AGV (Automatic Guided Vehicle) advancing attitude control structure

Abstract

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

Description

Technical Field

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

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

[0003] Existing AGVs typically use ultrasonic obstacle avoidance sensors to avoid obstacles with surrounding shelves. These sensors primarily detect the distance between the AGV and surrounding objects to achieve obstacle avoidance. However, these sensors have significant limitations when it comes to controlling the parallelism between the AGV and the shelves.

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

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

[0006] The technical solution of the embodiment of the utility model is achieved as follows: an AGV vehicle travel posture control structure includes a main body component, the main body component includes a trolley bottom plate, a controller, a mounting slot, a laser displacement sensor, a front mounting plate, a rear mounting plate, a front magnetic stripe reader, a rear magnetic stripe reader, a gantry lifting mechanism, a left and right moving mechanism, an angle adjustment component and a wheel drive component;

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

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

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

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

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

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

[0013] Further preferably, two shelves are included, and the two shelves are respectively located on both sides of the bottom plate of the trolley, and the lower parts of the adjacent sides of the two shelves are fixedly connected with a reflective plate.

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

[0015] Further preferably, a plurality of heat dissipation holes are provided on the lower portions of both sides of the controller, and a heat dissipation fan is fixedly connected to the inner side walls of the plurality of heat dissipation holes.

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

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

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

[0019] The embodiment of the present invention has the following advantages due to the adoption of the above technical solution:

[0020] 1. This utility model installs multiple precision laser displacement sensors on both sides of the trolley's bottom plate to accurately measure the distance and angle between the AGV trolley and the shelf. Compared with traditional ultrasonic obstacle avoidance sensors, laser displacement sensors, with their higher measurement accuracy, provide extremely accurate data support for the posture adjustment of the robot arm. This not only meets the strict requirements of precision work, ensuring that the robot gripper and the items on the shelf are highly parallel or perpendicular, but also greatly improves the accuracy of material grasping and placement. At the same time, the angle rotation motor and angle rotation harmonic reducer in the angle adjustment assembly work together to accurately control the rotation angle of the robot arm, so that the robot arm is accurately perpendicular to the shelf, further enhancing the accuracy of grasping and placing items.

[0021] 2. This utility model installs multiple precision laser displacement sensors on both sides of the trolley bottom plate. No matter where the AGV trolley is located on the shelf, whether it is the head, middle or tail, multiple carefully arranged laser displacement sensors can effectively play a role and monitor the relative position of the trolley and the shelf in real time, thus effectively adapting to various shelf positions and working scenarios;

[0022] 3. The utility model uses the front and rear magnetic stripe readers to sense the ground magnetic stripe in real time. Even when the AGV is moving in a narrow environment, the angle between the left and right lanes of the vehicle body and the left and right shelf edges can be maintained within the smallest possible range, thereby helping to reduce the amplitude of subsequent angle adjustments and thus improving the stability and accuracy of control.

[0023] Through precise laser displacement sensors and accurate calculation and control, this utility model can keep the manipulator claws highly parallel or perpendicular to the items on the shelf, thereby improving the accuracy of material grabbing and placement and meeting the needs of precision work. No matter where the AGV trolley is on the shelf, the arrangement of multiple laser displacement sensors can ensure effective measurement and control, thereby adapting to different shelf positions and work scenarios. At the same time, combined with the coordinated work of the front magnetic stripe reader, the rear magnetic stripe reader, and the angle control and rotation mechanism, it can not only control the angle between the body of the AGV trolley and the edge of the shelf in a narrow environment, but also accurately adjust the posture of the manipulator arm, providing comprehensive and accurate control guarantee for material picking and placement.

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

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 This is a structural diagram from one perspective of the present utility model;

[0027] Figure 2 This is a structural diagram from another perspective of the present utility model;

[0028] Figure 3 This is a structural diagram of the trolley bottom plate and shelf of the utility model;

[0029] Figure 4 This is a structural diagram of the angle rotation motor and mechanical arm of the utility model;

[0030] Figure 5 This is a structural diagram of the wheel drive motor and AGV drive wheel of the utility model.

