CN206815918U - Ultrathin AGV vehicle carriers - Google Patents

Abstract

The utility model discloses a kind of new type superthin AGV vehicle carriers, are made up of two car body units of front-end geometry identical, and described two car body units are connected by the telescopic connection mechanism at middle part；Each described car body unit includes running gear, wheel holding lifting part and body frame structure for automotive；Described running gear includes two driving wheel modules and four driven pulley modules, and the effect of driving wheel module is to realize the plane omnidirectional walking for carrying car body, and the effect of driven pulley module is that auxiliary drive wheels share carrier vehicle weight and balance supporting body；Described wheel holding lifting part includes two sets of wheel holding lifting components, and two sets of wheel holding lifting components are located at the both sides of body frame structure for automotive；Often set wheel holding lifting component includes drive mechanism, transmission mechanism and wheel holding mechanism, and drive mechanism provides power output, and transmission mechanism realizes deceleration of motion and power augmentation, and most automobile is lifted away from ground at last for wheel holding mechanism.

Description

Ultrathin AGV vehicle carriers

Technical field

The utility model discloses a kind of new ultrathin AGV vehicle carriers

Background technology

In order to solve the problems, such as automatic access automobile in multi-storied garage, current automated three-dimensional parking apparatus industry occurs It is many to realize the carrier for automobile carry access.The main receiving delivery system of these carriers have carrier vehicle it is board-like, comb Tooth-like and three kinds of forms of clamping-arm.The board-like handing-over of carrier vehicle need to utilize vehicle-carrying plate to realize friendship of the vehicle in carrier and parking interdigit Connect, when continuous bicycle parking, it is necessary to which carrier elder generation is from parking stall or unloaded sweep is carried to bicycle parking position in vehicle-carrying plate storeroom, then Carry out bicycle parking action；When continuous pick up the car, carrier needs to deposit unnecessary vehicle-carrying plate on empty parking stall or vehicle-carrying plate is deposited Place is put, to vacate pick-up position.Therefore this mode Transport Vehicle time length, carrier workload is big, and access efficiency is low.Comb-tooth-type Vehicle can be achieved with clamping-arm in carrier and parking interdigit directly to join, wherein comb-tooth-type is simple in construction, and feasibility is high, but Need to set broach jiffy stand, increase construction cost, and take certain altitude space, reduce height space utilization rate.At present Clamping-arm carrier thickness be all higher than automobile chassis height, limited by automobile chassis height, need to be by automobile parking On parking platform, or ditching on the ground, vehicle carrier is crossed and pierce progress vehicle hand-ing over carrying under automobile chassis, Still suffer from garage capital construction cost height, the weakness of low space utilization.Also some schemes are clipping using side, i.e., for parking Automobile on level land, carrier carry out clipping transiting transportation in automobile side, and carrier is not required to entirety and pierces underbody, in nothing Access and connection and the carrying to vehicle are realized in the parking plane of parking platform or ground groove, but needs to reserve in automobile side Certain working region, plane utilization rate are low.And above-mentioned various clipping carrier generally existings are to different automobile wheel bases The weakness of bad adaptability, implementation result are undesirable.

Utility model content

, should the utility model proposes a kind of solution of ultrathin AGV vehicle carriers based on above-mentioned technical background Carrier overall height is less than 130mm, less than most of passenger-car chassis height, for the vehicle to be handled parked on the ground, surpasses Slim vehicle carrier allows it to drive directly into below chassis in the height direction, and separate front and back is connected by extension type mechanism Carrier vehicle body is adapted to automobile wheel base, accommodates wheel using rotation lift car voussoir at each tire afterwards, realization is deposited Pick up the car and join, and movement of freely being walked in plane is realized by AGV running gears.The receiving delivery system is not required to ad hoc jiffy stand, stopped The auxiliary equipment such as ride or carrier walking track, simplifies garage structure, reduces garage building cost and maintenance cost.By In jiffy stand need not be set, make individual layer height reduction, in garage, overall height under the same conditions, can set up more numbers of floor levels, Improve space availability ratio.

Current vehicle carrier is walked along trapped orbit mostly, can not be to the carry out pose tune of deflection automobile on parking stall Whole and correction, or be only capable of being finely adjusted deflection automobile.Thus it requires driver stops automobile just, having to pose deviation must Ask, so as to add the parking difficulty of driver.Ultrathin AGV carriers of the present utility model have been broken away from along trapped orbit operation Limitation, can park a car to free-position on level land and carry out matching carrying, reduce the requirement to driver's stopping technical, improve The labor aptitude of carrier.

