Automatic guided vehicle

Abstract

The utility model discloses an automatic guided vehicle, which comprises a vehicle body, a plurality of groups of wheels and a plurality of steering devices, the plurality of groups of wheels are arranged on the vehicle body, each group of wheels comprises a first wheel and a second wheel, and each group of wheels is in transmission connection with one steering device. The steering device comprises a first driving motor, a crank, a first toggle rod, a second toggle rod, a first steering mechanism and a second steering mechanism, the first driving motor is installed on the vehicle body, an output shaft of the first driving motor is in transmission connection with the crank, and the upper end and the lower end of the crank are in spherical hinge joint with the first toggle rod and the second toggle rod correspondingly; the first toggle rod is in transmission connection with a first wheel through a first steering mechanism, and the second toggle rod is in transmission connection with a second wheel through a second steering mechanism. Compared with the mode that each wheel is independently provided with a driving motor, the double-side wheel can be driven to steer only through one motor, the number of driving components such as the driving motors is reduced, and cost and structural complexity are reduced.

Description

Technical Field

[0001] This utility model relates to the field of transportation equipment technology, and in particular to an automated guided vehicle. Background Technology

[0002] AGVs (Automated Guided Vehicles) are transportation devices that can automatically navigate along pre-defined paths or in designated scenarios without human intervention, and are commonly used in warehousing, healthcare, and logistics. In practical applications, these AGVs need to steer during their journey. Traditional AGV steering systems often employ a four-steering-wheel independent control scheme, with each steering wheel requiring an independent drive motor and electronic control system. While this design enables multi-degree-of-freedom motion, it suffers from several significant drawbacks: the multi-motor independent control mode increases hardware costs and the complexity of the electrical control system; furthermore, the multi-component layout occupies a large amount of vehicle space, making it difficult to meet the design requirements of miniaturized and compact AGVs. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide an automated guided vehicle (AGV) to solve the problems of high cost and complex structure of existing AGV steering systems.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: an automated guided vehicle, which includes a vehicle body, multiple sets of wheels and multiple steering devices. The multiple sets of wheels are all installed on the vehicle body. Each set of wheels includes a first wheel and a second wheel. Each set of wheels is drivenly connected to a steering device. The steering device includes a first drive motor, a crank, a first elbow rod, a second elbow rod, a first steering mechanism and a second steering mechanism. The first drive motor is installed on the vehicle body. The output shaft of the first drive motor is drivenly connected to the crank. The upper and lower ends of the crank are respectively ball-jointed to the first elbow rod and the second elbow rod. The first elbow rod is drivenly connected to the first wheel through the first steering mechanism, and the second elbow rod is drivenly connected to the second wheel through the second steering mechanism.

[0005] Furthermore, in the automated guided vehicle of this utility model, the first steering mechanism includes a first mounting frame, a first steering component, and a first connecting mechanism. The first mounting frame is mounted on the vehicle body, and the first steering component is rotatably mounted on the first mounting frame. One end of the first steering component is connected to the first elbow lever, and the other end of the first steering component is connected to the first wheel through the first connecting mechanism.

[0006] Furthermore, in the automated guided vehicle of this utility model, the first steering component includes a first steering shaft and a first steering fork. The first steering fork extends horizontally and is fixed on the first steering shaft. The first steering fork is connected to the first toggle lever. The first steering shaft extends vertically and is connected to the first connecting mechanism.

[0007] Furthermore, in the automated guided vehicle described in this utility model, the first steering fork includes a first connecting portion and two second connecting portions connected to each other, with the two second connecting portions extending from the ends of the first connecting portion to form a Y-shaped structure.

[0008] Furthermore, in the automated guided vehicle described in this utility model, the first connecting part is provided with a first shaft hole extending in the horizontal direction. The first shaft hole is used for ball hinge connection with the first shaft. The two second connecting parts together form a slot, which is used for fixed connection with the first steering shaft.

[0009] Furthermore, in the automated guided vehicle described in this utility model, the second steering mechanism includes a second steering fork, the second steering fork is symmetrically arranged with respect to the first steering fork, and the first elbow is symmetrically arranged with respect to the center of the second elbow.

[0010] Furthermore, the automated guided vehicle described in this utility model includes two sets of wheels, which are respectively installed on both sides of the vehicle body.

[0011] Furthermore, in the automated guided vehicle of this utility model, a carrying pipe is provided inside the vehicle body, the first drive motor is disposed in the carrying pipe, and the output shaft of the first drive motor extends out of the carrying pipe and is connected to the crank drive.