[0031] Figure markings: 1. Main assembly; 11. Car bottom plate; 12. Controller; 13. Mounting slot; 14. Laser displacement sensor; 15. Front mounting plate; 16. Rear mounting plate; 17. Front magnetic stripe reader; 18. Rear magnetic stripe reader; 19. Gantry lifting mechanism; 20. Left and right moving mechanism; 2. Angle adjustment assembly; 21. Motor mounting plate; 22. Angle rotation motor; 23. Angle rotation harmonic reducer; 24. Robotic arm; 25. Extending mechanism; 26. Extending slide rail; 27. Clamping mechanism; 3. Wheel drive assembly; 31. Wheel mounting seat; 32. Wheel reducer; 33. Wheel drive motor; 34. AGV drive wheel; 35. Spring double wheel; 36. Control panel; 37. Touch screen; 38. Operation button; 39. Heat dissipation hole; 40. Cooling fan; 41. Shelf; 42. Reflective plate; 43. Wheel groove; 44. Material placement rack. DETAILED DESCRIPTION

[0032] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are to be regarded as illustrative in nature and not restrictive.

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

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

[0035] The rear part of the upper surface of the trolley bottom plate 11 is fixedly connected to the controller 12, and multiple mounting grooves 13 are provided on both sides of the trolley bottom plate 11. The inner side walls of the multiple mounting grooves 13 are fixedly connected to the laser displacement sensors 14, and the output end of the laser displacement sensor 14 is electrically connected to the input end of the controller 12. The front and rear centers of the lower surface of the trolley bottom plate 11 are respectively fixedly connected to the front mounting plate 15 and the rear mounting plate 16. The front mounting plate 15 and the rear mounting plate 16 are respectively fixedly connected to the adjacent sides of the front mounting plate 15 and the rear mounting plate 16. The output ends of the front magnetic stripe reader 17 and the rear magnetic stripe reader 18 are electrically connected to the input end of the controller 12. A gantry lifting mechanism 19 is installed on the front of the upper surface of the trolley bottom plate 11 near the front of the controller 12. The front surface of the gantry lifting mechanism 19 is installed with a left and right moving mechanism 20. The front of the moving mechanism 20 is fixedly connected to the angle adjustment component 2, and the middle of both sides of the lower surface of the trolley bottom plate 11 are installed with wheel drive components 3, among which the gantry lifting mechanism 19 is used to drive the left and right moving mechanism 20, the angle adjustment component 2, the forward extension mechanism 25 and the clamping mechanism 27 to lift and lower, thereby driving the clamping claws on the clamping mechanism 27 to adjust the high and low positions, and the left and right moving mechanism 20 is used to drive the angle adjustment component 2, the forward extension mechanism 25 and the clamping mechanism 27 to move left and right, thereby driving the clamping claws on the clamping mechanism 27 to adjust the left and right positions, and read the ground magnetic stripe information through the front magnetic stripe reader 17 on the front mounting plate 15 and the rear magnetic stripe reader 18 on the rear mounting plate 16, and transmit the signal to the controller 12, so that the left and right side lines of the trolley bottom plate 11 and the side lines of the left and right shelves 41 are maintained within the smallest possible range.

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

[0037] The front part of the upper surface of the motor mounting plate 21 is fixedly connected to an angle rotation motor 22, and the output end of the angle rotation motor 22 is installed with an angle rotation harmonic reducer 23, and the output end of the angle rotation harmonic reducer 23 is fixedly connected to a robotic arm 24, and the rear part of the upper surface of the motor mounting plate 21 is fixedly connected to the left and right moving mechanism 20, and the upper surface of the robotic arm 24 is installed with a forward extension mechanism 25, and the lower surface of the robotic arm 24 is fixedly connected with a forward extension slide rail 26, and the outer side wall of the forward extension slide rail 26 is slidably connected with a clamping mechanism 27, and the input end of the angle rotation motor 22 is electrically connected to the output end of the controller 12, and the angle rotation harmonic reducer 23 is driven to work by the angle rotation motor 22, thereby driving the robotic arm 24 to rotate for angle adjustment, wherein the forward extension slide rail 26 is used to drive the clamping mechanism 27 to extend, thereby driving the clamping claw on the clamping mechanism 27 to extend forward to grab the material, and the clamping mechanism 27 is used to drive the opening and closing of the clamping claw to take and place the material.

