AGV trolley

Abstract

The utility model discloses an AGV (Automatic Guided Vehicle) which comprises a vehicle body and a driving mechanism, and the vehicle body comprises a chassis; the driving mechanism comprises a first driving structure and a second driving structure, the first driving structure and the second driving structure are arranged on the chassis at an interval, the first driving structure is fixedly arranged on the chassis, and the second driving structure is rotationally arranged on the chassis; wherein each of the first driving structure and the second driving structure is provided with at least two contact ends suitable for being in contact with the walking surface, and the second driving structure is suitable for rotating relative to the chassis under the action of external force, so that at least one contact end of the second driving structure is in contact with the walking surface. According to the AGV trolley of the structure, the space for installing the universal wheels can be omitted, so that the length of the trolley body is reduced, the AGV trolley can pull a short skip car, and then the practicability of the AGV trolley is improved.

Description

Technical Field

[0001] This utility model relates to the field of logistics and transportation technology, specifically to an AGV (Automated Guided Vehicle). Background Technology

[0002] Automated Guided Vehicles (AGVs) are transport vehicles equipped with electromagnetic or optical automatic guidance devices, capable of traveling along a prescribed guidance path, and possessing safety protection and various transfer functions.

[0003] In existing technologies, using AGVs for traction is a common practice. Traction AGVs are mainly divided into unidirectional and bidirectional traction types. Unidirectional traction AGVs can only traction in one direction, while bidirectional traction AGVs can traction in both opposite directions. For bidirectional traction AGVs, their longer body length makes them unsuitable for towing shorter material carts. This is because the drive mechanism on the AGV is typically configured with a swing bridge structure to adapt to uneven ground. This allows the drive mechanism to rotate relative to the AGV body, ensuring it remains in contact with the ground and thus guaranteeing normal operation. Since the drive mechanism is a swing bridge structure, the stability of the AGV requires the use of casters; each of the four corners of the AGV chassis is equipped with a caster to ensure stable operation.

[0004] However, while the existing bidirectional traction AGVs are equipped with casters to ensure the stability of the AGV's operation, they also increase the length of the AGV's body, making them unsuitable for towing short material carts. Utility Model Content

[0005] Therefore, the technical problem to be solved by this utility model is to overcome the shortcomings of existing bidirectional traction AGVs, which, while installing casters to ensure the stability of AGV operation, also increase the length of the AGV body, making it unsuitable for towing short material carts.

[0006] Therefore, this utility model provides an AGV trolley, comprising:

[0007] The vehicle body includes a chassis;

[0008] The drive mechanism includes a first drive structure and a second drive structure, the first drive structure and the second drive structure are spaced apart on the chassis, the first drive structure is fixedly mounted on the chassis, and the second drive structure is rotatably mounted on the chassis.

[0009] Both the first drive structure and the second drive structure have at least two contact ends adapted to contact the walking surface. Under the action of external force, the second drive structure is adapted to rotate relative to the chassis so that at least one contact end of the second drive structure contacts the walking surface.

[0010] Optionally, in the above-mentioned AGV trolley, the first drive structure includes a first rotating component, a first fixed base, and at least two first drive components. One end of the first rotating component is rotatably connected to the chassis, and the other end is connected to the first fixed base. The two first drive components are disposed opposite to each other at both ends of the first fixed base.

[0011] Optionally, in the above-mentioned AGV trolley, the first drive assembly includes a first drive member and a first rotating member. The first drive member is disposed on the first fixed base, and the drive end of the first drive member is connected to the first rotating member. The first rotating member serves as the contact end of the first drive structure.

[0012] Optionally, in the above-mentioned AGV trolley, the first drive structure further includes a first coding component. The first coding component includes a first coding element and a first gear. One end of the first coding element is disposed on the first fixed seat, and the other end is rotatably connected to the first gear. The first gear is meshed with the first rotating element.

[0013] Optionally, in the above-mentioned AGV trolley, the first drive structure further includes a first sensor, which is disposed on the first fixed base.

[0014] Optionally, in the above-mentioned AGV trolley, the second drive structure includes a connecting component, a second fixed base, and at least two second drive components. One end of the connecting component is connected to the chassis, and the other end is rotatably connected to the second fixed base. The two second drive components are disposed opposite to each other at both ends of the second fixed base, and any one of the second drive components serves as a contact end of the second drive structure.

