Storage AGV with automatic transverse avoidance walking device after fault
阅读说明:本技术 一种具有故障后自动横向避让行走装置的仓储agv (Storage AGV with automatic transverse avoidance walking device after fault ) 是由 李鹏 何均锋 申艳红 邹安帮 王明达 赵亚东 于 2020-06-18 设计创作,主要内容包括:本发明公开一种具有故障后自动横向避让行走装置的仓储AGV,包含AGV底盘总成和横向行走装置。所述横向行走装置包括驱动部分、升降部分和行走部分;所述驱动部分包括步进电机、带轮、主动锥齿轮等动力传输机构;升降部分主要包括第二传动机构,步进电机通过第二传动机构带动左摇臂和右摇臂摆动,使得备用轮锁止接合套与从动锥齿轮锁止接合套同轴相对贴合或离开;所述行走部分包括备用轮、从动锥齿轮轴支架、从动锥齿轮锁止接合套、备用轮锁止接合套和从动锥齿轮。该AGV结构简单,成本较低,可以在其抛锚后自行启动横向避让行走装置驶离道路,避免后车群为避障而绕行,提高了整个仓储物流AGV系统的安全性和运行效率。(The invention discloses a storage AGV with an automatic transverse avoidance walking device after a fault, which comprises an AGV chassis assembly and a transverse walking device. The transverse walking device comprises a driving part, a lifting part and a walking part; the driving part comprises power transmission mechanisms such as a stepping motor, a belt wheel, a driving bevel gear and the like; the lifting part mainly comprises a second transmission mechanism, and the stepping motor drives the left rocker arm and the right rocker arm to swing through the second transmission mechanism so that the spare wheel locking joint sleeve and the driven bevel gear locking joint sleeve are coaxially and relatively attached or detached; the walking part comprises a spare wheel, a driven bevel gear shaft bracket, a driven bevel gear locking joint sleeve, a spare wheel locking joint sleeve and a driven bevel gear. This AGV simple structure, the cost is lower, can start by oneself after its breaks down and transversely dodge running gear and drive away from the road, avoids the back car crowd to walk around for keeping away the barrier, has improved the security and the operating efficiency of whole storage commodity circulation AGV system.)
1. A storage AGV with a post-fault automatic transverse avoidance walking device is characterized by comprising an AGV chassis assembly and a transverse walking device; the AGV chassis assembly comprises a left hub motor (1) and a right hub motor (1) which are arranged on an AGV chassis (2); the transverse walking device comprises a driving part, a lifting part and a walking part;
the driving part comprises a driving group shell (3) arranged on the AGV chassis (2), a stepping motor (4) which is arranged on the driving group shell (3) and used as a power source, and a driving bevel gear (26), wherein the stepping motor (4) drives the driving bevel gear (26) to rotate through a first transmission mechanism;
the walking part comprises a left spare wheel and a right spare wheel (11), a driven bevel gear locking joint sleeve (24), a spare wheel locking joint sleeve (25) and a driven bevel gear (27); left and right spare wheel shafts of the left and right spare wheels (11) are respectively fixed with the left rocker arm (22) and the right rocker arm (19) in the axial direction and are connected in the circumferential direction in a rotating way; the driven bevel gear (27) is meshed with the driving bevel gear (26) and fixed on a driven bevel gear shaft, and two driven bevel gear locking joint sleeves (24) are respectively fixed at two ends of the driven bevel gear shaft; spare wheel locking joint sleeves (25) are respectively fixed on the left spare wheel shaft and the right spare wheel shaft; an unlocking mechanism is arranged in the driven bevel gear locking joint sleeve (24), and a locking mechanism is arranged in the spare wheel locking joint sleeve (25);
the locking mechanism comprises an outward extending locking rod (28) which can extend out of the spare wheel locking joint sleeve (25) and extend into the driven bevel gear locking joint sleeve (24), and the outward extending locking rod (28) is in force transmission connection with the spare wheel locking joint sleeve (25) and the driven bevel gear locking joint sleeve (24) in the circumferential direction;
the unlocking mechanism is used for pushing out an extending locking rod (28) extending into the driven bevel gear locking joint sleeve (24) so that the extending locking rod (28) retracts into the spare wheel locking joint sleeve (25);
the lifting part comprises a second transmission mechanism, and the stepping motor (4) drives the left rocker arm (22) and the right rocker arm (19) to swing through the second transmission mechanism, so that the spare wheel locking joint sleeve (25) and the driven bevel gear locking joint sleeve (24) are coaxially and relatively attached or separated.