[0012] Furthermore, in the automated guided vehicle of this utility model, the steering device further includes a support frame, a connecting rod, and a transmission component. The support frame is mounted on the vehicle body, and the connecting rod is rotatably mounted on the support frame. One end of the connecting rod is fixedly connected to the crank, and the other end of the connecting rod is connected to the output shaft of the first drive motor via the transmission component.

[0013] Furthermore, in the automated guided vehicle of this utility model, the transmission component includes a transmission belt, one end of which is connected to the connecting rod, and the other end of which is connected to the output shaft of the first drive motor.

[0014] The beneficial effects of this utility model are as follows: This utility model provides an automated guided vehicle with a single motor driving two side wheels, whose steering system achieves synchronous control of the two side wheels through mechanical linkage. In practical application, the output shaft of the first drive motor drives the crank to rotate. During the rotation of the crank, the first and second elbows will perform symmetrical reciprocating motion (for example, when the crank rotates clockwise, the first elbow pushes forward, and the second elbow pushes backward simultaneously). Based on this, the end of the first elbow drives the first wheel to rotate through the first steering mechanism, and the end of the second elbow drives the second wheel to rotate through the corresponding second steering mechanism, thereby achieving synchronous steering of the first and second wheels. Based on this symmetrical axis transmission design, the two side wheels can achieve synchronous steering action under the drive of a single motor.

[0015] In summary, this invention connects the first and second wheels in each set of wheels to the steering device (single motor), requiring only one motor to drive both wheels to steer. Compared to the traditional four-steering wheel system, which requires a separate drive motor for each wheel, this invention reduces the number of drive components such as drive motors, thereby lowering costs and structural complexity. Attached Figure Description

[0016] Figure 1 This is a structural schematic diagram of the automated guided vehicle described in this utility model from one perspective under one embodiment.

[0017] Figure 2 This is a structural schematic diagram of the automated guided vehicle described in this utility model from another perspective under one embodiment.

[0018] Figure 3 for Figure 2 A partial schematic diagram of point A of the automated guided vehicle shown.

[0019] Figure 4 This is a top view of the automated guided vehicle described in this utility model.

[0020] Figure 5 for Figure 4 A partial schematic diagram of point B of the automated guided vehicle shown.

[0021] Figure 6 This is an exploded view of the structure of the automated guided vehicle described in this utility model from one perspective in one embodiment.

[0022] Figure 7 This is a schematic diagram of the automated guided vehicle (AGV) of this invention with the vehicle body and some structures hidden.

[0023] Figure 8 for Figure 7 A partial schematic diagram of point C of the automated guided vehicle shown.

[0024] Figure 9 for Figure 7 A partial schematic diagram of point D of the automated guided vehicle shown.

[0025] Figure 10 This is a schematic diagram of the steering device in the automated guided vehicle of this invention, with some parts of the structure hidden.

[0026] Label Explanation:

[0027] 1. Vehicle body; 11. Load-bearing pipes;

[0028] 2. Steering device; 21. First drive motor; 22. Crank; 23. First toggle lever; 24. Second toggle lever; 25. First steering mechanism; 251. First mounting bracket; 252. First steering component; 253. First steering shaft; 254. First steering fork; 255. First connecting part; 256. Second connecting part; 26. Second steering mechanism; 261. Second mounting bracket; 262. Second steering component; 263. Second steering shaft; 264. Second steering fork; 265. Third connecting part; 266. Fourth connecting part; 27. Support frame; 271. First support plate; 272. Second support plate; 28. Connecting rod; 29. ​​Transmission component;

[0029] 3. The first wheel;

[0030] 4. The second wheel. Detailed Implementation

[0031] To explain in detail the technical content, objectives, and effects of this utility model, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0032] Please refer to Figures 1 to 10 This utility model discloses an automated guided vehicle (AGV), which includes a vehicle body 1, multiple sets of wheels, and multiple steering devices 2. The multiple sets of wheels are all mounted on the vehicle body 1. Each set of wheels includes a first wheel 3 and a second wheel 4. Each set of wheels is drivenly connected to a steering device 2. The steering device 2 includes a first drive motor 21, a crank 22, a first elbow 23, a second elbow 24, a first steering mechanism 25, and a second steering mechanism 26. The first drive motor 21 is mounted on the vehicle body 1. The output shaft of the first drive motor 21 is drivenly connected to the crank 22. The upper and lower ends of the crank 22 are ball-jointed to the first elbow 23 and the second elbow 24, respectively. The first elbow 23 is drivenly connected to the first wheel 3 through the first steering mechanism 25, and the second elbow 24 is drivenly connected to the second wheel 4 through the second steering mechanism 26.

