阅读说明：本技术 一种支持实时动态路径规划的agv装置 (AGV device supporting real-time dynamic path planning ) 是由 韩羽 于 2021-07-30 设计创作，主要内容包括：本发明公开了一种支持实时动态路径规划的AGV装置,属于AGV技术领域,AGV设备主体,AGV设备主体内开设有第一安装槽,AGV设备主体的前后两端均固定连接有底板；承载板,承载板固定连接于AGV设备主体的上端,承载板的表面固定连接有护栏,护栏的上端固定连接有摄像头和小型雷达,承载板的上端开设有第二安装槽,第二安装槽内开设有第一滑孔；保护壳,保护壳固定连接于承载板的上端,保护壳的左端固定连接有控制面板；夹板,夹板设置为两个,两个夹板均设置于保护壳内,最终可以实现通过第一连板带动夹板将货物夹紧,防止货物在运输时会发生磕碰。(The invention discloses an AGV device supporting real-time dynamic path planning, which belongs to the technical field of AGV, and comprises an AGV equipment main body, wherein a first mounting groove is formed in the AGV equipment main body, and the front end and the rear end of the AGV equipment main body are fixedly connected with bottom plates; the device comprises a bearing plate, a camera and a small radar, wherein the bearing plate is fixedly connected to the upper end of an AGV equipment main body, the surface of the bearing plate is fixedly connected with a guardrail, the upper end of the guardrail is fixedly connected with the camera and the small radar, a second mounting groove is formed in the upper end of the bearing plate, and a first sliding hole is formed in the second mounting groove; the protective shell is fixedly connected to the upper end of the bearing plate, and the left end of the protective shell is fixedly connected with the control panel; splint, splint set up to two, and two splint all set up in the protective housing, finally can realize driving splint through first even board and press from both sides the goods tightly, prevent that the goods can take place to collide with when the transportation.)

1. An AGV device supporting real-time dynamic path planning, comprising:

the AGV comprises an AGV equipment main body (1), wherein a first mounting groove (2) is formed in the AGV equipment main body (1), and the front end and the rear end of the AGV equipment main body (1) are fixedly connected with a bottom plate (3);

the AGV equipment comprises a bearing plate (4), wherein the bearing plate (4) is fixedly connected to the upper end of an AGV equipment main body (1), a guardrail (5) is fixedly connected to the surface of the bearing plate (4), a camera (33) and a small radar (34) are fixedly connected to the upper end of the guardrail (5), a second mounting groove (6) is formed in the upper end of the bearing plate (4), and a first sliding hole (7) is formed in the second mounting groove (6);

the protective shell (8), the protective shell (8) is fixedly connected to the upper end of the bearing plate (4), and the left end of the protective shell (8) is fixedly connected with a control panel (35);

the number of the clamping plates (18) is two, and the two clamping plates (18) are arranged in the protective shell (8);

the cargo carrying plate (29), the cargo carrying plate (29) is movably inserted into the second mounting groove (6);

the clamping mechanism is arranged on the bearing plate (4) and is connected with the two clamping plates (18) to clamp the goods; and

the lifting mechanism is arranged on the AGV equipment main body (1), and the lifting mechanism is connected with the cargo carrying plate (29) to drive the cargos to lift.

2. The AGV apparatus supporting real-time dynamic path planning according to claim 1, wherein: offer third mounting groove (9) in protective housing (8), the equal fixedly connected with roof (10) in both ends around protective housing (8), fourth mounting groove (11) have all been seted up at both ends around protective housing (8), spout (12), two have all been seted up to the inner wall around protective housing (8) second slide opening (13) have all been seted up in spout (12).

3. The AGV apparatus supporting real-time dynamic path planning according to claim 2, wherein: fixture includes centre gripping subassembly, drive assembly and spacing subassembly, centre gripping subassembly and drive assembly all set up on loading board (4), spacing subassembly sets up in protective housing (8), drive assembly links to each other in order to realize the centre gripping with the centre gripping subassembly, spacing subassembly links to each other in order to realize that splint (18) stably move with splint (18).

