CN211442548U - AGV vehicle convenient to unblock - Google Patents

Abstract

The utility model relates to an AGV vehicle convenient to unblock, including the automobile body, the automobile body is provided with anchor clamps subassembly and self-locking mechanism subassembly, the anchor clamps subassembly is used for blocking the wheel of the equipment of being handled after expanding in place, and is used for relieving the kayser to the wheel through folding; the self-locking mechanism assembly comprises a rotating wheel, is contacted with the clamp assembly which is unfolded in place through the rotating wheel and locks and/or supports the clamp assembly through the rotating wheel; the utility model provides a AGV vehicle, compact structure, reasonable in design not only can utilize the cooperation of anchor clamps subassembly and self-locking mechanism subassembly conveniently ground chucking by haulage equipment, can make things convenient for moreover, the efficient realizes the separation between anchor clamps subassembly and the self-locking mechanism subassembly, reaches the purpose of quick unblock.

Description

AGV vehicle convenient to unblock

Technical Field

The utility model relates to an in automatic guide vehicle technical field, concretely relates to AGV vehicle convenient to unblock.

Background

An AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, having safety protection and various transfer functions, and is also a transport vehicle that does not require a driver in industrial applications, and generally employs a rechargeable battery as a power source; in the actual operation process of the AGV, the controller (such as a computer host, a single chip, a vehicle host, etc.) is usually used to control the traveling route and behavior thereof, or the electromagnetic rail is usually attached to the bottom surface, and the AGV moves and moves, such as forward, backward, and turn, etc., according to the information brought by the electromagnetic rail.

AGV vehicles are also widely used in the field of rail transportation, such as for pushing or transporting rail transportation devices or components (e.g., trucks, wheel pairs, etc.) with AGV vehicles, and in the prior art, the AGV is generally provided with a clamp assembly for connecting the transported equipment and a self-locking mechanism assembly for locking the clamp assembly, the clamp assembly is used for connecting the transported equipment after being unfolded, so that the transported equipment can be integrated with the AGV, so as to move synchronously with the AGV under the pushing of the AGV to achieve the purpose of carrying, the self-locking mechanism component is usually used for locking the unfolded clamp component to prevent the clamp component from acting automatically under the action of pressure, when the AGV vehicle needs to be separated, the self-locking mechanism assembly and the clamp assembly need to be separated firstly, so that the clamp assembly is unlocked, so that the clamp assembly can be folded, and the AGV vehicle can be separated from the transported equipment.

However, in practical applications, it is found that, in the process of pushing (or transporting) the transported device by using the AGV, the acting force between the AGV and the transported device is transmitted to the self-locking mechanism assembly through the clamp assembly, so that the self-locking mechanism assembly is always in a state of being pressed by the clamp assembly, and thus the self-locking mechanism assembly is difficult to separate from the clamp assembly (or needs a large amount of power to separate from the clamp assembly), so that the clamp assembly cannot be folded, which causes the AGV to be inconvenient to rapidly separate from the transported device, and affects the transporting efficiency of the AGV.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems existing in the prior art: under the condition that has pressure, the problem of being not convenient for and anchor clamps subassembly separation of self-locking mechanism subassembly, the utility model provides a AGV vehicle of unblock of being convenient for, the AGV vehicle, reasonable in design not only can utilize the chucking that the cooperation of anchor clamps subassembly and self-locking mechanism subassembly is convenient to be carried equipment, can realize the separation between anchor clamps subassembly and the self-locking mechanism subassembly moreover conveniently, the efficient, reaches the purpose of quick unblock.

The utility model adopts the technical proposal that:

an AGV vehicle convenient to unlock comprises a vehicle body, wherein the vehicle body is provided with a clamp assembly and a self-locking mechanism assembly, the clamp assembly is used for clamping wheels of a transported device after being unfolded in place and used for releasing clamping of the wheels through folding; the self-locking mechanism assembly comprises a rotating wheel, is in contact with the clamp assembly which is unfolded in place through the rotating wheel, and is locked and/or supported through the rotating wheel. In this scheme, the utilization sets up in the runner contact anchor clamps subassembly of self-locking mechanism subassembly, on the one hand, when locking the anchor clamps subassembly, the rotation that the self-locking mechanism subassembly can utilize the runner is convenient, laborsaving card goes into one side of anchor clamps subassembly, thereby reach the purpose of restraint and support anchor clamps subassembly, on the other hand, need separation self-locking mechanism subassembly, when relieving the lock state to the anchor clamps subassembly, although bear very big external force on the runner, the rotation that nevertheless the self-locking mechanism subassembly passes through the runner can be utilized is convenient, laborsaving withdraws from and breaks away from one side of anchor clamps subassembly, thereby it is convenient, separation between anchor clamps subassembly and the self-locking mechanism subassembly is realized to the efficient, reach the purpose of quick unblock.