[0033] As described above, the beneficial effects of this utility model are as follows: This utility model provides an automated guided vehicle with a single motor driving two-sided wheels, whose steering system achieves synchronous control of the two-sided wheels through mechanical linkage. In practical application, the output shaft of the first drive motor 21 drives the crank 22 to rotate. During the rotation of the crank 22, the first elbow 23 and the second elbow 24 will perform symmetrical reciprocating motion (for example, when the crank 22 rotates clockwise, the first elbow 23 pushes forward, and the second elbow 24 pushes backward simultaneously). Based on this, the end of the first elbow 23 drives the first wheel 3 to rotate through the first steering mechanism 25, and the end of the second elbow 24 drives the second wheel 4 to rotate through the corresponding second steering mechanism 26, thereby achieving synchronous steering of the first and second wheels. Based on this symmetrical elbow transmission design, the two wheels on the same side can achieve synchronous steering action under the drive of a single motor.

[0034] In summary, by connecting the first wheel 3 and the second wheel 4 in each set of wheels to the steering device 2 (single motor), this utility model requires only one motor to drive the steering of both wheels. Compared with the traditional four-steering wheel system, which requires a separate drive motor for each wheel, this utility model reduces the number of drive components such as drive motors, thereby reducing costs and structural complexity.

[0035] In practical applications, the ratio of the length of the first / second elbow to the length of the first / second steering fork arm can be 5:1 to 10:1. The rotation angle range of the crank 22 is limited to ±90°. It should be noted that the deflection angles of the first wheel 3 and the second vehicle can have a linear relationship with the rotation angle of the crank 22, thus achieving controllable steering angle. In some embodiments, the crank 22 can be replaced with an elliptical disc or a polygonal rigid structure, as long as the condition of bilateral symmetrical motion is met. The ball joint connection can be replaced with a universal joint connection, while retaining the multi-degree-of-freedom motion characteristics.

[0036] Furthermore, in the automated guided vehicle of this utility model, the first steering mechanism 25 includes a first mounting frame 251, a first steering component 252, and a first connecting mechanism. The first mounting frame 251 is mounted on the vehicle body 1, and the first steering component 252 is rotatably mounted on the first mounting frame 251. One end of the first steering component 252 is connected to the first elbow 23, and the other end of the first steering component 252 is connected to the first wheel 3 through the first connecting mechanism.

[0037] In practical applications, when the crank 22 rotates, the first elbow 23 will correspondingly push forward / backward. Based on this, the first elbow 23 can drive the first steering component 252 connected to it to rotate along its own rotation axis, thereby sequentially driving the first connecting mechanism and the first wheel 3 to rotate, thus realizing the steering of the first wheel 3.

[0038] Furthermore, in the automated guided vehicle described in this utility model, the first steering component 252 includes a first steering shaft 253 and a first steering fork 254. The first steering fork 254 extends in the horizontal direction and is fixed on the first steering shaft 253. The first steering fork 254 is transmissionally connected to the first elbow 23. The first steering shaft 253 extends in the vertical direction and is connected to the first connecting mechanism.

[0039] Furthermore, in the automated guided vehicle described in this utility model, the second steering mechanism 26 includes a second steering fork 264, the second steering fork 264 and the first steering fork 254 are symmetrically arranged, and the first elbow 23 and the second elbow 24 are centrally symmetrically arranged.

[0040] It should be noted that the second steering mechanism 26 has the same structure as the first steering mechanism 25. The specific structure of the second steering mechanism can be found in the first steering mechanism. The second steering mechanism 26 also includes a second mounting bracket 261, a second steering component 262, and a second connecting mechanism. The second steering component 262 includes a second steering shaft 263 and a second steering fork 264. For example... Figure 4 As shown, the first steering fork 254 and the second steering fork 264 can be symmetrically arranged along the centerline of the horizontal width direction of the vehicle body 1 as an axis of symmetry. Figure 2 As shown, the first elbow 23 and the second elbow 24 are arranged in a centrally symmetrical manner with the rotation center of the crank 22 as the center of symmetry.

