CN107035188B

CN107035188B - Ultra-thin AGV vehicle carrier

Info

Publication number: CN107035188B
Application number: CN201710478078.8A
Authority: CN
Inventors: 王建明; 赵仲秋; 姜靖翔
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2017-06-21
Filing date: 2017-06-21
Publication date: 2023-08-11
Anticipated expiration: 2037-06-21
Also published as: CN107035188A

Abstract

The application discloses a novel ultrathin AGV vehicle carrier, which consists of two vehicle body units with the same front and rear structures, wherein the two vehicle body units are connected through a telescopic connecting mechanism in the middle part; each vehicle body unit comprises a walking part, a wheel holding lifting part and a frame structure; the walking part comprises two driving wheel modules and four driven wheel modules, the driving wheel modules are used for realizing the planar omnidirectional walking of the carrying vehicle body, and the driven wheel modules are used for assisting the driving wheels to share the carrying vehicle weight and balance and support the vehicle body; the wheel holding lifting part comprises two sets of wheel holding lifting assemblies, and the two sets of wheel holding lifting assemblies are positioned on two sides of the frame structure; each wheel holding lifting assembly comprises a driving mechanism, a transmission mechanism and a wheel holding mechanism, wherein the driving mechanism provides power output, the transmission mechanism realizes motion deceleration and power amplification, and the wheel holding mechanism finally lifts the automobile off the ground.

Description

Ultra-thin AGV vehicle carrier

Technical Field

The application discloses a novel ultrathin AGV vehicle carrier

Background

In order to solve the problem of automatic automobile storage and taking in a stereo garage, a plurality of carriers capable of carrying automobiles for storage and taking are in existence in the industry of automatic stereo parking equipment at present. The main delivery modes of the carrier include three modes of a carrier plate type, a comb tooth type and a clamping arm type. The vehicle carrying plate type transfer is required to realize transfer of vehicles between the carrier and the parking space by utilizing the vehicle carrying plate, and when the vehicles are stored continuously, the carrier is required to carry the empty vehicle plate to the vehicle storage position from the parking space or the vehicle carrying plate storage position firstly, and then the vehicle storage action is carried out; when continuously taking vehicles, the carrier needs to store the redundant vehicle carrying plates on an empty parking space or at the vehicle carrying plate storage position so as to leave a vehicle taking position. Therefore, the vehicle can be stored and taken for a long time, the workload of the carrier is large, and the storage and taking efficiency is low. The comb teeth type and the clamping arm type can realize direct connection of the vehicle between the carrier and the parking space, wherein the comb teeth type is simple in structure and high in feasibility, but the comb teeth type parking frame is required to be arranged, so that the construction cost is increased, a certain height space is occupied, and the utilization rate of the height space is reduced. The thickness dimension of the existing clamp arm type carrier is larger than the height of an automobile chassis, the thickness dimension is limited by the height of the automobile chassis, an automobile is required to be parked on a parking table, or a ditch is dug on the ground, so that the automobile carrier can go through under the automobile chassis to carry out the delivery of the automobile, and the defects of high construction cost and low space utilization rate of the garage still exist. Still other schemes adopt side clamping type, namely for the automobile parked on the flat ground, the carrier carries out clamping type handover and carrying on the side surface of the automobile, the carrier does not need to be integrally drilled into the bottom of the automobile, the handover and carrying of the automobile are realized on a parking plane without a parking table or a ground groove, but a certain working area is reserved on the side surface of the automobile, and the plane utilization rate is low. Moreover, the clamping type carrier has the common defect of poor adaptability to different automobile front and rear wheelbases, and the implementation effect is not ideal.