2. The warehousing AGV of claim 1, characterized in that the first transmission in the drive section includes a drive bevel gear shaft (12), a pair of pulleys (21), a V-belt (20), and a drive bevel gear (26); the driving bevel gear shaft (12) is rotatably arranged on the chassis (2) through a bearing, and the driving bevel gear (26) is arranged on the driving bevel gear shaft (12); the pair of belt wheels (21) are respectively arranged on an output shaft of the stepping motor (4) and the driving bevel gear shaft (12), and the V-shaped belt (20) is tightly sleeved on the pair of belt wheels (21).
3. The storage AGV according to claim 1, characterised in that the second transmission in the lifting section comprises a precession gear (5), a nut (6), a lead screw (7), a transmission housing (8), a change gear (13), a left rocker gear (14), a middle gear (15), an upper gear (16), a toothed timing belt (17), a right rocker gear (18); the transmission assembly shell (8) is fixed on the AGV chassis (2); the precession gear (5) is fixed with the nut (6); the nut (6) is connected with the lead screw (7), the lead screw (7) is fixed on the transmission assembly shell (8), and a spring (41) with two ends respectively contacted with the nut (6) and the transmission assembly shell (8) is sleeved on the lead screw; the intermediate gear (15) is fixed on an intermediate gear shaft fixedly connected with an output shaft of the stepping motor (4); the upper gear (16) is fixed on an upper gear shaft, the upper gear shaft is installed on the transmission assembly shell (8) and/or the driving set shell (3) through a bearing, the direction-changing gear (13) is fixed on the direction-changing gear shaft, the direction-changing gear shaft is installed on the transmission assembly shell (8) and/or the driving set shell (3) through a bearing, the left rocker arm gear (14) is meshed with the direction-changing gear (13), and one end of the left rocker arm gear shaft is installed on the transmission assembly shell (8) and/or the driving set shell (3) through a bearing; the right rocker gear (18) and the left rocker gear (14) are symmetrically arranged, and a right rocker gear shaft of the right rocker gear is arranged on the transmission assembly shell (8) and/or the driving assembly shell (3) through a bearing; one ends of the right rocker arm (19) and the left rocker arm (22) are symmetrically arranged on a right rocker arm gear shaft and a left rocker arm gear shaft respectively, and the toothed synchronous belt (17) is meshed with the change gear (13), the upper gear (16) and the right rocker arm gear (18).
4. A storage AGV according to claim 3, characterised in that the second transmission in the lifting section further comprises a small turntable (37) rotatably mounted on the transmission assembly housing (8), the lead screw (7) passing through the centre of the small turntable (37); two ends of the spring (41) are respectively connected with the nut (6) and the small turntable (37).
5. The storage AGV according to claim 1, characterised in that the locking mechanism further comprises a retractable locking bar (29), a locking ball (30), a saw tooth shaped locking slot (33); the zigzag locking groove (33) has a section at each of opposite ends of the driven bevel gear locking engaging sleeve (24) and the spare wheel locking engaging sleeve (25); the outward extending locking rod (28) is composed of two sections and is axially and slidably connected in the spare wheel locking joint sleeve (25) through an external locking rod pressure spring (45), the front half section is a sawtooth-shaped part matched with the sawtooth-shaped locking groove (33), the rear half section is a cylindrical part, and a first locking ball groove (31) and a second locking ball groove (32) which are axially arranged are formed in the cylindrical surface; the retracted locking rod (29) is arranged on the periphery of the outward extending locking rod (28) in a sliding mode when the spare wheel locking joint sleeve (25) is arranged through an internal locking rod pressure spring (49); the locking ball (30) is movably arranged in a cylindrical groove (44) formed in the inward-contracting locking rod (29), and a locking ball pressure spring (43) which enables the locking ball (30) to be in contact with the first locking ball groove (31) or the second locking ball groove (32) in a normal state is arranged in the cylindrical groove (44).