[0041] In practical applications, when crank 22 rotates, the forward / backward push of the first lever 23 drives the first steering fork 254 to rotate. The first steering fork 254 is connected to the first steering shaft 253, thus driving the first steering shaft 253 to rotate around its own axis, thereby driving the first wheel 3 to rotate and achieving wheel steering. Similarly, the second wheel 4 does the same. Based on this, the present invention can form a double rocker mechanism. When crank 22 drives the first lever 23 and the second lever 24 to move, the linear motion of the first lever 23 is converted into the rotation of the first steering fork 254 and the second steering shaft 263, and the linear motion of the second lever 24 is converted into the rotation of the second steering fork 264 and the second steering shaft 263. To achieve reverse deflection of the first wheel 3 and the second wheel 4, in normal driving conditions (i.e., without steering), the crank 22 extends vertically, and the first steering fork 254 and the second steering fork 264 are symmetrically arranged along the center line of the horizontal width direction of the vehicle body 1, and both extend horizontally. The slot openings of both forks face the vehicle body 1, as detailed below. Figure 4 as well as Figure 5As shown. Based on this, when crank 22 rotates clockwise in the vertical direction, the first elbow 23 pushes forward, at which time the first steering fork 254 and the first steering shaft 253 rotate counterclockwise in the horizontal direction; the second elbow 24 pushes backward, and the second steering fork 264 and the second steering shaft 263 rotate clockwise in the horizontal direction, thereby driving the double-sided wheel sets (i.e., the first wheel 3 and the second wheel 4) to deflect in the opposite direction. Based on the mechanical steering mechanism that drives the double-sided wheels to rotate in the opposite direction, the automated guided vehicle of this utility model is suitable for narrow passage and high-precision scenarios, ensuring the realization of the stationary turning function.

[0042] As described above, the first steering mechanism 25 includes a first steering shaft 253 and a first steering fork 254 linked to the first toggle lever 23. The rigid connection between the first steering shaft 253 and the first steering fork 254 allows the steering of the first wheel 3 to be directly driven by the rotation of the crank 22. Similarly, the second steering mechanism 26 includes a second steering shaft 263 and a second steering fork 264 linked to the second toggle lever 24. The rigid connection between the second steering shaft 263 and the second steering fork 264 allows the steering of the second wheel 4 to be directly driven by the rotation of the crank 22. Based on this, single-motor drive steering of both wheels can be achieved.

[0043] Furthermore, in the automated guided vehicle described in this utility model, the first steering fork 254 includes a first connecting portion 255 and two second connecting portions 256 connected to each other. The two second connecting portions 256 extend from the ends of the first connecting portion 255 to form a Y-shaped structure. Correspondingly, since the second steering fork 264 has the same structure as the first steering fork 254, the second steering fork 264 also includes a third connecting portion 265 and two fourth connecting portions 266 connected to each other.

[0044] Furthermore, in the automated guided vehicle described in this utility model, the first connecting part 255 is provided with a first shaft hole extending in the horizontal direction. The first shaft hole is used for ball hinge connection with the first shaft. The two second connecting parts 256 surround to form a slot, which is used for fixed connection with the first steering shaft 253.

[0045] As can be seen from the above description, the first steering fork 254 and the first steering shaft 253 can be effectively fixedly connected through the slot in the Y-shaped structure, so that the rotation of the first steering fork 254 can drive the rotation of the first steering shaft 253.

[0046] Furthermore, the automated guided vehicle of this invention includes two sets of wheels, which are respectively installed on both sides of the vehicle body 1.

[0047] Furthermore, in the automated guided vehicle of this utility model, the vehicle body 1 is provided with a carrying pipe 11, the first drive motor 21 is disposed in the carrying pipe 11, and the output shaft of the first drive motor 21 extends out of the carrying pipe 11 and is connected to the crank 22 for transmission.

[0048] As can be seen from the above description, by placing the first drive motor 21 inside the bearing pipe 11 of the vehicle body 1, the built-in design of the first drive motor 21 reduces external exposure and reduces the impact of environmental factors such as dust and collisions on the first drive motor 21.

[0049] Furthermore, in the automated guided vehicle of this utility model, the steering device 2 further includes a support frame 27, a connecting rod 28, and a transmission component 29. The support frame 27 is disposed on the vehicle body 1, and the connecting rod 28 is rotatably mounted on the support frame 27. One end of the connecting rod 28 is fixedly connected to the crank 22, and the other end of the connecting rod 28 is connected to the output shaft of the first drive motor 21 through the transmission component 29.