Disclosure of Invention

Based on the technical background, the application provides a solution of an ultrathin AGV vehicle carrier, the overall height of the carrier is less than 130mm and is lower than the height of most of car chassis, for a vehicle to be carried, which is parked on the ground, the ultrathin vehicle carrier is allowed to directly drive under the chassis in the height direction, the front and rear wheel tracks of the vehicle are adapted by connecting front and rear separated carrier bodies through a telescopic mechanism, then wheels are held by adopting rotary lifting wedge blocks at each tire, the delivery and the delivery of the vehicle are realized, and the free walking movement in a plane is realized through an AGV walking system. The hand-over mode does not need auxiliary facilities such as a special parking frame, a parking table or a carrier walking track, simplifies the garage structure, and reduces the construction cost and maintenance cost of the garage. Because the parking frame is not required to be arranged, the height of a single floor is reduced, more floor numbers can be additionally arranged under the condition that the total height of the garage is the same, and the space utilization rate is improved.

Most of the existing vehicle carriers walk along a fixed track, and cannot adjust and rectify the pose of the inclined vehicle on a parking space or only finely adjust the inclined vehicle. Thus, the driver is required to stop the automobile, and the pose deviation is required to a certain extent, so that the stopping difficulty of the driver is increased. The ultra-thin AGV carrier disclosed by the application gets rid of the limitation of running along a fixed track, can carry out matched carrying on automobiles parked on any pose on a flat ground, reduces the requirements on the parking technology of a driver, and improves the working adaptability of the carrier.

The technical scheme adopted by the application is as follows:

an ultrathin AGV vehicle carrier consists of two vehicle body units with the same front and rear structures, wherein the two vehicle body units are connected through a telescopic connecting mechanism in the middle; each vehicle body unit comprises a walking part, a wheel holding lifting part and a frame structure; the walking part comprises two driving wheel modules and four driven wheel modules, the two driving wheel modules are distributed along the longitudinal direction of the frame structure, the function of the two driving wheel modules is to realize the planar omnidirectional walking of the carrying vehicle body, the four driven wheel modules are arranged on four corners of the frame structure, and the function of the four driven wheel modules is to assist the driving wheels to share the weight of the carrying vehicle and balance and support the vehicle body; the wheel holding lifting part comprises two sets of wheel holding lifting assemblies, and the two sets of wheel holding lifting assemblies are positioned on two sides of the frame structure; each wheel holding lifting assembly comprises a driving mechanism, a transmission mechanism and a wheel holding mechanism, wherein the driving mechanism provides power output, the transmission mechanism realizes motion deceleration and power amplification, and the wheel holding mechanism finally lifts the automobile off the ground; the frame structure adopts an edge beam type mechanism to provide support for the walking part and the wheel holding lifting part; compared with the common middle beam type and box type, the space utilization rate is larger, the overall height is lower, and the ultra-thin application requirement is met.

Further, the telescopic connecting mechanism is fixed by two identical telescopic mechanisms through connecting sleeves, each telescopic mechanism comprises a guide shaft and a guide rail which can relatively slide on the guide shaft, and the front guide rail and the rear guide rail are respectively fixedly connected with the front body unit and the rear body unit of the ultrathin carrier, so that the relative movement of the two body units in the front-rear direction is realized.

Further, the driving wheel module comprises a rotary support arranged on the frame structure, and two symmetrical and compact driving units are arranged in the rotary support, and each driving unit drives one wheel to rotate; when the rotation speeds of the two symmetrical wheels are the same, the driving module moves straight, and when the direction change is needed, the rotation speed difference of the two wheels can be regulated and controlled by controlling the motor rotation speed of each unit, and the accurate direction change of the whole driving module is realized by utilizing differential motion.

Further, the slewing bearing consists of a supporting outer ring, a supporting inner ring, steel balls and rollers, wherein the steel balls are arranged between radial contact surfaces of the supporting outer ring and the supporting inner ring, and the rollers are arranged between circumferential contact surfaces of the supporting outer ring and the supporting inner ring; the support outer ring is welded with the carrier frame structure.

Further, each driving unit comprises a direct-current servo motor, a speed reducer, a chain wheel pair, a shaft, wheels and structural connecting pieces; the working flow is as follows: the direct current servo motor outputs power, the power is output to the driving shaft through the speed reducer in a decelerating way, and the power is transmitted to the wheel body on the driven shaft through the chain wheel pair, so that the wheel rotation is realized. When the rotation speeds of the two symmetrical wheels are the same, the driving module moves straight, and when the direction change is needed, the rotation speed difference of the two wheels can be regulated and controlled by controlling the motor rotation speed of each unit, and the accurate direction change of the whole driving module is realized by utilizing differential motion.

