CN210027181U

CN210027181U - AGV Car

Info

Publication number: CN210027181U
Application number: CN201920582509.XU
Authority: CN
Inventors: 李丰国; 宗保玲; 郑茂建
Original assignee: Weifang Lokomo Precision Industry Co Ltd
Current assignee: Weifang Lokomo Precision Industry Co Ltd
Priority date: 2019-04-25
Filing date: 2019-04-25
Publication date: 2020-02-07
Anticipated expiration: 2029-04-25

Abstract

The utility model discloses an AGV (automatic guided vehicle), which belongs to the technical field of unmanned transportation and comprises a vehicle body, wherein the top surface of the vehicle body is provided with a lifting system, the lifting system comprises a frame, a fork driven by a lifting driving device is slidably mounted on the frame, and a floating adjusting structure for adjusting the mounting position of the fork on the frame is arranged on the fork; the bottom of the vehicle body is provided with a driving system for driving the vehicle body to move; the car body is further provided with a navigation system and a control system, and the driving system and the lifting system are controlled by the control system. The utility model discloses a AGV dolly automatic handling multilayer goods shelves function of goods has enlarged AGV's use scene.

Description

AGV Car

Technical Field

The utility model belongs to the technical field of unmanned transportation, concretely relates to AGV dolly.

Background

With the development of science and technology, various industries, especially labor-intensive enterprises, have higher and higher requirements for automation of factories. The AGV develops and is responsible for carrying products, semi-finished products and raw materials. An Automated Guided Vehicle (AGV) refers to a transport vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, and having safety protection and various transfer functions.

In order to fully utilize the available space, raw materials, semi-finished products and finished products are stored in a multi-layer shelf as a priority of most enterprises. The general AGV transporting trolley can not meet the use condition, so that the automation of a factory is reduced.

Therefore, how to apply the AGV to a multi-shelf scenario and improve factory automation becomes a technical problem to be solved urgently by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

In view of the above problem, the technical problem to be solved by the present invention is: the utility model provides a AGV dolly can realize the function of transport multilayer goods shelves goods, enlarges AGV use scene, improves the automation of mill.

In order to solve the technical problem, the technical scheme of the utility model is that: an AGV trolley comprises a trolley body, wherein a lifting system is arranged on the top surface of the trolley body and comprises a frame, a fork driven by a lifting driving device is slidably mounted on the frame, and a floating adjusting structure used for adjusting the mounting position of the fork on the frame is arranged on the fork; the bottom of the vehicle body is provided with a driving system for driving the vehicle body to move;

the car body is further provided with a navigation system and a control system, and the driving system and the lifting system are controlled by the control system.

As an improvement, the left side and the right side of the frame are respectively provided with a slideway, and the left side and the right side of the fork are respectively provided with a guide roller matched with the slideways;

the floating adjusting structure comprises a front and rear adjusting structure and a left and right adjusting structure, the front and rear adjusting structure comprises adjusting shafts fixedly mounted on the left and right sides of the fork through first fasteners, each adjusting shaft is eccentrically provided with an eccentric roller, and the eccentric rollers are abutted against the front sides of the corresponding slideways;

the left-right adjusting structure comprises adjusting plates fixedly mounted on the left side and the right side of the pallet fork through second fasteners, adjusting long holes for the second fasteners to penetrate through are formed in the adjusting plates, a cam bearing follower is mounted on each adjusting plate, rollers of the cam bearing followers abut against corresponding slide ways, and the axial direction of roller shafts of the cam bearing followers is arranged along the front-back direction.

As a further improvement, the fork includes crane and plummer, the crane includes the riser, locates the sideboard of riser both sides and connects two fixed beams on the sideboard, the plummer fixed mounting in fixed beam, regulating plate fixed mounting in the riser, regulating shaft fixed mounting in the sideboard.

As an improvement, the lifting driving device comprises a speed reducer driven by a first power device, the speed reducer is provided with two symmetrically arranged output ends, a rotating shaft is rotatably installed at the upper end of the frame, a chain transmission device is arranged between each output end and the rotating shaft, and chains of the two chain transmission devices are fixedly connected with the fork.

