AGV vehicle

Abstract

The utility model discloses a kind of AGV dolly, AGV dolly includes: carrier body;Mechanical arm, mechanical arm is located in carrier body;First support, first support is located in carrier body and switches between first state and second state, in first state, first support is located in the side of carrier body and is arranged in first horizontal direction with mechanical arm interval, for carrying debugging device, in second state, first support is housed in carrier body.According to the AGV dolly of the utility model embodiment, by setting first support on carrier body, and first support can carry debugging device when AGV dolly works, so that debugging device and carrier body can be moved together, can guarantee the debugging effect and experimental effect of AGV dolly, and compared with the scheme that operator carries debugging device and moves together with carrier body, can improve the debugging efficiency of AGV dolly, can improve the experimental efficiency of AGV dolly, and it is convenient to operate.

Description

Technical Field

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

[0002] AGV (Automated Guided Vehicle) technology is developing rapidly. During the debugging and testing phase, the AGV needs to be connected to a computer for extensive debugging and experimentation. Currently, existing AGVs and computers are generally separate entities, requiring operators to carry the computer and move it with the AGV. This results in poor operational convenience, impacting both debugging and testing efficiency, and indicates room for improvement. Utility Model Content

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, one objective of the present invention is to provide an AGV (Automated Guided Vehicle) that is highly efficient in debugging and experimentation, and easy to operate.

[0004] An AGV (Automated Guided Vehicle) according to an embodiment of the present invention includes: a carrier body; a robotic arm disposed on the carrier body; and a first bracket disposed on the carrier body and switching between a first state and a second state. In the first state, the first bracket is located on one side of the carrier body and spaced apart from the robotic arm in a first horizontal direction, for supporting debugging equipment. In the second state, the first bracket is housed in the carrier body.

[0005] According to the embodiments of the present invention, the AGV trolley has a first bracket on the carrier body, which can support the debugging equipment when the AGV trolley is working. This allows the debugging equipment and the carrier body to move together, ensuring the debugging and experimental effects of the AGV trolley. Compared with the solution where the operator carries the debugging equipment and moves with the carrier body, this method can improve the debugging efficiency of the AGV trolley, improve the experimental efficiency of the AGV trolley, and facilitate operation.

[0006] According to some embodiments of the present invention, the first bracket is slidably disposed on the carrier body along the first horizontal direction.

[0007] In some embodiments, the first support includes two first carriers arranged in a second horizontal direction to jointly support the debugging device in the first state, the second horizontal direction being perpendicular to the first horizontal direction, and each first carrier being slidably connected to the carrier body.

[0008] In some embodiments, the two first carrier members are slidably connected to opposite sides of the vehicle body in the second horizontal direction, and a clearance space is formed between them for avoiding the vehicle body in the second state.

[0009] In some embodiments, the first support member includes: a first extension section and a second extension section, the first extension section extending along the first horizontal direction and having one end slidably connected to the carrier body, the second extension section being connected to the other end of the first support section and protruding from the upper surface of the first extension section; and / or, the first support further includes: a limiting rod, the two ends of the limiting rod being respectively connected to the two first support members, and the top of the limiting rod being higher than the upper surface of the first support member, in the first state, the limiting rod and the carrier body being spaced apart in the first horizontal direction and used to stop the debugging equipment, and in the second state, the limiting rod being adapted to contact the carrier body.

[0010] According to some embodiments of the present invention, the carrier body has a defined accommodating space, and the first support includes: a second bearing member, the second bearing member being slidably connected to the carrier body. In the first state, the second bearing member is located on one side of the carrier body and is used to support the debugging equipment. In the second state, the second bearing member is at least partially housed in the accommodating space. The second bearing member is a bearing plate, or the second bearing member includes at least two bearing rods arranged in a second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction.