4. An AGV apparatus supporting real-time dynamic path planning according to claim 3, characterized in that: the centre gripping subassembly includes two-way lead screw (15), first nut (16) and first even board (17), two-way lead screw (15) are rotated and are connected in first slide opening (7), first nut (16) and first even board (17) all set up to two, two the equal threaded connection in the surface of two-way lead screw (15) of first nut (16), two first even board (17) fixed connection respectively between two first nuts (16) and two splint (18), and two first even equal sliding connection in first slide opening (7) of board (17).

5. The AGV device of claim 4 wherein said AGV comprises: drive assembly includes first belt pulley (20), first drive belt (21), first servo motor (22) and fixed cover (23), fixed cover (23) fixed connection is in the lower extreme of loading board (4), first servo motor (22) fixed connection is in fixed cover (23), first belt pulley (20) sets up to two, first belt pulley (20) fixed connection is in the output of two-way lead screw (15) and first servo motor (22), the surface of two first belt pulleys (20) is located to first drive belt (21) cover, and connects through first drive belt (21) transmission between two first belt pulleys (20).

6. The AGV device of claim 5 wherein said AGV comprises: the limiting assemblies are arranged into two groups and each group and respectively comprise a sliding rod (14) and a sliding block (19), the sliding rod (14) is fixedly connected between the left inner wall and the right inner wall of the fourth mounting groove (11), the sliding blocks (19) are arranged into two and two, the sliding blocks (19) are respectively and fixedly connected onto two clamping plates (18), and the two sliding blocks (19) are respectively and slidably connected onto the surfaces of the sliding rods (14).

7. The AGV apparatus supporting real-time dynamic path planning according to claim 6, wherein: elevating system includes second servo motor (24), drive assembly and lifting unit, second servo motor (24) fixed connection is in first mounting groove (2), drive assembly and lifting unit all set up on AGV equipment main part (1), second servo motor (24) link to each other in order to realize the transmission with drive assembly, drive assembly links to each other in order to realize going up and down with lifting unit.

8. The AGV apparatus supporting real-time dynamic path planning according to claim 7, wherein: the lifting components are arranged into two groups, each group of lifting components comprises a one-way screw rod (25), a second nut (26), a second connecting plate (27) and a third connecting plate (28), the one-way screw rod (25) is rotatably connected to the upper end of the bottom plate (3), the one-way screw rod (25) is rotationally connected with the lower end of the top plate (10), the output end of the second servo motor (24) movably penetrates through the bottom plate (3), and the output end of the second servo motor (24) is fixedly connected with a one-way screw rod (25), the second nut (26) is connected to the surface of the one-way screw rod (25) in a threaded manner, the second connecting plate (27) is fixedly connected to the second nut (26), and the second connecting plate (27) is connected in the second sliding hole (13) in a sliding manner, the third connecting plate (28) is fixedly connected between the second connecting plate (27) and the cargo carrying plate (29), and the third connecting plate (28) is connected in the sliding groove (12) in a sliding manner.

9. The AGV apparatus supporting real-time dynamic path planning according to claim 8, wherein: the upper end of AGV equipment main part (1) is rotated and is connected with bull stick (30), drive assembly sets up to two sets of, every group drive assembly all includes second belt pulley (31), third belt pulley (32) and second driving belt (37), second belt pulley (31) fixed connection is in the surface of bull stick (30), third belt pulley (32) fixed connection is in the surface of one-way lead screw (25), the surface of second belt pulley (31) and third belt pulley (32) is located to second driving belt (37) cover, and connects through second driving belt (37) transmission between second belt pulley (31) and third belt pulley (32).

10. The AGV apparatus supporting real-time dynamic path planning according to claim 9, wherein: a limiting plate (36) is fixedly connected in the first sliding hole (7), and the width of the limiting plate (36) is the same as that of the first connecting plate (17).

Technical Field

The invention relates to the technical field of AGV, in particular to an AGV device supporting real-time dynamic path planning.

