A compact structure of a latent automatic guided vehicle

Abstract

The utility model relates to a kind of compact structure's lurk type automatic guided vehicle, including chassis assembly and be set on the lifting rotating assembly and drive wheel of chassis assembly, the rotating end of lifting rotating assembly is connected with jacking panel;The chassis assembly includes first chassis and the second chassis rotationally connected with the first chassis, opening slot is set on the second chassis;The drive wheel is connected with drive motor by output shaft, drive motor outside is also covered support assembly, and the support assembly forms cross arm in the two sides of drive motor. The utility model is simple in structure, convenient to use, by setting support assembly and cross arm, so that it can quickly assemble drive motor with drive wheel in second chassis, simplifies the assembly step of traditional drive motor, improves assembly efficiency.

Description

Technical Field

[0001] This utility model relates to the field of automated handling equipment, and in particular to a compact, concealed automated guided vehicle. Background Technology

[0002] AGV is an abbreviation for "Automated Guided Vehicle," a type of driverless vehicle that navigates automatically. AGVs are mainly used for material handling and transportation tasks in industrial and commercial environments. They can travel along predetermined paths and perform specific tasks, such as picking up and placing goods.

[0003] However, traditional automated guided vehicles still have the following technical problems: (i) Traditional automated guided vehicles (AGVs) do not have anti-collision functions, which may cause serious crushing, impact and other injuries if they come into contact with people. Secondly, direct collisions will damage the AGV body, resulting in high maintenance costs, and may also damage shelves, production line equipment, walls, columns and other structures.

[0004] (ii) In traditional automated guided vehicles, the installation of drive wheels first requires fixing the power components in a suitable position on the chassis, and then connecting the power components to the wheel body. However, this assembly is slow and requires the removal of all structures for maintenance, making maintenance complex.

[0005] (iii) The traditional automated guided vehicle chassis has a large volume, which makes the whole machine long and easy to bump into when it encounters small spaces during turning. Utility Model Content

[0006] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a compact, concealed automated guided vehicle to solve one or more problems in the prior art.

[0007] To achieve the above objectives, the technical solution of this utility model is as follows: A compact, submersible automated guided vehicle includes a chassis assembly, a lifting and rotating assembly, and drive wheels mounted on the chassis assembly. The rotating end of the lifting and rotating assembly is connected to a lifting panel. The chassis assembly includes a first chassis and a second chassis rotatably connected to the first chassis, with an opening slot formed on the second chassis. The drive wheels are connected to a drive motor via an output shaft. A support assembly is also covered on the outside of the drive motor, and the support assembly forms crossarms on both sides of the drive motor.

[0008] Furthermore, positioning and mounting holes are respectively opened on both sides of the opening slot, and fastener mounting holes are also opened on the cross arm. The drive wheel and drive motor can be quickly assembled in the opening slot through the fasteners and the positioning and mounting holes and fastener mounting holes.

[0009] Furthermore, anti-collision strip assemblies are provided at the far ends of the first chassis and the second chassis. Each anti-collision strip assembly includes a profile strip and a triggering device connected to the profile strip. Multiple mounting members are evenly distributed on the inner side of the profile strip, and each mounting member has a first mounting hole. The anti-collision strip assembly also includes a wire, one end of which extends into the interior of the triggering device, and the other end of which is connected to the control center unit.

[0010] Furthermore, columns are respectively provided at the far end of the first chassis and the far end of the second chassis. An adjustment plate is connected to the column, and the adjustment plate is connected to the support plate through a shock-absorbing column. A SLAM laser navigation radar is provided on the surface of the support plate.

[0011] Furthermore, a charging port is also provided on the second chassis near the SLAM laser navigation radar.

[0012] Furthermore, the lifting and rotating assembly includes a lifting motor, the output end of which is connected to one end of a first pull rod. The other end of the first pull rod is connected to a first rotating shaft. The first rotating shaft is also connected to one end of a first connecting rod and one end of a first pull rod connecting rod. The other end of the first connecting rod is rotatably connected to a second chassis. The other end of the first pull rod connecting rod is connected to a fixed plate via a second rotating shaft. The first rotating shaft is also connected to one end of a pair of crossbars. The other end of each crossbar is connected to a third rotating shaft. The third rotating shaft is also connected to one end of a second connecting rod and one end of a second pull rod connecting rod. The other end of the second pull rod connecting rod is connected to a fourth rotating shaft. The fourth rotating shaft is also connected to a fixed plate. A pair of long pull rods are also connected to one end of the fourth rotating shaft. The other end of the long pull rods is rotatably connected to the second chassis. The other end of the second connecting rod is rotatably connected to the first chassis.