[0011] According to some embodiments of the present invention, the vehicle body is equipped with a slide rail assembly, the slide rail assembly includes a fixed rail and a moving rail, the fixed rail is connected to the vehicle body, the moving rail is connected to the first bracket, and both the moving rail and the fixed rail extend along the first horizontal direction and are slidably connected.

[0012] According to some embodiments of this utility model, the AGV trolley further includes: a second bracket, the second bracket being disposed on the carrier body, the second bracket including: a support rod, the support rod extending in a vertical direction and having its lower end connected to the carrier body, in the first state, the support rod being located between the first bracket and the robotic arm in the first horizontal direction; and a mounting rod, one end of the mounting rod being connected to the upper end of the support rod, and the other end extending toward the robotic arm for mounting a detector.

[0013] In some embodiments, the second bracket further includes: a reinforcing beam extending along an arc, one end of the reinforcing beam being connected to the middle of the support rod and the other end being connected to the middle of the mounting rod; and / or, the support rod having a first buffer on the side away from the robotic arm in the first horizontal direction; and / or, the carrier body having a second buffer on the side wall away from the robotic arm in the first horizontal direction.

[0014] According to some embodiments of the present invention, the carrier body includes: a base plate; a mounting assembly disposed above the base plate and including two mounting beams and at least one connecting plate, the two mounting beams being spaced apart and connected by the connecting plate, a first bracket being slidably connected to the two mounting beams, and the connecting plate being used to mount the robotic arm; multiple support beams arranged circumferentially along the base plate, each support beam being connected to the base plate and at least one mounting beam; multiple wheels mounted on the multiple support beams; and a drive motor connected to the wheels for driving the wheels to rotate; wherein the base plate, the mounting assembly, and the multiple support beams together define an installation space, and a battery is installed in the installation space for powering the drive motor.

[0015] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0017] Figure 1 This is a schematic diagram of the operation of an AGV (Automated Guided Vehicle) according to some embodiments of the present invention;

[0018] Figure 2 This is a structural schematic diagram of an AGV vehicle according to some embodiments of the present invention from a certain perspective, wherein the first support is in a first state;

[0019] Figure 3 This is a structural schematic diagram of an AGV trolley according to some embodiments of the present invention from another perspective, wherein the first support is in a first state;

[0020] Figure 4 This is a structural schematic diagram of an AGV trolley according to some embodiments of the present invention, wherein the first support is in a second state.

[0021] Figure label:

[0022] AGV carts: 100; debugging equipment: 200.

[0023] Vehicle body 10, floor plate 11, mounting beam 12, connecting plate 13, support beam 14, wheels 15, drive motor 16, battery 17.

[0024] First bracket 20, first load-bearing member 21, first extension section 211, second extension section 212, limiting rod 22.

[0025] Second bracket 30, support rod 31, mounting rod 32, reinforcing beam 33.

[0026] Robotic arm 40, slide rail assembly 50, fixed rail 51, moving rail 52, first buffer 61, second buffer 62.

[0027] Detector 70. Detailed Implementation

[0028] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0029] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, 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, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0030] 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.

[0031] The following is for reference. Figures 1-4 This invention describes an AGV trolley 100 according to an embodiment of the present invention.

[0032] like Figures 1-4 As shown, the AGV trolley 100 according to an embodiment of the present invention includes: a carrier body 10, a robotic arm 40, and a first support 20. The robotic arm 40 can be mounted on the carrier body 10 for picking up and placing items. The first support 20 can be mounted on the carrier body 10 and can switch between a first state and a second state. When the first support 20 is in the first state, the first support 20 can be located on one side of the carrier body 10 (e.g., ...). Figure 1 As shown on the rear side), that is, the entire first bracket 20 can be located on one side of the carrier body 10, which is beneficial for supporting the debugging equipment 200 (such as a laptop computer).

