and an extended position; when the emergency stop button is at the initial position, it is at the edge or inside of the chassis, and when the emergency stop button is at the extended position, it is outside the chassis and has a set distance from the outer wall of the chassis. The automatic guided vehicle provided by the present application has a similar reasoning process to the aforementioned emergency stop mechanism, which will not be repeated here.

[0024] These features and advantages of the present application will be disclosed in detail in the following specific embodiments and drawings. The best embodiments or means of the present application will be described in detail in conjunction with the drawings, but they are not intended to limit the technical solutions of the present application. In addition, there are multiple features, elements, and components that appear in each of the following texts and drawings, and different symbols or numbers are marked for convenience, but they all represent components with the same or similar structures or functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present application is further described below in conjunction with the accompanying drawings:

[0026] Figure 1 A schematic structural diagram of an emergency stop mechanism for an automatic guided vehicle provided in an embodiment of the present application when the emergency stop button is in an initial position;

[0027] Figure 2 A schematic structural diagram of an emergency stop mechanism for an automatic guided vehicle provided in an embodiment of the present application when the emergency stop button is in an extended position;

[0028] Figure 3 It is a structural schematic diagram of an automatic guided vehicle equipped with the emergency stop mechanism provided by this embodiment when the emergency stop mechanism is in an initial position;

[0029] Figure 4 It is a structural schematic diagram of an automatic guided vehicle equipped with the emergency stop mechanism provided by this embodiment when the emergency stop mechanism is in an extended position;

[0030] Figure 5 This is a schematic diagram of the installation of the emergency stop mechanism inside the automatic guided vehicle;

[0031] Figure 6 A schematic diagram of an automatic guided vehicle equipped with the emergency stop mechanism provided in this embodiment and carrying a shelf on its back;

[0032] Figure 7 This is the exploded view of the emergency stop mechanism;

[0033] Figure 8 for Figure 7 A magnified schematic diagram of part A;

[0034] Fig. 9 It is an exploded diagram of the transmission mechanism in the emergency stop mechanism;

[0035] Fig.10 for Fig. 9 Schematic diagram of the enlarged portion B.

[0036] Among them, 1. base; 10. connecting seat; 100. seat body; 1000. connecting part; 101. bottom plate; 1010. bearing part; 11. side support plate; 12. connecting plate; 2. emergency stop button; 20. spring line; 3. electric push rod; 4. transmission mechanism; 40. push-pull rod; 400. oblong hole; 41. scissors fork assembly; 410. first connecting rod; 411. second connecting rod; 42. limit member; 43. limit centering assembly; 430. mounting seat; 4300. arc hole; 4301. first wire binding sheet metal; 431. limit block; 432. limit pin; 4320. perforation; 433. elastic member; 434. arc rod; 44. guide rail seat; 440. second wire binding sheet metal; 5. pin shaft; 6. countersunk screw; 7. gasket; 8. chassis; 9. shelf. DETAILED DESCRIPTION

[0037] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments based on the embodiments are intended to be used to explain the present application and cannot be understood as limiting the present application.

[0038] References to "one embodiment" or "an example" or "an example" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment itself may be included in at least one embodiment disclosed in the present application. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0039] This embodiment provides an emergency stop mechanism for an automatic guided vehicle, such as Figure 1 and Figure 2 As shown in , the emergency stop mechanism includes a base 1, a drive unit and an emergency stop button 2. The drive unit and the emergency stop button 2 are both arranged on the base 1. The emergency stop button 2 is connected to the drive unit and can be driven by the drive unit to switch between the initial position and the extended position, and the distance between the initial position and the extended position is not less than the set value. Figure 3 , Figure 4 and Figure 5 As shown in , the base 1 is mounted on the chassis 8 of the automated guided vehicle, and the drive unit and the emergency stop button 2 are both electrically connected to the controller of the automated guided vehicle. That is, when the emergency stop mechanism is applied to the automated guided vehicle, the emergency stop mechanism is mounted as a whole on the chassis 8 of the automated guided vehicle through the base 1, and the drive unit and the emergency stop button 2 are both electrically connected to the controller of the automated guided vehicle. In the automated guided vehicle, the controller can control the start and stop of the chassis 8. When applied to the emergency stop mechanism, the drive unit can be controlled to work through the controller of the automated guided vehicle, and the drive unit drives the emergency stop button 2 to switch between the initial position and the extended position. In this way, combined with Figure 6 As shown in , when the controller carries the shelf 9, the emergency stop button 2 can be driven to the extended position by the driving unit. By designing the setting value of the emergency stop mechanism, the emergency stop button 2 can be exposed relative to the shelf 9, thereby facilitating the operator to trigger the emergency stop button 2.