As a further improvement, an encoder is arranged at the end part of the rotating shaft;

the upper part and the lower part of the frame are respectively provided with an upper photoelectric sensor and a lower photoelectric sensor which are used for limiting the lifting of the fork to the upper limit position and the lower limit position;

the upper part and the lower part of the fork are respectively provided with an upper micro travel switch and a lower micro travel switch, and the front part of the fork is provided with a photoelectric switch;

the upper portion and the lower part of frame still are provided with respectively and are used for carrying out spacing upper limit piece and lower spacing piece of protection to the fork.

As an improvement, the driving system comprises driving wheels positioned at two sides of the middle part of the vehicle body, front universal wheels positioned at two sides of the front part of the vehicle body and rear universal wheels positioned at two sides of the rear part of the vehicle body; the front universal wheels and the driving wheels on the same side are respectively arranged at two ends of a seesaw, the middle of the seesaw is hinged to the vehicle body, each driving wheel is connected with a second power device, and the rear universal wheels are arranged on the vehicle body.

As an improvement, the vehicle body is further provided with a safety protection system, and the safety protection system comprises:

the laser scanner is arranged on the front side of the vehicle body, and the laser sensors are respectively arranged on the left side and the right side of the vehicle body;

an emergency stop button disposed at a rear side of the vehicle body;

and an airbag disposed on the vehicle body.

As an improvement, a secondary positioning system is arranged at the bottom of the vehicle body, and comprises a scanning lens; the navigation system is a laser navigation system.

After the technical scheme is adopted, the beneficial effects of the utility model are that:

the utility model provides a AGV dolly, through mutually supporting of hoist system, actuating system, navigation and control system, realized the function of the automatic handling multilayer goods shelves goods of AGV dolly, enlarged AGV's use scene. Because the floating adjusting structure is arranged on the fork, the mounting position of the fork on the frame can be adjusted through the floating adjusting structure, so that the processing difficulty is reduced, and the accuracy of the mounting position of the fork is ensured.

Because the lifting driving device comprises a speed reducer driven by a first power device, the speed reducer is provided with two symmetrically arranged output ends, the upper end of the frame is rotatably provided with a rotating shaft, and a chain transmission device is arranged between each output end and the rotating shaft, so that the two chain transmission devices are symmetrically arranged, and the motion consistency of the two chains can be ensured.

Because the end of the rotating shaft is provided with the encoder, the precision of the stop position of the pallet fork is ensured to be high.

The driving system comprises driving wheels positioned at two sides of the middle part of the vehicle body and front universal wheels positioned at two sides of the front part of the vehicle body; the front universal wheels and the driving wheels on the same side are respectively arranged at two ends of the seesaw, and the middle part of the seesaw is hinged with the vehicle body, so that the front universal wheels, the seesaw and the driving wheels on each side can form a seesaw structure, the driving wheels are guaranteed to land preferentially within a certain angle range, and the trolley is guaranteed to have enough driving force; because every drive wheel all connects the second power device, can realize the differential control of two drive wheels, realize 0 degree spin rotation, practice thrift the turn space.

Because the car body is also provided with a safety protection system, the safety of equipment operation is ensured.

Because the bottom of automobile body is provided with secondary positioning system, secondary positioning system includes scanning lens, and scanning lens carries out the secondary through scanning two-dimensional code and fixes a position, makes the AGV dolly obtain higher positioning accuracy. The navigation system is a laser navigation system, so that the navigation system is applicable to various workshop scenes.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a perspective view of FIG. 1;

FIG. 3 is a schematic diagram of the construction of the lift system;

FIG. 4 is an enlarged perspective view of the fork of FIG. 3;

FIG. 5 is a schematic view of a portion of the lift system;

FIG. 6 is a schematic structural view of a drive system;

FIG. 7 is a schematic representation of the relative positions of the seesaw, the drive wheels, the front universal wheels and the rear universal wheels in the drive system;

FIG. 8 is a schematic structural view of a control system, a navigation system, a secondary positioning system, and a drive system;

fig. 9 is a bottom view of an embodiment of the present invention;

fig. 10 is a side view of the embodiment of the present invention (the movable door at the rear end of the vehicle body is omitted in the figure);

FIG. 11 is a schematic view of a portion of the control system;

FIG. 12 is a partial view taken from the direction A of FIG. 1;

FIG. 13 is a functional block diagram of a control system;

FIG. 14 is a schematic diagram of an AGV according to an embodiment of the present invention docking with a multi-level rack;