[0033] Furthermore, when the first support 20 is in the first state, the first support 20 and the robotic arm 40 can be in the first horizontal direction (e.g., Figure 1 The arrangement of the support brackets (in the front-back direction as shown) at intervals can increase the distance between the debugging equipment 200 and the robotic arm 40, prevent the debugging equipment 200 and the robotic arm 40 from interfering with each other, thereby improving the reliability and stability of the debugging equipment 200 and improving the debugging and experimental effects of the AGV trolley 100. When the first support bracket 20 is in the second state, the first support bracket 20 can be stored in the carrier body 10, which can reduce the space occupied by the AGV trolley 100 and is conducive to the miniaturization of the AGV trolley 100.

[0034] Understandably, by adopting a design where the first support 20 and the carrier body 10 are relatively movable, on the one hand, the first support 20 can be moved away from the carrier body 10 when the AGV 100 is working, and used to support the debugging equipment 200. Compared with the solution where the operator carries a laptop and moves with the carrier body 10, this can improve the debugging efficiency of the AGV 100, improve the experimental efficiency of the AGV 100, and facilitate operation. On the other hand, the carrier body 10 can store the first support 20 when the AGV 100 is not working, making it convenient for the operator to take away the debugging equipment 200 for other purposes, and reducing the space occupied by the AGV 100 in the non-working state, making it easier to store.

[0035] According to the embodiment of the present utility model, the AGV trolley 100 is equipped with a first bracket 20 on the carrier body 10. The first bracket 20 can support the debugging equipment 200 when the AGV trolley 100 is working, so that the debugging equipment 200 and the carrier body 10 can move together. This can ensure the debugging and experimental effects of the AGV trolley 100. Compared with the solution of the operator carrying the debugging equipment 200 and moving with the carrier body 10, this can improve the debugging efficiency of the AGV trolley 100, improve the experimental efficiency of the AGV trolley 100, and facilitate operation.

[0036] like Figure 1 , Figure 2 and Figure 4 As shown, according to some embodiments of the present invention, the first bracket 20 is slidably disposed on the vehicle body 10, and the first bracket 20 can be positioned relative to the vehicle body 10 in a first horizontal direction (e.g., Figure 2 Sliding the first support 20 in the forward and backward direction (as shown) can switch the first support 20 between the first state and the second state, and can ensure the stability of the first support 20 in switching between the first state and the second state, which is beneficial to improving the debugging effect and experimental effect of the AGV trolley 100.

[0037] like Figure 1 , Figure 2 and Figure 4 As shown, in some embodiments, the first support 20 may include two first support members 21, which may be positioned in a second horizontal direction (e.g., Figure 2 The arrangement (as shown in the left-right direction) allows the two first bearing members 21 to cooperate when the first bracket 20 is in the first state, so as to jointly support the debugging equipment 200. This can improve the reliability and stability of the support of the debugging equipment 200, and improve the debugging and experimental effects of the AGV trolley 100.

[0038] Second horizontal direction (e.g.) Figure 2 (as shown in the left and right directions) and the first horizontal direction ... right horizontal direction) Figure 2 The front and rear directions shown can be perpendicular to each other, and each first support member 21 can be slidably connected to the carrier body 10. Based on ensuring that the two first support members 21 jointly support the debugging equipment 200, interference between the first support 20 and the carrier body 10 can be prevented, the smoothness of the sliding of the first support 20 can be improved, and the operation can be facilitated.

[0039] like Figure 1 , Figure 2 and Figure 4 As shown, in some embodiments, two first carrier members 21 can be slidably connected to the vehicle body 10, and the two first carrier members 21 can be respectively located on the vehicle body 10 in the second horizontal direction (e.g., Figure 2 The opposite sides (as shown in the left and right directions) on the left and right sides (such as Figure 2 As shown on the left and right sides), that is, the two first support members 21 can be slidably connected to the opposite sides of the vehicle body 10 respectively, and a clearance space can be formed between the two first support members 21, which can increase the distance between the two first support members 21, so that the vehicle body 10 can extend into the clearance space when the first support 20 is in the second state, so that the first support 20 can avoid the vehicle body 10 in the second state, and the first support 20 can be stored.