[0013] Furthermore, a rotary motor is also provided on the fixed plate, and the output end of the rotary motor is connected to a gear, which meshes with the outer ring of the slewing bearing.

[0014] Furthermore, the first or second connecting rod includes a connecting rod body, with a pair of upper mounting blocks respectively provided on the upper outer half of the connecting rod body, each of the upper mounting blocks having a first shaft hole, and a pair of lower mounting blocks respectively provided on the lower outer half of the connecting rod body, each of the lower mounting blocks having a second shaft hole.

[0015] Furthermore, a first ground pattern QR code camera is connected to the bottom of the fixed plate via a first camera mounting bracket. A camera mounting hole is also provided on the second chassis. The second camera mounting bracket is fixed to the camera mounting hole by fasteners. The second ground pattern QR code camera is fixed to the top of the second camera mounting bracket.

[0016] Furthermore, the automated guided vehicle also includes a camera shield, which is fixed to the bottom of the lifting panel by fasteners, and the lifting panel has a camera recognition opening.

[0017] Compared with the prior art, the beneficial technical effects of this utility model are as follows: This utility model has a simple structure and is easy to use. By setting up a bracket assembly and a crossarm, it allows for the quick assembly of a drive motor with drive wheels onto the second chassis, simplifying the assembly steps of traditional drive motors and improving assembly efficiency. Moreover, compared to traditional structures, by reducing the intermediate chassis, the overall size and length of the machine are significantly reduced, resulting in a more compact structure.

[0018] Furthermore, by setting up SLAM laser navigation radar, a first QR code ground map camera, and a second QR code ground map camera, navigation and obstacle avoidance, as well as QR code scanning, can be achieved in different scenarios. This allows for precise path planning through real-time scanning of the 3D map of the components. In laser navigation, the SLAM laser navigation radar handles navigation and obstacle avoidance. The first QR code ground map camera recognizes the QR codes on the underside of the shelves for precise shelf positioning and alignment of goods information. The second QR code ground map camera identifies the center of the shelf, ensuring the AGV is centered after the lifting and rotating assembly is raised, thus maintaining stability during AGV operation. In QR code navigation, the first QR code ground map camera primarily scans the ground QR code information, using the QR code information and direction to locate and determine the location's attributes, enabling navigation and recognizing the QR codes on the underside of the shelves for precise shelf positioning and goods information alignment. The second QR code ground map camera primarily recognizes the QR codes on the shelves.

[0019] Furthermore, by adding a lifting and rotating component, fully automated and high-precision vertical storage and retrieval can be achieved, enabling the transportation of goods at different heights. The rotation allows materials to be turned to the required angle during transport or handover, meeting the needs of special industrial scenarios. Moreover, by lifting goods to a suitable height, it facilitates remote handling and avoids bending over or raising hands, improving efficiency and simplifying operation.

[0020] This invention, by adding a collision avoidance strip assembly that includes an inductive safety contact edge, prevents AGVs without collision avoidance devices from coming into contact with workers, causing crushing, impacts, and safety accidents. Furthermore, by incorporating the collision avoidance assembly, damage to the vehicle body, shelves, and production line equipment is prevented, and vehicle maintenance costs are reduced.

[0021] Furthermore, by adding a tail-end charging module with a horn-shaped opening, its guiding function can significantly improve the contact efficiency of the external motor contacts, thereby improving the charging efficiency of the automated guided vehicle. Attached Figure Description

[0022] Figure 1 This diagram illustrates the structure of a compact, submersible automated guided vehicle according to an embodiment of the present invention.

[0023] Figure 2 The diagram shows a structural schematic of the first and second outer shells of a compact, submersible automated guided vehicle according to an embodiment of the present invention.

[0024] Figure 3 This diagram illustrates the structure of a compact chassis assembly in a submersible automated guided vehicle according to an embodiment of the present invention.

[0025] Figure 4 This diagram illustrates the structure of a compact anti-collision strip assembly in a submerged automated guided vehicle according to an embodiment of the present invention.

[0026] Figure 5 This diagram illustrates the connection between the central bar and the triggering device in a compact, submersible automated guided vehicle according to an embodiment of the present invention.

[0027] Figure 6 This diagram illustrates the connection between the lifting and rotating assembly and the chassis assembly in a compact, submersible automated guided vehicle according to an embodiment of the present invention.

