阅读说明：本技术 一种具有自平衡驱动结构的潜伏牵引agv (Latent AGV that pulls with self-balancing drive structure ) 是由 石伟 李特 于 2021-03-12 设计创作，主要内容包括：本发明公开了一种具有自平衡驱动结构的潜伏牵引AGV,包括车体,所述车体的底部为底盘,车体底盘的后端分开设有两支撑后轮,车体底盘的前端设置有自平衡悬挂驱动轮组件与所述两支撑后轮共同支撑车体,自平衡悬挂驱动轮组件包括：安装架,左驱动轮组及右驱动轮组,铰接轴组件,连接安装架与车体底盘；所述铰接轴组件的上端与车体底盘转动连接,使得自平衡悬挂驱动轮组件相对车体在水平面内旋转,所述铰接轴组件的下端与安装架铰接连接,使得安装架上的左驱动轮组与右驱动轮组相对车体可跷跷板式地倾斜摆动。本发明使得潜伏牵引AGV的车体底盘结构简单,既能自动平衡车体适应复杂地面以保证驱动轮的抓地力,又使得配件少,成本低。(The invention discloses a submarine traction AGV with a self-balancing driving structure, which comprises a vehicle body, wherein the bottom of the vehicle body is provided with a chassis, the rear end of the vehicle body chassis is separately provided with two supporting rear wheels, the front end of the vehicle body chassis is provided with a self-balancing suspension driving wheel assembly which supports the vehicle body together with the two supporting rear wheels, and the self-balancing suspension driving wheel assembly comprises: the mounting frame, the left driving wheel set, the right driving wheel set and the hinge shaft component are connected with the mounting frame and the vehicle body chassis; the upper end of the hinged shaft assembly is rotatably connected with the chassis of the vehicle body, so that the self-balancing suspension driving wheel assembly rotates in the horizontal plane relative to the vehicle body, the lower end of the hinged shaft assembly is hinged with the mounting frame, and the left driving wheel assembly and the right driving wheel assembly on the mounting frame can obliquely swing in a see-saw manner relative to the vehicle body. The invention ensures that the chassis of the latent traction AGV body has simple structure, can automatically balance the AGV body to adapt to complex ground so as to ensure the ground gripping force of the driving wheel, and has less accessories and low cost.)

1. A latent traction AGV with a self-balancing driving structure comprises a vehicle body, wherein a control circuit unit for automatic guiding is arranged on the vehicle body, the bottom of the vehicle body is a chassis, and the latent traction AGV is characterized in that,

the rear end of the vehicle body chassis is separately provided with two supporting rear wheels;

the front end of the vehicle body chassis is provided with a self-balancing suspension driving wheel assembly which supports the vehicle body together with the two supporting rear wheels;

the self-balancing suspension drive wheel assembly comprises:

a mounting frame;

the left driving wheel set and the right driving wheel set are respectively arranged on the opposite sides of the mounting frame;

the hinge shaft component is used for connecting the mounting frame and the vehicle body chassis;

the upper end of the hinged shaft assembly is rotatably connected with the chassis of the vehicle body, so that the self-balancing suspension driving wheel assembly rotates in the horizontal plane relative to the vehicle body, the lower end of the hinged shaft assembly is hinged with the mounting frame, and the left driving wheel assembly and the right driving wheel assembly on the mounting frame can obliquely swing in a see-saw manner relative to the vehicle body.

2. The latent traction AGV with self-balancing drive configuration of claim 1, wherein said articulation shaft assembly includes a coupling flange, a rotational bearing, and a central shaft;

the connecting flange is fixed on the chassis of the vehicle body and is provided with a bearing mounting hole;

the rotary bearing is arranged in a bearing mounting hole of the connecting flange;

the upper end of the middle shaft is tightly matched and installed in the rotary bearing, and the lower end of the middle shaft is hinged with the installation frame.

3. The latent traction AGV with the self-balancing driving structure according to claim 2, wherein a first hinge hole is formed at a lower end of the middle shaft, hinge shafts are respectively formed at two opposite sides of the front and rear directions of the mounting frame in a penetrating manner, and the hinge shafts on the mounting frame are respectively formed in the first hinge hole of the middle shaft, so that the middle shaft is connected with the mounting frame in a hinged manner.

4. The latent traction AGV with the self-balancing driving structure according to claim 3, wherein a rotation reinforcing block is further connected to a lower end of the central shaft, a second hinge hole is further formed in the rotation reinforcing block, and the hinge shaft of the mounting frame penetrates through the first hinge hole of the central shaft and the second hinge hole of the rotation reinforcing block.