FIG. 15 is a flowchart of an automated AGV handling method according to an embodiment of the present invention;

in the figure: 1-a vehicle body, 11-a loudspeaker, 12-a switching power supply, 13-a wireless serial server, 14-a wireless IO module, 15-a storage battery, 16-a button module, 161-an operation button, 162-a stop button, 163-a key button, 164-a band-type brake button, 17-a display screen, 18-a handle interface, 2-a lifting system, 21-a frame, 211-a slideway, 213-a lower photoelectric sensor, 214-an upper limit block, 22-a lifting driving device, 221-a first motor, 222-a speed reducer, 223-a rotating shaft, 224-a chain transmission device, 2241-a chain, 23-a pallet fork, 231-a guide roller, 232-a lifting frame, 2321-a vertical plate, 2322-a side plate, 2323-a fixed beam and 233-a bearing platform, 234-upper micro travel switch, 235-lower micro travel switch, 236-photoelectric switch, 24-floating adjustment structure, 241-first fastener, 242-adjustment shaft, 243-eccentric roller, 244-cam bearing follower, 245-adjustment plate, 2451-adjustment long hole, 25-encoder, 3-driving system, 31-driving wheel, 32-front universal wheel, 33-rear universal wheel, 34-rocker, 35 a-second motor, 35 b-second motor, 36-speed reducer, 4-navigation system, 5-control system, 51-AGV control module, 52-lifting module, 53-first motor driver, 54 a-second motor driver, 54 b-second motor driver, 55-voice module, 56-alarm module, 57-pressure wave module, 58-handle module, 59-power module, 6-safety protection system, 61-laser scanner, 62 a-laser sensor, 62 b-laser sensor, 63-emergency stop button, 64-safety airbag, 65-indicator light, 66-indicator light, 67-light bar, 7-secondary positioning system, 71-scanning lens, 8-industrial control computer, 9-goods shelf, 91-goods shelf door, 92-goods shelf control module, 93-motor driver, and 94-driving motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1 to 5, an AGV cart includes a cart body 1, a lifting system 2 is disposed on a top surface of the cart body 1, the lifting system 2 includes a frame 21, slide ways 211 are disposed on left and right sides of the frame 21, forks 23 driven by a lifting driving device 22 are slidably mounted on the slide ways 211, guide rollers 231 engaged with the slide ways 211 are disposed on left and right sides of the forks 23, the lifting driving device 22 includes a speed reducer 222 driven by a first power device, the first power device is preferably a first motor 221, the first motor 221 is preferably a dc brushless motor, and of course, the first motor 221 may be other types of motors; the speed reducer 222 has two output ends symmetrically arranged, a rotating shaft 223 is rotatably mounted at the upper end of the frame, a chain transmission device 224 is arranged between each output end and the rotating shaft 223, and the chains 2241 of the two chain transmission devices 224 are fixedly connected with the fork 23. In this way, the first motor 221 rotates to drive the speed reducer 222 to rotate, so as to drive the chain transmission device 224 to move, and further drive the fork 23 to move up and down, and the fork 23 is guided by the guide roller 231 when moving. Because the two chain drives 224 are arranged symmetrically, the uniformity of the movement of the two chains 2241 can be ensured.

In this embodiment, the fork 23 includes a lifting frame 232 and a carrying platform 233, the lifting frame 232 includes a vertical plate 2321, side plates 2322 disposed on two sides of the vertical plate 2321, and a fixed beam 2323 connected to the two side plates 2322, and the carrying platform 233 is fixedly mounted on the fixed beam 2323.

In order to reduce the processing difficulty and ensure the accurate installation position of the fork 23, floating gaps can be reserved at the front, the back, the left and the right of the fork 23, and a floating adjusting structure 24 for adjusting the installation position of the fork 23 on the frame 21 is arranged on the fork 23.

The floating adjustment structure 24 includes a front-back adjustment structure and a left-right adjustment structure, the front-back adjustment structure includes an adjustment shaft 242 fixedly mounted on the left and right sides of the fork 23 by a first fastening member 241, specifically, the adjustment shaft 242 is fixedly mounted on the side plate 2322, the first fastening member 241 is preferably a nut (the nut is not shown in fig. 2), and one end of the adjustment shaft 242 is provided with a screw section matched with the nut; each of the adjusting shafts 242 has an eccentric roller 243 eccentrically mounted thereon, and the eccentric roller 243 abuts against the front side of the corresponding slide 211. Since the eccentric roller 243 is eccentrically disposed to the adjusting shaft 242, the front and rear positions of the fork 23 and the slide 211 can be adjusted by rotating the adjusting shaft 242. To facilitate rotation of the adjustment shaft 242, the outer surface of the adjustment shaft 242 preferably has six prism segments to facilitate mating with a wrench.