Further, the driven wheel module comprises a connecting rod frame, a connecting plate, a connecting side plate and driven wheels; wherein the connecting rod frame is connected with the driven wheel and the carrier frame structure, one end of the connecting rod frame is connected to the frame through welding, the other end of the connecting rod frame is connected to the connecting side plates through the connecting end cover, and the driven wheel is arranged between the connecting side plates.

Furthermore, the driven wheel has an eccentric distance between the axis and the frame supporting point, so that when the carrier body changes direction, the driven wheel receives eccentric force to enable the driven wheel to move along with the carrier, and the wheels are prevented from being blocked.

Further, the frame structure comprises two parallel support rods, the two driving wheel modules are arranged between the support rods along the longitudinal direction of the support rods, and the slewing support of the driving wheel modules is welded in the support rods.

Further, the driving mechanism of the wheel comprises two direct current servo motors and two speed reducers which are arranged on a straight line, and the transmission mechanism of the wheel is decelerated by adopting two worm gears; the wheel holding lifting device comprises a narrow lifting wedge block and a wide lifting wedge block; each speed reducer drives a worm to rotate; each worm is matched with one turbine, and the worm wheel is an incomplete worm wheel, so that the rotation angle of the lifting wedge block is ensured to be within a given range; the turbine drives the wheel holding lifting device to lift; one turbine drives a narrow lifting wedge and the other turbine drives a wide lifting wedge; the two turbines are connected with the frame mechanism through a connecting plate; the initial positions of the two lifting wedge blocks are clung to two sides of the vehicle body, after entering the bottom of the vehicle, the narrow lifting wedge blocks rotate for 90 degrees, wheels are matched and positioned through front-rear vehicle body separation movement, then the wide lifting wedge blocks rotate, the wheels are lifted through holding force, and when the wide lifting wedge blocks rotate to a position parallel to the narrow lifting wedge blocks, the lifting height of the vehicle wheels is maximum.

The transmission mechanism of the wheel is decelerated by adopting a worm gear, can keep self-locking in the lifting process,

the whole working process of the application is as follows:

(1) And (5) lifting the vehicle. The user stores the car, parks the car in waiting the transport district, pulls up the manual brake, and the user leaves. The carrier is driven into the chassis of the automobile, the narrow lifting wedge blocks of the front automobile body and the rear automobile body of the carrier are unscrewed, the front part and the rear part of the carrier move in the separating direction, and after the narrow lifting wedge blocks touch the front wheels and the rear wheels of the automobile, the positioning between the carrier and the automobile is completed. And then the wide lifting wedge blocks rotate to realize wheel holding movement together with the narrow lifting wedge blocks, and the automobile is lifted by means of the clamping force of the two wedge blocks, so that the step of lifting the carrier is completed.

(2) And carrying. The carrier carries the car and gets into the lift, and after the lift arrives corresponding floor, the carrier is gone out from the lift, confirms the accurate two-dimensional coordinate position of self at this layer garage through positioning system to upload the position to central control system. The central control system transmits the planned walking route to the carrier. The carrier walks along the received route. And in the walking process, the self position is determined in real time through the positioning device and communicated with the central control system in real time so as to correct the deviation of the walking track until the carrier reaches the appointed parking space.

(3) And (5) a step of placing the vehicle. After the carrier reaches the parking space, the lifting wedge blocks reversely rotate to loosen the wheels, the automobile falls down, the carrier drives out of the automobile chassis, and the automobile placing step is finished.

(4) The pick-up process is opposite to the parking process and will not be described in detail here.

The beneficial effects of the application are as follows:

1. the AGV ultrathin vehicle carrier can carry, store and fetch the vehicles parked on the ground, and does not need a parking frame, a track and any other auxiliary equipment. The space utilization rate is greatly improved, and the construction cost and the construction difficulty of the garage are reduced.