Preferably, the clamp assembly comprises a power part, a steering arm and a contact part, one end of the power part is hinged to the vehicle body, the other end of the power part is hinged to the steering arm, one end of the steering arm is hinged to the vehicle body, the contact part is arranged at one end of the steering arm and used for clamping wheels, and the power part is used for driving the steering arm to unfold and fold. In this scheme, power portion drives the arm that turns to through expanding and rotates and realize the expansion function for the contact site is close to and is contacted with the wheel of being hauled equipment, so that block the wheel, and power portion drives the arm that turns to through expanding and rotates and realize folding function, thereby realizes the function of relaxing to the wheel.

Preferably, the self-locking mechanism assembly comprises a driving motor and a slider-crank mechanism, the driving motor is connected with the slider-crank mechanism, the rotating wheel is movably connected with a slider in the slider-crank mechanism, and the driving motor is used for driving the slider of the slider-crank mechanism to clamp the steering arm after the steering arm is unfolded in place, so that the steering arm is prevented from being folded. In this scheme, when utilizing the slider to block the steering arm, set up runner on the slider and can contact with the steering arm, both can prevent that the steering arm from folding automatically under the effect of external force, can effectively bear the pressure that bears on the steering arm again, reach the purpose of protection steering arm, also be favorable to the structure of anchor clamps subassembly more stable simultaneously, life is longer.

Preferably, the slider-crank mechanism further comprises a crank, a connecting rod and a constraint component, the driving motor is connected with the crank, two ends of the connecting rod are respectively connected with the slider and the crank, the slider is arranged on the constraint component and forms a moving pair with the constraint component, the constraint component is arranged on the vehicle body along the length direction of the vehicle body, and the driving motor is used for driving the slider to reciprocate along the constraint component. In the scheme, the driving motor drives the sliding block to reciprocate along the length direction of the vehicle body so as to be close to and support the steering arm and be far away from and remove the restraint on the steering arm, and the steering arm can be folded.

Furthermore, one side of the steering arm is provided with a protrusion, the rotating wheel is matched with the protrusion, and the steering arm is locked by clamping the protrusion. The rotating wheel clamps and supports the protrusion, so that on one hand, the steering arm can be prevented from acting and automatically folding under the action of pressure, and on the other hand, the supporting force can be provided for the steering arm, and the steering arm is prevented from being unstable or broken under the action of high pressure; in addition, the turning wheel can be conveniently clamped and withdrawn, and the functions of quickly locking and unlocking the steering arm are realized.

Preferably, the face of the projection adjacent the vehicle body is substantially perpendicular to the transverse direction with the steering arm in place. Thereby the runner that makes the card between arch and automobile body can receive along the positive pressure of horizontal direction, the card of the more convenient runner is gone into and is withdrawn from.

Preferably, the rotating wheel is detachably fixed to the sliding block. So as to facilitate later maintenance and replacement.

The rotating wheel is sleeved on the rotating shaft and forms a rotating pair with the rotating shaft. In this scheme, the slider and the restraint part can adopt the linear motion mechanism commonly used in the prior art, and the runner can be fixed in the slider through the lip block detachable.

Preferably, the rotating wheel is a bearing. Not only is convenient to mount, but also can bear great radial force, and the requirement of the embodiment is met.

Preferably, the rotating wheel is a deep groove ball bearing. Can bear large radial force.

Preferably, the number of the turning wheels may be one or more.

Preferably, the restricting member is a slide groove or a slide rail provided in the vehicle body. So as to be matched with the slide block and form a moving pair with the slide block.

Further, still include the support, the support is fixed in the side of automobile body, just driving motor is fixed in the support.

Preferably, the power part is an electric push rod, an electro-hydraulic push rod, a hydraulic cylinder or a pneumatic cylinder.

Preferably, the contact part comprises a roller, the roller is movably connected to the steering arm, the roller is provided with a notch, and the outline of the notch wheel is matched. The wheel is more convenient to block, and the connection relation between the AGV vehicle and the transported equipment is more stable, and the synchronism between the AGV vehicle and the transported equipment is better.

