CN215475452U - Automatic guided vehicle - Google Patents

Abstract

The present disclosure provides an automated guided vehicle. Wherein, automated guided vehicle includes: a vehicle body; and a rear sensor for sensing an object behind the vehicle body. According to the automatic guided vehicle, due to the arrangement of the rear sensor, the automatic guided vehicle has a rear obstacle avoiding function, when the automatic guided vehicle is reversed, collision with an obstacle behind a vehicle body can be avoided, and safety is improved.

Description

Automatic guided vehicle

Technical Field

The present invention relates generally to the field of transportation vehicles and, more particularly, to an automated guided vehicle.

Background

With the continuous progress of science and technology, Automated Guided Vehicles (AGVs) have been widely popularized and applied in large scale in the processes of factory, e-commerce storage, workshop goods and material handling, and play a vital role in improving the efficiency of the factory. Furthermore, the AGV tends to be miniaturized to adapt to a narrow and complex working environment.

When the AGV runs on a complex road condition, an obstacle is inevitably generated. Especially, when the AGV backs a car in a narrow space, the obstacle cannot be sensed, collision often occurs, and potential safety hazards exist.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems in the prior art, the utility model provides an automatic guided vehicle.

The automated guided vehicle of the disclosed embodiment, wherein, include: a vehicle body; and a rear sensor for sensing an object behind the vehicle body.

In one embodiment, the automated guided vehicle further comprises: a chassis supporting the vehicle body; the lifting mechanism is arranged on the chassis; the bearing table is arranged above the lifting mechanism, and the lifting mechanism drives the bearing table to lift; wherein the rear sensor is positioned between the chassis and the bearing table.

In one embodiment, the rear sensor is arranged in the vehicle body in a lifting manner; wherein, under the state that the lifting mechanism lifts the bearing table, the rear sensor is lifted and exposed outside the vehicle body; and under the state that the lifting mechanism does not lift the bearing table, the rear sensor is hidden in the vehicle body.

In one embodiment, the rear sensor is disposed on the lower side of the carrying table.

In one embodiment, the rear sensor is arranged on the lifting mechanism and ascends and descends along with the lifting mechanism; wherein the lifting mechanism is lifted to expose the rear sensor outside the vehicle body; the lifting mechanism descends to enable the rear sensor to be hidden in the automobile body.

In one embodiment, the lifting mechanism comprises: a connecting rod assembly, the connecting rod assembly comprising: the upper end of the first connecting rod group is hinged with the upper connecting piece, and the lower end of the first connecting rod group is hinged with the lower connecting rod to form an upper parallelogram connecting rod mechanism; the upper end of the second connecting rod group is hinged with the lower connecting rod, and the lower end of the second connecting rod group is fixedly hinged with the chassis to form a lower parallelogram connecting rod mechanism; the bearing table is fixed above the upper connecting piece, and the rear sensor is fixed on the upper connecting piece and positioned below the bearing table; and the driving piece is connected with the connecting rod assembly and drives the connecting rod assembly to swing so as to enable the bearing platform to ascend or descend.

In one embodiment, the driving member comprises a moving block, a lead screw and a driving motor; the moving block is connected with the first connecting rod group, and the lead screw is vertically arranged and is in threaded connection with the moving block; the driving motor is vertically arranged and is in driving connection with the lead screw, the lead screw is driven to rotate to drive the moving block to move up and down, and the first connecting rod group swings to enable the upper connecting piece and the bearing platform to ascend or descend.

In one embodiment, the driving motor is located outside a projection area of the moving block and the connecting rod assembly in the vertical direction.

In one embodiment, the drive member further comprises a speed reducer; the output end of the speed reducer is positioned below the moving block and connected with the lead screw, and the input end of the speed reducer is positioned below the driving motor and connected with the output shaft of the driving motor.

In one embodiment, the driving mechanism further comprises a fixed seat; the fixed seat comprises a seat body and a pair of symmetrical frame bodies positioned on two sides of the seat body, slide rails are arranged on the opposite inner surfaces of the two frame bodies, and two sides of the moving block are respectively connected with the slide rails in a sliding manner.