Background

Automated Guided Vehicle, abbreviated AGV, is also commonly referred to as an AGV. The present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions.

But real-time dynamic path planning AGV device commonly used at present is most used for the transportation, and AGV device commonly used at present is not convenient for fix the goods, and when to freight, the goods very rocks in AGV device easily to lead to the goods to collide with the damage, provide a AGV device that supports real-time dynamic path planning in order to solve this problem.

Disclosure of Invention

Aiming at the problems in the prior art, the invention aims to provide an AGV device supporting real-time dynamic path planning, which can clamp goods by driving a clamping plate through a first connecting plate, and prevent the goods from colliding during transportation.

In order to solve the problems, the invention adopts the following technical scheme:

an AGV device supporting real-time dynamic path planning, comprising:

the AGV comprises an AGV equipment main body, wherein a first mounting groove is formed in the AGV equipment main body, and the front end and the rear end of the AGV equipment main body are fixedly connected with bottom plates;

the AGV equipment comprises a loading plate, a camera and a small radar, wherein the loading plate is fixedly connected to the upper end of an AGV equipment main body, the surface of the loading plate is fixedly connected with a guardrail, the upper end of the guardrail is fixedly connected with the camera and the small radar, a second mounting groove is formed in the upper end of the loading plate, and a first sliding hole is formed in the second mounting groove;

the protective shell is fixedly connected to the upper end of the bearing plate, and the left end of the protective shell is fixedly connected with a control panel;

the number of the clamping plates is two, and the two clamping plates are arranged in the protective shell;

the cargo carrying plate is movably inserted into the second mounting groove;

the clamping mechanism is arranged on the bearing plate and is connected with the two clamping plates to clamp the goods; and

and the lifting mechanism is arranged on the AGV equipment main body and is connected with the cargo carrying plate so as to drive the cargo to lift.

As a preferable scheme of the invention, a third mounting groove is formed in the protective shell, the front end and the rear end of the protective shell are fixedly connected with top plates, the front end and the rear end of the protective shell are respectively provided with a fourth mounting groove, the front inner wall and the rear inner wall of the protective shell are respectively provided with a sliding groove, and a second sliding hole is formed in each of the two sliding grooves.

As a preferable scheme of the invention, the clamping mechanism comprises a clamping assembly, a driving assembly and a limiting assembly, the clamping assembly and the driving assembly are both arranged on the bearing plate, the limiting assembly is arranged in the protective shell, the driving assembly is connected with the clamping assembly to realize clamping, and the limiting assembly is connected with the clamping plate to realize stable movement of the clamping plate.

As a preferable scheme of the invention, the clamping assembly comprises a bidirectional screw rod, two first nuts and two first connecting plates, the bidirectional screw rod is rotatably connected in the first sliding hole, the number of the first nuts and the number of the first connecting plates are two, the two first nuts are both in threaded connection with the surface of the bidirectional screw rod, the two first connecting plates are respectively and fixedly connected between the two first nuts and the two clamping plates, and the two first connecting plates are both in sliding connection with the first sliding hole.

As a preferred scheme of the invention, the driving assembly comprises first belt pulleys, first transmission belts, first servo motors and a fixing sleeve, the fixing sleeve is fixedly connected to the lower end of the bearing plate, the first servo motors are fixedly connected in the fixing sleeve, the number of the first belt pulleys is two, the first belt pulleys are fixedly connected to the two-way screw rod and the output end of the first servo motor, the first transmission belts are sleeved on the surfaces of the two first belt pulleys, and the two first belt pulleys are in transmission connection through the first transmission belts.

As a preferable scheme of the invention, the two groups of limiting assemblies are arranged, each group of limiting assemblies comprises a sliding rod and two sliding blocks, the sliding rods are fixedly connected between the left inner wall and the right inner wall of the fourth mounting groove, the two sliding blocks are respectively and fixedly connected to the two clamping plates, and the two sliding blocks are both connected to the surfaces of the sliding rods in a sliding manner.