[0015] Under the action of external force, the second fixed seat is adapted to rotate relative to the chassis via the connecting assembly so that at least one of the second drive components contacts the running surface.

[0016] Optionally, in the above-mentioned AGV trolley, the connecting assembly includes a second rotating component, a transition component, and a hinge component. The second rotating component is rotatably connected to the chassis. One end of the transition component is connected to the second rotating component. The hinge component passes through the other end of the transition component, and both ends of the hinge component are rotatably connected to the second fixed seat, so that under the action of external force, the second fixed seat rotates relative to the chassis through the hinge component.

[0017] Optionally, in the above-mentioned AGV trolley, the second drive assembly includes a second drive member and a second rotating member. The second drive member is disposed on the second fixed base, and the drive end of the second drive member is connected to the second rotating member. The second rotating member serves as the contact end of the second drive structure.

[0018] Optionally, in the above-mentioned AGV trolley, the second drive structure further includes a second coding component. The second coding component includes a second coding element and a second gear. One end of the second coding element is disposed on the second fixed seat, and the other end is rotatably connected to the second gear. The second gear is meshed with the second rotating element.

[0019] Optionally, in the above-mentioned AGV trolley, the second drive structure further includes a second sensor, which is disposed on the second fixed base.

[0020] The technical solution provided by this utility model has the following advantages:

[0021] 1. The AGV (Automated Guided Vehicle) provided by this utility model includes a first drive structure and a second drive structure mounted on the vehicle body. The vehicle body includes a chassis, and the first and second drive structures are spaced apart on the chassis. The first drive structure is fixedly mounted on the chassis, while the second drive structure is rotatably mounted on the chassis. This allows the second drive structure to rotate relative to the chassis under the action of an external force, specifically the weight of the vehicle body itself in this embodiment. Furthermore, both the first and second drive structures have contact ends that can contact the ground surface in this embodiment. This allows the first and second drive structures to drive the vehicle body to move on the ground surface through the contact ends. During the operation of the AGV, the AGV may encounter uneven ground surfaces. In such cases, the second drive structure can rotate relative to the chassis under the action of an external force, allowing the two contact ends of the second drive structure to... The first drive structure ensures that the AGV maintains constant contact with the walking surface. Even when one of the two contact ends of the first drive structure is not in contact with the ground, at least three contact ends remain in contact with the walking surface. This ensures the stability of the AGV during operation. Even if both contact ends of the first drive structure are submerged in the walking surface, one of these ends will provide support for the vehicle body, guaranteeing that the AGV maintains constant contact with the walking surface. Therefore, with the first and second drive structures providing stable support for the vehicle body, there is no need to install casters. This saves space, reduces the length of the vehicle body, and allows the AGV to tow short material carts, thus improving its practicality. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of the AGV vehicle provided in an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the first driving structure provided in an embodiment of the present invention;

[0025] Figure 3This is a schematic diagram of the second driving structure provided in an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of the connecting component provided in an embodiment of this utility model;

[0027] Explanation of reference numerals in the attached figures:

[0028] 1-Vehicle body;

[0029] 2-Drive mechanism; 21-First drive structure; 211-First rotating component; 212-First fixed base; 213-First drive assembly; 2131-First drive member; 2132-First rotating component; 214-First encoding assembly; 2141-First encoding member; 2142-First gear; 215-First sensing element; 22-Second drive structure; 221-Connecting assembly; 2211-Second rotating component; 2212-Adapter; 2213-Hinge; 222-Second fixed base; 223-Second drive assembly; 2231-Second drive member; 2232-Second rotating component; 224-Second encoding assembly; 2241-Second encoding member; 2242-Second gear; 225-Second sensing element. Detailed Implementation

[0030] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0031] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0033] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0034] Example 1

[0035] This embodiment provides an AGV (Automated Guided Vehicle) cart, such as... Figures 1 to 4 As shown, the vehicle includes a vehicle body 1 and a drive mechanism 2. The vehicle body 1 includes a chassis. The drive mechanism 2 includes a first drive structure 21 and a second drive structure 22. The first drive structure 21 and the second drive structure 22 are spaced apart on the chassis, and the first drive structure 21 is fixedly mounted on the chassis, while the second drive structure 22 is rotatably mounted on the chassis. The first drive structure 21 and the second drive structure 22 each have at least two contact ends suitable for contacting the running surface. Under the action of an external force, the second drive structure 22 is suitable for rotating relative to the chassis so that at least one contact end of the second drive structure 22 contacts the running surface.