The technical solution adopted in the utility model is as follows：

A kind of ultra-thin AGV vehicle carriers, it is made up of two car body units of front-end geometry identical, described two car bodies Unit is connected by the telescopic connection mechanism at middle part；Each described car body unit includes running gear, wheel holding lifting portion Point and body frame structure for automotive；Described running gear includes two driving wheel modules and four driven pulley modules, described two drivings Longitudinal direction distribution of the module along body frame structure for automotive is taken turns, its effect is to realize the plane omnidirectional walking for carrying car body, described Four driven pulley modules are arranged on four angles of body frame structure for automotive, and its effect is that auxiliary drive wheels share carrier vehicle weight and balance Supporting body；Described wheel holding lifting part includes two sets of wheel holding lifting components, and two sets of wheel holding lifting components are located at body frame structure for automotive Both sides；Often set wheel holding lifting component includes drive mechanism, transmission mechanism and wheel holding mechanism, and drive mechanism provides power output, Transmission mechanism realizes deceleration of motion and power augmentation, and most automobile is lifted away from ground at last for wheel holding mechanism；Described body frame structure for automotive uses Edge-beam type mechanism, support is provided for running gear, wheel holding lifting part；Compared to conventional middle beam type and box-type, space profit Bigger with rate, whole height is lower, meets ultra-thin utility model requirement.

Further, described telescopic connection mechanism is fixed by two identical telescoping mechanisms by adapter sleeve, institute The each telescoping mechanism stated includes the axis of guide and can be respectively and super with respect to the guide rail composition slided, front and rear guide rails on the axis of guide The front and rear car body unit of slim carrier is connected, so as to realize relative movement of the two car body units in fore-and-aft direction.

Further, described driving wheel module includes a revolving support being arranged on body frame structure for automotive, described Two symmetrical and compact Layout driver elements are installed, each described driver element drives a wheel rotation in revolving support Turn；When two symmetrical vehicle wheel rotational speeds are identical, drive module straight trip, can be by controlling each unit when needing deflecting Motor speed regulates and controls the speed discrepancy of two wheels, realizes the accurate deflecting of whole driving wheel module using differential motion.

Further, the pivoting support is made up of supporting outer ring, supporting inner ring, steel ball and roller, and the steel ball is set Between supporting outer ring and the radially facing surface of supporting inner ring, described roller is arranged on supporting outer ring and supports the circumference of inner ring Between contact surface；Supporting outer ring is welded with carrier body frame structure for automotive.

Further, each driver element includes DC servo motor and decelerator, chain wheel pair, axle, wheel and each Structural connection；Its workflow is：DC servo motor exports power, slows down output to driving shaft by decelerator, then lead to The wheel body that chain wheel pair is delivered on driven shaft is crossed, realizes vehicle wheel rotation.When two symmetrical vehicle wheel rotational speeds are identical, drive module Straight trip, when needing deflecting, can regulate and control the speed discrepancy of two wheels by controlling the motor speed of each unit, utilize difference The accurate deflecting of whole driving wheel module is realized in speed motion.

Further, described driven pulley module includes connection bridge, connecting plate, connecting lateral plate, driven wheel；Wherein connect Extension bar frame connects driven wheel with carrier body frame structure for automotive its one end by being welded to connect on vehicle frame, and the other end passes through connection end Lid is connected on connecting lateral plate, and driven wheel is arranged between connecting lateral plate.

Further, described driven pulley, eccentric throw be present between its axis and vehicle frame supporting-point, so as to work as carrier car body During deflecting, driven pulley is made it follow carrier to move, avoids wheel stuck by eccentric force.

Further, described body frame structure for automotive includes two parallel support bars, and two driving wheel modules are along support bar Longitudinal direction be arranged between support bar, and the revolving support of driving wheel module is welded in support bar.

Further, the drive mechanism of the wheel holding includes two DC servo motors and two set point-blank Individual decelerator, the transmission mechanism of the wheel holding are slowed down using two worm and gears；Described wheel holding lifting apparatus includes narrow lift car Voussoir and wide lift car voussoir；Each reductor drives a worm screw rotation；Each worm screw coordinates with a turbine, described worm gear For incomplete worm gear, ensure the anglec of rotation of lift car voussoir in given range；And turbine drives wheel holding lifting apparatus lifts；One The individual narrow lift car voussoir of turbine drives, the wide lift car voussoir of another turbine drives；Two turbines pass through connecting plate and vehicle frame mechanism phase Even；The initial position of two lift car voussoirs is close to car body both sides, and into after bottom of car, narrow lift car voussoir is first rotated by 90 °, and is led to Cross front and rear car body disengaging movement wheel is adapted to and positioned, then wide lift car voussoir rotation, lifts wheel by accommodating power Rise, when wide lift car voussoir rotates to the position being parallel to each other with narrow lift car voussoir, the rising height of automotive wheel reaches maximum.