As a preferable scheme of the present invention, the lifting mechanism includes a second servo motor, a transmission assembly and a lifting assembly, the second servo motor is fixedly connected in the first mounting groove, the transmission assembly and the lifting assembly are both disposed on the AGV apparatus main body, the second servo motor is connected to the transmission assembly to realize transmission, and the transmission assembly is connected to the lifting assembly to realize lifting.

As a preferable scheme of the invention, the lifting assemblies are arranged in two groups, each group of lifting assemblies comprises a one-way screw rod, a second nut, a second connecting plate and a third connecting plate, the one-way screw rod is rotatably connected to the upper end of the bottom plate, the one-way screw rod is rotatably connected to the lower end of the top plate, the output end of the second servo motor movably penetrates through the bottom plate, the output end of the second servo motor is fixedly connected with the one-way screw rod, the second nut is in threaded connection with the surface of the one-way screw rod, the second connecting plate is fixedly connected to the second nut, the second connecting plate is slidably connected in the second sliding hole, the third connecting plate is fixedly connected between the second connecting plate and the cargo carrying plate, and the third connecting plate is slidably connected in the sliding groove.

As a preferable scheme of the present invention, the upper end of the AGV device main body is rotatably connected with a rotating rod, two sets of transmission assemblies are provided, each set of transmission assembly includes a second belt pulley, a third belt pulley and a second transmission belt, the second belt pulley is fixedly connected to the surface of the rotating rod, the third belt pulley is fixedly connected to the surface of the one-way screw rod, the second transmission belt is sleeved on the surfaces of the second belt pulley and the third belt pulley, and the second belt pulley and the third belt pulley are in transmission connection through the second transmission belt.

As a preferable scheme of the invention, a limiting plate is fixedly connected in the first sliding hole, and the width of the limiting plate is the same as that of the first connecting plate.

Compared with the prior art, the invention has the advantages that:

(1) when the device needs to be used, an external computer is firstly in signal connection with a control panel, then the control panel is connected with the external computer to carry out real-time dynamic path planning, then a second servo motor is started to rotate, the rotation of the second servo motor drives a one-way screw rod to rotate, the rotation of the one-way screw rod drives another one-way screw rod to rotate through two groups of second belt pulleys, third belt pulleys and second transmission belts, at the moment, the two one-way screw rods rotate, the rotation of the two one-way screw rods enables two second nuts to move on the surfaces of the two one-way screw rods, the rotation of the second nuts drives a cargo carrying plate to move through a second connecting plate and a third connecting plate, the cargo carrying plate is enabled to move up and down by controlling the positive and negative rotation of the second servo motor, when the second servo motor rotates forwards, the second nuts move upwards on the surfaces of the one-way screw rods, the cargo carrying plate is driven to move upwards through the second nuts, make the goods place on the board of carrying cargo through the removal of carrying cargo the board, then reverse operation will carry cargo the board and reset, the goods is located the protective housing this moment, carry cargo the board and be located the second mounting groove back, start first servo motor corotation, first servo motor's corotation drives two-way lead screw corotation through mutually supporting of first belt pulley and first drive belt, the corotation of two-way lead screw drives two first nuts and removes to the one end that is close to mutually, the removal of two first nuts drives splint through first even board and presss from both sides the goods tightly, prevent that the goods from can taking place to collide with when the transportation.

(2) According to the clamping plate, the sliding rod is convenient for the sliding block to slide, the stability of the clamping plate during movement is improved through the mutual matching of the sliding rod and the sliding block, and the limiting plate is convenient for preventing the first connecting plate from being damaged by contact during movement.

(3) According to the AGV equipment, the camera is used for facilitating recording of images when the AGV equipment main body moves and facilitating information collection, the small radar and the control panel are matched with each other to facilitate the AGV equipment main body to move, the control panel is used for facilitating electric connection of the camera and the small radar, and the real-time dynamic path is planned through the control panel.