[0028] Figure 7 This illustration shows a structural schematic of a lifting and rotating assembly in a compact, submersible automated guided vehicle according to an embodiment of the present invention. Figure I .

[0029] Figure 8 This illustration shows a structural schematic of a lifting and rotating assembly in a compact, submersible automated guided vehicle according to an embodiment of the present invention. Figure II .

[0030] Figure 9 This illustration shows a structural schematic of a lifting and rotating assembly in a compact, submersible automated guided vehicle according to an embodiment of the present invention. Figure III .

[0031] Figure 10 The diagram shows a structural schematic of the first or second link in a compact, submersible automated guided vehicle lifting and rotating assembly according to an embodiment of the present invention.

[0032] Figure 11 This diagram shows a partially enlarged schematic of a compact, submersible automated guided vehicle according to an embodiment of the present invention.

[0033] Figure 12 A cross-sectional view of a compact, submersible automated guided vehicle according to an embodiment of the present invention is shown.

[0034] Figure 13 This diagram illustrates the connection between the drive wheels, drive motor, and support assembly in a compact, submersible automated guided vehicle according to an embodiment of the present invention.

[0035] Figure 14 This diagram illustrates the structure of a compact tail-charging module in a submersible automated guided vehicle according to an embodiment of the present invention.

[0036] Markings in the diagram: 1. Rubber pad; 2. Lifting panel; 200. Camera recognition opening; 3. Camera shield; 4. Battery; 5. Antenna; 6. Chassis assembly; 600. First chassis; 601. Second chassis; 603. Column; 604. Positioning mounting hole; 605. Opening slot; 606. Opening; 607. Camera mounting hole; 608. Groove; 7. SLAM laser navigation radar; 8. Charging port; 9. Anti-collision strip assembly; 900. Wire; 901. Shaped strip; 902. Triggering device; 903. Safety device. Assembly; 904, First mounting hole; 905, Control center unit; 906, Hollow inner cavity; 907, Inductive safety trigger module; 10, Power distribution center unit; 11, Lifting and rotating assembly; 1100, Lifting motor; 1101, First pull rod; 1102, First pivot; 1103, First pull rod connecting rod; 1104, Second pivot; 1105, Crossbar; 1106, Third pivot; 1107, Second pull rod connecting rod; 1108, Fourth pivot; 1109, Long pull rod; 1111, Rotary... 1112. Rotary motor; 1113. Fixing plate; 1114. Gear; 1115. Slewing bearing; 1116. Short shaft; 11160. First connecting rod; 11161. Second connecting rod; 11170. Connecting rod body; 11171. Lower mounting block; 11172. Upper mounting block; 11173. First shaft hole; 11174. Second shaft hole; 12. Drive wheel; 1200. Drive motor; 1201. Bracket assembly; 1202. Cross arm; 1203. Fastener mounting hole; 1300. First housing; 130 1. Second outer casing; 1302. Power button; 1303. Debug button; 1304. Emergency stop button; 14. Chassis connecting shaft; 15. Support plate; 16. Shock absorber column; 17. Adjustment plate; 1800. First ground pattern QR code camera; 1801. Second ground pattern QR code camera; 19. First camera mounting bracket; 20. Second camera mounting bracket; 21. Tail charger module; 2100. Upper casing; 2101. Lower casing; 2102. Positive interface; 2103. Communication interface; 2104. Negative interface. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description of a compact, concealed automated guided vehicle (AGV) proposed by this utility model, in conjunction with the accompanying drawings and specific embodiments, provides further clarity. The advantages and features of this utility model will become clearer from the following description. It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clearly illustrate the purpose of the embodiments of this utility model. Please refer to the accompanying drawings for a clearer understanding of the objectives, features, and advantages of this utility model. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for illustrative purposes and to aid those skilled in the art, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by this utility model, should still fall within the scope of the technical content disclosed in this utility model.

[0038] Please refer to Figure 1 A compact, submersible automated guided vehicle (AGV) includes a chassis assembly 6, a lifting and rotating assembly 11, and drive wheels 12 mounted on the chassis assembly 6. The rotating end of the lifting and rotating assembly 11 is connected to a lifting panel 2, and a rubber pad 1 is attached to the surface of the lifting panel 2. The rubber pad 1 prevents items from making hard contact with the lifting panel 2, ensuring that the goods are not damaged.