Preferably, two clamp assemblies are respectively arranged on two sides of the vehicle body, one self-locking mechanism assembly is respectively arranged at the position where each clamp assembly is arranged, the two clamp assemblies on the same side are matched with each other and are respectively used for being clamped at the front end and the rear end of the same wheel or at the front end of one wheel and the rear end of the other wheel, and the self-locking mechanism assemblies are used for locking and/or supporting the corresponding clamp assemblies under the condition that the corresponding clamp assemblies are unfolded in place.

Compared with the prior art, use the utility model provides a pair of AGV vehicle convenient to unblock, compact structure, reasonable in design not only can utilize the convenient chucking of cooperation of anchor clamps subassembly and self-locking mechanism subassembly to be carried equipment, can make things convenient for moreover, the efficient realizes the separation between anchor clamps subassembly and the self-locking mechanism subassembly, reaches the purpose of quick unblock.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a plan view of a conventional bogie.

Fig. 2 is a front view of fig. 1.

FIG. 3 is a partial top view of the AGV vehicle of this embodiment 1 with the gripper assembly deployed in place.

Fig. 4 is an overhead view of an AGV vehicle according to the embodiment 1.

Fig. 5 is a top view of an AGV vehicle jamming and pushing a truck as provided in this embodiment 1.

Fig. 6 is a front view of fig. 5.

Fig. 7 shows one of the solutions for jamming and pushing the bogie using the AGV vehicle provided in this embodiment 1.

Fig. 8 shows a second solution for jamming and pushing the truck using the AGV vehicle provided in this embodiment 1.

Fig. 9 is a partial bottom view of an AGV vehicle engaging and pushing a truck as provided in this embodiment 1.

Description of the drawings

Bogie 101, wheels 102, wheel shafts 103,

A vehicle body 200, a hinged seat 201, a road wheel 202,

A clamp assembly 300, an electric push rod 301, a steering arm 302, a contact portion 303, a roller 304, a protrusion 305,

The self-locking mechanism comprises a self-locking mechanism assembly 400, a driving motor 401, a crank 403, a connecting rod 404, a sliding block 405, a constraint component 406, a bracket 407, a rotating wheel 408, a supporting cushion block 409, a rotating shaft 410 and a deep groove ball bearing 411.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

Referring to fig. 1 to 6, in the present embodiment, an AGV vehicle convenient to unlock is provided, which includes a vehicle body 200 and a clamp assembly 300, where the vehicle body 200 generally includes a chassis, a driving device, a battery pack, a guiding device (such as an RFID sensor, etc.), a housing, and the like, the driving device, the battery pack, the guiding device, and the housing are respectively fixed to the chassis, the driving device is provided with a traveling wheel 202, the driving device is used to provide traveling power for the traveling wheel 202 so as to enable the AGV vehicle to travel and turn, and the guiding device is used to guide the vehicle to travel according to a set route;

the clamp assembly 300 is arranged on the vehicle body 200 and used for clamping the transported equipment after being unfolded into position, in the embodiment, the clamp assembly 300 is used for clamping the wheel 102 of the transported equipment, and after the clamp assembly 300 is used for clamping the wheel 102 of the transported equipment, the AGV vehicle can be connected with the transported equipment, such as a bogie 101, a wheel pair and the like, to be a whole and move synchronously, in this case, the wheel 102 can rotate relative to the clamp assembly 300, so that the transported equipment can move forwards or backwards through the rotation of the wheel 102, and the weight of the transported equipment can directly act on the wheel 102 instead of the AGV vehicle; when the AGV vehicle needs to be separated from the transported equipment, the clamp assembly 300 releases the locking state of the wheels 102 through folding, so that the AGV vehicle can be smoothly separated from the transported equipment.