The transmission mechanism of the wheel holding is slowed down using worm and gear, and self-locking can be kept during lifting,

Overall work process of the present utility model is as follows:

(1) car step is lifted.User's bicycle parking, automobile parking is left in area to be handled, pull-up parking brake, user.Carrier is sailed Enter under automobile chassis, the narrow lift car voussoir of carrier front body and rear body screws out, and front and rear two parts are to the direction of separation Motion, after narrow lift car voussoir touches automobile front and back wheel, complete the positioning between carrier and automobile.Then wide lift car voussoir Rotation, realize that wheel holding is moved together with narrow lift car voussoir, lift automobile by the chucking power of two voussoirs, complete carrier lift car Step.

(2) step is carried.Carrier carries automobile and enters lift, with lift reach respective storey after, carrier from Lift is rolled away from, determined by alignment system from the accurate two-dimensional coordinate position of the layer garage, and position is uploaded to Entreat control system.The track route planned is transferred to carrier by central control system.Carrier is according to the route received Walking.Self-position is determined by positioner in real time in walking process, and communicated in real time with central control system, to correct row Trajector deviation is walked, until carrier, which reaches, specifies parking stall.

(3) car step is put.After carrier reaches parking stall, lift car voussoir, which reversely rotates, unclamps wheel, and automobile is fallen, Carrier rolls automobile chassis away from, puts car step and terminates.

(4) pick-up process and bicycle parking process are on the contrary, here is omitted.

The beneficial effects of the utility model are as follows:

1. AGV ultrathin types vehicle carrier of the present utility model can carry out carrying access to the automobile parked on the ground Work, it is not necessary to jiffy stand, track and other any auxiliary equipments.Space availability ratio is greatly improved, reduces garage Construction cost and difficulty of construction.

2. ultrathin vehicle carrier of the present utility model can carry out automatic to free-position parked car on level land Matching and carrying, greatly reduce the requirement to driver's stopping technical.

3. the front and rear car body of carrier is connected by telescoping mechanism, can be realized by disengaging movement to automobile wheel base Matching, the matching way is not required to additional drive system, and positions tire by narrow lift voussoir, and its positioning precision is high, adapts to Property is strong.

4. ultrathin vehicle carrier of the present utility model can drive directly into bottom of car work, without vehicle bracket, stop The auxiliary equipment such as vehicle frame, track, improve garage height space utilization rate.Relative to side automobile carrier, without stopping Carrier working space is reserved between position, improves garage plane space utilization rate.

Brief description of the drawings

The Figure of description for forming the part of the application is used for providing further understanding of the present application, and the application's shows Meaning property embodiment and its illustrate be used for explain the application, do not form the improper restriction to the application.

Fig. 1 ultrathin type AGV vehicle carrier total figures；

Fig. 2 walking mechanism general arrangements；

Fig. 3, Fig. 4 running wheel group overall diagram；

The single driving wheel figures of Fig. 5；

Fig. 6 is single to carry car body figure；

The driven universal wheel overall diagrams of Fig. 7；

Fig. 8 universal wheel wheel shaft installation diagrams；

Fig. 9 wheel holding lifting mechanism total figures；

Figure 10 wheel holding lifting mechanism drive module figures；

Figure 11 wheel holding lifting mechanism transmission system total figures；

The incomplete worm gear part drawings of Figure 12；

The narrow lift car voussoir unit figures of Figure 13；

The wide lift car voussoir unit figures of Figure 14；

Figure 15 worm and gear installation diagrams；

Car body connection figure before and after Figure 16；

Figure 17 bindiny mechanisms unit figure；

Telescopic connection mechanism, 14 walking mechanisms, 15 before and after car body, 13 are carried after car body, 12 are carried in upper figure, before 11 Wheel holding lifting mechanism, 16 body frame structure for automotive；