[0040] like Figure 1 , Figure 2 and Figure 4 As shown, in some embodiments, the first carrier 21 may include a first extension 211 and a second extension 212, the first extension 211 being along a first horizontal direction (e.g., Figure 2 (as shown in the front-back direction) extends, and one end of the first extension segment 211 (as shown in the figure) Figure 2 The front end shown can be slidably connected to the vehicle body 10, and the second extension 212 can be connected to the other end of the first bearing section (such as...). Figure 2 The rear end (shown) is connected so that the first extension 211 can slide relative to the vehicle body 10 to drive the entire first bracket 20 to switch between the first state and the second state.

[0041] The second extension 212 may protrude from the upper surface of the first extension 211, such that the second extension 212 can be connected to the side of the carrying device away from the carrier body 10 (e.g., Figure 1 The rear side (as shown) is used to stop the debugging equipment 200, which can limit the bearing equipment, prevent the bearing equipment from detaching from the first support 20 when the carrier body 10 moves, improve the reliability and stability of the bearing of the debugging equipment 200, and improve the debugging and experimental effects of the AGV trolley 100.

[0042] like Figure 1 , Figure 2 and Figure 4 As shown, in some embodiments, the first bracket 20 may further include a limiting rod 22, the two ends of which (e.g., Figure 2 The left and right ends shown can be connected to the two first support members 21 respectively, and the top of the limiting rod 22 can be higher than the upper surface of the first support member 21. When the first bracket 20 is in the first state, the limiting rod 22 and the carrier body 10 can be in the first horizontal direction (e.g., Figure 2 The arrangement of the two first bearing members 21 at intervals (as shown in the front-back direction) facilitates the joint support of the debugging equipment 200 by the two first bearing members 21, and allows the limiting rod 22 to be positioned on the side of the bearing equipment away from the carrier body 10 (e.g., Figure 1The rear side (as shown) is used to stop the debugging equipment 200.

[0043] Therefore, the bearing equipment can be limited, preventing it from detaching from the first support 20 when the carrier body 10 is moving. This can improve the reliability and stability of the bearing equipment 200, and improve the debugging and experimental effects of the AGV trolley 100. It is understood that the limiting rod 22 can be connected to the second extension 212 of the first bearing member 21, which can improve the limiting effect on the bearing equipment.

[0044] Furthermore, when the first support 20 is in the second state, the limiting rod 22 can contact the vehicle body 10, thereby limiting the first support 20 and preventing the first support 20 from being difficult to switch between the first and second states due to excessive movement. It is understood that the first bearing member 21 can be a rod-shaped structure, which facilitates the sliding of the first support 20 relative to the vehicle body 10 on the outside of the vehicle body 10. This allows the first support 20 to be inserted into the clearance space between the two first bearing members 21 through the vehicle body 10 to be housed in the vehicle body 10, and ensures that the first support 20 is always exposed to the vehicle body 10 when switching between the first and second states, which is convenient for maintenance.

[0045] According to some other embodiments of the present invention, the vehicle body 10 may have a defined accommodating space, the first support 20 may include a second support member, the second support member and the vehicle body 10 may be slidably connected, and when the first support 20 is in a first state, the second support member may be located on one side of the vehicle body 10 (e.g., Figure 2 (as shown on the rear side), so that the second support member can support the debugging equipment 200. When the first support 20 is in the second state, at least a part of the second support member can be stored in the accommodating space, which can reduce the space occupied by the AGV trolley 100, which is conducive to the miniaturization of the AGV trolley 100. At the same time, it can protect the first support 20 and improve the service life of the first support 20.

[0046] The second carrier may include at least two in the second horizontal direction (e.g., Figure 2 The load-bearing rods arranged in the left-right direction (as shown) allow the two load-bearing rods to jointly support the debugging equipment 200, and the second horizontal direction (as shown) Figure 2 (as shown in the left and right directions) and the first horizontal direction (such as) Figure 2 The front and back directions shown can be perpendicular.