5. Latent traction AGV with self-balancing drive configuration according to claim 2, characterised in that a magnetic navigation circuit unit is also provided in front of the mounting.

6. Latent traction AGV with self-balancing drive configuration according to claim 2, characterised in that a stop lever is further provided behind the connection flange for limiting the rotation angle of the mounting in the horizontal plane.

7. The latent traction AGV with self-balancing drive structure according to claim 1, wherein the left and right driving wheel sets each include a driving motor, a reducer and a driving wheel;

the reducer is in transmission connection with the driving motor and the driving wheel, the reducer is further fixed on the mounting frame, and the driving motor is electrically connected with the control circuit unit.

8. The latent traction AGV with the self-balancing driving structure according to claim 1, wherein the control circuit unit includes a main control circuit, a wireless communication circuit electrically connected to the main control circuit, a power management circuit, a battery and a driving circuit;

the power management circuit manages charging and discharging of the battery, the wireless communication circuit receives and sends signals between the upper control platform and the main control circuit, and the driving circuit drives the left driving wheel set and the right driving wheel set.

9. The latent traction AGV with self-balancing drive configuration of claim 8, wherein the top of the vehicle body is provided with a traction bar lift assembly electrically connected to the master control circuit and a plurality of guide wheel assemblies are provided around the periphery of the top of the vehicle body.

10. The latent traction AGV with the self-balancing driving structure according to claim 8, wherein the front end of the vehicle body is further provided with an omnidirectional laser scanning sensor electrically connected with the main control circuit;

and a ground identification sensor electrically connected with the main control circuit is also arranged on the vehicle body chassis.

Technical Field

The invention relates to the technical field of intelligent forklifts, in particular to a submarine traction AGV with a self-balancing driving structure.

Background

With the development of logistics and warehousing industries, intelligent devices with automatic handling, such as AGVs (automatic guided vehicles), are widely used. AGVs are generally classified into traction type, dump type, lift type, forklift type, and the like.

Latent traction type AGV can submerge the bottom of goods and carry out traction. The layout of a chassis of a one-way latent traction type AGV in the existing AGV industry generally adopts a six-wheel-train structure, namely, two universal wheels are installed on a head, a driving wheel assembly is installed in the middle of the head, and a layout structure of two directional wheels is installed on a tail.

Meanwhile, the existing driving wheel assembly for hiding and pulling the AGV needs to be provided with a spring suspension mechanism to be suitable for uneven road surfaces so as to ensure the ground grabbing force of the driving wheel, so that the existing chassis structure for hiding and pulling the AGV is complex, more accessories and higher in cost.

Therefore, the prior art has yet to be improved.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to provide a latent traction AGV with a self-balancing driving structure, and aims to simplify the structure of a vehicle body chassis of the latent traction AGV, ensure the gripping force of a driving wheel by automatically balancing a vehicle body to adapt to the complex ground, reduce accessories and reduce the cost.

In order to realize the purpose, the invention adopts the following technical scheme:

a latent traction AGV with a self-balancing driving structure comprises a vehicle body, wherein a control circuit unit for automatic guiding is arranged on the vehicle body, a chassis is arranged at the bottom of the vehicle body, wherein,

the rear end of the vehicle body chassis is separately provided with two supporting rear wheels;

the front end of the vehicle body chassis is provided with a self-balancing suspension driving wheel assembly which supports the vehicle body together with the two supporting rear wheels;

the self-balancing suspension drive wheel assembly comprises:

a mounting frame;

the left driving wheel set and the right driving wheel set are respectively arranged on the opposite sides of the mounting frame;

the hinge shaft component is used for connecting the mounting frame and the vehicle body chassis;

the upper end of the hinged shaft assembly is rotatably connected with the chassis of the vehicle body, so that the self-balancing suspension driving wheel assembly rotates in the horizontal plane relative to the vehicle body, the lower end of the hinged shaft assembly is hinged with the mounting frame, and the left driving wheel assembly and the right driving wheel assembly on the mounting frame can obliquely swing in a see-saw manner relative to the vehicle body.

The hinge shaft assembly comprises a connecting flange, a rotary bearing and a middle shaft;

the connecting flange is fixed on the chassis of the vehicle body and is provided with a bearing mounting hole;

the rotary bearing is arranged in a bearing mounting hole of the connecting flange;

the upper end of the middle shaft is tightly matched and installed in the rotary bearing, and the lower end of the middle shaft is hinged with the installation frame.