6. The warehousing AGV of claim 1, characterized in that the unlocking mechanism comprises a driving unlocking nut wedge (34), a driven unlocking wedge (35) and an unlocking screw (36), the driving unlocking nut wedge (34) being slidingly disposed in a radial guide slot (46) on the driven bevel gear locking adapter sleeve (24); the front half section of the driven unlocking wedge-shaped block (35) is a cylindrical part (351), and the rear part of the driven unlocking wedge-shaped block is a wedge-shaped sliding part (352); the locking joint sleeve is arranged in a stepped horizontal groove (48) formed in the locking joint sleeve (24) of the driven bevel gear, the horizontal groove (48) is divided into a hole groove and a square groove, the aperture size of the hole groove is smaller than that of the square groove, the square groove is communicated with a radial guide groove (46), and the hole groove of the horizontal groove (48) is communicated with a sawtooth-shaped locking groove (33); the cylindrical part (351) of the driven unlocking wedge block penetrates through the hole groove of the horizontal groove (48); a driven unlocking wedge pressure spring (47) is arranged between the driven unlocking wedge-shaped sliding part (352) and the step surface of the horizontal groove (48); the unlocking screw rod (36) is axially positioned and circumferentially and rotatably connected with the driven bevel gear locking joint sleeve (24) on the unlocking screw rod (36), and the lower end of the unlocking screw rod (36) is in threaded fit with the upper end of the driving unlocking nut wedge-shaped block (34).
Technical Field
The invention relates to the technical field of storage AGV, in particular to a storage AGV with an automatic transverse avoidance walking device after a fault.
Background
An Automated Guided Vehicle, also called AGV cart generally, is a transportation cart equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and requiring no driver's transportation cart in industrial application, and using a rechargeable battery as its power source. The route and behavior of the vehicle can be controlled by a computer. In the industrialization and commercialization of the AGVs, a plurality of AGVs generally work simultaneously to form a multi-AGV network, and the overall cost and efficiency of the multi-AGV network are always the key points of attention of many enterprises. The overall energy consumption is one of important factors influencing the cost of the multiple AGV network, and in addition to the necessary AGV running energy consumption, the obstacle avoidance condition usually occurs during the running of the multiple AGV network, so that redundant energy is consumed. In obstacle avoidance for storage AGV networks, besides dropping individual items, it is common for a single or multiple AGVs to be anchored in the operating system. Aiming at the condition that the front vehicle is anchored, the multi-AGV network can continuously run under two conditions, wherein the first condition is passive obstacle avoidance, namely the AGV group which normally runs behind the front vehicle bypasses the AGV which is anchored at the front side to continuously run, the second condition is active avoidance, namely the anchored AGV starts a standby device to run away from the road, and the rear vehicle group runs according to the original path. For the current research, passive obstacle avoidance is mostly realized by performing complex software and hardware design on a multiple AGV network, and the adoption of the active avoidance mode is rare. In keeping away the barrier passively, every AGV at rear all need keep away the barrier to the place ahead AGV that breaks down, and the AGV quantity in the network is more, and whole network keeps away the produced extra energy consumption of barrier and is higher more, and keeps away the barrier action and also is a test to the whole efficiency and the whole harmony of AGV network once producing. The active avoidance mode can enable a certain AGV to automatically drive away from a road after the AGV breaks down, so that the rear vehicle group does not need to avoid the obstacle of the broken AGV, and the energy consumption of the whole network is greatly reduced. Therefore, how to adopt a simple active avoidance manner rather than passive obstacle avoidance, so as to reduce the unnecessary obstacle avoidance of the multiple AGV network is in need of improvement.
Disclosure of Invention
The invention aims to provide a storage AGV with a fault automatic transverse avoidance walking device, which is simple in structure, reasonable in design and low in cost, can automatically start a standby avoidance device to drive away from a route after the AGV breaks down, and a rear AGV group does not need to generate obstacle avoidance action, so that the overall energy consumption of a multi-AGV network is reduced, the operation efficiency of the multi-AGV network is improved, and the design of a complex obstacle avoidance method can be avoided in the aspects of software and hardware.