[0050] As can be seen from the above description, the support frame 27 facilitates the rotatable mounting of the crank 22 on the vehicle body 1, ensuring its stable operation. The transmission component 29 can effectively drive the crank 22 to rotate through the output shaft of the first drive motor 21.

[0051] Furthermore, in the automated guided vehicle described in this utility model, the transmission component 29 includes a transmission belt, one end of which is connected to the connecting rod 28, and the other end of which is connected to the output shaft of the first drive motor 21.

[0052] As can be seen from the above description, the transmission belt can effectively drive the crank 22 to rotate.

[0053] Please refer to Figures 1 to 10 Embodiment 1 of this utility model is: an automated guided vehicle (AGV), which can be of various types such as a forklift-type AGV or a backpack-type AGV. The AGV includes a vehicle body 1, two sets of wheels, and two steering devices 2. The two sets of wheels are respectively mounted on both sides of the vehicle body 1. Each set of wheels includes a first wheel 3 and a second wheel 4 located on the same side of the vehicle body 1. Each set of wheels is connected to a steering device 2. The specific configuration of each steering device 2 is described in detail below.

[0054] In this embodiment, as Figure 2 as well as Figure 3As shown, the steering device 2, from the center to both sides, includes a first drive motor 21, a support frame 27, a transmission belt, a crank 22, a first toggle 23, a second toggle 24, a first steering mechanism 25, and a second steering mechanism 26. A load-bearing pipe 11 is provided inside the vehicle body 1. The first drive motor 21 is disposed within the load-bearing pipe 11, and its output shaft extends out of the load-bearing pipe 11 and is connected to the transmission belt. The output shaft of the first drive motor 21 extends along a horizontal first direction (i.e., the horizontal width direction). The aforementioned support frame 27 is disposed on the vehicle body 1. The support frame 27 includes two support plates connected by toggles, namely a first support plate 271 and a second support plate 272. The toggle is also connected to the vehicle body 1 to fix the support frame 27 to the vehicle body 1. A connecting rod 28 is rotatably passed through the second support plate 272. One end of the connecting rod 28 is fixedly connected to the crank 22, and the other end of the connecting rod 28 is connected to the output shaft of the first drive motor 21 via a belt. It should be noted that the connecting rod 28 extends from the center of the crank 22 and extends in the first horizontal direction. The connecting rod 28 is the rotation axis of the crank 22, and the crank 22 can rotate synchronously with the rotation of the connecting rod 28.

[0055] In this embodiment, as Figure 5 , Figure 8 , Figure 9 as well as Figure 10 As shown, the first steering mechanism 25 includes a first mounting bracket 251, a first steering fork 254, a first steering shaft 253, and a first connecting mechanism. The first mounting bracket 251 is mounted on the vehicle body 1. The first steering fork 254 extends horizontally and is secured to the upper end of the first steering shaft 253. The first steering fork 254 is drively connected to the first toggle lever 23. The first steering shaft 253 extends vertically, and its lower end is connected to the first connecting mechanism. Specifically, as shown... Figure 8 as well as Figure 9As shown, the first steering fork 254 includes a first connecting portion 255 and two second connecting portions 256 connected to each other. The two second connecting portions 256 extend from the ends of the first connecting portion 255 to form a Y-shaped structure. A first shaft hole extending horizontally is provided on the first connecting portion 255 for ball-jointing with a first shaft. The two second connecting portions 256 together form a slot for fixed connection with the first steering shaft 253. In normal driving conditions (i.e., without steering), the first connecting portion 255 extends in a first horizontal direction, and the slot opening faces the vehicle body 1. The second steering mechanism 26 includes a second mounting bracket 261, a second steering fork 264, a second steering shaft 263, and a second connecting mechanism. It should be noted that the second steering mechanism 26 has the same structure as the first steering mechanism 25; therefore, the structural configuration of the second steering mechanism 26 can be referred to the first steering mechanism 25, and will not be discussed further here.

[0056] In this embodiment, as Figure 2 As shown, the first elbow 23 and the second elbow 24 are located on the left and right sides of the crank 22, respectively. The first elbow 23 is located on the right side of the crank 22, and the second elbow 24 is located on the left side. One end of the first elbow 23 is ball-jointed to the first connecting member of the crank 22, and the other end is ball-jointed to the first steering fork 254. One end of the second elbow 24 is ball-jointed to the second connecting member of the crank 22, and the other end is ball-jointed to the second steering fork 264. The first connecting member and the second connecting member are located at equidistant points on both sides of the connecting rod 28, and all three are on the same straight line. Under normal driving conditions (i.e., without steering), as... Figure 3 as well as Figure 4 As shown, the first connector is located below the connecting rod 28, and the second connector is located above the connecting rod 28.