Drawings

FIG. 1 is a first exploded view of an AGV device supporting real-time dynamic path planning in accordance with the present invention;

FIG. 2 is a second exploded view of an AGV device supporting real-time dynamic path planning in accordance with the present invention;

FIG. 3 is a front perspective view of an AGV device supporting real-time dynamic path planning in accordance with the present invention;

FIG. 4 is a rear perspective view of an AGV device supporting real-time dynamic path planning in accordance with the present invention;

FIG. 5 is a schematic diagram of an AGV device loading plate supporting real-time dynamic path planning according to the present invention;

FIG. 6 is a schematic diagram of an AGV device protection housing supporting real-time dynamic path planning according to the present invention;

FIG. 7 is a schematic diagram of a clamping mechanism of an AGV device supporting real-time dynamic path planning according to the present invention;

FIG. 8 is a schematic diagram of an AGV device supporting real-time dynamic path planning according to the present invention.

The reference numbers in the figures illustrate:

1. an AGV equipment main body; 2. a first mounting groove; 3. a base plate; 4. a carrier plate; 5. a guardrail; 6. a second mounting groove; 7. a first slide hole; 8. a protective shell; 9. a third mounting groove; 10. a top plate; 11. a fourth mounting groove; 12. a chute; 13. a second slide hole; 14. a slide bar; 15. a bidirectional screw rod; 16. a first nut; 17. a first connecting plate; 18. a splint; 19. a slider; 20. a first pulley; 21. a first drive belt; 22. a first servo motor; 23. fixing a sleeve; 24. a second servo motor; 25. a one-way screw rod; 26. a second nut; 27. a second connecting plate; 28. a third connecting plate; 29. a cargo carrying plate; 30. a rotating rod; 31. a second pulley; 32. a third belt pulley; 33. a camera; 34. a small radar; 35. a control panel; 36. a limiting plate; 37. a second drive belt.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example (b):

referring to fig. 1-8, an AGV apparatus supporting real-time dynamic path planning includes:

AGV equipment main part 1 has seted up first mounting groove 2 in the AGV equipment main part 1, the equal fixedly connected with bottom plate 3 in both ends around AGV equipment main part 1.

In this embodiment, the first mounting groove 2 is for facilitating mounting of the second servo motor 24, the bottom plate 3 is for facilitating rotating connection of the one-way screw rod 25, and it should be noted that: the AGV apparatus main body 1 is common knowledge of those skilled in the art, and therefore, the internal structure thereof will not be described in detail.

Bearing board 4, bearing board 4 fixed connection in AGV equipment main part 1's upper end, the fixed surface of bearing board 4 is connected with guardrail 5, and guardrail 5's upper end fixedly connected with camera 33 and small-size radar 34, second mounting groove 6 has been seted up to the upper end of bearing board 4, has seted up first slide opening 7 in the second mounting groove 6.

In this embodiment, loading board 4 is for the sake of convenience fixed protective housing 8, and guardrail 5 is for the sake of convenience protection AGV equipment main part 1, and the image when being convenient for input AGV equipment main part 1 and removing is convenient for collect information for camera 33, and small-size radar 34 and control panel 35 mutually support and are convenient for AGV equipment main part 1 and remove.

Protective housing 8, protective housing 8 fixed connection in the upper end of loading board 4, the left end fixedly connected with control panel 35 of protective housing 8.

In this embodiment, the protection shell 8 is for the convenience of protecting goods, and the control panel 35 is for the convenience of electrically connecting the camera 33 and the small radar 34, and plan the real-time dynamic path through the control panel 35, so that the AGV apparatus main body 1 carries goods, and it is to be explained that: the camera 33, the small radar 34 and the control panel 35 are all common knowledge of those skilled in the art, and therefore, the internal structure thereof will not be described in detail.

The splint 18, splint 18 set up to two, and two splint 18 all set up in the protective housing 8.

In this embodiment, the clamp plate 18 is for facilitating the clamping of the goods.

The cargo carrying plate 29 is movably inserted in the second mounting groove 6.

In this embodiment, the cargo board 29 is for easy placement of cargo.