[0040] The driving unit in the emergency stop mechanism includes a power source and a transmission mechanism 4, one end of the transmission mechanism 4 is connected to the output end of the power source, and the other end of the transmission mechanism 4 is connected to the emergency stop button 2. The transmission mechanism 4 has a contracted state and an extended state. When the transmission mechanism 4 is in the contracted state, the emergency stop button 2 is in the initial position, and when the transmission mechanism 4 is in the extended state, the emergency stop button 2 is in the extended position. Figure 7 As shown in the figure, the power source is an electric push rod 3, and the transmission mechanism 4 includes a push-pull rod 40 and a scissor-fork assembly 41. Among them, the push-pull rod 40 is slidably arranged on the base 1, and one end of the push-pull rod 40 is movably hinged to the output end of the electric push rod 3, and the scissor-fork assembly 41 is movably hinged to the other end of the push-pull rod 40, and the emergency stop button 2 is arranged on the side of the scissor-fork assembly 41 away from the push-pull rod 40; the electric push rod 3 drives the push-pull rod 40 to reciprocate and drives the scissor-fork assembly 41 to extend and retract, so that the transmission mechanism 4 switches between the extended state and the retracted state.

[0041] It is easy to understand that in other optional embodiments, the driving unit may also be only the electric push rod 3, and the emergency stop button 2 is directly fixedly installed on the push rod end of the electric push rod 3, and the electric push rod 3 can drive the emergency stop button 2 to switch between the initial position and the extended position. Alternatively, the driving unit includes a power source and a transmission mechanism 4, but the power source can also use a power mechanism other than the electric push rod 3, for example, the power source can be a drive motor, and the corresponding transmission mechanism 4 can be a gear rack mechanism or a worm gear mechanism or a screw mechanism that can convert the rotation action of the output end of the drive motor into the telescopic action of the emergency stop mechanism. In addition, in this embodiment, the characteristic that the scissor assembly 41 can be extended and retracted is used to realize the switching of the transmission mechanism 4 between the retracted state and the extended state. In other optional embodiments, a sleeve that can be extended and retracted in multiple stages can also be used as the transmission mechanism 4, and the power source is used to drive the above-mentioned sleeve that can be extended and retracted in multiple stages to drive the emergency stop button 2 to switch between the initial position and the extended position.

[0042] The transmission mechanism 4 in this embodiment uses a scissor assembly 41 to achieve contraction and extension, which has the advantage of occupying less space. Specifically, Figure 7As shown in , the scissor assembly 41 in this embodiment includes two groups of first scissor members respectively located at both ends and two groups of second scissor members arranged between the two groups of first scissor members. The first scissor members include two first connecting rods 410, and the second scissor members include two second connecting rods 411. The two first connecting rods 410 in one group of first scissor members are movably hinged at their end positions, and the two second connecting rods 411 in one group of second scissor members are movably hinged at their middle positions. The emergency stop button 2 is set on a group of first scissor members away from the push-pull rod 40. Combined with Figure 1 and Figure 2 As shown in , it can be seen that the length dimension of the scissor assembly 41 along the telescopic direction is set to L, and the value of L is related to the angle between the two first connecting rods 410 in the first scissor parts of the same group, the length and width dimensions of the first connecting rod 410 and the second connecting rod 411, and the number of second scissor parts set. When the emergency stop button 2 is in the initial position, the scissor assembly 41 contracts and folds; when the emergency stop button 2 is in the extended position, the scissor assembly 41 extends and unfolds. When the moving stroke required by the emergency stop button 2 is a fixed value, the scissor assembly 41 occupies less space in the contracted and folded state, which is suitable for the application of the emergency stop mechanism on the automatic guided vehicle.