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

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

[0040] In one embodiment, specifically: spring double wheels 35 are fixedly connected to the four corners of the lower surface of the trolley bottom plate 11. The spring double wheels 35 at the four corners of the trolley bottom plate 11 are all double AGV wheels with spring height adjustment, and are all elastic, so the middle AGV driving wheel 34 can always contact the ground, so that the driving distance of the two sides of the trolley is basically the same during the driving process, thereby ensuring the driving accuracy of the trolley.

[0041] In one embodiment, specifically: it also includes two shelves 41, the two shelves 41 are respectively located on both sides of the trolley bottom plate 11, and the lower part of the adjacent side of the two shelves 41 is fixedly connected with a reflective plate 42. The reflective plates 42 on the two shelves 41 receive and reflect the signal emitted by the laser displacement sensor 14, so that the controller 12 can easily read the distance value between the laser displacement sensor 14 and the reflective plate 42.

[0042] In one embodiment, specifically: a control panel 36 is provided in the middle of the rear surface of the controller 12, a touch screen 37 is provided in the middle of the upper surface of the control panel 36, and multiple operation buttons 38 are provided on both sides of the upper surface of the control panel 36. The touch screen 37 is used to facilitate reading the working information of the AGV vehicle and setting working parameters, etc., and the operation buttons 38 are used to facilitate controlling the AGV vehicle.

[0043] In one embodiment, specifically: multiple heat dissipation holes 39 are opened on the lower part of both sides of the controller 12, and the inner walls of the multiple heat dissipation holes 39 are fixedly connected to the heat dissipation fans 40. The heat dissipated by the internal electronic components of the controller 12 can be discharged through the heat dissipation fans 40 in the heat dissipation holes 39 on both sides of the controller 12, thereby preventing the internal temperature from being too high and causing damage to the internal electronic components.

[0044] In one embodiment, specifically: wheel grooves 43 are opened in the middle of both sides of the trolley bottom plate 11, and the two AGV driving wheels 34 are respectively located inside the two wheel grooves 43. By the AGV driving wheels 34 being located inside the wheel grooves 43, the AGV driving wheels 34 are prevented from protruding from the side of the trolley bottom plate 11 and affecting the driving of the AGV vehicle.

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

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

[0047] When the present invention is working: the AGV vehicle is started, the controller 12 starts working, receives signals from various components and controls them, and the wheel drive motor 33 in the wheel drive assembly 3 drives the AGV drive wheel 34 to rotate through the wheel reducer 32 under the control of the controller 12, so that the AGV vehicle starts to move. At the same time, the front magnetic stripe reader 17 on the front mounting plate 15 and the rear magnetic stripe reader 18 on the rear mounting plate 16 read the information and transmit the signal to the controller 12, so that the angle between the left and right side lines of the trolley bottom plate 11 and the side lines of the left and right shelves 41 is maintained within the smallest possible range. When the AGV vehicle enters the target QR code SMT material tray or lithium battery, the controller 12 reads the target QR code by clamping the code reader, and obtains the current exact positioning through calculation by the host computer, and determines which two of the multiple laser displacement sensors 14 are When it is working, the control program of the controller 12 reads the distance value of the two laser displacement sensors 14 and processes it into the angle value of the edge line of the trolley bottom plate 11 and the reflector 42 on the shelf 41. The controller 12 controls the wheel drive component 3 and the angle adjustment component 2 to work. The wheel drive component 3 adjusts the angle by rotating the AGV drive wheels 34 on both sides. At the same time, the angle rotation motor 22 in the angle adjustment component 2 starts to work. The output end of the angle rotation motor 22 drives the robotic arm 24 to rotate through the angle rotation harmonic reducer 23. The angle rotation motor 22 rotates the compensation angle so that the robotic arm 24 is completely perpendicular to the shelf 41, so that the clamping claws on the clamping mechanism 27 and the stored objects on the shelf 41 are completely parallel or perpendicular. At this time, the SMT material tray or lithium battery in the clamping claw can be accurately clamped or put down, thereby completing the entire clamping and loading process.

[0048] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope of protection of the claims.

Claims

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

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

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

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

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

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

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

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

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

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

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