In an embodiment, a receiving groove is formed at the bottom of the seat body, a part of the speed reducer is received in the receiving groove, and one end of the lead screw penetrates through the seat body and extends into the receiving groove to be connected with the output end of the speed reducer.

In an embodiment, an upper limiting member is arranged at the top of the frame body, and the upper limiting member is used for limiting the upward movement stroke of the moving block.

In one embodiment, the first linkage comprises a first upper swing arm and a second upper swing arm, and the second linkage comprises a first lower swing arm and a second lower swing arm; the upper end of the first upper swing arm is hinged with the first end of the upper connecting piece through a first hinge shaft, the lower end of the first upper swing arm is hinged with one end of the lower connecting rod through a second hinge shaft, the upper end of the second upper swing arm is hinged with the second end of the upper connecting piece through a third hinge shaft, and the lower end of the second upper swing arm is hinged with the other end of the lower connecting rod through a fourth hinge shaft; the upper end of the first lower swing arm is hinged with the first upper swing arm and the lower connecting rod through a second hinge shaft, the lower end of the first lower swing arm is hinged with the chassis, the upper end of the second lower swing arm is hinged with the second upper swing arm and the lower connecting rod through a fourth hinge shaft, and the lower end of the second lower swing arm is hinged with the chassis; the moving block is hinged with the first end of the upper connecting piece and the first upper swing arm through the first hinge shaft.

In one embodiment, the first linkage, the second linkage, the upper connecting member and the lower connecting rod are arranged in two groups, so as to form two groups of upper parallelogram linkage mechanisms which are bilaterally symmetrical and two groups of lower parallelogram linkage mechanisms which are bilaterally symmetrical; the upper ends of the first upper swing arms of the first group are hinged to one side of the first end of the upper connecting piece through the first hinge shaft and are hinged to the moving block through the first hinge shaft; the upper ends of the first upper swing arms and the moving blocks of the second group are hinged to the other side of the first end of the bearing platform through the first hinge shaft and are hinged to the moving blocks through the first hinge shaft; the first group of second upper swing arms and the second group of second upper swing arms are respectively hinged to two sides of the second end of the upper connecting piece, and the first group of second upper swing arms and the second group of second upper swing arms are connected through a first cross rod and are integrally formed; the second lower swing arms of the first group are connected with the second lower swing arms of the second group through a second cross rod and are integrally formed; the upper connecting piece of the first group and the upper connecting piece of the second group are integrally formed.

In one embodiment, the automated guided vehicle further comprises: the lifting device is arranged in the vehicle body; the rear sensor is arranged on the lifting device; wherein, under the state that the lifting mechanism lifts the bearing table, the lifting device lifts the rear sensor to be exposed to the vehicle body; and under the state that the lifting mechanism does not lift the bearing table, the rear sensor is hidden in the vehicle body.

In one embodiment, the lifting device includes a lifting motor, a screw rod connected to an output shaft of the lifting motor, and a slider in threaded connection with the screw rod, wherein the screw rod is rotatably disposed in the vehicle body, and the rear sensor is disposed on the slider.

In one embodiment, a gap is formed between the bearing platform and the top surface of the vehicle body when the lifting mechanism does not lift the bearing platform; the rear sensor is fixedly arranged in the vehicle body and is exposed outside the vehicle body through the gap.

In one embodiment, the bearing table is provided with a notch corresponding to the position of the rear sensor; and under the state that the lifting mechanism does not lift the bearing table, the rear sensor is accommodated in the notch and is exposed outside the vehicle body through the notch.

In one embodiment, the automated guided vehicle comprises: the controller is connected with the rear sensor; under the state that the lifting mechanism lifts the bearing table, the controller controls the rear sensor to be started; and under the condition that the lifting mechanism does not lift the bearing table, the controller controls the rear sensor to be closed.