The lower end of the middle shaft is provided with a first hinge hole, hinge shafts penetrate through two opposite sides of the front direction and the rear direction of the mounting frame, and the hinge shafts penetrate through the first hinge hole of the middle shaft on the mounting frame to enable the middle shaft to be hinged with the mounting frame.

The lower end of the middle shaft is further connected with a rotating reinforcing block, a second hinge hole is further formed in the rotating reinforcing block, and a hinge shaft on the mounting frame penetrates through the first hinge hole in the middle shaft and the second hinge hole in the rotating reinforcing block.

Wherein, the place ahead of mounting bracket still is provided with magnetic navigation circuit unit.

And a limiting rod is further arranged behind the connecting flange and used for limiting the rotating angle of the mounting frame in the horizontal plane.

The left driving wheel set and the right driving wheel set respectively comprise a driving motor, a speed reducer and a driving wheel;

the reducer is in transmission connection with the driving motor and the driving wheel, the reducer is further fixed on the mounting frame, and the driving motor is electrically connected with the control circuit unit.

The control circuit unit comprises a main control circuit, a wireless communication circuit, a power management circuit, a battery and a driving circuit, wherein the wireless communication circuit, the power management circuit, the battery and the driving circuit are electrically connected with the main control circuit;

the power management circuit manages charging and discharging of the battery, the wireless communication circuit receives and sends signals between the upper control platform and the main control circuit, and the driving circuit drives the left driving wheel set and the right driving wheel set.

The top of the vehicle body is provided with a traction rod lifting assembly electrically connected with the main control circuit, and the periphery of the top of the vehicle body is provided with a plurality of guide wheel assemblies.

The front end of the vehicle body is also provided with an omnibearing laser scanning sensor electrically connected with the main control circuit; and a ground identification sensor electrically connected with the main control circuit is also arranged on the vehicle body chassis.

According to the submarine traction AGV with the self-balancing driving structure, the submarine traction AGV is arranged into a four-wheel-supported vehicle body structure, meanwhile, a left driving wheel set and a right driving wheel set in the four-wheel-supported structure are integrally arranged into a self-balancing suspension driving wheel assembly through the mounting frame and the hinge shaft assembly, the self-balancing suspension driving wheel assembly can rotate in the horizontal plane relative to the vehicle body, submarine traction AGV turning can be achieved through differential driving, meanwhile, the left driving wheel set and the right driving wheel set on the mounting frame can obliquely swing in a see-saw mode relative to the vehicle body, automatic balancing is achieved, the submarine traction AGV is suitable for road surfaces with different heights, compared with the existing submarine traction AGV, the submarine traction AGV has the advantages that the vehicle body chassis is simple in structure, the accessories are few.

Drawings

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 described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic diagram of a first embodiment of a latent traction AGV with self-balancing drive configuration according to the present invention;

FIG. 2 is a bottom view of the structure of FIG. 1;

FIG. 3 is an exploded view of the structure of FIG. 1;

FIG. 4 is a schematic structural diagram of a first embodiment of a self-balancing suspended drive wheel assembly of the present invention;

FIG. 5 is a schematic diagram illustrating the self-balancing suspension driving wheel assembly in a tilted swinging state according to the present invention;

FIG. 6 is a schematic view of the structure of FIG. 4 with the right drive wheel set removed;

FIG. 7 is an exploded view of the structure of FIG. 4;

FIG. 8 is a schematic view of the construction of the hinge shaft assembly of the construction of FIG. 7;

FIG. 9 is an exploded view of the structure of FIG. 8;

FIG. 10 is a schematic structural view of a second embodiment of a self-balancing suspension drive wheel assembly of the present invention;

FIG. 11 is an exploded view of the structure of FIG. 10;

FIG. 12 is a schematic diagram of the circuit of a first embodiment of a latent traction AGV with self-balancing drive configuration of the present invention;

fig. 13 is another schematic view of the structure of fig. 1.