[0039] For further information, please refer to the following: Figure 1 and Figure 3 The chassis assembly 6 includes a first chassis 600 and a second chassis 601 rotatably connected to the first chassis 600. An opening slot 605 is formed in the second chassis 601. Please refer to... Figure 13 The drive wheel 12 is connected to the drive motor 1200 via an output shaft. A bracket assembly 1201 is also attached to the outside of the drive motor 1200, forming crossarms 1202 on both sides of the drive motor 1200. The first chassis 600 and the second chassis 601 rotate slightly via a chassis connecting shaft 14. Compared to a conventional chassis assembly 6, this design eliminates at least one intermediate chassis, significantly reducing the overall size and length of the device. An opening 606 is also provided between the first chassis 600 and the second chassis 601, offering recognition space for the camera.

[0040] For further information, please refer to the following: Figure 1 and Figure 3The aforementioned opening slot 605 is used to place the drive motor 1200. On both sides of the opening slot 605, a plurality of positioning mounting holes 604 are also provided on the second chassis 601, and fastener mounting holes 1203 are provided on the cross arm 1202. The drive motor 1200 with drive wheel 12 is quickly assembled in the opening slot 605 through the fasteners, positioning mounting holes 604, and fastener mounting holes 1203, which greatly simplifies the assembly steps of the drive motor 1200 and improves the assembly efficiency.

[0041] Please refer to Figure 1 , Figure 3 , Figure 4 and Figure 5 Anti-collision strip assemblies 9 are provided at the distal ends of the first chassis 600 and the second chassis 601, with the distal end referring to the end away from the connection between the first chassis 600 and the second chassis 601. Specifically, the anti-collision strip assembly 9 includes a strip 901 and a triggering device 902 connected to the strip 901. The triggering device 902 is preferably an inductive safety contact edge. Multiple mounting members 903 are also connected to the inner side of the strip 901 facing the first chassis 600 and the second chassis 601, and each mounting member 903 has a first mounting hole 904. The strip 901 has a hollow inner cavity 906 inside, and a portion of the triggering device 902 is embedded inside the hollow inner cavity 906. The triggering device 902 also includes an inductive safety triggering module 907. The anti-collision strip assembly 9 also includes a wire 900, one end of which extends into the inductive safety triggering module 907, and the other end of which is connected to the control center unit 905, which is mounted on the first chassis 600.

[0042] For further details, please refer to... Figure 1 , Figure 3 , Figure 4 and Figure 5 Multiple grooves 608 are formed at the distal end of the first chassis 600 and the distal end of the second chassis 601. One end of the mounting member 903 with a first mounting hole 904 is fitted into the groove 608 and fixed by fasteners, so that the profile 901 is fixed to the outer end of the first chassis 600 or the second chassis 601. When the triggering device 902 contacts an obstacle, a change in pressure is generated. This change in pressure is reflected in the change of inductance inside the triggering device 902. It is connected to the control center unit 905 through the wire 900. When the control center unit 905 receives the danger signal, it immediately issues a stop signal for the guided vehicle, safely stopping the automated guided vehicle, ensuring safety and reducing losses. Please refer to Figure 1 , Figure 3 and Figure 11At the far end of the first chassis 600 and the far end of the second chassis 601, columns 603 are respectively set. Four columns 603 are arranged in a group of four points. An adjustment plate 17 is connected to the top of the four columns 603. The adjustment plate 17 is connected to a support plate 15 via a shock-absorbing column 16. A SLAM laser navigation radar 7 is installed on the surface of the support plate 15. A charging port 8 is also provided on the second chassis 601 near the SLAM laser navigation radar 7. A power distribution center unit 10, a battery 4, and an antenna 5 are also respectively installed on the second chassis 601. The power distribution center unit 10 is used to distribute power, the battery 4 is used to provide power to the various components, and the antenna 5 is a 5G antenna.

[0043] For further details, please refer to... Figure 12 Below the SLAM laser navigation radar 7, a tail-charging module 21 is also provided on the second chassis 601. The tail-charging module 21 significantly improves the contact efficiency of the external motor contacts, thereby improving the charging efficiency of the automated guided vehicle. Specifically, the tail-charging module 21 includes an upper housing 2100 and a lower housing 2101 connected to each other. The upper housing 2100 and the lower housing 2101 form a flared opening with a beveled surface after docking. This flared opening is mainly used to guide the external motor contacts, making it easier and faster for them to connect to the tail-charging module 21. Inside the tail-charging module 21, there are also a positive interface 2102, a communication interface 2103, and a negative interface 2104.