[0036] The AGV with the above-described structure utilizes a first drive structure 21 and a second drive structure 22 mounted on the vehicle body 1. The vehicle body 1 includes a chassis. The first drive structure 21 and the second drive structure 22 are spaced apart on the chassis. The first drive structure 21 is fixedly mounted on the chassis, while the second drive structure 22 is rotatably mounted on the chassis. This allows the second drive structure 22 to rotate relative to the chassis under the action of an external force, specifically the weight of the vehicle body 1 in this embodiment. Furthermore, both the first drive structure 21 and the second drive structure 22 have contact ends that can contact the ground surface in this embodiment. This allows the first drive structure 21 to rotate relative to the chassis under the action of an external force, specifically the weight of the vehicle body 1 itself. The first drive structure 1 and the second drive structure 22 can drive the vehicle body 1 to move on the walking surface through the contact end. During the operation of the AGV, the AGV may sometimes encounter uneven walking surfaces. At this time, the second drive structure 22 can rotate relative to the chassis under the action of external force, so that the two contact ends of the second drive structure 22 can always keep in contact with the walking surface. In this way, when one of the two contact ends of the first drive structure 21 is not in contact with the ground, it can be ensured that the AGV can always keep at least three contact ends in contact with the walking surface, thereby ensuring the stability of the AGV during operation through these three contact ends in contact with the walking surface.

[0037] Specifically, even when both contact ends of the first drive structure 21 are sunk into the recesses on the walking surface, one of these two contact ends will inevitably provide support for the vehicle body 1. In this way, it can be ensured that the AGV can always maintain three contact ends in contact with the walking surface during operation. Therefore, when the first drive structure 21 and the second drive structure 22 can provide stable support for the vehicle body 1, it is not necessary to install casters on the vehicle body 1. This saves the space for installing casters, thereby reducing the length of the vehicle body 1 and enabling the AGV to pull short material carts, which in turn improves the practicality of the AGV.

[0038] The AGV provided in this embodiment, such as Figure 1 and Figure 2 As shown, the first drive structure 21 includes a first rotating component 211, a first fixed base 212 and at least two first drive components 213. One end of the first rotating component 211 is rotatably connected to the chassis and the other end is connected to the first fixed base 212. The two first drive components 213 are arranged opposite to each other at both ends of the first fixed base 212.

[0039] The AGV with the above-described structure includes a first drive structure 21 comprising a first rotating component 211, a first fixed seat 212, and two first drive components 213. In this embodiment, the first rotating component 211 is a first rotating support. One end of the first rotating component 211 is rotatably connected to the chassis, and the other end is connected to the first fixed seat 212, thereby connecting the first fixed seat 212 to the chassis. The first fixed seat 212 can also rotate relative to the chassis via the first rotating component 211 to accommodate the turning operation of the AGV. The two first drive components 213 are arranged opposite each other at both ends of the first fixed seat 212, and each first drive component 213 serves as a contact end of the first drive structure 21. Thus, the chassis can be moved on the walking surface by the contact between the two first drive components 213 and the walking surface.

[0040] The AGV provided in this embodiment, such as Figure 1 and Figure 2 As shown, the first drive assembly 213 includes a first drive member 2131 and a first rotating member 2132. The first drive member 2131 is disposed on the first fixed base 212, and the drive end of the first drive member 2131 is connected to the first rotating member 2132. The first rotating member 2132 serves as the contact end of the first drive structure 21.

[0041] The AGV with the above-described structure includes a first drive structure 21 comprising a first drive member 2131 and a first rotating member 2132. In this embodiment, the first drive member 2131 and the first rotating member 2132 are respectively a first drive reduction motor and a first drive wheel. The first drive member 2131 is mounted on a first fixed base 212, and the first rotating member 2132 is connected to the drive end of the first drive member 2131. The first rotating member 2132 is configured as the contact end of the first drive structure 21, thus enabling the first rotating member 2132 to contact the walking surface. Under the drive of the first drive member 2131, the first rotating member 2132 can rotate on the walking surface, thereby driving the first fixed base 212 and the chassis to move on the ground.