Description of reference numerals:

100-AGV, 1-vehicle body, 11-chassis, 2-control circuit unit, 21-main control circuit, 22-wireless communication circuit, 23-power management circuit, 24-battery, 25-drive circuit, 3-supporting rear wheel, 4-self-balancing suspension drive wheel assembly, 41-mounting rack, 411-articulated shaft, 42-left drive wheel set, 43-right drive wheel set, 44-articulated shaft assembly, 441-connecting flange, 4411-bearing mounting hole, 442-rotating bearing, 443-middle shaft, 4431-first articulated hole, 444-rotation reinforcing block, 4441-second articulated hole, 445-limiting rod, 446-bearing pressing block, 45-magnetic navigation circuit unit, 46-drive motor, 47-speed reducer, 48-driving wheel, 5-traction rod lifting component, 6-guide wheel component, 7-omnibearing laser scanning sensor, 8-ground identification sensor, 9-ground charging interface and 10-man-machine interaction panel.

Detailed Description

The technical solutions 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, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and for example, "connected" may be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Referring to fig. 1 to 5, the present invention provides a latent traction AGV100 with a self-balancing driving structure, including a vehicle body 1, wherein the vehicle body 1 has a control circuit unit 2 for automatic guidance, and a chassis 11 is arranged at the bottom of the vehicle body 1. The vehicle body 1 comprises a shell, a frame, a chassis and the like.

The rear end of a vehicle body chassis 11 of the latent traction AGV100 is separately provided with two supporting rear wheels 3, and the front end of the vehicle body chassis 11 is provided with a self-balancing suspension driving wheel assembly 4 which supports a vehicle body 1 together with the two supporting rear wheels 3. The supporting rear wheel 3 of the present invention may employ a directional wheel.

As shown in fig. 4, the self-balancing suspension drive wheel assembly 4 of the present invention comprises:

a mounting frame 41.

The left driving wheel set 42 and the right driving wheel set 43 are respectively arranged on the opposite sides of the mounting frame 41.

And a hinge shaft assembly 44 connecting the mounting bracket 41 and the body chassis 11.

The upper end of the hinge shaft assembly 44 is rotatably connected with the vehicle body chassis 11, so that the self-balancing suspension driving wheel assembly 4 can rotate in the horizontal plane relative to the vehicle body 1, and the lower end of the hinge shaft assembly 44 is hinged with the mounting frame 41, so that the left driving wheel set 42 and the right driving wheel set 43 on the mounting frame 41 can tilt and swing in a see-saw manner relative to the vehicle body 1.

The mounting bracket 41 is used for mounting the left driving wheel set 42 and the right driving wheel set 43, and the bottom surfaces of the left driving wheel set 42 and the right driving wheel set 43 are supported on the ground and support the whole vehicle body 1 together with the two supporting rear wheels 3. Meanwhile, the left driving wheel set 42 and the right driving wheel set 43 respectively have independent driving capability and generate friction with the ground to drive the whole latent traction AGV100 to move, including moving forward, moving backward, turning at different speeds and the like.

Because the hinge shaft assembly 44 is movably connected to the mounting frame 41 and the vehicle body chassis 11, that is, on the one hand, the upper end of the hinge shaft assembly 44 is rotatably connected to the vehicle body chassis 11, when the rotation speeds of the left driving wheel set 42 and the right driving wheel set 43 are different to form a differential speed, the hinge shaft assembly 44 rotates in the horizontal plane relative to the vehicle body 1, so as to drive the whole self-balancing suspension driving wheel assembly 4 to rotate in the horizontal plane relative to the vehicle body 1, thereby realizing the turn of the latent traction AGV 100. It will be appreciated that the rotation in the horizontal plane may be 360 degrees without affecting the other components.

On the other hand, the lower end of the hinge shaft assembly 44 is hinged to the mounting frame 41, so that the hinge shaft assembly 44 can swing relative to the mounting frame 41, and conversely, the left driving wheel set 42 and the right driving wheel set 43 on the mounting frame 41 can also swing relative to the hinge shaft assembly 44, so that the left driving wheel set 42 and the right driving wheel set 43 can swing obliquely relative to the vehicle body 1 in a see-saw manner. As shown in fig. 5, the vehicle body chassis 11 is installed at the upper end of the hinge shaft assembly 44 in a horizontal state, and when the road surface condition changes, such as the road surface at the right driving wheel set 43 is convex, the right driving wheel set 43 is lifted up due to the hinged connection of the lower end of the hinge shaft assembly 44 and the mounting frame 41. In this way, the left driving wheel set 42 and the right driving wheel set 43 take the lower end of the hinge shaft assembly 44 as a rotation point, and exhibit a left-falling right-tilting swing relative to the hinge shaft assembly 44, but at this time, the vehicle body 1 can also maintain a horizontal state, thereby realizing self-balancing of the vehicle body.