[0047] Therefore, based on ensuring that the second support member supports the debugging equipment 200, interference between the first bracket 20 and the carrier body 10 can be prevented, the smoothness of the sliding of the first bracket 20 can be improved, and operation can be facilitated. Alternatively, the second support member can be a support plate, and the support plate can be slidably connected to the carrier body 10 on opposite sides in the second horizontal direction, so that the second support member can be completely housed in the carrier body 10 when the first bracket 20 is in the second state, which can improve the protection effect on the first bracket 20.

[0048] like Figure 1 , Figure 2 and Figure 4 As shown, according to some embodiments of the present invention, the vehicle body 10 may be equipped with a slide rail assembly 50. The slide rail assembly 50 may include a fixed rail 51 and a movable rail 52. The fixed rail 51 may be connected to the vehicle body 10, and the movable rail 52 may be connected to the first bracket 20. Both the movable rail 52 and the fixed rail 51 may be mounted along a first horizontal direction (e.g., ...). Figure 1 Extending in the front-to-back direction (as shown), and with the moving rail 52 and the fixed rail 51 slidably connected, the reliability and stability of the sliding of the first support 20 relative to the carrier body 10 can be improved, as well as the smoothness of the sliding of the first support 20, making it easier to operate.

[0049] According to some embodiments of the present invention, the vehicle body 10 may have a slider, the first bracket 20 may have a groove, and the groove and the slider may be slidably connected; or, the vehicle body 10 may have a groove, the first bracket 20 may have a slider, the slider and the groove may be slidably connected, and the slider and the groove may be respectively along a first horizontal direction (e.g., Figure 1 Extending in the front-to-back direction (as shown), based on the realization of the first support 20 sliding relative to the vehicle body 10 in the first horizontal direction, it is beneficial to reduce costs.

[0050] like Figure 1 , Figure 2 and Figure 3 As shown, according to some embodiments of the present invention, the AGV trolley 100 may further include a second bracket 30, which may be mounted on the carrier body 10. The second bracket 30 may include a support rod 31 and a mounting rod 32. The support rod 31 may be mounted vertically (e.g., ...). Figure 1 (as shown in the vertical direction) extends, and the lower end of the support rod 31 (as shown in the vertical direction) extends... Figure 1 The lower end shown can be connected to the vehicle body 10. When the first bracket 20 is in the first state, in the first horizontal direction (e.g., Figure 1 In the forward and backward direction shown, the support rod 31 can be located between the first bracket 20 and the robotic arm 40, which can prevent the debugging equipment 200 and the second bracket 30 from interfering with each other, and can improve the reliability and stability of the load on the debugging equipment 200.

[0051] One end of the mounting rod 32 (e.g.) Figure 1 The rear end shown can be connected to the upper end of the support rod 31 (as shown). Figure 1 The upper end shown is connected, and the other end of the mounting rod 32 (as shown) is connected. Figure 1 The front end shown can be oriented towards the robotic arm 40 (e.g., Figure 1 Extending from back to front (as shown), it is used to install the detector 70 (such as a camera), which can increase the height of the detector 70, improve the working effect of the detector 70, prevent the robotic arm 40 and the second support 30 from interfering with each other, and improve the reliability and stability of the robotic arm 40.

[0052] like Figure 1 , Figure 2 and Figure 4 As shown, in some embodiments, the second support 30 may further include a reinforcing beam 33, one end of which (e.g. Figure 1 The lower end shown can be connected to the middle of the support rod 31, and the other end of the reinforcing beam 33 (as shown) can be connected to the middle of the support rod 31. Figure 1 The upper end shown can be connected to the middle part of the mounting rod 32, so that the support rod 31, the mounting rod 32 and the support beam 14 can cooperate to form a triangular bracket structure. The reinforcing beam 33 can extend along a straight line to ensure the structural strength of the second bracket 30. Alternatively, the reinforcing beam 33 can extend along an arc so that the support rod 31 and the mounting rod 32 can be fully stressed by the reinforcing beam 33, which can improve the structural strength of the second bracket 30, improve the load-bearing capacity of the second bracket 30 and improve the service life of the second bracket 30.