2. The ultrathin vehicle carrier can automatically match and carry the automobiles parked on any pose on the flat ground, and greatly reduces the requirements on the parking technology of drivers.

3. The front and rear vehicle bodies of the carrier are connected through the telescopic mechanism, the matching of the front and rear wheel tracks of the vehicle can be realized through separation movement, an additional driving system is not needed in the matching mode, the tires are positioned through the narrow lifting wedge blocks, and the positioning precision is high and the adaptability is strong.

4. The ultrathin vehicle carrier can directly drive into the bottom of an automobile to work without auxiliary facilities such as an automobile bracket, a parking frame, a track and the like, and improves the utilization rate of the height space of a garage. For the side car carrier, need not to leave carrier workspace between the parking stall, improved garage plane space utilization.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.

FIG. 1 is a general view of an ultra-thin AGV vehicle carrier;

FIG. 2 is a diagram of the overall arrangement of the running gear;

fig. 3 and 4 are overall views of the walking driving wheel set;

FIG. 5 is a single drive wheel diagram;

FIG. 6 is a single truck body diagram;

FIG. 7 is an overall view of the driven universal wheel;

FIG. 8 is an assembly view of a universal wheel axle;

FIG. 9 is an overall view of the wheel lift mechanism;

FIG. 10 is a schematic diagram of a wheel lift mechanism drive module;

FIG. 11 is a general diagram of a wheel-holding lifting mechanism transmission system;

FIG. 12 is a fragmentary worm gear part diagram;

FIG. 13 is a narrow lift truck wedge unit diagram;

FIG. 14 is a diagram of a wide lift truck wedge unit;

FIG. 15 is a worm gear assembly view;

FIG. 16 is a front-to-rear body attachment diagram;

FIG. 17 is a diagram of a connection mechanism unit;

in the upper diagram, a front carrying vehicle body 11, a rear carrying vehicle body 12, a front-rear telescopic connecting mechanism 13, a 14 traveling mechanism, a 15 wheel holding lifting mechanism and a 16 frame structure are arranged;

a driving wheel group and a driven wheel group for walking 21;

31 left driving wheel unit, 32 right driving wheel unit, 33 part support, 34 slewing bearing, 35 supporting outer ring, 36 supporting inner ring, 37 steel balls and 38 rollers;

a 41 direct current servo motor, a 42 planetary reducer, a 43 driving sprocket, a 44 chain, a 45 driven sprocket, a 46 wheel axle and a 47 wheel;

51 body stringers; 52 motor support frames;

the driven wheel 61 is connected with a rod frame, the lower wheel body of the driven wheel 62, the driven wheel 63, the right side plate 64, the left side plate 65 and the left side plate 66 are connected with an end cover;

71 driven axle, 72 ball bearing, 73 sleeve, 74 axle end cover plate;

the left motor unit comprises a right motor unit 81, a worm gear pair 82, a connecting plate 83, a narrow lifting wedge block 84, a wide lifting wedge block 85 and a left motor unit 86;

91 direct current servo motor, 92 speed reducer, 93 coupling, 94 worm;

101 worm wheel, 102 narrow lifting wedge block connecting shaft, 103 wide lifting wedge block connecting shaft;

141 bearing seats;

161 guiding shaft, 162 limiting block, 163 middle connecting sleeve, 164 car body guide rail.

Detailed Description

It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The application is described in detail below with reference to the attached drawing figures:

1. overall function division of ultra-thin AGV vehicle carrier

As shown in FIG. 1, the ultra-thin AGV vehicle carrier comprises two carrier bodies 11, 12 with the same front and rear structures, which are movably connected through a telescopic connecting mechanism 13 in the middle of the carrier. A single carrier body unit, for example a rear body, comprises a running section 14 enabling a straight planar travel and steering, a wheel-holding lifting section 15 enabling a direct lifting of the vehicle from the ground and a frame structure 16 connecting the respective mechanisms.

2. Walking part structure application

As shown in fig. 2, the traveling part of the AGV vehicle carrier includes four driving wheel sets 21 and eight universal wheels 22, which are symmetrical front and back, and the main function of the traveling part is to realize the omnibearing traveling of the vehicle carrier on the floor surface of the stereo garage.