[0043] Furthermore, for the same design purpose, in order to reduce the overall size of the emergency stop mechanism as much as possible, the base 1, the electric push rod 3 and the transmission mechanism 4 are designed as a whole in this embodiment. Figure 7 As shown in , the base 1 in this embodiment includes a connecting seat 10, a side support plate 11 and a connecting plate 12, wherein a bearing portion 1010 and a connecting portion 1000 for fixed installation with the chassis 8 are formed, the side support plate 11 is fixed on the bearing portion 1010, and the connecting plate 12 is fixed on the side support plate 11. Further, the connecting seat includes a seat body 100 and a bottom plate 101, the connecting portion 1000 is formed on the seat body 100, and the bearing portion 1010 is formed on the bottom plate 101. During assembly, the electric push rod 3 is fixedly installed on the bearing portion 1010, the push-pull rod 40 is slidably arranged on the connecting plate 12, and the electric push rod 3 is located between the connecting plate 12 and the bearing portion 1010, and the connecting plate 12 is located between the electric push rod 3 and the push-pull rod 40. Through the above design, Figure 7 In the vertical direction shown, the transmission mechanism 4, the electric push rod 3 and the base 1 are roughly overlapped, and the overall size is small. In addition, the extension direction of the electric push rod 3 in this embodiment is the same as the direction from the extended position to the initial position. That is, when the emergency stop button 2 is in the initial position, the push rod in the electric push rod 3 is in the extended state; when the emergency stop button 2 is in the extended position, the push rod in the electric push rod 3 is in the retracted state.

[0044] Combination Fig. 9 and Fig.10As shown in , in the scissor assembly 41, the two first push rods in the same group of first scissor parts are provided with hinge holes at one end thereof. During assembly, the hinge holes on the two first push rods are aligned, a pin shaft 5 with a middle hole is passed through the hinge hole, and a countersunk screw 6 is screwed into the middle hole of the pin shaft 5 for fixing, thereby the two first push rods are movably hinged. A gasket 7 can also be provided between the countersunk screw 6 and the first push rod. The two second push rods in the same group of second scissor parts are also movably hinged in the above manner. The adjacent first scissor parts and the second scissor parts, or the adjacent two groups of second scissor parts, can also be movably hinged in the above manner.

[0045] In order to limit the moving direction of the push-pull rod 40 and prevent the push-pull rod 40 from shaking, a limiter 42 is further provided in this embodiment. Specifically, the push-pull rod 40 in this embodiment is slidably arranged on the base 1, and the end of the push-pull rod 40 is movably hinged with the middle of a group of second scissor parts. The push-pull rod 40 is provided with an oblong hole 400 along its axial direction, and a limiter 42 matching the oblong hole 400 is provided in the middle of a group of first scissor parts close to the push-pull rod 40. The limiter 42 is slidably arranged in the oblong hole 400. Fig.10 As shown in the figure, the limiting member 42 in this embodiment is a pin 5, a countersunk screw 6 and a gasket 7 for movably hingedly connecting the two first push rods. In other optional embodiments, a shaft body extending into the oblong hole 400 can also be provided on the scissor assembly 41 as the limiting member 42, and it is only necessary to ensure that the shaft body is located on the axis of the push-pull rod 40.

[0046] Furthermore, in this embodiment, a guide rail seat 44 is provided on the base 1 , and the push-pull rod 40 is slidably provided on the guide rail seat 44 .

[0047] As mentioned above, in this embodiment, the emergency stop button 2 is set on a group of first scissors-fork parts away from the push-pull rod 40. Since the above-mentioned first scissors-fork parts will move when the scissors-fork assembly 41 performs a telescopic action (the two first push rods move relative to each other so that the angle increases or decreases). In order to enable the emergency stop button 2 to move in a straight line during the switching process between the initial position and the extended position, the transmission mechanism 4 in this embodiment also includes a limit centering component 43. The limit centering component 43 allows the movement direction of the emergency stop button 2 to be in the same direction as the movement direction of the push-pull rod 40 and the telescopic direction of the scissors-fork assembly 41, thereby preventing the emergency stop button 2 from swinging. Specifically, as Figure 7 and Figure 8As shown in , the limiting centering assembly 43 includes a mounting seat 430, a limiting block 431, a limiting pin 432 and an elastic member 433, wherein the mounting seat 430 is movably hinged on the scissor assembly 41, specifically, the mounting seat 430 is movably hinged on the first scissor member away from the push-pull rod 40. The limiting block 431 is formed on the mounting seat 430, and two limiting pins 432 are provided, the two limiting pins 432 are respectively fixed on the two first push rods, and the two limiting pins 432 are respectively located on both sides of the limiting block 431. An elastic member 433 mentioned above is provided between each limiting pin 432 and each limiting block 431. The emergency stop button 2 is fixedly set on the mounting seat 430, and the two limiting pins 432 and the two elastic members 433 are symmetrical about the axis of the push-pull rod 40.