Namely, the self-balancing suspension driving wheel assembly 4 can realize two motions, namely, a rotation motion in a horizontal plane and seesaw type inclined swinging on the left side and the right side of a vehicle body.

According to the invention, the left driving wheel group 42, the right driving wheel group 43 and the two supporting rear wheels 3 form a four-wheel supported car body structure of the latent traction AGV100, so that compared with a six-wheel supporting structure in the prior art, the installation structure of the chassis 11 and the wheels is simplified, and the maintenance is convenient.

Meanwhile, the left driving wheel set 42 and the right driving wheel set 43 in the four-wheel supporting structure are integrated into a self-balancing suspension driving wheel assembly 4 through the mounting frame 41 and the hinge shaft assembly 44, the self-balancing suspension driving wheel assembly can rotate in the horizontal plane relative to the vehicle body and can tilt and swing in a seesaw mode relative to the vehicle body, each wheel can be guaranteed to be in contact with the ground at any time, and the self-balancing device has an automatic balancing function and can be self-adaptive to different road conditions. Compared with a spring suspension damping structure adopted by the existing latent traction AGV, the self-balancing suspension driving wheel assembly 4 has the advantages that the driving wheels and the motors on two sides are connected by the movable hinge points on the hinge shaft assemblies 44 on the basis of four-wheel support, the structure is simplified, the installation and the maintenance are convenient, accessories are reduced, and the production cost of the latent traction AGV100 is reduced.

Specifically, as shown in fig. 6 to 10, the hinge shaft assembly 44 of the present invention includes a coupling flange 441, a rotary bearing 442, and a central shaft 443.

The connecting flange 441 is fixed to the vehicle body chassis 11, the connecting flange 441 is provided with a bearing mounting hole 4411, the rotating bearing 442 is mounted in the bearing mounting hole 4411 of the connecting flange 441, the upper end of the middle shaft 443 is tightly fitted in the rotating bearing 442, and the lower end of the middle shaft 442 is hinged to the mounting frame 41.

In the hinge shaft assembly 44, the connecting flange 441 is fixed to the vehicle body chassis 11, the outer ring of the rotary bearing 442 is fixedly installed in the bearing installation hole 4411 of the connecting flange 441, and the inner ring of the rotary bearing 442 is tightly fitted with the central shaft 443, so that the central shaft 443 can rotate relative to the connecting flange 441 under the action of the inner ring and the outer ring of the rotary bearing 442 to realize turning.

Preferably, a bearing pressing block 446 is further disposed at the upper end of the rotary bearing 442 to press the rotary bearing 442 in the connecting flange 441, so as to prevent the rotary bearing 442 from coming off.

Further, as shown in fig. 9, a lower end of central shaft 443 of hinge shaft assembly 44 of the present invention is provided with a first hinge hole 4431, hinge shafts 411 are respectively formed through two opposite sides of mounting bracket 41 in the front-rear direction, and hinge shafts 411 of mounting bracket 41 are respectively formed through first hinge holes 4431 of central shaft 443, such that central shaft 443 is hingedly connected to mounting bracket 41.

Since the hinge shaft 411 of the mounting bracket 41 is disposed in the front-rear direction, the center shaft 443 swings left and right with respect to the mounting bracket 41.

Preferably, the lower end of the central shaft 443 of the hinge shaft assembly 44 of the present invention is further connected with a rotation reinforcing block 444, the rotation reinforcing block 444 is further provided with a second hinge hole 4441, the hinge shaft 411 of the mounting bracket 41 is inserted through the first hinge hole 4431 of the central shaft 443 and the second hinge hole 4441 of the rotation reinforcing block 444, and the rotation reinforcing block 444 rotates along with the central shaft 443. The rotation reinforcement 444 increases the contact area between the lower end of the central shaft 443 and the hinge shaft 411, so that the stress between the two is dispersed, the rotation replacement is stable, and the service life is prolonged.

Further, as shown in fig. 4, a magnetic navigation circuit unit 45 is further disposed in front of the mounting frame 41 of the self-balancing suspension driving wheel assembly 4. The magnetic navigation circuit unit 45 allows the latent traction AGV of the present invention to travel along a predetermined navigation magnet track to navigate a route.

Preferably, as shown in fig. 4, 8 and 9, a stopper rod 445 is further provided behind the connecting flange 441 of the hinge shaft assembly 44 of the present invention for limiting the rotation angle of the mounting bracket 41 in the horizontal plane. This prevents over-rotation of the entire self-balancing suspended drive wheel assembly 4 to protect the magnetic navigation circuit unit 45 thereon.