In order to achieve the purpose, the invention adopts the technical scheme that:
a storage AGV with a post-fault automatic transverse avoidance walking device comprises an AGV chassis assembly and a transverse walking device; the AGV chassis assembly comprises a left hub motor 1 and a right hub motor 1 which are arranged on an AGV chassis 2; the transverse walking device comprises a driving part, a lifting part and a walking part;
the driving part comprises a
the walking part comprises a left spare wheel 11, a right spare wheel 11, a driven bevel gear
the locking mechanism comprises an outward extending
the unlocking mechanism is used for pushing out the outward extending
the lifting part comprises a second transmission mechanism, and the stepping motor 4 drives the
As a further improvement to the above-described storage AGV, the first transmission mechanism in the drive section includes a drive bevel gear shaft 12, a pair of
As a further improvement to the storage AGV, the second transmission mechanism in the lifting part includes a
As a further improvement to the above storage AGV, the second transmission mechanism in the lifting part further includes a
As a further improvement to the above storage AGV, the locking mechanism further includes a
As a further improvement to the above storage AGV, the unlocking mechanism includes a driving unlocking
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention discloses a storage AGV with a fault automatic transverse avoidance walking device, which is developed and designed by combining the current situation of storage logistics. When the storage AGV normally operates, the hub motor 1 arranged on the AGV chassis 2 rotates to drive the whole storage AGV to longitudinally move. When the AGV breaks down, the transverse avoiding walking device can be automatically started, the safety and the operation efficiency of the whole warehouse logistics AGV system are improved, the energy consumption cost is reduced, the design of a complex obstacle avoiding system is avoided from the aspect of software and hardware, the structure is simple, and the design is reasonable.
(2) In the invention, a single stepping motor is adopted to control two motions of the transverse avoidance walking device, namely lifting and walking, so that the manufacturing cost and the overall weight of the device are greatly reduced.
(3) The lifting part of the invention adopts a lifting mode of double rocker arms, the principle is simple and easy to realize, the whole power transmission mode adopts synchronous cog belt transmission, not only can the power be stably transmitted, but also the rotating angular speeds of all gears can be kept consistent all the time. The lifting part adopts a precession mechanism composed of a
(4) The invention adopts a reversible lock mechanism, so that the device can be repeatedly used. Reversible lock mechanisms include both locking and unlocking mechanisms. The locking mechanism arranged in the walking part can play a role in locking, and meanwhile, an extending locking rod and a sawtooth-shaped locking groove in the locking mechanism are also important parts for power transmission from the driven bevel gear to the spare wheel. The locking ball is arranged in the locking mechanism, so that the positioning and locking effects on the extending locking rod are achieved, the internal self-locking of the locking mechanism can be realized, and the locking joint sleeve of the driven bevel gear and the locking joint sleeve of the spare wheel can be firmly jointed. Meanwhile, an unlocking mechanism matched with the locking mechanism is arranged in the walking part, when the whole system needs to reset, the unlocking is achieved without complex dismounting steps, and only a wrench is needed to rotate the unlocking screw rod to complete the unlocking, so that time and labor are saved.
Drawings
FIG. 1 is a front view of a storage transporter;
FIG. 2 is a top view of the storage transporter;
FIG. 3 is a view of the attitude of the lifting portion during the lifting phase;
FIG. 4 is a view of the attitude of the lifting portion during the walking phase;
FIG. 5 is an enlarged bottom view of the driven bevel gear locking sleeve, the spare wheel locking sleeve, the drive bevel gear, etc.;
FIG. 6 is an exploded view of the locking mechanism and the like;
FIG. 7 is a schematic view of the driven bevel gear locking sleeve, the idler locking sleeve, etc. when locking of the locking mechanism has not begun;
FIG. 8 is a schematic view of the locking mechanism after locking is complete;
FIG. 9 is a schematic view of an unlocking mechanism and the like;
FIG. 10 is a schematic view of the relative positions of the precession gear, the intermediate gear, the upper gear, etc. in the precession mechanism of the elevating section;
FIG. 11 is a schematic view of the precession mechanism in the lifting section before precession begins;
3 FIG. 3 12 3 is 3 a 3 cross 3- 3 sectional 3 view 3 A 3- 3 A 3 ( 3 in 3 the 3
FIG. 13 is a schematic view of the precession mechanism in the lifting section after precession is complete;
FIG. 14 is a perspective view of a storage transporter;
fig. 15 is a bottom view of the storage transporter.