[0044] The specific structure of the lifting and rotating assembly 11 is described in detail below: Please refer to Figures 6 to 10 The lifting and rotating assembly 11 includes a lifting motor 1100. The output end of the lifting motor 1100 is connected to one end of a first pull rod 1101, which can be controlled to rotate. The other end of the first pull rod 1101 is connected to a first rotating shaft 1102, which is also connected to one end of a first connecting rod 11160 and one end of a first pull rod connecting rod 1103. The first connecting rod 11160 is rotatably mounted on the second chassis 601 via a short shaft 1115, while the other end of the first pull rod connecting rod 1103 is connected to a fixing plate 1112 via a second rotating shaft 1104. Specifically, the other end of the first pull rod connecting rod 1103 is connected to the end of the fixing plate 1112 near the lifting motor 1100.

[0045] For further information, please refer to the following: Figures 6 to 10The first rotating shaft 1102 is also connected to one end of a pair of crossbars 1105, the other end of which is connected to a third rotating shaft 1106. One end of the crossbar 1105 represents the end of the crossbar 1105 away from the lifting motor 1100. The third rotating shaft 1106 is also connected to one end of a second connecting rod 11161 and one end of a second pull rod connecting rod 1107, the other end of which is rotatably connected to the first chassis 600. Further, the other end of the second pull rod connecting rod 1107 away from the third rotating shaft 1106 is connected to a fourth rotating shaft 1108, which is also connected to the end of the fixing plate 1112 away from the lifting motor 1100. The fourth rotating shaft 1108 is also connected to one end of a pair of long pull rods 1109, the other end of which is rotatably connected to the second chassis 601 via a short shaft 1115.

[0046] Please refer to Figures 6 to 10 A rotary motor 1111 is also provided on the fixed plate 1112. The output end of the rotary motor 1111 is connected to a gear 1113. The gear 1113 meshes with the outer ring of the slewing bearing 1114 (the gear features in this embodiment are simplified, and the actual outer ring is toothed). The inner ring of the slewing bearing 1114 is fixed to the fixed plate 1112.

[0047] Please refer to Figure 10 The first link 11160 or the second link 11161 includes a link body 11170. A pair of upper mounting blocks 11172 are respectively provided on the upper half of the outer side of the link body 11170. Each upper mounting block 11172 has a first shaft hole 11173. A pair of lower mounting blocks 11171 are respectively provided on the lower half of the outer side of the link body 11170. Each lower mounting block 11171 has a second shaft hole 11174.

[0048] Please refer to Figures 6 to 10 The specific working process of the lifting and rotating assembly 11 is as follows: When the lifting motor 1100 is started, the first pull rod 1101 moves clockwise and drives the first rotating shaft 1102. Since the first rotating shaft 1102 is connected to the first pull rod connecting rod 1103 and the first connecting rod 11160 respectively, it transmits force to the first pull rod connecting rod 1103 and the first connecting rod 11160 respectively. The first connecting rod 11160 swings towards the lifting motor 1100 through the short shaft 1115, and the first pull rod connecting rod 1103 is simultaneously subjected to force and also swings towards the lifting motor 1100, so that the fixed plate 1112 is lifted to the highest point. Meanwhile, because the first rotating shaft 1102 is also connected to the third rotating shaft 1106 via the crossbar 1105, the third rotating shaft 1106, when subjected to force, drives the second connecting rod 11161 and the second pull rod connecting rod 1107 to move. The second connecting rod 11161 is also subjected to force and swings towards the lifting motor 1100. At the same time, the movement of the second pull rod connecting rod 1107 drives the fourth rotating shaft 1108 to move synchronously. The swing amplitudes of the first connecting rod 11160 and the second connecting rod 11161 are synchronized. And the movement of the fourth rotating shaft 1108 will cause the long pull rod 1109 to swing synchronously relative to the second chassis 601.

[0049] Please refer to Figure 1 and Figure 12 At the bottom of the fixed plate 1112, a first ground pattern QR code camera 1800 is connected via a first camera mounting bracket 19. A camera mounting hole 607 is also provided on the second chassis 601, and a second camera mounting bracket 20 is fixed to the camera mounting hole 607 with fasteners. The second ground pattern QR code camera 1801 is fixed to the top of the second camera mounting bracket 20. Furthermore, the automated guided vehicle also includes a camera shield 3, which is fixed to the bottom of the lifting panel 2 with fasteners. A camera recognition opening 200 is provided on the lifting panel 2. The aforementioned ground pattern QR code camera can scan QR codes on the ground or walls to achieve high-precision positioning and path planning. Furthermore, a first outer shell 1300 and a second outer shell 1301 are respectively provided on the outer sides of the first chassis 600 and the second chassis 601. A power button 1302, a debugging button 1303, and an emergency stop button 1304 are respectively provided on the second outer shell 1301.