[0053] like Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments, when the first support 20 is in the first state, the side of the debugging device 200 closest to the carrier body 10 (e.g.) Figure 1 The front side (as shown) can contact the support rod 31 and the carrier body 10, which can limit the positioning of the debugging equipment 200 and improve the reliability and stability of the load on the debugging equipment 200. The support rod 31 can be provided with a first buffer 61, which can be located on the support rod 31 in the first horizontal direction (e.g., Figure 3 The side away from the robotic arm 40 (as shown in the front-back direction) is (e.g.) Figure 3 The front side wall shown allows the first buffer 61 to contact the debugging equipment 200, which can buffer the force between the debugging equipment 200 and the support rod 31, thus protecting the debugging equipment 200.

[0054] Alternatively, the vehicle body 10 may be provided with a second buffer 62, which may be located in the first horizontal direction (e.g., Figure 3 The side away from the robotic arm 40 (as shown in the front-back direction) is (e.g.) Figure 3 The front sidewall shown allows the second buffer 62 to contact the debugging equipment 200, buffering the force between the debugging equipment 200 and the carrier body 10, thus protecting the debugging equipment 200. Alternatively, the support rod 31 can be equipped with a first buffer 61, and the carrier body 10 can be equipped with a second buffer 62. The first buffer 61 and the second buffer 62 work together to improve the protection of the debugging equipment 200. It is understood that both the first buffer 61 and the second buffer 62 can be flexible materials such as silicone, rubber, or sponge, which can improve the buffering effect of the force.

[0055] like Figure 1 , Figure 2 and Figure 4 As shown, according to some embodiments of the present invention, the vehicle body 10 may include a base plate 11, a mounting assembly, multiple support beams 14, multiple wheels 15, and a drive motor 16. The mounting assembly may be disposed above the base plate 11 (e.g., Figure 2 (as shown above), and the mounting assembly may include two mounting beams 12 and at least one connecting plate 13. The two mounting beams 12 may be arranged at intervals and the two mounting beams 12 may be connected by the connecting plate 13, and the connecting plate 13 may be used to mount the robotic arm 40.

[0056] The first bracket 20 can be slidably connected to the two mounting beams 12, which can realize the switching of the first bracket 20 between the first state and the second state. It is understood that the sizes of the different connecting plates 13 can be different, and the connecting plate 13 can be a plate structure for mounting the robotic arm 40, or the connecting plate 13 can be a profile structure for mounting the second bracket 30.

[0057] Multiple support beams 14 can be arranged circumferentially along the base plate 11. Each support beam 14 can be connected to the base plate 11 and at least one mounting beam 12 respectively. Multiple wheels 15 can be installed on multiple support beams 14 respectively. The support beams 14 can be plate-shaped structures bent to one side, which can improve the support effect on the mounting components. The drive motor 16 can be installed on the bent side of the support beam 14, which can realize the protection of the drive motor 16.

[0058] The drive motor 16 can be connected to the walking wheel 15 to drive the walking wheel 15 to rotate. The base plate 11, the mounting components and multiple support beams 14 can jointly define the mounting space for mounting the battery 17. The battery 17 can power the drive motor 16. It should be noted that the vehicle body 10 may also include an ultrasonic bracket and a tracking mounting plate. The ultrasonic bracket is used to mount the ultrasonic sensor and the tracking mounting plate is used to mount the tracking sensor.

[0059] Other configurations and operations of the AGV trolley 100 according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here. In the description of the present invention, "first feature" and "second feature" may include one or more of the features. The up-down direction, left-right direction, and front-back direction are defined as shown in the figures.

[0060] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features not in direct contact but through another feature between them. Moreover, "above," "over," and "on top" of the second feature include the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature.