In one embodiment, the automated guided vehicle further comprises an angle adjustment mechanism comprising: the rotating motor is arranged in the vehicle body; the upper end of the connecting piece is fixedly connected with the rear sensor, the lower end of the connecting piece is connected with an output shaft of the rotating motor, and the rotating motor drives the rear sensor to rotate so as to adjust the sensing angle of the rear sensor.

In one embodiment, the automated guided vehicle further comprises: and a front sensor disposed at a front portion of the vehicle body.

In one embodiment, the front and rear sensors are lidar, infrared sensors, or visual cameras.

According to the automatic guided vehicle provided by the disclosure, the rear sensor is arranged, so that the automatic guided vehicle has a rear obstacle avoidance function, when the automatic guided vehicle backs, collision with an obstacle can be avoided, and the safety is improved.

Drawings

The above and other objects, features and advantages of embodiments of the present invention will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the utility model are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:

fig. 1 is a schematic structural diagram of an automated guided vehicle according to an embodiment of the present invention;

fig. 2 is a perspective view of the internal structure of the automated guided vehicle of fig. 1 according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an automatic guided vehicle provided by another embodiment of the utility model in an unlifted state;

fig. 4 is a schematic structural diagram of the automated guided vehicle in fig. 3 in a lifting state according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a rear structure of the automated guided vehicle of FIG. 3 in an un-lifted state according to an embodiment of the present invention;

fig. 6 is a schematic side view of the automated guided vehicle of fig. 3 in an un-lifted state according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a rear structure of the automated guided vehicle of FIG. 3 in a lifted state according to an embodiment of the present invention;

fig. 8 is a schematic side view of the automated guided vehicle of fig. 3 in a lifted state according to an embodiment of the present invention;

FIGS. 9 and 10 are schematic diagrams illustrating a state of the rear sensor following the lifting mechanism in a lifting state according to an embodiment of the present invention;

FIG. 11 illustrates a structural perspective view of a lifting mechanism provided by an embodiment of the present invention;

FIG. 12 illustrates a perspective view of a drive member of a lift mechanism provided in accordance with an embodiment of the present invention;

FIG. 13 illustrates a schematic side view of a lifting mechanism provided by an embodiment of the present invention;

FIG. 14 illustrates a schematic top view of a lifting mechanism provided by an embodiment of the present invention;

FIG. 15 illustrates a diagrammatic view of the connection configuration of the connecting rod assembly provided by an embodiment of the present invention;

in the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

Detailed Description

The principles and spirit of the present invention will be described with reference to a number of exemplary embodiments. It is understood that these embodiments are given solely for the purpose of enabling those skilled in the art to better understand and to practice the utility model, and are not intended to limit the scope of the utility model in any way.

It should be noted that although the expressions "first", "second", etc. are used herein to describe different modules, steps, data, etc. of the embodiments of the present invention, the expressions "first", "second", etc. are merely used to distinguish between different modules, steps, data, etc. and do not indicate a particular order or degree of importance. Indeed, the terms "first," "second," and the like are fully interchangeable.

It should be noted that although expressions such as "front", "back", "left", "right", "top", "bottom", "outside", "inside" and the like are used herein to describe different directions or sides of embodiments of the utility model, the expressions such as "front", "back", "left", "right", "top", "bottom", "outside", "inside" and the like are merely for distinguishing between different directions or sides, and do not denote a particular outside or inside. Indeed, the terms "front," "back," "left," "right," "top," "bottom," "outer," "inner," and the like may, in some instances, be used interchangeably at all.

An Automatic Guided Vehicle (AGV) is driven by a power device, is equipped with a traveling mechanism, a sensing system, a control system and the like, and automatically arrives at a designated place according to a predetermined path in an unmanned state to finish the transportation of materials, so that the assembly and transportation efficiency of factories and storage is improved, and the labor cost is further reduced.

When the AGV runs on a complex road condition, an obstacle is inevitably generated. Especially, when the AGV backs a car in a narrow space, the obstacle cannot be sensed, collision often occurs, and potential safety hazards exist. .