[0042] The AGV provided in this embodiment, such as Figure 1 and Figure 2 As shown, the first drive structure 21 also includes a first encoding component 214, which includes a first encoding element 2141 and a first gear 2142. One end of the first encoding element 2141 is disposed on the first fixed seat 212, and the other end is rotatably connected to the first gear 2142. The first gear 2142 is meshed with the first rotating element 211.

[0043] The AGV with the above-described structure further includes a first encoding component 214 by setting a first drive structure 21. The first encoding component 214 specifically includes a first encoder 2141 and a first gear 2142. In this embodiment, the first encoder 2141 is a first encoder. One end of the first encoder 2141 is set on the first fixed base 212, and the other end is rotatably connected to the first gear 2142. The first gear 2142 is meshed with the first rotating member 211. Thus, when the first fixed base 212 rotates relative to the chassis via the first rotating member 211, the first rotating member 211 will drive the first gear 2142 to rotate. The first encoder 2141 can collect the number of rotations of the first gear 2142 and use this to determine whether the rotation amplitude of the AGV is normal, which helps to improve the stability of the AGV operation.

[0044] The AGV provided in this embodiment, such as Figure 1 and Figure 2 As shown, the first driving structure 21 also includes a first sensing element 215, which is disposed on the first fixed base 212.

[0045] The AGV with the above-described structure also includes a first sensor 215 through the first drive structure 21. In this embodiment, the first sensor 215 is a first magnetic navigation sensor. The first sensor 215 is specifically set on the first fixed base 212. The first sensor 215 can sense the magnetic signal emitted by the magnetic track nail set on the walking surface, thereby calibrating the AGV's route to avoid the AGV failing to reach the target location and improve the accuracy of the AGV's operation.

[0046] The AGV provided in this embodiment, such as Figure 1 and Figure 3 As shown, the second drive structure 22 includes a connecting component 221, a second fixed base 222, and at least two second drive components 223. One end of the connecting component 221 is connected to the chassis, and the other end is rotatably connected to the second fixed base 222. The two second drive components 223 are disposed opposite to each other at both ends of the second fixed base 222, and any one of the second drive components 223 serves as a contact end of the second drive structure 22. Under the action of external force, the second fixed base 222 is adapted to rotate relative to the chassis through the connecting component 221 so that at least one second drive component 223 contacts the running surface.

[0047] The AGV with the above-described structure includes a second drive structure 22 comprising a connecting component 221, a second fixed seat 222, and two second drive components 223. One end of the connecting component 221 is connected to the chassis, and the other end is rotatably connected to the second fixed seat 222, thereby connecting the second fixed seat 222 to the chassis. The second fixed seat 222 can also rotate relative to the connecting component 221 under the action of external force. Meanwhile, the two second drive components 223 are arranged opposite to each other at both ends of the second fixed seat 222, and each second drive component 223 is configured as a contact end of the second drive structure 22. Thus, the chassis can be driven to move on the walking surface by the contact between the two second drive components 223 and the walking surface.

[0048] Specifically, when encountering uneven running surfaces, the second fixed seat 222 can rotate relative to the connecting component 221 under the weight of the vehicle body 1, so that both drive components can always maintain contact with the running surface, thereby enabling both second drive components 223 to provide support for the chassis and ensure the running stability of the AGV.

[0049] The AGV provided in this embodiment, such as Figure 3 and Figure 4 As shown, the connecting assembly 221 includes a second rotating member 2211, a transition member 2212, and a hinge member 2213. The second rotating member 2211 is rotatably connected to the chassis. One end of the transition member 2212 is connected to the second rotating member 2211. The hinge member 2213 passes through the other end of the transition member 2212, and both ends of the hinge member 2213 are rotatably connected to the second fixed seat 222, so that under the action of external force, the second fixed seat 222 rotates relative to the chassis through the hinge member 2213.

[0050] The AGV with the above-described structure includes a connecting assembly 221 comprising a second rotating component 2211, a transition component 2212, and a hinge component 2213. In this embodiment, the second rotating component 2211, the transition component 2212, and the hinge component 2213 are respectively a second rotating support, a transition flange, and a hinge shaft. The second rotating component 2211 is rotatably connected to the chassis. One end of the transition component 2212 is connected to the second rotating component 2211, and the other end is supported by the hinge component 2213. Both ends of the hinge component 2213 are respectively connected to the second rotating support. The fixed seat 222 is rotatably connected, so that the second fixed seat 222 can rotate relative to the chassis through the second rotating member 2211 to adapt to the turning operation of the AGV. At the same time, when encountering uneven walking surfaces, the second fixed seat 222 can also rotate relative to the adapter 2212 under the action of the vehicle body 1's own gravity, so that the two second drive components 223 on the second fixed seat 222 can always be in contact with the walking surface, thereby enabling the two second drive components 223 to provide support for the vehicle body 1.