Specifically, as shown in fig. 7 and 11, the left and right driving wheel sets of the self-balancing suspension driving wheel assembly 4 of the present invention each include a driving motor 46, a speed reducer 47, and a driving wheel 48.

The speed reducer 47 is in transmission connection with the driving motor 46 and the driving wheel 48, the speed reducer 47 is further fixed on the mounting frame 41, and the driving motor 46 is electrically connected with the control circuit unit 2.

The two driving motors 46 are independently controlled by the control circuit unit 2 to form differential motion, and the driving motors 46 are decelerated by the decelerator 47 to drive the driving wheels 48 to rotate so as to realize the movement of the AGV. The speed reducer 47 of the present invention may employ a gear reduction structure.

Preferably, the drive motor 46 of the present invention is a brushless dc motor. The self-balancing suspended drive wheel assembly 4 of fig. 7 and 11 employs a different model of brushless dc motor and speed reducer 47.

As shown in fig. 12. The control circuit unit 2 of the latent traction AGV100 of the present invention includes a main control circuit 21, a wireless communication circuit 22 electrically connected to the main control circuit, a power management circuit 23, a battery 24, and a driving circuit 25.

The power management circuit 23 manages charging and discharging of the battery 24, the wireless communication circuit 22 receives and transmits signals between the upper control platform and the main control circuit 21, and the driving circuit 25 drives the left driving wheel set 42 and the right driving wheel set 43.

Preferably, the wireless communication circuit 22 of the present invention is provided with a WIFI module, and/or a bluetooth module, and/or a 5G communication module. Therefore, the wireless communication connection with the upper control platform can be realized through various wireless networks.

The front end of the vehicle body 1 of the latent traction AGV100 is also provided with a human-computer interaction panel 10 which is electrically connected with a main control circuit 21. The human-computer interaction panel 10 includes a touch screen and a manual button to realize human-computer interaction.

Preferably, the top of the vehicle body 1 of the present invention is provided with a tow bar elevating assembly 5 electrically connected to the main control circuit 21, and a plurality of guide wheel assemblies 6 are provided at the periphery of the top of the vehicle body 1. The guide wheel assembly 6 is used for guiding and positioning, and the traction rod lifting assembly 5 is lifted at the bottom of the goods to realize traction.

As shown in fig. 13, the front end of the vehicle body 1 of the present invention is preferably further provided with an omnidirectional laser scanning sensor 7 electrically connected to the main control circuit 21. Thus, the latent traction AGV100 of the present invention can perform position detection and laser navigation by the omnidirectional laser scanning sensor 7 during the transportation operation, so as to ensure the safety of the automatically transported goods.

Preferably, the body chassis 11 of the latent traction AGV100 of the present invention is also provided with a ground identification sensor 8 electrically connected to the master control circuit 21. The ground identification sensor 8 enables the latent traction AGV100 to accurately control speed change, steering, positioning, and parking.

Further, the body chassis 11 of the latent traction AGV100 of the present invention is further provided with a ground charging interface 9 electrically connected to the main control circuit 21. The ground charging interface 9 facilitates direct charging of the traction AGV100 using ground charging.

The latent traction AGV100 having a self-balancing driving structure according to the embodiment of the present invention has a structure in which, by configuring the latent traction AGV100 as a four-wheel supported vehicle body structure, meanwhile, a left driving wheel set 42 and a right driving wheel set 43 in the four-wheel supporting structure are integrated into a self-balancing suspension driving wheel assembly 4 through a mounting frame 41 and a hinge shaft assembly 44, the self-balancing suspension driving wheel assembly 4 can rotate in the horizontal plane relative to the vehicle body 1, so that the latent traction AGV100 can turn through differential driving, meanwhile, the self-balancing suspension driving wheel assembly 4 enables the left driving wheel set 42 and the right driving wheel set 43 on the mounting frame 41 to tilt and swing in a see-saw manner relative to the vehicle body 1 to realize automatic balancing, compared with the existing latent traction AGV, the vehicle body chassis 11 of the latent traction AGV100 has the advantages that the structure is simple, the number of accessories is small, and the cost of the latent traction AGV100 is reduced.

The above description is only for clearly illustrating the invention and is not therefore to be considered as limiting the scope of the invention, and all embodiments are not intended to be exhaustive, and all equivalent structural changes made by using the technical solutions of the present invention or other related technical fields directly/indirectly applied under the concept of the present invention are included in the scope of the present invention.