The left-right adjusting structure comprises adjusting plates 245 fixedly mounted on the left side and the right side of the pallet fork 23 through second fasteners (not shown in the figures), specifically, the adjusting plates 245 are fixedly mounted on vertical plates 2321, the second fasteners are preferably bolts and nuts, adjusting holes 2451 for bolts to pass through are formed in the adjusting plates 245, a cam bearing follower 244 is mounted on each adjusting plate 245, rollers of the cam bearing followers 244 abut against corresponding slide ways 211, and the axial directions of roller shafts of the cam bearing followers 244 are arranged along the front-back direction. By loosening the second fastener, the left-right position of the adjustment plate 245, and thus the cam bearing follower 244, and thus the fork 23 and the slide 211, can be adjusted.

The encoder 25 is arranged at the end part of the rotating shaft 223, and the encoder 25 is matched with the first motor 221, so that the stop position accuracy of the fork 23 can be ensured to be high.

The upper and lower portions of the frame 21 are respectively provided with an upper photoelectric sensor (not shown) and a lower photoelectric sensor 213, and the upper and lower photoelectric sensors 213 are preferably U-shaped photoelectric switches for limiting upper and lower limit positions of the fork 23.

The upper and lower parts of the fork 23 are respectively provided with an upper micro travel switch 234 and a lower micro travel switch 235, which can limit the upper and lower limit positions of the lifting of the fork 23 in case of failure of the upper and lower photoelectric sensors 213.

The front of the fork 23 is provided with an opto-electronic switch 236, in particular, the opto-electronic switch 236 is provided on the front side of the carrier 233. The photoelectric switch 236 may ensure that the AGV cart does not collide with the rack when docked.

The upper and lower parts of the frame 21 are respectively provided with an upper limit block 214 and a lower limit block (not shown in the figure), the upper limit block 214 and the lower limit block are hard locating blocks, preferably rubber blocks, and can limit and protect the pallet fork 23 under the condition that the upper photoelectric sensor, the lower photoelectric sensor 213, the upper micro travel switch 234 and the lower micro travel switch 235 are all failed.

As shown in fig. 6 to 8, the bottom of the vehicle body 1 is provided with a driving system 3 for driving the vehicle body 1 to move; the driving system 3 comprises driving wheels 31 positioned at two sides of the middle part of the vehicle body 1, front universal wheels 32 positioned at two sides of the front part of the vehicle body 1 and rear universal wheels 33 positioned at two sides of the rear part of the vehicle body 1; the front universal wheel 31 and the driving wheel 32 on the same side are respectively mounted at two ends of a seesaw 34, the middle of the seesaw 34 is hinged to the vehicle body 1, each driving wheel 32 is connected with a second power device, the second power device is preferably a speed reducer 36 driven by a second motor, the second motor is preferably a servo motor, of course, the second motor can also be other types of motors, for convenience of description, the two second motors are defined as a second motor 35a and a second motor 35b, and the rear universal wheel 33 is mounted on the vehicle body 1. Therefore, the front universal wheel 32, the seesaw 34 and the driving wheel 31 on each side can form a seesaw structure, the front universal wheel 32 and the driving wheel 31 can float up and down, the floating fulcrum is the middle part of the seesaw 34, the driving wheel 31 on uneven ground is guaranteed to land preferentially, and the AGV trolley is guaranteed to have enough driving force; the climbing capability of the vehicle is 5 degrees under the limitation of the structure and the driving force provided by the second motor 35a and the second motor 35 b. When the motor is actually used, a larger climbing angle can be obtained according to an actual scene and the selection of the parameters of the second motor 35a and the second motor 35 b. Meanwhile, the two driving wheels 31 are controlled by two servo motors in a differential mode, 0-degree self-rotation can be achieved, and turning space is saved.