In order to solve the problem, the present disclosure provides an automated guided vehicle, can sense the rear barrier, when the automated guided vehicle backs, can sense the rear barrier, avoids bumping, improves the security.

As shown in fig. 1 to 4, the automated guided vehicle 100 according to the embodiment of the present disclosure includes a vehicle body 50 and a rear sensor 40.

Further, the automated guided vehicle 100 further includes a chassis 60.

The chassis 60 may serve as a support for the components that make up the automated guided vehicle 100. For example, the chassis may support the vehicle body 50 and components such as circuitry, batteries, etc. disposed within the vehicle body 50.

Driving wheels 81 may be installed at both left and right sides of the chassis 60 to provide driving force for the automated guided vehicle 100 while traveling. Auxiliary wheels 82 may be mounted at the front and rear of the chassis 60. Where front and back refer to the direction of travel of the AGV.

The vehicle body 50 is supported on a chassis 60. The vehicle body 50 serves as a housing of the automated guided vehicle and protects the components constituting the automated guided vehicle 100.

The rear sensor 40 is used to sense an object behind the vehicle body 50. The object behind the vehicle body 50 may be an obstacle or other automated guided vehicle. The rear sensor 40 may be a laser radar, an infrared sensor, or a vision camera.

When the automated guided vehicle 100 is reversed, the rear sensor 40 senses an object behind the vehicle body 50, and if an obstacle is sensed behind the vehicle body 50, the vehicle can be braked or bypassed in time. The automated guided vehicle 100 of the present disclosure has a rear obstacle avoidance function, so that when the automated guided vehicle 100 is reversed, collision with an obstacle is avoided, and safety is improved.

For example, the sensing distance of the rear sensor 40 may be greater than the braking distance of the automated guided vehicle 100. So that the rear sensor 40 senses an obstacle and ensures no collision with the obstacle when braking is required.

In some implementations, the automated guided vehicle 100 also includes a front sensor. The front sensor is provided at the front of the vehicle body 50. For sensing objects in front of the vehicle body 50. The automatic guided vehicle 100 of the present disclosure has sensing capability in both forward and reverse processes, avoiding collision, and improving obstacle avoidance capability and safety performance. The front sensor may be a lidar, an infrared sensor, or a vision camera.

In one embodiment, as shown in fig. 1 to 4, the automated guided vehicle 100 further includes a lifting mechanism 70 and a loading platform 10, the lifting mechanism 70 is disposed on the chassis 60, and the rear sensor 40 is located between the chassis 60 and the loading platform 10.

The loading platform 10 is disposed above the lifting mechanism 70 for directly or indirectly loading the goods to be lifted. The lifting mechanism 70 is lifted to drive the carrier 10 to lift, so as to lift the goods carried on the carrier 10 to a designated position.

For example, as shown in fig. 3, the carrier 10 may be a flat plate structure. The upper surface of the carrier 10 can directly carry the goods to be lifted. Alternatively, a plurality of mounting holes for mounting the loading mechanism may be formed in the carrying platform 10, and the carrying platform 10 may indirectly carry the goods to be lifted through the loading mechanism. In another example, the load bearing platform 10 may be a frame structure or other shaped structure, configurable according to the type of cargo to be lifted.

The rear sensor 40 of the automated guided vehicle 100 of the present disclosure is located between the chassis 60 and the load-bearing platform 10, and the rear sensor 40 does not need to additionally occupy the space outside the vehicle body 50, i.e., the left and right sides or the rear space. Thus, when the automated guided vehicle 100 travels in a narrow space, the rear sensor 40 can be prevented from being damaged due to being scratched, and the reliability of the rear sensor 40 sensing an object behind the vehicle body 50 is ensured, so that the safety performance of the automated guided vehicle 100 is improved.

In one embodiment, as shown in fig. 1 and 2, a gap is formed between the carrier 10 and the top surface of the vehicle body 50 in a state where the lifting mechanism 70 does not lift the carrier 10. The rear sensor 40 is fixedly disposed in the vehicle body 50 and exposed to the outside of the vehicle body 50 through the gap.