Specifically, third mounting groove 9 has been seted up in the protective housing 8, the equal fixedly connected with roof 10 in both ends around the protective housing 8, and fourth mounting groove 11 has all been seted up at both ends around the protective housing 8, and spout 12 has all been seted up to the inner wall around the protective housing 8, has all seted up second slide opening 13 in two spout 12.

In this embodiment, the third mounting groove 9 is opened to accommodate the clamping plate 18, the top plate 10 is connected to the one-way screw 25, the fourth mounting groove 11 is used to fix the sliding rod 14, the sliding groove 12 is used to slide the third link plate 28, and the second sliding hole 13 is used to slide the second link plate 27.

Specifically, fixture set up on loading board 4, and fixture includes centre gripping subassembly, drive assembly and spacing subassembly, and centre gripping subassembly and drive assembly all set up on loading board 4, and spacing subassembly sets up in protective housing 8, and drive assembly links to each other in order to realize the centre gripping with the centre gripping subassembly, and spacing subassembly links to each other in order to realize that splint 18 moves steadily with splint 18.

In this embodiment, fixture includes centre gripping subassembly, drive assembly and spacing subassembly, and centre gripping subassembly and drive assembly all set up on loading board 4, and spacing subassembly sets up in protective housing 8, and drive assembly links to each other in order to realize the centre gripping with the centre gripping subassembly, and spacing subassembly links to each other in order to realize that splint 18 moves steadily with splint 18.

Specifically, the clamping assembly comprises a bidirectional screw rod 15, a first nut 16 and a first connecting plate 17, the bidirectional screw rod 15 is rotatably connected in the first sliding hole 7, the first nut 16 and the first connecting plate 17 are both arranged to be two, the two first nuts 16 are in threaded connection with the surface of the bidirectional screw rod 15, the two first connecting plates 17 are respectively and fixedly connected between the two first nuts 16 and the two clamping plates 18, and the two first connecting plates 17 are in sliding connection with the first sliding hole 7.

In this embodiment, two first nuts 16 are driven to the one end that is close to mutually by the corotation of two-way lead screw 15 and are removed, and the removal of two first nuts 16 drives splint 18 through first even board 17 and presss from both sides the goods tightly, prevents that the goods can take place to collide with when the transportation.

Specifically, the drive assembly includes first belt pulley 20, first drive belt 21, first servo motor 22 and fixed cover 23, fixed cover 23 fixed connection is in the lower extreme of loading board 4, first servo motor 22 fixed connection is in fixed cover 23, first belt pulley 20 sets up to two, first belt pulley 20 fixed connection is in two-way lead screw 15 and first servo motor 22's output, two first belt pulley 20's surface is located to first drive belt 21 cover, and connect through the transmission of first drive belt 21 between two first belt pulley 20.

In this embodiment, the fixing sleeve 23 is used for fixing the first servo motor 22, and the first servo motor 22 drives the bidirectional screw rod 15 to rotate through the cooperation of the first belt pulley 20 and the first transmission belt 21.

Specifically, spacing subassembly sets up to two sets ofly, and every spacing subassembly of group all includes slide bar 14 and slider 19, and slide bar 14 fixed connection is between the inner wall about fourth mounting groove 11, and slider 19 sets up to two, and two sliders 19 are fixed connection respectively on two splint 18, and two equal sliding connection in slide bar 14's surface of slider 19.

In this embodiment, the sliding rod 14 is for facilitating the sliding of the sliding block 19, and the stability of the clamping plate 18 during movement is improved by the cooperation between the sliding rod 14 and the sliding block 19.

Specifically, elevating system set up on AGV equipment main part 1, and elevating system includes second servo motor 24, drive assembly and lifting unit, and second servo motor 24 fixed connection is in first mounting groove 2, and drive assembly and lifting unit all set up on AGV equipment main part 1, and second servo motor 24 links to each other with drive assembly in order to realize the transmission, and drive assembly links to each other with lifting unit in order to realize going up and down.