21 running wheel groups, 22 driven pulleys；

31 left driving wheel units, 32 right driving wheel units, 33 parts supports, 34 pivoting supports, 35 supporting outer rings, 36 Hold inner ring, 37 steel balls, 38 rollers；

41 DC servo motors, 42 planetary reduction gears, 43 drive sprockets, 44 chains, 45 driven sprockets, 46 axletrees, 47 Wheel；

51 car body longerons；52 motor support frames；

61 driven pulleys connection bridge, 62 driven pulley bottom wheel bodys, 63 driven wheels, 64 right plates, 65 left plates, 66 connections End cap；

71 follower shafts, 72 ball bearings, 73 sleeves, 74 shaft end cover plates；

81 right electric motor units, 82 worm couples, 83 connecting plates, 84 narrow lift voussoirs, 85 wide lift voussoirs, 86 left motor lists Member；

91 DC servo motors, 92 decelerators, 93 shaft couplings, 94 worm screws；

101 worm gears, 102 narrow lift voussoir connecting shafts, 103 wide lift voussoir connecting shafts；

141 bearing blocks；

161 axis of guides, 162 limited blocks, 163 middle part adapter sleeves, 164 car body guide rails.

Embodiment

It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field The identical meanings of understanding.

It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.

The utility model is described in detail below in conjunction with the accompanying drawings：

First, ultrathin AGV vehicle carriers general function division

As shown in figure 1, ultrathin AGV vehicle carriers, including two carrying car bodies 11,12 of front-end geometry identical, two Person is movably connected by the telescopic connection mechanism 13 in the middle part of carrier.Single carrier body unit, by taking rear body as an example, Running gear 14 including plane straight trip and steering can be realized, the wheel holding lifting part of the direct lifting automobile from ground can be realized 15 and connect the body frame structure for automotive 16 of each mechanism.

2nd, running gear structure utility model

As shown in Fig. 2 the running gear of AGV vehicle carriers includes front and rear symmetrical four drive wheel groups 21 and front and rear right Eight universal wheels 22 claimed, the main function of the part is to realize vehicle carrier in the comprehensive row of multi-storied garage floor level Walk.

As shown in Figure 3,4, running wheel group includes two symmetrical wheel units 31 and 32, parts support 33 and returned Turn supporting 34.Pivoting support 34 supports inner ring 36, steel ball 37 and roller by running wheel group supporting outer ring 35, running wheel group Son 38 forms, and steel ball 37 reduces vertical direction between running wheel group supporting outer ring 35 and running wheel group supporting inner ring 36 Friction, roller 38 reduces the friction of horizontal direction between the two, and supporting outer ring 35 is welded with carrier car body.

As shown in figure 5, the course of work of single differential wheel unit is：DC servo motor 41 exports power, by planet Decelerator 42 is delivered to the drive sprocket 43 on output shaft after slowing down, then is passed to driven sprocket 45, driven sprocket by chain 44 Connect, rotated eventually through axle 46 with motor car wheel 47, described each parts are attached by support 33 with axletree 46 Assembling.As shown in Figure 3,4, two wheel units 31,32 are symmetrically mounted on circular mounting platform, by controlling servomotor Output speed realizes the speed control to two wheels, when two vehicle wheel rotational speeds are identical, drive wheel group unit straight trip, when two wheels are deposited In speed difference, drive wheel group unit can carry out the rotary motion of different angle, pass through four walking manners of drive wheel group 21 Cooperate, realize the plane omnibearing ambulation of ultrathin vehicle carrier car body.When being worked due to ultrathin vehicle carrier Need to pierce automobile chassis, so on the premise of power requirement is met, the standard component such as DC servo motor 41, decelerator 42, And the geometric parameter of the workpiece such as link 33, mounting platform 34 must all select in the height direction or utility model is into minimum Size.The utility model employs eight motor-driven modes simultaneously, has disperseed the operating power that each motor undertakes, so as to Further reduce the size of motor and each parts.

As shown in fig. 6, be equipped with universal wheel 22 on four angles of car body, as shown in Fig. 2 front and rear car body share eight it is universal Wheel.As shown in fig. 7, universal wheel body is welded by the connecting rod 61 and car body longeron 51 on top, such connected mode causes The eccentric throw of the length of connecting rod 61 between universal wheel axis and tie point be present, therefore when car body deflecting, universal wheel will be by inclined Mental and physical efforts, universal wheel can be made quickly to be servo-actuated, avoided stuck.The bottom wheel body 62 and connection bridge 61 of driven pulley pass through connection end cap 66 It is connected, the connected mode of bottom wheel body is as shown in fig. 7, the right-hand member of wheel shaft 71 passes through cover plate 74 and the connected positioning of right connection board 66, a left side End passes through left connection board 65, and supporting wheel 63 is connected by a pair of ball bearings 72 and wheel shaft 71, and bearing is carried out by sleeve 73 Axially position, thus wheel body can bear the power from axially and radially both direction, and car body is carried so as to stable.