As shown in fig. 3 and 4, the travel drive wheel set includes two symmetrical wheel units 31 and 32, a component carrier 33 and a pivoting support 34. The slewing bearing 34 is composed of a walking driving wheel set supporting outer ring 35, a walking driving wheel set supporting inner ring 36, steel balls 37 and rollers 38, wherein the steel balls 37 reduce friction in the vertical direction between the walking driving wheel set supporting outer ring 35 and the walking driving wheel set supporting inner ring 36, and the rollers 38 reduce friction in the horizontal direction between the walking driving wheel set supporting outer ring 35 and the walking driving wheel set supporting inner ring 36, so that the supporting outer ring 35 is welded with a carrier body.

As shown in fig. 5, the operation of the single differential gear unit is: the direct current servo motor 41 outputs power, the power is transmitted to a driving sprocket 43 on an output shaft after being decelerated by a planetary reducer 42, then the power is transmitted to a driven sprocket 45 through a chain 44, the driven sprocket is connected with a wheel shaft 46, finally the wheel 47 is driven to rotate through the shaft 46, and all parts are connected and assembled through a bracket 33. As shown in fig. 3 and 4, two wheel units 31 and 32 are symmetrically installed on a circular installation platform, the speed control of two wheels is realized by controlling the output rotation speed of a servo motor, when the rotation speeds of the two wheels are the same, a driving wheel group unit moves straight, when the speed difference exists between the two wheels, the driving wheel group unit can perform rotation motions of different angles, and the planar omnibearing walking of the ultra-thin vehicle carrier body is realized by the mutual cooperation of the walking modes of four driving wheel groups 21. Because the ultra-thin vehicle carrier needs to drill into the chassis of the vehicle during operation, on the premise of meeting the power requirement, the geometric parameters of standard components such as the direct current servo motor 41, the speed reducer 42 and the like, and workpieces such as the connecting frame 33, the mounting platform 34 and the like need to be selected or invented to be the minimum size in the height direction. Meanwhile, the application adopts a mode of eight motors to drive, and disperses the working power born by each motor, thereby further reducing the sizes of the motors and various parts.

As shown in fig. 6, the four corners of the vehicle body are provided with universal wheels 22, and as shown in fig. 2, the front and rear vehicle bodies have eight universal wheels in total. As shown in fig. 7, the universal wheel body is welded with the longitudinal beam 51 of the vehicle body through the connecting rod 61 at the upper part, and the connecting mode ensures that the eccentric distance of the length of the connecting rod 61 exists between the axis of the universal wheel and the connecting point, so that when the vehicle body changes direction, the universal wheel receives eccentric force, and the universal wheel can be fast driven, thereby avoiding the locking. The lower wheel body 62 of the driven wheel is connected with the connecting rod frame 61 through the connecting end cover 66, the connecting mode of the lower wheel body is shown in fig. 7, the right end of the wheel shaft 71 is fixedly positioned through the cover plate 74 and the right connecting plate 66, the left end of the wheel shaft is connected with the wheel shaft 71 through the left connecting plate 65 through a pair of ball bearings 72, and the bearings are axially positioned through the sleeve 73, so that the wheel body can bear forces from two directions of the axial direction and the radial direction, and the vehicle body can be stably conveyed.