[0061] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0062] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An AGV (Automated Guided Vehicle) trolley, characterized in that, include: Vehicle body; A robotic arm, which is mounted on the vehicle body; A first support is disposed on the vehicle body and switches between a first state and a second state. In the first state, the first support is located on one side of the vehicle body and is spaced apart from the robotic arm in a first horizontal direction for supporting debugging equipment. In the second state, the first support is housed in the vehicle body.

2. The AGV trolley according to claim 1, characterized in that, The first bracket is slidably disposed on the vehicle body along the first horizontal direction.

3. The AGV trolley according to claim 2, characterized in that, The first support includes: Two first carriers are arranged in a second horizontal direction to jointly support the debugging equipment in the first state. The second horizontal direction is perpendicular to the first horizontal direction, and each first carrier is slidably connected to the carrier body.

4. The AGV trolley according to claim 3, characterized in that, The two first bearing members are slidably connected to opposite sides of the vehicle body in the second horizontal direction, and a clearance space is formed between them for avoiding the vehicle body in the second state.

5. The AGV trolley according to claim 3, characterized in that, The first carrier includes: a first extension section and a second extension section. The first extension section extends along the first horizontal direction and is slidably connected at one end to the carrier body. The second extension section is connected to the other end of the first carrier section and protrudes from the upper surface of the first extension section. And / or, the first bracket further includes: a limiting rod, the two ends of which are respectively connected to the two first bearing members, and the top of the limiting rod is higher than the upper surface of the first bearing member. In the first state, the limiting rod and the carrier body are spaced apart in the first horizontal direction and are used to stop the debugging equipment. In the second state, the limiting rod is adapted to contact the carrier body.

6. The AGV trolley according to claim 1, characterized in that, The vehicle body has a defined accommodating space, and the first support includes: The second support member is slidably connected to the vehicle body. In the first state, the second support member is located on one side of the vehicle body and is used to support the debugging equipment. In the second state, the second support member is at least partially housed in the accommodating space. Wherein, the second support member is a support plate, or the second support member includes at least two support rods arranged in a second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction.

7. The AGV trolley according to claim 1, characterized in that, The vehicle body is equipped with a slide rail assembly, which includes a fixed rail and a moving rail. The fixed rail is connected to the vehicle body, and the moving rail is connected to the first bracket. Both the moving rail and the fixed rail extend along the first horizontal direction and are slidably connected.

8. The AGV trolley according to any one of claims 1-7, characterized in that, Also includes: A second support, disposed on the vehicle body, the second support comprising: A support rod extends vertically and its lower end is connected to the vehicle body. In the first state, the support rod is located between the first bracket and the robotic arm in the first horizontal direction. The mounting rod has one end connected to the upper end of the support rod and the other end extending toward the robotic arm for mounting the probe.

9. The AGV trolley according to claim 8, characterized in that, The second bracket further includes: a reinforcing beam extending along an arc, one end of the reinforcing beam being connected to the middle of the support rod and the other end being connected to the middle of the mounting rod; And / or, the support rod is provided with a first buffer on the side away from the robotic arm in the first horizontal direction; And / or, the vehicle body has a second buffer on the side wall away from the robotic arm in the first horizontal direction.

10. The AGV trolley according to any one of claims 1-7, characterized in that, The vehicle body includes: Base plate; The mounting assembly is located above the base plate and includes two mounting beams and at least one connecting plate. The two mounting beams are spaced apart and connected by the connecting plate. The first bracket is slidably connected to the two mounting beams. The connecting plate is used to mount the robotic arm. Multiple support beams are arranged circumferentially along the base plate, and each support beam is connected to the base plate and at least one mounting beam. Multiple wheels are mounted on multiple support beams. A drive motor is connected to the walking wheel and is used to drive the walking wheel to rotate; The base plate, the mounting components, and the multiple support beams together define an installation space, within which a battery is installed to power the drive motor.

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