As shown in fig. 8, the car body 1 is further provided with a navigation system 4 and a control system 5, the driving system 3 and the lifting system 2 are both controlled by the control system 5, and the navigation system 4 is a laser navigation system and is applicable to various workshop scenes. It should be noted that the laser navigation system is well known in the art and will not be described herein.

As shown in fig. 1 and 12 in common, in order to ensure the safety of the operation of the equipment, the vehicle body 1 is further equipped with a safety protection system 6, and the safety protection system 6 includes a laser scanner 61 provided on the front side of the vehicle body 1, a laser sensor 62a provided on the left side of the vehicle body 1, a laser sensor 62b provided on the right side of the vehicle body 1, an emergency stop button 63 provided on the rear side of the vehicle body 1, and an airbag 64 provided on the vehicle body 1. The laser scanner 61 can scan whether the AGV trolley runs ahead and is obstructed, and once the obstacle appears, the AGV trolley stops running. The laser sensor 62a and the laser sensor 62b allow forward and upward scanning, and the cart stops moving once an obstacle is detected. The laser scanner 61, the laser sensor 62a and the laser sensor 62b are matched to ensure the safety of fork 23 forking goods and the operation of the AGV trolley. The emergency stop button 63 facilitates the operator to detect an emergency or to stop the vehicle according to the actual situation. Due to the presence of the airbag 64, the AGV stops when it collides with an object. In order to remind a user of the running state of the AGV trolley in time, an indicating lamp 65 is arranged at the top of the frame 21, an indicating lamp 66 is arranged on the rear side of the trolley body 1, and a lamp bar 67 is further arranged on the trolley body 1. When the AGV trolley normally runs, the indicating lamp 65 and the indicating lamp 66 emit green light; when an abnormality occurs, the indicator lamp 65 and the indicator lamp 66 turn red and beep. At this time, a professional is required to handle the failure. Light bar 67 alerts the operator to safety while operating.

High-precision positioning is needed when the AGV trolley is butted with the goods shelf, as shown in fig. 8 and 9, a secondary positioning system 7 is arranged at the bottom of the vehicle body 1, and the secondary positioning system 7 comprises a scanning lens 71; the scanning lens 71 performs secondary positioning by scanning the two-dimensional code, so that the AGV trolley obtains higher positioning accuracy.

As shown in fig. 9 to 13, the car body 1 is further provided with a speaker 11 for playing designated music, a switching power supply 12 for obtaining a use voltage, a wireless serial server 13 for an interactive scheduling system, a wireless IO module 14 for an interactive shelf, a storage battery 15, a button module 16, a display screen 17 for car debugging and running state monitoring, and a handle interface 18 for manual debugging. Wherein the button module 16 includes a run button 161, a stop button 162, a key button 163 and a brake button 164 for cart run, stop, power up and brake functions, respectively. The dispatching system is preferably an industrial personal computer 8, and the storage battery 15 is preferably a lithium battery.

The control system 5 includes an AGV control module 51, a lift module 52, a first motor driver 53, a second motor driver 54a, a second motor driver 54b, a voice module 55, an alarm module 56, a pressure wave module 57, a handle module 58, and a power module 59.

The AGV control module 51 is electrically connected with the lifting module 52, the second motor driver 54a, the second motor driver 54b, the voice module 55, the alarm module 56, the switching power supply 12 and the display screen 17 respectively.

The second motor driver 54a is electrically connected to the second motor 35a, and the second motor driver 54b is electrically connected to the second motor 35 b.

The upper photoelectric sensor, the lower photoelectric sensor 213, the upper micro-travel switch 234, the lower micro-travel switch 235, the photoelectric switch 236, and the encoder 25 are electrically connected to the lifting module 52, the lifting module 52 is electrically connected to the first motor driver 53, and the first motor driver 53 is electrically connected to the first motor 221.

The voice module 55 is electrically connected to the speaker 11. Alarm module 56 is electrically connected to indicator light 65, indicator light 66, and light bar 67, respectively. The battery 15 is electrically connected to the power module 59, and the power module 59 is electrically connected to the AGV control module 51.

The laser scanner 61, the laser sensor 62a and the laser sensor 62b are respectively electrically connected with the AGV control module 51; the air bag 64 is connected to the pressure wave module 57, and the pressure wave module 57 is electrically connected to the AGV control module 51. The pressure wave module 57 is well known in the art and can detect the pressure of the air within the air bag 64 and send a signal to the AGV control module 51 to control the AGV to stop. The handle interface 18 is electrically connected to the handle module 58, and the handle module 58 is electrically connected to the AGV control module 51. The wireless serial server 13, the wireless IO module 14 and the button module 16 are electrically connected to the AGV control module 51, respectively.