[0050] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0051] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A compact, concealed automated guided vehicle, characterized in that: The device includes a chassis assembly, a lifting and rotating assembly and a drive wheel mounted on the chassis assembly. The rotating end of the lifting and rotating assembly is connected to a lifting panel. The chassis assembly includes a first chassis and a second chassis rotatably connected to the first chassis. An opening slot is formed on the second chassis. The drive wheel is connected to a drive motor via an output shaft. A bracket assembly is also covered on the outside of the drive motor. The bracket assembly forms cross arms on both sides of the drive motor.

2. The compact, submersible automated guided vehicle as described in claim 1, characterized in that: Positioning and mounting holes are respectively opened on both sides of the opening slot, and fastener mounting holes are also opened on the cross arm. The drive wheel and drive motor can be quickly assembled in the opening slot through the fasteners and the positioning and mounting holes and fastener mounting holes.

3. The compact, submersible automated guided vehicle as described in claim 1, characterized in that: Anti-collision strip assemblies are provided at the far end of the first chassis and at the far end of the second chassis. Each anti-collision strip assembly includes a strip and a triggering device connected to the strip. Multiple mounting parts are evenly distributed on the inner side of the strip, and each mounting part has a first mounting hole. The anti-collision strip assembly also includes a wire, one end of which extends into the interior of the triggering device, and the other end of which is connected to the control center unit.

4. The compact, submersible automated guided vehicle as described in claim 1, characterized in that: A column is also provided at the far end of the first chassis and at the far end of the second chassis. An adjustment plate is connected to the column. The adjustment plate is connected to the support plate through a shock-absorbing column. A SLAM laser navigation radar is provided on the surface of the support plate.

5. A compact, submersible automated guided vehicle as described in claim 4, characterized in that: A charging port is also provided on the second chassis near the SLAM laser navigation radar.

6. The compact, submersible automated guided vehicle as described in claim 1, characterized in that: The lifting and rotating assembly includes a lifting motor, the output end of which is connected to one end of a first pull rod. The other end of the first pull rod is connected to a first rotating shaft. The first rotating shaft is also connected to one end of a first connecting rod and one end of a first pull rod connecting rod. The other end of the first connecting rod is rotatably connected to a second chassis. The other end of the first pull rod connecting rod is connected to a fixed plate via a second rotating shaft. The first rotating shaft is also connected to one end of a pair of crossbars. The other end of each crossbar is connected to a third rotating shaft. The third rotating shaft is also connected to one end of a second connecting rod and one end of a second pull rod connecting rod. The other end of the second pull rod connecting rod is connected to a fourth rotating shaft. The fourth rotating shaft is also connected to a fixed plate. A pair of long pull rods are also connected to one end of the fourth rotating shaft. The other end of the long pull rods is rotatably connected to the second chassis. The other end of the second connecting rod is rotatably connected to the first chassis.

7. A compact, submersible automated guided vehicle as described in claim 6, characterized in that: A rotary motor is also provided on the fixed plate, and the output end of the rotary motor is connected to a gear, which meshes with the outer ring of the slewing bearing.

8. A compact, submersible automated guided vehicle as described in claim 7, characterized in that: The first or second link includes a link body, with a pair of upper mounting blocks respectively provided on the upper outer half of the link body, each of the upper mounting blocks having a first shaft hole, and a pair of lower mounting blocks respectively provided on the lower outer half of the link body, each of the lower mounting blocks having a second shaft hole.

9. A compact, submersible automated guided vehicle as described in claim 6, characterized in that: A first ground pattern QR code camera is connected to the bottom of the fixed plate via a first camera mounting bracket. A camera mounting hole is also opened on the second chassis. The second camera mounting bracket is fixed to the camera mounting hole by fasteners. The second ground pattern QR code camera is fixed to the top of the second camera mounting bracket.

10. A compact, submersible automated guided vehicle as described in claim 6, characterized in that: The automated guided vehicle also includes a camera shield, which is fixed to the bottom of the lifting panel by fasteners. The lifting panel has a camera recognition opening.

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