[0048] Through the above arrangement, when the angle between the two first push rods changes (increases or decreases), the limit pins 432 fixed on the two first push rods will swing relative to each other, and then the limit pins 432 will press the elastic member 433 corresponding to them. In this way, the mounting seat 430 will be subjected to equal forces in two directions, so that the mounting seat 430 remains stable relative to the hinge point between the two first push rods, and then the emergency stop button 2 only moves along the moving direction of the push-pull rod 40 without shaking or offsetting.

[0049] In this embodiment, in order to facilitate the arrangement of the elastic member 433 and maintain the stability of the elastic member 433, a spring is selected as the elastic member 433, and arc rods 434 are arranged on both sides of the limit block 431, and the spring is sleeved outside the arc rod 434. One end of the spring abuts against the limit block 431, and the other end of the spring abuts against the limit pin 432. Further, the mounting seat 430 in this embodiment is provided with arc holes 4300 that match the shape of the arc rod 434 on both sides of the limit block 431, the limit pin 432 passes through the arc holes 4300, and the limit pin 432 is provided with a through hole 4320 that matches the arc rod 434, and the arc rod 434 is slidably arranged in the through hole 4320. Through the above design, it can be ensured that the limit pin 432 applies stable pressure to the elastic member 433.

[0050] The emergency stop mechanism provided in this embodiment can be applied to an automatic guided vehicle. Specifically, the automatic guided vehicle includes a chassis 8, a controller and the emergency stop mechanism provided in this embodiment. Among them, the base 1 is installed on the chassis 8, the drive unit and the emergency stop button 2 are electrically connected to the controller, and the drive unit is controlled by the controller to work to drive the emergency stop button 2 to switch between the initial position and the extended position. In this embodiment, the initial position and the extended position are designed so that the emergency stop button 2 is at the edge or inside of the chassis 8 when it is at the initial position, and the emergency stop button 2 is outside the chassis 8 when it is at the extended position. In addition, as mentioned above, the distance between the initial position and the extended position is not less than the set value. By designing the aforementioned set value, the emergency stop button 2 has a set distance with the outer wall surface of the chassis 8 when it is in the extended position. The meaning of the set distance is explained as follows: when the automatic guided vehicle carries a shelf 9, by designing the size value of the set distance, the emergency stop button 2 can be exposed on the shelf 9, which is convenient for the operator to trigger the emergency stop button 2.

[0051] When assembling the emergency stop mechanism to the chassis, Figure 1 and Figure 2 As shown in , the emergency stop button 2 is electrically connected to the controller of the automatic guided vehicle through the spring wire 20, so that the emergency stop button 2 can drive the spring wire 20 to expand and contract when moving, avoiding affecting the electrical connection between the emergency stop button 2 and the controller. In this embodiment, a first wire-binding sheet metal 4301 is fixedly arranged on the mounting seat 430, and a second wire-binding sheet metal 440 is arranged on the guide rail seat 44, and the spring wire 20 is partially positioned by the first wire-binding sheet metal 4301 and the second wire-binding sheet metal 440.

[0052] The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Those skilled in the art should understand that the present application includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present application will be included in the scope of the claims.

Claims

1. An emergency stop mechanism for an automatic guided vehicle, characterized in that: The emergency stop mechanism comprises a base (1), a drive unit and an emergency stop button (2), wherein the drive unit and the emergency stop button (2) are both arranged on the base (1), the emergency stop button (2) is connected to the drive unit and can be driven by the drive unit to switch between an initial position and an extended position, and the distance between the initial position and the extended position is not less than a set value; The base (1) is mounted on a chassis (8) of the automated guided vehicle, and the drive unit and the emergency stop button (2) are both electrically connected to a controller of the automated guided vehicle.

2. The emergency stop mechanism according to claim 1, characterized in that: The drive unit comprises a power source and a transmission mechanism (4), one end of the transmission mechanism (4) is connected to the output end of the power source, and the other end of the transmission mechanism (4) is connected to the emergency stop button (2), and the transmission mechanism (4) has a contracted state and an extended state. When the transmission mechanism (4) is in the contracted state, the emergency stop button (2) is in an initial position, and when the transmission mechanism (4) is in the extended state, the emergency stop button (2) is in an extended position.