In this embodiment, elevating system includes second servo motor 24, drive assembly and lifting unit, and second servo motor 24 fixed connection is in first mounting groove 2, and drive assembly and lifting unit all set up on AGV equipment main part 1, and second servo motor 24 links to each other in order to realize the transmission with drive assembly, and drive assembly links to each other in order to realize going up and down with lifting unit.

Specifically, every group lifting unit all includes one-way lead screw 25, second nut 26, second even board 27 and third even board 28, one-way lead screw 25 rotates to be connected in the upper end of bottom plate 3, and one-way lead screw 25 rotates to be connected in the lower extreme of roof 10, bottom plate 3 is run through in the activity of second servo motor 24's output, and second servo motor 24's output and one-way lead screw 25 fixed connection, second nut 26 threaded connection is in one-way lead screw 25's surface, even board 27 fixed connection of second is on second nut 26, and even board 27 sliding connection of second is in second sliding hole 13, even board 28 fixed connection of third is between even board 27 and year goods board 29 of second, and even board 28 sliding connection of third is in spout 12.

In this embodiment, the one-way screw 25 is for the convenience of screwing the second nut 26, the second nut 26 moves upwards on the surface of the one-way screw 25, the second nut 26 drives the cargo carrying plate 29 to move upwards, and the cargo is placed on the cargo carrying plate 29 by the movement of the cargo carrying plate 29.

Specifically, the upper end of AGV equipment main part 1 is rotated and is connected with bull stick 30, drive assembly sets up to two sets ofly, every drive assembly of group all includes second belt pulley 31, third belt pulley 32 and second driving belt 37, second belt pulley 31 fixed connection is in the surface of bull stick 30, third belt pulley 32 fixed connection is in the surface of one-way lead screw 25, second belt pulley 31 and third belt pulley 32's surface is located to second driving belt 37 cover, and connect through the transmission of second driving belt 37 between second belt pulley 31 and the third belt pulley 32.

In this embodiment, the rotating rod 30 is for fixing the second pulley 31, and the second pulley 31, the third pulley 32 and the second transmission belt 37 are for rotating the two unidirectional screws 25 simultaneously.

Specifically, a limiting plate 36 is fixedly connected in the first sliding hole 7, and the width of the limiting plate 36 is the same as that of the first connecting plate 17.

In this embodiment, the position limiting plate 36 is for preventing the first link plate 17 from contacting and damaging when moving.

The working principle is as follows: when the device needs to be used, firstly, an external computer is in signal connection with the control panel 35, then the control panel 35 is connected with the external computer for real-time dynamic path planning, then the second servo motor 24 is started to rotate, the rotation of the second servo motor 24 drives the one-way lead screw 25 to rotate, the rotation of the one-way lead screw 25 drives the other one-way lead screw 25 to rotate through the two groups of second belt pulleys 31, third belt pulleys 32 and second transmission belts 37, at the moment, the two one-way lead screws 25 rotate, the rotation of the two one-way lead screws 25 enables the two second nuts 26 to move on the surface of the two-way lead screws, the rotation of the second nuts 26 drives the cargo carrying plate 29 to move through the second connecting plate 27 and the third connecting plate 28, the cargo carrying plate 29 moves up and down by controlling the forward and reverse rotation of the second servo motor 24, when the second servo motor 24 rotates forwards, the second nuts 26 move upwards on the surface of the one-way lead screws 25, drive through second nut 26 and carry cargo board 29 rebound, make the goods place on carrying cargo board 29 through carrying cargo board 29's removal, then reverse operation resets carrying cargo board 29, the goods is located protective housing 8 this moment, carry cargo board 29 is located second mounting groove 6 back, start first servo motor 22 corotation, first servo motor 22 corotation drives two-way lead screw 15 corotation through mutually supporting of first belt pulley 20 and first drive belt 21, two-way lead screw 15 corotation drives two first nuts 16 and removes to the one end that is close to mutually, two first nut 16's removal drives splint 18 through first even board 17 and presss from both sides the goods tightly, prevent that the goods can take place to collide with when the transportation.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the equivalent replacement or change according to the technical solution and the modified concept of the present invention should be covered by the scope of the present invention.