[0057] In summary, the automatic guided vehicle provided by this utility model has the following characteristics: (1) Single motor double-sided differential: Only one motor is needed to drive the double-sided wheels to rotate in opposite directions, reducing the number of drive components; Pure mechanical synchronization: Through the geometric constraints of double elbows and double rockers, the delay of electronic control is eliminated, and the reliability is improved; Compact layout: The crank 22-elbow mechanism is integrated on both sides of the vehicle body 1, without external hydraulic / gearbox, and the space utilization rate is improved. (2) Achieve zero turning radius and in-situ turning of AGV; Small steering error, and better synchronization than electronic control scheme; Suitable for small AGVs in scenarios such as warehousing and medical care, so the failure rate can be reduced. (3) When the first drive motor 21 drives the crank 22 to rotate, the ball joints at both ends of the crank 22 drive the first and second elbows to perform symmetrical reciprocating motion. The first and second elbows push the first and second steering forks through the hinge point, forming a double-sided reverse rocker effect, which forces the first wheel 3 and the second wheel 4 to deflect in the opposite direction.

[0058] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent modifications made based on the content of this utility model specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. An automated guided vehicle, characterized in that, The vehicle includes a body, multiple sets of wheels, and multiple steering devices. The multiple sets of wheels are all mounted on the body. Each set of wheels includes a first wheel and a second wheel, and each set of wheels is drivenly connected to a steering device. The steering device includes a first drive motor, a crank, a first elbow rod, a second elbow rod, a first steering mechanism, and a second steering mechanism. The first drive motor is mounted on the body, and the output shaft of the first drive motor is drivenly connected to the crank. The upper and lower ends of the crank are respectively ball-jointed to the first elbow rod and the second elbow rod. The first elbow rod is drivenly connected to the first wheel through the first steering mechanism, and the second elbow rod is drivenly connected to the second wheel through the second steering mechanism.

2. The automated guided vehicle according to claim 1, characterized in that, The first steering mechanism includes a first mounting bracket, a first steering component, and a first connecting mechanism. The first mounting bracket is mounted on the vehicle body, and the first steering component is rotatably mounted on the first mounting bracket. One end of the first steering component is connected to the first toggle lever, and the other end of the first steering component is connected to the first wheel via the first connecting mechanism.

3. The automated guided vehicle according to claim 2, characterized in that, The first steering component includes a first steering shaft and a first steering fork. The first steering fork extends horizontally and is secured to the first steering shaft. The first steering fork is connected to the first toggle lever. The first steering shaft extends vertically and is connected to the first connecting mechanism.

4. The automated guided vehicle according to claim 3, characterized in that, The first steering fork includes a first connecting portion connected to each other and two second connecting portions, which extend from the ends of the first connecting portion to form a Y-shaped structure.

5. The automated guided vehicle according to claim 4, characterized in that, The first connecting part has a first shaft hole extending in the horizontal direction, which is used to be ball-jointed with the first shaft. The two second connecting parts together form a groove, which is used to be fixedly connected with the first steering shaft.

6. The automated guided vehicle according to claim 2, characterized in that, The second steering mechanism includes a second steering fork, which is symmetrically arranged with respect to the first steering fork, and the first elbow is symmetrically arranged with respect to the center of the second elbow.

7. The automated guided vehicle according to claim 1, characterized in that, It includes two sets of wheels, which are respectively installed on both sides of the vehicle body.

8. The automated guided vehicle according to claim 1, characterized in that, The vehicle body is provided with a load-bearing pipe, the first drive motor is disposed in the load-bearing pipe, and the output shaft of the first drive motor extends out of the load-bearing pipe and is connected to the crank drive.

9. The automated guided vehicle according to claim 1, characterized in that, The steering device also includes a support frame, a connecting rod, and a transmission component. The support frame is mounted on the vehicle body, and the connecting rod is rotatably mounted on the support frame. One end of the connecting rod is fixedly connected to the crank, and the other end of the connecting rod is connected to the output shaft of the first drive motor via the transmission component.

10. The automated guided vehicle according to claim 9, characterized in that, The transmission component includes a transmission belt, one end of which is connected to the connecting rod, and the other end of which is connected to the output shaft of the first drive motor.

Images