3. The emergency stop mechanism according to claim 2, characterized in that: The power source is an electric push rod (3), the transmission mechanism (4) comprises a push-pull rod (40) and a scissor-fork assembly (41), the push-pull rod (40) is slidably arranged on the base (1), and one end of the push-pull rod (40) is movably hinged to the output end of the electric push rod (3), the scissor-fork assembly (41) is movably hinged to the other end of the push-pull rod (40), and the emergency stop button (2) is arranged on a side of the scissor-fork assembly (41) away from the push-pull rod (40); The electric push rod (3) drives the push-pull rod (40) to move back and forth, thereby driving the scissor assembly (41) to extend and retract, so that the transmission mechanism (4) switches between the extended state and the retracted state.

4. The emergency stop mechanism according to claim 3, characterized in that: The scissor assembly (41) comprises two groups of first scissor members respectively located at two ends and at least one group of second scissor members arranged between the two groups of the first scissor members, the first scissor members comprising two first connecting rods (410), the second scissor members comprising two second connecting rods (411), the two first connecting rods (410) in one group of the first scissor members being movably hinged at their end positions, and the two second connecting rods (411) in one group of the second scissor members being movably hinged at their middle positions; The emergency stop button (2) is arranged on a group of first scissor parts away from the push-pull rod (40).

5. The emergency stop mechanism according to claim 4, characterized in that: The end of the push-pull rod (40) is movably hinged to the middle of a group of the second scissors-fork parts, and the push-pull rod (40) is provided with an oblong hole (400) along its axial direction. A limiting member (42) adapted to the oblong hole (400) is provided in the middle of a group of the first scissors-fork parts close to the push-pull rod (40), and the limiting member (42) is slidably arranged in the oblong hole (400).

6. The emergency stop mechanism according to claim 3, characterized in that: The base (1) comprises: A connecting seat (10) having a bearing portion (1010) and a connecting portion (1000) for fixedly mounting with the chassis (8); a side support plate (11), which is fixed on the bearing portion (1010); and A connecting plate (12) fixed to the side supporting plate (11); The electric push rod (3) is fixedly mounted on the bearing portion (1010), the push-pull rod (40) is slidably arranged on the connecting plate (12), and the electric push rod (3) is located between the connecting plate (12) and the bearing portion (1010), and the connecting plate (12) is located between the electric push rod (3) and the push-pull rod (40), and the extension direction of the electric push rod (3) is the same as the direction from the extended position to the initial position.

7. The emergency stop mechanism according to any one of claims 3 to 6, characterized in that: The transmission mechanism (4) further comprises a position limiting and centering component (43), wherein the position limiting and centering component (43) comprises: A mounting seat (430) movably hinged to the scissor assembly (41); A limit block (431) formed on the mounting seat (430); two limit pins (432) are provided, and the two limit pins (432) are fixedly provided on the scissor assembly (41) and are respectively located on both sides of the limit block (431); and An elastic member (433), wherein one elastic member (433) is disposed between each of the limit pins (432) and the limit block (431); The emergency stop button (2) is fixedly arranged on the mounting seat (430), and the two limit pins (432) and the two elastic members (433) are symmetrical about the axis of the push-pull rod (40).

8. The emergency stop mechanism according to claim 7, characterized in that: Arc rods (434) are provided on both sides of the limit block (431); the elastic member (433) is a spring sleeved outside the arc rod (434); one end of the spring abuts against the limit block (431), and the other end of the spring abuts against the limit pin (432).

9. The emergency stop mechanism according to claim 8, characterized in that: The mounting seat (430) is provided with arc-shaped holes (4300) on both sides of the limit block (431) that are adapted to the shape of the arc-shaped rod (434); the limit pin (432) passes through the arc-shaped hole (4300); and the limit pin (432) is provided with a through hole (4320) that is adapted to the arc-shaped rod (434); the arc-shaped rod (434) is slidably arranged in the through hole (4320).

10. An automatic guided vehicle, comprising a chassis (8) and a controller, characterized in that: The automated guided vehicle further comprises an emergency stop mechanism as claimed in any one of claims 1 to 9, wherein the base (1) is mounted on the chassis (8), the drive unit and the emergency stop button (2) are both electrically connected to a controller, and the drive unit is controlled by the controller to drive the emergency stop button (2) to switch between an initial position and an extended position; When the emergency stop button (2) is at the initial position, it is located at the edge or inside of the chassis (8); when the emergency stop button (2) is at the extended position, it is located outside the chassis (8) and has a set distance from the outer wall surface of the chassis (8).

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