In the figure: 1-hub motor, 2-AGV chassis, 3-drive group shell, 4-stepping motor, 5-precession gear, 6-nut, 7-lead screw, 8-transmission component shell, 9-spring connector, 10-universal wheel, 11-spare wheel, 12-driving bevel gear shaft, 13-direction changing gear, 14-left rocker arm gear, 15-middle gear, 16-upper gear, 17-tooth-shaped synchronous belt, 18-right rocker arm gear, 19-right rocker arm, 20-V-shaped belt, 21-belt wheel, 22-left rocker arm, 23-driven bevel gear shaft bracket, 24-driven bevel gear locking joint sleeve, 25-spare wheel locking joint sleeve, 251-axial groove, 252-column groove, 253-column groove end face, 26-driving bevel gear, 27-driven bevel gear, 28-overhanging locking lever, 281-overhanging locking lever sawtooth part, 282-overhanging locking lever saw cylinder part, 29-retracting locking lever, 291-first cylinder, 292 second cylinder, 293-thrust surface, 30-locking ball, 31-first locking ball groove, 32-second locking ball groove, 33-sawtooth locking groove, 34-driving unlocking nut wedge block, 35-driven unlocking wedge block, 351-driven unlocking wedge block column part, 352-driven unlocking wedge block sliding part, 36-unlocking screw rod, 37-small turntable, 40-motor output shaft belt wheel, 41-spring, 42-standby wheel shaft, 43-locking ball pressure spring, 44-column groove, 45-external locking lever pressure spring, 46-radial guide groove, 47-driven unlocking wedge pressure spring, 48-stepped hole and 49-internal locking rod pressure spring.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for a person skilled in the art to obtain other drawings based on the drawings without inventive exercise.
Referring to fig. 1 to 7, the technical means adopted by the embodiment of the present invention are as follows: a storage AGV with a fault-back automatic transverse avoidance traveling device comprises an AGV chassis assembly and a transverse traveling device.
The AGV chassis assembly 2 comprises a left single-shaft hub motor 1, a right single-shaft hub motor 1, four spring connecting pieces 9 and four universal wheels 10; two unipolar in-wheel motor 1 fixed mounting are on AGV chassis 2 left and right sides both sides, and four universal wheels 10 are respectively through four moderate spring coupling 9 of rigidity in AGV chassis 2's four sides symmetry installation.
The transverse walking device comprises a driving part, a lifting part and a walking part.
The driving part comprises a
The lifting part comprises a precession gear 5, a nut 6, a screw rod 7, a transmission assembly shell 8, a change gear 13, a left rocker arm gear 14, a middle gear 15, an upper gear 16, a tooth-shaped synchronous belt 17, a right rocker arm gear 18, a right rocker arm 19, a left rocker arm 22 and a small turntable 37; the transmission assembly shell 8 is fixed on the AGV chassis 2, the precession gear 5 is fixed with the nut 6 and is simultaneously meshed with the middle gear 15 and the upper gear 16 during installation; the nut 6 is connected with the lead screw 7, the lead screw 7 passes through a central hole on the small turntable 37, the bottom end of the lead screw is fixed on the transmission assembly shell 8, a spring 41 is sleeved on the lead screw to connect the nut 6 and the small turntable 37, and the small turntable 37 is connected with the transmission assembly shell 8 through a bearing; the intermediate gear 15 is fixed on an intermediate gear shaft, one end of the intermediate gear shaft is fixed on an output shaft of the stepping motor 4, and the other end of the intermediate gear shaft is arranged on the transmission assembly shell 8 through a bearing; the upper gear 16 is fixed on an upper gear shaft, one end of the upper gear shaft is arranged on the transmission assembly shell 8 through a bearing, the other end of the upper gear shaft is arranged on the driving assembly shell 3 through a bearing, and the distance between the central line of the upper gear shaft of the upper gear 16 and the central line of the middle gear shaft of the middle gear 15 is equal to the sum of the reference circle radiuses of the two gears when the upper gear shaft and the middle gear shaft are arranged, but the upper gear shaft and the middle gear; the direction-changing gear 13 is fixed on a direction-changing gear shaft, one end of the direction-changing gear shaft is arranged on the transmission assembly shell 8 through a bearing, and the other end of the direction-changing gear shaft is arranged on the driving group shell 3 through a bearing; the left rocker gear 14 is meshed with the change gear 13, one end of the left rocker gear shaft is arranged on the transmission component shell 8 through a bearing, and the other end of the left rocker gear shaft is arranged on the driving component shell 3 through a bearing; the right rocker gear 18 and the left rocker gear 14 are symmetrically arranged, one end of a right rocker gear shaft is arranged on the transmission assembly shell 8 through a bearing, and the other end of the right rocker gear shaft is arranged on the driving assembly shell 3 through a bearing; one ends of the right rocker arm 19 and the left rocker arm 22 are symmetrically arranged on a right rocker arm gear shaft and a left rocker arm gear shaft respectively, and the tooth-shaped synchronous belt 17 is always kept in a tensioning state and is meshed with the direction changing gear 13, the upper gear 16 and the right rocker arm gear 18.