In this embodiment, the body 200 of the AGV vehicle is further provided with a self-locking mechanism assembly 400, the self-locking mechanism assembly 400 includes a wheel 408, the self-locking mechanism assembly 400 contacts with the clamp assembly 300 which is unfolded in place through the wheel 408, and locks and/or supports the clamp assembly 300 through the wheel 408. In the scheme, the rotating wheel 408 arranged on the self-locking mechanism assembly 400 is used for contacting the clamp assembly 300, on one hand, when the clamp assembly 300 is locked, the self-locking mechanism assembly 400 can be conveniently and labor-saving clamped into one side of the clamp assembly 300 by using the rotation of the rotating wheel 408, so that the purpose of restraining and supporting the clamp assembly 300 is achieved, on the other hand, when the self-locking mechanism assembly 400 needs to be separated and the locking state of the clamp assembly 300 is relieved, although a large external force is borne on the rotating wheel 408, the self-locking mechanism assembly 400 can be conveniently and labor-saving withdrawn and separated from one side of the clamp assembly 300 by using the rotation of the rotating wheel 408, so that the separation between the clamp assembly 300 and the self-locking mechanism assembly 400 is conveniently and efficiently realized, and the purpose of quick; in addition, the self-locking mechanism assembly 400 can effectively prevent the clamp assembly 300 from automatically folding under the action of external force (i.e. reaction force of separation of the transported equipment), so that the wheels 102 cannot be clamped, and the AGV vehicle and the transported equipment cannot synchronously run; and also provides a supporting force for the clamp assembly 300 to prevent the clamp assembly 300 from being unstable or breaking under the action of high pressure.

In a preferred embodiment, the clamp assembly 300 includes a power portion, a steering arm 302 and a contact portion 303, as shown in fig. 3, 4 or 5, one end of the power portion is hinged to the vehicle body 200 (typically to a chassis of the vehicle body 200), and the other end is hinged to the steering arm 302; one end of the steering arm 302 is hinged to the vehicle body 200 (usually, hinged to a chassis of the vehicle body 200), so that the steering arm 302 can rotate around a hinge joint (i.e., a hinge joint formed at the hinge joint, which is a common knowledge in the art and will not be described in detail later) under the driving of a power part, the contact part 303 is disposed at one end of the steering arm 302, the purpose of clamping the wheel 102 is achieved by approaching and contacting the wheel 102, and the power part is used for driving the steering arm 302 to unfold and fold, thereby achieving the function of clamping and releasing the wheel 102.

Those skilled in the art will appreciate that the contact portion 303 may have a variety of embodiments, and by way of example, in this embodiment, the contact portion 303 includes a roller 304, the roller 304 is movably connected to the steering arm 302, such that the roller 304 has a rotational degree of freedom, and the roller 304 is provided with a notch adapted to the outer contour of the wheel 102 so as to be capable of seizing the wheel 102.

In a preferred embodiment, the power part may be an electric push rod 301, an electric hydraulic push rod, a hydraulic cylinder or a pneumatic cylinder, for example, in this embodiment, the power part is an electric push rod 301, one end of the electric push rod 301 is hinged to the vehicle body 200 (or chassis) through a hinge seat 201, the other end of the electric push rod 301 is hinged to a steering arm 302, one end of the steering arm 302 is also hinged to the vehicle body 200 (or chassis) through a hinge seat 201, when the clamp assembly 300 is in the folded state, as shown in fig. 3 and 4, the electric push rod 301 is in the extended state, at this time, the contact part 303 is located at a position close to the vehicle body 200, when the clamp assembly 300 needs to be unfolded, the electric push rod 301 is shortened, so as to drive the steering arm 302 to rotate, and further drive the contact part 303 to move in a direction away from the vehicle body 200, so as to implement the unfolding function, and during the, Wheel pairs) such as wheels 102 adjacent the equipment being handled; when the steering arm 302 is rotated to a certain position, as shown in fig. 3 and 4, the contact portion 303 is in contact with the corresponding wheel 102 or is located close to the wheel 102, so that the wheel 102 on one side of the transported apparatus can be clamped by the engagement of the two contact portions 303 in the two clamp assemblies 300.

As shown in fig. 4 and 5, in the present embodiment, two clamp assemblies 300 are respectively disposed on two sides of the vehicle body 200, and the two clamp assemblies 300 on the same side are mutually matched and respectively used for being clamped at the front end and the rear end of the same wheel 102, as shown in fig. 8; or respectively for catching the front end of one wheel 102 and the rear end of the other wheel 102, as shown in fig. 5, 6 and 7, so as to effectively catch the wheel 102 on that side, so that the AGV vehicle can be connected with the transported apparatus as a whole, so as to drive the transported apparatus to run/stop synchronously by the AGV vehicle; one self-locking mechanism assembly 400 is provided at each of the positions where the gripper assemblies 300 are provided, as shown in fig. 3, 4 or 5, and the self-locking mechanism assembly 400 is used for locking and/or supporting the corresponding gripper assembly 300 when the corresponding gripper assembly 300 is unfolded into position.