3rd, wheel holding lifting part

Wheel holding lifting part can be realized to be lifted to the automobile parked on the ground, its overall structure such as Fig. 6, Fig. 9 institute Show, the left and right motor 86,81 of wheel holding lifting mechanism 15 is connected by motor rack 52 and car body longeron 51, the snail of wheel holding lifting mechanism Worm couple 82, the narrow supporting keeper for lifting car voussoir 84, wide lift car voussoir 85 and each component all pass through heart and connect wallboard 83 and the screw of car body longeron 51 be detachably connected.Figure 10 show electric motor units, and direct current generator 91 is subtracted by the one-level of decelerator 92 After speed, its output shaft is connected with shaft coupling 93, and power is transferred into worm screw 94.As shown in Figure 10, worm screw 94 and worm gear 101 engage Double reduction is carried out, worm gear 101 is rotated a certain angle, while the narrow lift car voussoir 84 being connected with left and right worm gear and wide lift car Voussoir 85 is also rotated with, and both are movably connected by connecting shaft 102 and 103 with connecting plate 83, due to width lift car voussoir The limit anglec of rotation is 90 degree, and worm gear only has the gear teeth of about 1/3rd circumference, and incomplete worm gear is as shown in figure 12.Width lifts car The end of voussoir is the disk connecting plate that upper and lower two panels is arranged on worm-wheel shaft, and its structure is as shown in Figure 13, Figure 14, worm and gear Assembly relation it is as shown in figure 15.Lifting the car course of work is：The initial positions of two lift car voussoirs are close to car body both sides, at carrier In width minimum state, after carrier drives into automobile chassis, motor 81 starts, and by shaft coupling 93, drives worm couple 62, the front and rear lift car voussoir 84 for carrying car body is screwed out 90 degree, as shown in Figure 11 dotted line position, front and rear car body separation and displacement Certain distance, narrow lift car voussoir 84 is touched wheel, complete the position fixing process between carrier and automobile, then wide lift car wedge Block 85 is rotated, and wide lift car voussoir is engaged with narrow lift car voussoir 84, by chucking power by wheel lift, to complete lift car step. Walking mechanism starts, and lift car voussoir is in wheel holding state all the time.Carried out when carrier is travelled to specified location, width lift car voussoir The reverse rotation opposite with lift car process is moved, and wheel is slowly fallen, and automobile landing, carrier rolls away under automobile chassis.

3rd, frame connecting mechanism

The utility model employs two body constructions that can realize separate front and back, i.e., with front vehicle body to automotive front tire Wheel holding lifting is carried out, aftercarriage carries out wheel holding lifting to automobile back wheel, and as shown in figure 16, front and rear car body passes through with Telescopic Attachment structure 151 movably connected.As shown in figure 17, bindiny mechanism is symmetrical relative to middle part adapter sleeve 163, in order to Structure representation understands, eliminates the guide rail 164 on right side.Middle part adapter sleeve 163 provides supporting and fixing to being oriented to major axis 161, is oriented to The end of axle 161 has a limited block 162 to be embedded in front and rear guide rails 164, and front and rear guide rails 164 can be done on the axis of guide 161 Front and rear relative slip, and it is spacing by limited block 162.The front and rear guide rails longitudinal beam welding with front and rear car body respectively, running gear and Wheel holding lifting part is connected with car body longeron, so as to realize front and rear car body in the fixation in x directions and the relative movement in y directions.

In order to ensure the height of carrier within 130mm, each parts are on the basis of two longerons of car body, same Assembled in plane, so as to greatly reduce carrier whole height.

It is not new to this practicality although above-mentioned specific embodiment of the present utility model is described with reference to accompanying drawing The limitation of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability Field technique personnel need not pay the various modifications that creative work can make or deformation still in protection model of the present utility model Within enclosing.