[0051] The AGV provided in this embodiment, such as Figure 1 and Figure 3 As shown, the second drive assembly 223 includes a second drive member 2231 and a second rotating member 2232. The second drive member 2231 is disposed on the second fixed base 222, and the drive end of the second drive member 2231 is connected to the second rotating member 2232. The second rotating member 2232 serves as the contact end of the second drive structure 22.

[0052] The AGV with the above-described structure includes a second drive assembly 223 comprising a second drive member 2231 and a second rotating member 2232. In this embodiment, the second drive member 2231 and the second rotating member 2232 are respectively a second drive reduction motor and a second drive wheel. The second drive member 2231 is mounted on the second fixed seat 222, and the second rotating member 2232 is connected to the drive end of the second drive member 2231. The second rotating member 2232 is configured as the contact end of the second drive structure 22, thereby enabling the second rotating member 2232 to contact the walking surface. Driven by the second drive member 2231, the second rotating member 2232 can rotate on the walking surface, thereby driving the second fixed seat 222 and the chassis to move on the ground.

[0053] The AGV provided in this embodiment, such as Figure 3 and Figure 4 As shown, the second drive structure 22 also includes a second encoding component 224, which includes a second encoding element 2241 and a second gear 2242. One end of the second encoding element 2241 is disposed on the second fixed seat 222, and the other end is rotatably connected to the second gear 2242. The second gear 2242 is meshed with the second rotating element 2211.

[0054] The AGV with the above-described structure further includes a second encoding component 224 by setting a second drive structure 22. The second encoding component 224 specifically includes a second encoder 2241 and a second gear 2242. In this embodiment, the second encoder 2241 is a second encoder. One end of the second encoder 2241 is mounted on the second fixed base 222, and the other end is rotatably connected to the second gear 2242. The second gear 2242 is meshed with the second rotating member 2211. Thus, when the second fixed base 222 rotates relative to the chassis via the second rotating member 2211, the second rotating member 2211 will drive the second gear 2242 to rotate. The second encoder 2241 can collect the number of rotations of the second gear 2242 and use this to determine whether the rotation amplitude of the AGV is normal, which helps to improve the stability of the AGV operation.

[0055] The AGV provided in this embodiment, such as Figure 1 and Figure 3 As shown, the second driving structure 22 also includes a second sensing element 225, which is disposed on the second fixed base 222.

[0056] The AGV with the above-described structure also includes a second sensor 225 through the second drive structure 22. In this embodiment, the second sensor 225 is a second magnetic navigation sensor. The second sensor 225 is specifically set on the second fixed base 222. The second sensor 225 can sense the magnetic signal emitted by the magnetic track nail set on the walking surface, thereby calibrating the AGV's route to avoid the AGV failing to reach the target location and improve the accuracy of the AGV's operation.

[0057] The AGV provided by this utility model utilizes a first drive structure 21 and a second drive structure 22 mounted on a vehicle body 1. The vehicle body 1 includes a chassis, and the first drive structure 21 and the second drive structure 22 are spaced apart on the chassis. The first drive structure 21 is fixedly mounted on the chassis, while the second drive structure 22 is rotatably mounted on the chassis. This allows the second drive structure 22 to rotate relative to the chassis under the action of an external force, specifically the weight of the vehicle body 1 in this embodiment. Furthermore, both the first drive structure 21 and the second drive structure 22 have contact ends that can contact the ground surface in this embodiment. This allows the first drive structure 21 and the second drive structure 22 to drive the vehicle body 1 to move on the ground surface through the contact ends. During the operation of the AGV, the AGV may encounter uneven ground surfaces. In such cases, the second drive structure 22 can rotate relative to the chassis under the action of an external force, thereby allowing the second drive structure 22 to rotate. The two contact ends of the first drive structure 21 can always maintain contact with the walking surface. Thus, when one of the two contact ends of the first drive structure 21 is not in contact with the ground, it can be ensured that the AGV can always maintain at least three contact ends in contact with the walking surface. This allows the AGV to maintain stability during operation through these three contact ends in contact with the walking surface. Even if both contact ends of the first drive structure 21 are stuck in the pits on the walking surface, one of these two contact ends will inevitably provide support for the vehicle body 1. This also ensures that the AGV can always maintain three contact ends in contact with the walking surface during operation. Therefore, when the first drive structure 21 and the second drive structure 22 can provide stable support for the vehicle body 1, it is not necessary to install casters on the vehicle body 1. This saves space for installing casters, thereby reducing the length of the vehicle body 1 and enabling the AGV to tow short material carts, thus improving the practicality of the AGV.