The walking part mainly comprises a left spare wheel 11, a right spare wheel 11, a driven bevel gear shaft bracket 23, a driven bevel gear locking
The locking mechanism comprises an outward extending locking
The working principle of the storage AGV is as follows: when the storage AGV breaks down and stops advancing, the transverse avoidance device starts to work, and the movement of the transverse avoidance device is divided into two stages of lifting movement and walking movement.
The stepping motor 4 starts to operate, and drives the
The
The
In the process from the beginning of fitting to the complete fitting of the driven bevel gear
After the AGV finishes maintenance, the whole avoidance system needs to reset, and a maintenance worker only needs to screw the unlocking
And reversely screwing the unlocking
The stepping motor 4 rotates anticlockwise, the intermediate gear 15 drives the precession gear 5 to rotate clockwise, the spring 41 between the nut 6 and the small turntable 37 pushes the nut 6 to start to enter a transmission thread part on the lead screw 7, the precession gear 5 and the nut 6 rotate clockwise and move axially, the precession gear 5 also starts to be meshed with the upper gear 16 again, the lifting part moves reversely, the anticlockwise rotation upper gear 16 drives the left rocker gear 14 to rotate clockwise through the synchronous toothed belt 17 and the like, the right rocker gear 18 rotates anticlockwise, the left rocker 22 fixed on the left rocker gear shaft is driven to swing up clockwise, the right rocker 19 fixed on the right rocker gear shaft swings up anticlockwise, the driven bevel gear joint sleeve 24 is separated from the spare wheel locking joint sleeve 25, the retraction locking rod 29 moves axially under the action of the inner locking rod pressure spring 49 until the thrust surface 291 of the retraction locking rod 29 contacts with the end surface of the column groove on the spare wheel locking joint sleeve 25, at this time, the convex round part at the front end of the inward-contracting locking rod 29 extends out of the spare wheel locking joint sleeve 25; due to the relative locking relationship between the outwardly extending locking lever 28 and the inwardly extending locking lever 29, the outwardly extending locking lever 28 also moves with the inwardly extending locking lever 29 under the action of the outer locking lever compression spring 45, returning to the initial position. At this point the leading end surface of the outwardly extending detent lever serrated portion 281 is flush with the spare wheel
Briefly, the invention discloses a storage AGV with an automatic transverse avoidance walking device after a fault, which comprises an AGV chassis assembly and a transverse walking device. The transverse walking device comprises a driving part, a lifting part and a walking part; the driving part comprises power transmission mechanisms such as a stepping motor, a belt wheel, a driving bevel gear and the like; the lifting part comprises a driving gear, a nut, a screw rod, a small turntable, a middle gear, a left rocker arm, a right rocker arm, a synchronous toothed belt, an upper gear, a turning gear and a right rocker arm gear which are meshed with the synchronous toothed belt, the left rocker arm gear is meshed with the turning gear, the driving gear is meshed with the middle gear and meshed with the upper gear in a lifting stage, and the driving gear is disengaged in a walking stage; the running part comprises a spare wheel, a driven bevel gear shaft bracket, a driven bevel gear locking joint sleeve, a spare wheel locking joint sleeve and a driven bevel gear, wherein a locking mechanism is arranged in the spare wheel locking joint sleeve, and an unlocking mechanism is arranged in the driven bevel gear locking joint sleeve; the locking mechanism comprises an outward extending locking rod, an inward contracting locking rod, a locking ball and a sawtooth-shaped locking groove, wherein the cylindrical section of the outward extending locking rod is provided with the locking ball groove, and the locking ball is movably arranged in the cylindrical groove on the inward contracting locking rod through a locking ball pressure spring; the unlocking mechanism comprises a driving unlocking nut wedge block, a driven unlocking wedge block and an unlocking screw rod. This AGV simple structure, the cost is lower, can start by oneself after its breaks down and transversely dodge running gear and drive away from the road, avoids the back car crowd to avoid the barrier and detour, has improved the security and the operating efficiency of whole warehouse logistics AGV system, has reduced the energy consumption cost, has avoided the design of complicated obstacle avoidance method in the aspect of software and hardware.
The above-mentioned embodiment is only one of the preferred embodiments of the present invention, and should not be used to limit the scope of the present invention, but all the insubstantial modifications or changes made within the spirit and scope of the main design of the present invention, which still conform to the technical problems of the present invention, should be included in the scope of the present invention.
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