Claims (10)

1. A kind of 1. ultra-thin AGV vehicle carriers, it is characterised in that it is made up of two car body units of front-end geometry identical, it is described Two car body units connected by the telescopic connection mechanism at middle part；Each described car body unit include running gear, Wheel holding lifting part and body frame structure for automotive；Described running gear includes two driving wheel modules and four driven pulley modules, described Two driving wheel modules along body frame structure for automotive longitudinal direction distribution, its effect be realize carry car body plane omnidirectional row Walk, described four driven pulley modules are arranged on four angles of body frame structure for automotive, and its effect is that auxiliary drive wheels share carrier vehicle Weight and balance supporting body；Described wheel holding lifting part includes two sets of wheel holding lifting components, two sets of wheel holding lifting component positions In the both sides of body frame structure for automotive；Often set wheel holding lifting component includes drive mechanism, transmission mechanism and wheel holding mechanism, and drive mechanism provides Power output, transmission mechanism realize deceleration of motion and power augmentation, and most automobile is lifted away from ground at last for wheel holding mechanism.
2. 2. ultra-thin AGV vehicle carriers as claimed in claim 1, it is characterised in that described telescopic connection mechanism by Two identical telescoping mechanisms are fixed by adapter sleeve, and described each telescoping mechanism includes the axis of guide and can be on the axis of guide The relative guide rail composition slided, front and rear guide rails are connected with the front and rear car body unit of ultrathin carrier respectively, so as to realize two cars Relative movement of the body unit in fore-and-aft direction.
3. 3. ultra-thin AGV vehicle carriers as claimed in claim 1, it is characterised in that described driving wheel module includes one Revolving support on body frame structure for automotive, two symmetrical and compact Layout driving lists are installed in described revolving support Member, each described driver element drive a wheel rotation；When two symmetrical vehicle wheel rotational speeds are identical, drive module straight trip, When needing deflecting, the speed discrepancy of two wheels can be regulated and controled by controlling the motor speed of each unit, transported using differential The dynamic accurate deflecting for realizing whole driving wheel module.
4. 4. ultra-thin AGV vehicle carriers as claimed in claim 3, it is characterised in that the pivoting support is by supporting outer ring, branch Inner ring, steel ball and roller composition are held, the steel ball is arranged between supporting outer ring and the radially facing surface for supporting inner ring, described Roller is arranged between supporting outer ring and the circumferential contact surface for supporting inner ring；Supporting outer ring is welded with carrier body frame structure for automotive.
5. 5. ultra-thin AGV vehicle carriers as claimed in claim 3, it is characterised in that each driver element includes direct current Servomotor and decelerator, chain wheel pair, driving shaft, driven shaft and wheel；The DC servo motor exports power, by slowing down Device slows down output to driving shaft, then the wheel body on driven shaft is delivered to by chain wheel pair, realizes vehicle wheel rotation.
6. 6. ultra-thin AGV vehicle carriers as claimed in claim 1, it is characterised in that described driven pulley module includes connection Bridge, connecting plate, connecting lateral plate, driven wheel；Wherein connect bridge connection driven wheel and carrier body frame structure for automotive its one end By being welded to connect on vehicle frame, the other end is connected on connecting lateral plate by connection end cap, and driven wheel is arranged on connecting side Between plate.
7. 7. ultra-thin AGV vehicle carriers as claimed in claim 6, it is characterised in that described driven pulley, its axis and vehicle frame Eccentric throw between supporting-point be present, so as to which when carrier car body deflecting, driven pulley is made it follow carrier to transport by eccentric force It is dynamic.
8. 8. ultra-thin AGV vehicle carriers as claimed in claim 1, it is characterised in that described body frame structure for automotive, which includes two, puts down Capable support bar, between longitudinal direction of two driving wheel modules along support bar is arranged on support bar, and driving wheel module Revolving support is welded in support bar.
9. 9. ultra-thin AGV vehicle carriers as claimed in claim 1, it is characterised in that the wheel holding drive mechanism includes two DC servo motor and two decelerators point-blank is set, and the transmission mechanism of the wheel holding uses two worm and gears Slow down；Described wheel holding lifting apparatus includes narrow lift car voussoir and wide lift car voussoir；Each reductor drives a worm screw rotation； Each worm screw coordinates with a turbine, and turbine drives wheel holding lifting apparatus lifts；The narrow lift car voussoir of one turbine drives, it is another The individual wide lift car voussoir of turbine drives；Two turbines are connected by connecting plate with vehicle frame mechanism.
10. 10. ultra-thin AGV vehicle carriers as claimed in claim 9, it is characterised in that two worm gears are incomplete snail Wheel, ensure the anglec of rotation of lift car voussoir in given range.