In fig. 10, the movable door at the rear end of the vehicle body is omitted.

The embodiment of the utility model provides a AGV dolly docks as shown in fig. 14 with multilayer goods shelves 9, combines fig. 13 and fig. 14, is equipped with goods shelves door 91, goods shelves control module 92, motor driver 93 and driving motor 94 on the goods shelves 9, and motor driver 93 is connected to goods shelves control module 92 electricity, and driving motor 94 is connected to motor driver 93 electricity.

As shown in fig. 15, the embodiment of the present invention further discloses an automatic transporting method for an AGV cart, which includes the following steps:

the dispatching system sends out tasks, and the AGV trolley receives the tasks of the dispatching system;

the control system of the AGV trolley controls the AGV trolley to run to a pallet fork movement station;

the control system of the AGV trolley controls the fork of the AGV trolley to rise to the designated height;

the control system of the AGV trolley controls the AGV trolley to run to a docking station and fork goods;

the control system of the AGV trolley controls the AGV trolley to return to the goods shelf fork movement station;

in order to ensure the stable running of the AGV and reduce the gravity center of the AGV, a control system of the AGV controls a fork of the AGV to descend, and the goods are placed on the AGV;

the control system of the AGV trolley controls the AGV trolley to reach a target pallet fork movement station;

the control system of the AGV trolley controls the fork of the AGV trolley to be lifted to the designated position and placed; after the whole picking and placing process is completed, the AGV executes the next task; and if the AGV does not have the task, the AGV returns to the rest area to be ready.

When the electric quantity of the AGV trolley is lower than the critical value, the AGV trolley completes the automatic charging function under the control of the control system.

The AGV trolley provided by the utility model realizes the function of automatically carrying multilayer goods shelves by the cooperation of the lifting system, the driving system, the navigation system and the control system, and enlarges the use scene of the AGV; and is reliable in operation.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. An AGV trolley comprises a trolley body and is characterized in that a lifting system is arranged on the top surface of the trolley body and comprises a frame, a fork driven by a lifting driving device is slidably mounted on the frame, and a floating adjusting structure used for adjusting the mounting position of the fork on the frame is arranged on the fork; the bottom of the vehicle body is provided with a driving system for driving the vehicle body to move;

2. The AGV of claim 1, wherein the frame is provided with slides on each of the left and right sides thereof, and the forks are provided with guide rollers on each of the left and right sides thereof for engaging with the slides;

3. The AGV car of claim 2, wherein the fork includes a lift and a load-carrying platform, the lift includes a vertical plate, side plates disposed on both sides of the vertical plate, and a fixed beam connected to the side plates, the load-carrying platform is fixedly mounted to the fixed beam, the adjusting plate is fixedly mounted to the vertical plate, and the adjusting shaft is fixedly mounted to the side plates.

4. The AGV trolley according to claim 1, wherein the lift drive includes a speed reducer driven by a first power unit, the speed reducer having two symmetrically disposed outputs, a rotating shaft rotatably mounted to the upper end of the frame, a chain drive disposed between each of the outputs and the rotating shaft, two chains of the chain drives each being fixedly connected to the fork.

5. The AGV of claim 4, wherein an encoder is provided at an end of said shaft;

6. The AGV cart of claim 1, wherein said drive system includes drive wheels on each side of the middle of said cart body, front universal wheels on each side of the front of said cart body, and rear universal wheels on each side of the rear of said cart body; the front universal wheels and the driving wheels on the same side are respectively arranged at two ends of a seesaw, the middle of the seesaw is hinged to the vehicle body, each driving wheel is connected with a second power device, and the rear universal wheels are arranged on the vehicle body.

7. The AGV cart of claim 1, wherein the body further mounts a safety shield system, the safety shield system including:

an emergency stop button disposed at a rear side of the vehicle body;

and an airbag disposed on the vehicle body.

8. The AGV cart of claim 1, wherein a secondary positioning system is provided at the bottom of the cart body, the secondary positioning system including a scanning lens; the navigation system is a laser navigation system.