It will be appreciated that the two clamp assemblies 300 on the same side of the vehicle body are mounted in opposite directions to cooperate and perform the clamping function, and will not be described in detail herein.

As can be understood by those skilled in the art, the self-locking mechanism assembly 400 has various embodiments, for example, as shown in fig. 3, 4 and 5, in an embodiment provided by this embodiment, the self-locking mechanism assembly 400 includes a driving motor 401 and a slider-crank mechanism, the driving motor 401 is connected to the slider-crank mechanism, the rotating wheel 408 is movably connected to a slider 405 in the slider-crank mechanism, and the driving motor 401 is configured to drive the slider 405 of the slider-crank mechanism (for driving the rotating wheel 408) to lock the steering arm 302 (i.e., restrain the steering arm 302) after the steering arm 302 is unfolded into position, so as to prevent the steering arm 302 from folding. When the slider 405 is used for clamping the steering arm 302, the rotating wheel 408 arranged on the slider 405 can be in contact with the steering arm 302, so that the steering arm 302 can be prevented from being automatically folded under the action of external force, the pressure borne on the steering arm 302 can be effectively borne, the purpose of protecting the steering arm 302 is achieved, and meanwhile, the clamp assembly 300 is more stable in structure and longer in service life.

It is understood that the direction of the central axis of the wheel 408 is perpendicular to the moving direction of the slider 405, and the description thereof is omitted.

Preferably, as shown in fig. 3, 4 and 5, the slider-crank mechanism further includes a crank 403, a connecting rod 404 and a constraining member 406, the driving motor 401 is connected to the crank 403, two ends of the connecting rod 404 are respectively connected to the slider 405 and the crank 403, the slider 405 is disposed on the constraining member 406 and forms a moving pair with the constraining member 406, the constraining member 406 is fixed to the vehicle body 200 and disposed along the longitudinal direction of the vehicle body 200, the driving motor 401 drives the slider 405 to reciprocate along the constraining member 406 by driving the crank 403 to rotate, that is, the slider 405 can reciprocate along the longitudinal direction of the vehicle body 200 to approach and support the steering arm 302 and move away and release the constraint on the steering arm 302, so that the steering arm 302 can be folded.

In a further aspect, the vehicle further includes a bracket 407, and the driving motor 401 is fixed to the bracket 407, as shown in fig. 3, 4 and 5, for example, the bracket 407 is fixed to a side surface of the vehicle body 200 so as not to occupy a space of the vehicle body 200 in a height direction.

In order to facilitate the adaptation with the rotating wheel 408 in the self-locking mechanism assembly 400, in a preferred embodiment, in the clamp assembly 300, a protrusion 305 is provided on one side of the steering arm 302, and the rotating wheel 408 is adapted to the protrusion 305 and locks the steering arm 302 by catching the protrusion 305, as shown in fig. 3, 4 and 5. Under the state of clamping the wheels 102 of the transported equipment, the acting force between the wheels 102 (such as the bogie 101, the wheels and the like) and the contact part 303 is transmitted to the rotating wheel 408 through the protrusion 305 of the steering arm 302, so as to press the rotating wheel 408, and achieve the purpose of clamping and supporting the steering arm 302, on one hand, the steering arm 302 can be prevented from acting and automatically folding under the action of pressure, and on the other hand, the supporting force can be provided for the steering arm 302, and the steering arm 302 can be prevented from being unstable or breaking under the action of high pressure.

It will be understood by those skilled in the art that in order to generate a positive pressure between the wheel 408 and the protrusion 305 in the transverse direction of the vehicle body 200, in a preferred embodiment, as shown in fig. 3, 4 and 5, the surface of the protrusion 305 close to the vehicle body 200 is perpendicular to the transverse direction when the steering arm 302 is unfolded into position, so that the wheel 408 clamped between the protrusion 305 and the vehicle body 200 can be subjected to the positive pressure in the transverse direction, thereby facilitating the engagement and disengagement of the wheel 408.

It is understood that in the present embodiment, the slider 405 may adopt a slider 405 structure commonly used in the art, such as a rectangular parallelepiped slider 405, a rectangular slider 405, etc.; the constraining member 406 may be a sliding slot or a sliding rail disposed on the vehicle body 200, for example, in an embodiment provided by the present invention, the constraining member 406 is a sliding rail, and the sliding block 405 is a sliding block 405 with a rectangular parallelepiped structure adapted to the sliding rail.