3. Wheel lifting part

The wheel holding lifting part can lift the automobile stopped on the ground, the whole structure is shown in fig. 6 and 9, the left motor 86 and the right motor 81 of the wheel holding lifting mechanism 15 are connected with the automobile body longitudinal beam 51 through the motor frame 52, and the worm and gear pair 82, the narrow lifting wedge block 84, the wide lifting wedge block 85 and the supporting and positioning parts of all the components of the wheel holding lifting mechanism are detachably connected with the automobile body longitudinal beam 51 through the heart-shaped connecting wall plate 83 and the bolts of the automobile body longitudinal beam 51. Fig. 10 shows a motor unit, in which a dc motor 91 is first decelerated by a decelerator 92, and an output shaft thereof is connected to a coupling 93 to transmit power to a worm 94. As shown in fig. 10, the worm 94 and the worm wheel 101 are meshed to perform two-stage speed reduction, so that the worm wheel 101 rotates by a certain angle, and simultaneously, the narrow lifting wedge block 84 and the wide lifting wedge block 85 fixedly connected with the left and right worm wheels also rotate along with the worm wheel, and the narrow lifting wedge block 84 and the wide lifting wedge block 85 are movably connected with the connecting plate 83 through connecting shafts 102 and 103, and the limit rotation angle of the wide lifting wedge block is 90 degrees, and the worm wheel only has about one third of circumference of gear teeth, so that the incomplete worm wheel is shown in fig. 12. The tail ends of the wide and narrow lifting wedge blocks are provided with an upper disc connecting plate and a lower disc connecting plate which are arranged on the worm wheel shaft, the structure of the wide and narrow lifting wedge blocks is shown in fig. 13 and 14, and the assembly relationship of the worm wheel and the worm is shown in fig. 15. The car lifting working process comprises the following steps: the initial positions of the two lifting wedge blocks are clung to two sides of the vehicle body, the carrier is in a state of minimum width, after the carrier is driven into the chassis of the vehicle, the motor 81 is started, the worm gear and worm pair 62 is driven through the coupler 93, the lifting wedge blocks 84 of the front and rear carrying vehicle bodies are rotated out of 90 degrees, as shown by the dotted line position of fig. 11, the front and rear vehicle bodies are separated and displaced by a certain distance, the narrow lifting wedge blocks 84 touch the wheels, the positioning process between the carrier and the vehicle is completed, the wide lifting wedge blocks 85 are rotated subsequently, the wide lifting wedge blocks are matched with the narrow lifting wedge blocks 84, and the wheels are lifted by means of clamping force, so that the step of lifting the vehicle is completed. The running mechanism is started, and the lifting wedge block is always in a wheel holding state. When the carrier runs to the designated position, the wide and narrow lifting wedge blocks perform reverse rotation movement opposite to the lifting process, the wheels slowly drop down, the automobile falls to the ground, and the carrier runs out from the chassis of the automobile.

3. Frame connecting mechanism

The application adopts two car body structures capable of realizing front-rear separation, namely, front car body is used for carrying out wheel holding and lifting on front tires of the car, rear car body is used for carrying out wheel holding and lifting on rear wheels of the car, and as shown in fig. 16, the front car body and the rear car body are movably connected through a connecting structure 151 with a telescopic function. As shown in fig. 17, the connection mechanism is bilaterally symmetrical with respect to the middle connection sleeve 163, and the right guide rail 164 is removed for the sake of structural clarity. The middle connecting sleeve 163 provides support and fixation for the guide long shaft 161, the tail end of the guide shaft 161 is sleeved with a limiting block 162, the front and rear guide rails 164 can slide relatively back and forth on the guide shaft 161, and the limiting block 162 is used for limiting. The front guide rail and the rear guide rail are respectively welded with longitudinal beams of the front and rear vehicle bodies, and the walking part and the wheel holding lifting part are fixedly connected with the longitudinal beams of the vehicle bodies, so that the front and rear vehicle bodies are fixed in the x direction and relatively move in the y direction.

In order to ensure that the height of the carrier is within 130mm, each part is assembled on the same plane by taking two longitudinal beams of the vehicle body as references, so that the overall height of the carrier is greatly reduced.

While the foregoing description of the embodiments of the present application has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the application, but rather, it is intended to cover all modifications or variations within the scope of the application as defined by the claims of the present application.