[0058] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. An AGV vehicle, characterized by, The utility model relates to a vehicle drive mechanism, including: Vehicle body (1), the vehicle body (1) includes chassis; Driving mechanism (2), including first driving structure (21) and second driving structure (22), first driving structure (21) and second driving structure (22) are spaced apart on the chassis, and first driving structure (21) is fixedly arranged on the chassis, and second driving structure (22) is rotatably arranged on the chassis; Wherein, first driving structure (21) and second driving structure (22) all have at least two contact ends suitable for contacting with walking surface, under the action of external force, second driving structure (22) is suitable for rotating relative to the chassis, so that at least one contact end of second driving structure (22) contacts with the walking surface.

2. The AGV of claim 1, wherein, First driving structure (21) includes first rotary part (211), first fixed seat (212) and at least two first driving assembly (213), one end of first rotary part (211) is rotatably connected with the chassis, the other end is connected with first fixed seat (212), and two first driving assembly (213) are oppositely arranged at both ends of first fixed seat (212).

3. The AGV of claim 2, wherein, First driving assembly (213) includes first driving part (2131) and first rotary part (2132), first driving part (2131) is arranged on first fixed seat (212), and the driving end of first driving part (2131) is connected with first rotary part (2132), and first rotary part (2132) is used as the contact end of first driving structure (21).

4. The AGV of claim 3, wherein, First driving structure (21) further includes first encoding assembly (214), and first encoding assembly (214) includes first encoding part (2141) and first gear (2142), one end of first encoding part (2141) is arranged on first fixed seat (212), and the other end is rotatably connected with first gear (2142), and first gear (2142) is meshingly connected with first rotary part (211).

5. The AGV of claim 4, wherein, First driving structure (21) further includes first sensing part (215), and first sensing part (215) is arranged on first fixed seat (212).

6. The AGV of any one of claims 1-5, wherein, Second driving structure (22) includes connecting assembly (221), second fixed seat (222) and at least two second driving assembly (223), one end of connecting assembly (221) is connected with the chassis, the other end is rotatably connected with second fixed seat (222), two second driving assembly (223) are oppositely arranged at both ends of second fixed seat (222), and any second driving assembly (223) is used as the contact end of second driving structure (22); Under the action of external force, second fixed seat (222) is suitable for rotating relative to the chassis through connecting assembly (221), so that at least one second driving assembly (223) contacts with the walking surface.

7. The AGV cart of claim 6, wherein, The connecting assembly (221) comprises a second rotating member (2211), an adapter (2212) and a hinged member (2213), the second rotating member (2211) is rotationally connected with the chassis, one end of the adapter (2212) is connected with the second rotating member (2211), the hinged member (2213) is arranged in the other end of the adapter (2212), and both ends of the hinged member (2213) are rotationally connected with the second fixing seat (222), so that the second fixing seat (222) rotates relative to the chassis under the action of an external force through the hinged member (2213).

8. The AGV cart of claim 7, wherein, The second driving assembly (223) comprises a second driving member (2231) and a second rotating member (2232), the second driving member (2231) is arranged on the second fixing seat (222), and a driving end of the second driving member (2231) is connected with the second rotating member (2232), and the second rotating member (2232) serves as a contact end of the second driving structure (22).

9. The AGV vehicle of claim 8, wherein, The second driving structure (22) further comprises a second encoding assembly (224), the second encoding assembly (224) comprises a second encoding member (2241) and a second gear (2242), one end of the second encoding member (2241) is arranged on the second fixing seat (222), and the other end is rotationally connected with the second gear (2242), and the second gear (2242) is meshingly connected with the second rotating member (2211).

10. The AGV vehicle of claim 9, wherein, The second driving structure (22) further comprises a second sensing member (225), and the second sensing member (225) is arranged on the second fixing seat (222).

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