In a preferred embodiment, the runner 408 is removably secured to the slider 405 to facilitate later maintenance and replacement.

As shown in fig. 9, in a further scheme, the sliding device further includes a supporting pad block 409, the supporting pad block 409 is fixed to the sliding block 405, a rotating shaft 410 is disposed on the supporting pad block 409, and the rotating wheel 408 is sleeved on the rotating shaft 410 and forms a rotating pair with the rotating shaft 410. In this embodiment, the sliding block 405 and the restricting member 406 may be a linear motion mechanism commonly used in the art, and the rotating wheel 408 may be detachably fixed to the sliding block 405 through a supporting pad 409.

For example, the supporting pad 409 may be fixed to the slider 405 by a bolt connection or the like, which is not described herein again.

In a further aspect, the turning wheel 408 may not only adopt the existing conventional wheel, but also preferably adopt a bearing, which is convenient for installation and can bear a large radial force, so as to meet the requirement of the present embodiment, for example, the turning wheel 408 may preferably adopt a deep groove ball bearing 411, and the number of the bearings may be one or multiple according to the actual requirement, as shown in fig. 9, when adopting a plurality of bearings, it is beneficial to increase the stress area, not only to reduce the pressure between the steering arm 302 and the turning wheel 408, but also to lock and support the steering arm 302 more stably and reliably.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention.

Claims (10)

1. An AGV vehicle convenient to unlock comprises a vehicle body and is characterized in that the vehicle body is provided with a clamp assembly and a self-locking mechanism assembly, wherein the clamp assembly is used for clamping wheels of a transported device after being unfolded in place and used for releasing clamping lock on the wheels through folding; the self-locking mechanism assembly comprises a rotating wheel, is in contact with the clamp assembly which is unfolded in place through the rotating wheel, and is locked and/or supported through the rotating wheel.

2. The AGV vehicle of claim 1, wherein the gripper assembly comprises a power portion, a steering arm and a contact portion, wherein one end of the power portion is hinged to the vehicle body, the other end of the power portion is hinged to the steering arm, one end of the steering arm is hinged to the vehicle body, the contact portion is arranged at one end of the steering arm and used for clamping wheels, and the power portion is used for driving the steering arm to unfold and fold.

3. The AGV vehicle convenient to unlock of claim 2, wherein the self-locking mechanism assembly comprises a driving motor and a slider-crank mechanism, the driving motor is connected with the slider-crank mechanism, the rotating wheel is movably connected with a slider in the slider-crank mechanism, and the driving motor is used for driving the slider of the slider-crank mechanism to block the steering arm after the steering arm is unfolded in place, so as to prevent the steering arm from being folded.

4. The AGV vehicle convenient to unlock of claim 3, wherein the slider-crank mechanism further comprises a crank, a connecting rod and a restricting component, the driving motor is connected with the crank, two ends of the connecting rod are respectively connected with the slider and the crank, the slider is arranged on the restricting component and forms a moving pair with the restricting component, the restricting component is arranged on the vehicle body along the length direction of the vehicle body, and the driving motor is used for driving the slider to reciprocate along the restricting component.

5. AGV vehicle according to any of claims 2 to 4, wherein said steering arm is provided with a protrusion on one side, said wheel fitting into said protrusion and locking said steering arm by locking said protrusion.

6. The AGV vehicle of claim 5, wherein the face of said projection adjacent to said vehicle body is perpendicular to the transverse direction of the vehicle body with said steering arms deployed in position.

7. The AGV vehicle convenient to unlock of claim 4, further comprising a supporting cushion block fixed to the sliding block, wherein a rotating shaft is arranged on the supporting cushion block, and the rotating wheel is sleeved on the rotating shaft and forms a rotating pair with the rotating shaft.

8. The AGV vehicle of claim 5 wherein said wheels are bearings.

9. The AGV vehicle of claim 5 wherein the number of wheels is one or more.

10. The AGV vehicle convenient to unlock of claim 5, wherein two clamp assemblies are respectively arranged at two sides of the vehicle body, one self-locking mechanism assembly is respectively arranged at a position where each clamp assembly is arranged, the two clamp assemblies at the same side are mutually matched and are respectively used for being clamped at the front end and the rear end of the same wheel, or are respectively used for being clamped at the front end of one wheel and the rear end of another wheel, and the self-locking mechanism assemblies are used for locking and/or supporting the corresponding clamp assemblies under the condition that the corresponding clamp assemblies are unfolded in place.

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