Claims

1. The ultrathin AGV vehicle carrier is characterized by comprising two vehicle body units with the same front and rear structures, wherein the two vehicle body units are connected through a telescopic connecting mechanism in the middle; each vehicle body unit comprises a walking part, a wheel holding lifting part and a frame structure; the walking part comprises two driving wheel modules and four driven wheel modules, the two driving wheel modules are distributed along the longitudinal direction of the frame structure, the function of the two driving wheel modules is to realize the planar omnidirectional walking of the carrying vehicle body, the four driven wheel modules are arranged on four corners of the frame structure, and the function of the four driven wheel modules is to assist the driving wheels to share the weight of the carrying vehicle and balance and support the vehicle body; the wheel holding lifting part comprises two sets of wheel holding lifting assemblies, and the two sets of wheel holding lifting assemblies are positioned on two sides of the frame structure; each wheel holding lifting assembly comprises a driving mechanism, a transmission mechanism and a wheel holding mechanism, wherein the driving mechanism provides power output, the transmission mechanism realizes motion deceleration and power amplification, and the wheel holding mechanism finally lifts the automobile off the ground;

the telescopic connecting mechanism is fixed by two identical telescopic mechanisms through connecting sleeves, each telescopic mechanism comprises a guide shaft and a guide rail which can relatively slide on the guide shaft, and the front guide rail and the rear guide rail are respectively fixedly connected with the front body unit and the rear body unit of the ultrathin carrier, so that the relative movement of the two body units in the front-rear direction is realized;

the driving wheel module comprises a slewing bearing which is arranged on a frame structure, wherein two symmetrically and compactly arranged driving units are arranged in the slewing bearing, and each driving unit drives one wheel to rotate; when the rotation speeds of the two symmetrical wheels are the same, the driving module moves straight, and when the direction change is needed, the rotation speed difference of the two wheels can be regulated and controlled by controlling the motor rotation speed of each unit, and the accurate direction change of the whole driving module is realized by utilizing differential motion.

2. The ultra-thin AGV vehicle handler of claim 1, wherein the slewing bearing is comprised of a bearing outer race, a bearing inner race, steel balls disposed between radial contact surfaces of the bearing outer race and the bearing inner race, and rollers disposed between circumferential contact surfaces of the bearing outer race and the bearing inner race; the support outer ring is welded with the carrier frame structure.

3. The ultra-thin AGV vehicle handler of claim 1, wherein each of said drive units includes a dc servo motor and decelerator, a sprocket set, a drive shaft, a driven shaft and wheels; the direct current servo motor outputs power, the power is output to the driving shaft through the speed reducer in a decelerating way, and the power is transmitted to the wheel body on the driven shaft through the chain wheel pair, so that the wheel rotation is realized.

4. The ultra-thin AGV vehicle handler of claim 1, wherein the driven wheel module comprises a connecting bar frame, a connecting plate, a connecting side plate, and driven wheels; wherein the connecting rod frame is connected with the driven wheel and the carrier frame structure, one end of the connecting rod frame is connected to the frame through welding, the other end of the connecting rod frame is connected to the connecting side plates through the connecting end cover, and the driven wheel is arranged between the connecting side plates.

5. The ultra-thin AGV vehicle carrier of claim 4 wherein said driven wheel has an eccentricity between its axis and the frame support point such that when the carrier body changes direction, the driven wheel is subjected to an eccentric force causing it to follow the carrier.

6. The new and ultra-thin AGV vehicle handler of claim 1, wherein the frame structure includes two parallel support bars, the two drive wheel modules are disposed between the support bars along a longitudinal direction of the support bars, and the slewing support of the drive wheel modules is welded within the support bars.

7. The ultra-thin AGV vehicle handler of claim 1, wherein the wheel-holding drive mechanism comprises two dc servomotors and two reducers arranged on a straight line, and the wheel-holding drive mechanism employs two worm gears for deceleration; the wheel holding lifting device comprises a narrow lifting wedge block and a wide lifting wedge block; each speed reducer drives a worm to rotate; each worm is matched with one worm wheel, and the worm wheel drives the wheel holding lifting device to lift; one worm wheel drives the narrow lifting wedge block, and the other worm wheel drives the wide lifting wedge block; the two worm wheels are connected with the frame mechanism through a connecting plate.

8. The ultra-thin AGV vehicle carrier of claim 7 wherein both of said worm gears are incomplete worm gears that ensure that the angle of rotation of the lift wedge is within a given range.