Illustratively, the top of the vehicle body 50 is provided with a notch, which provides an escape space for the lifting mechanism 70 to be lifted and a part of the rear sensor 40 exposed outside the vehicle body 50. The lifting mechanism 70 is lifted to drive the carrier table 10 to rise, so that the carrier table 10 is moved upward away from the top of the vehicle body 50, and the gap between the carrier table 10 and the vehicle body 50 is gradually increased. The lifting mechanism 70 descends to drive the bearing platform 10 to descend, so that the bearing platform 10 is downward close to the top of the vehicle body 50, and the gap between the bearing platform 10 and the vehicle body 50 is gradually reduced.

The state in which the lifting mechanism 70 does not lift the susceptor 10 is: the load bearing platform 10 is located closest to the top of the vehicle body 50. When the platform 10 is closest to the top of the vehicle body 50, a gap is formed between the lower side of the platform 10 and the top of the vehicle body 50, and the gap is used for avoiding the rear sensor 40, so that an avoiding space is reserved for the rear sensor 40, and the rear sensor 40 is exposed to the gap, and an object behind the vehicle body 50 is sensed through the gap.

For example, the rear sensor 40 may be fixed to the chassis 60 by a fixing bracket, and the rear sensor 40 is supported by the fixing bracket to be higher than the top of the vehicle body 50 and located below the load-bearing platform 10.

The automated guided vehicle 100 according to the embodiment of the present disclosure is fixed inside the vehicle body 50 by the rear sensor 40, and forms a clearance between the vehicle body 50 and the load-bearing platform 10 to provide a clearance for the rear sensor 40 to be exposed outside the vehicle body 50, so that the rear sensor 40 senses an object behind the vehicle body 50 through the clearance. The space in the vehicle body 50 is fully utilized, the space outside the vehicle body 50 is not occupied, and the automatic guided vehicle 100 is enabled to be more compact in overall structure while the rear automatic guided vehicle 100 has a rear obstacle avoidance function.

In another example, the carrier 10 is provided with a notch (not shown) corresponding to the position of the rear sensor 40, and the rear sensor 40 is accommodated in the notch in a state that the lifting mechanism 70 does not lift the carrier 10, that is, when the lifting mechanism 70 does not lift the carrier 10, the notch is used for avoiding the rear sensor 40, so that an avoiding space is reserved for the rear sensor 40, so that the rear sensor 40 is exposed outside the vehicle body through the notch. In a state where the lifting mechanism 70 does not lift the platform 10, there is almost no gap between the platform 10 and the top of the vehicle body 50.

The rear sensor 40 of the automated guided vehicle 100 according to the present disclosure scans an object behind the vehicle body 50 in such a manner that the rear sensor is exposed to the vehicle body 50 through a notch in the platform 10. During the lifting process, the carrier 10 does not interfere with the rear sensor 40, which is beneficial to the lifting mechanism 70 to lift the lifting height of the carrier 10.

In one embodiment, as shown in fig. 3 to 8, the rear sensor 40 is disposed in the vehicle body 50 in a liftable manner. In a state where the lifting mechanism 70 lifts the platform 10, the rear sensor 40 is lifted and exposed outside the vehicle body 50. In a state where the lifting mechanism 70 does not lift the platform 10, the rear sensor 40 is hidden in the vehicle body 50.

The lifting mechanism 70 is lifted to lift the carrier platform 10, so that the carrier platform 10 is moved upward away from the vehicle body 50. The lifting mechanism 70 descends to drive the carrier table 10 to descend, so that the carrier table 10 is close to the vehicle body 50.

As shown in fig. 5 and 6, the state where the lifting mechanism 70 does not lift the carrier stage 10 is: the load bearing platform 10 is located closest to the top of the vehicle body 50. In the position where the platform 10 is closest to the vehicle body 50, the clearance between the platform 10 and the vehicle body 50 is small or almost zero, unlike the above-described embodiment. In this state, the rear sensor 40 is hidden in the vehicle body 50. That is, the lifting mechanism 70 no longer provides an escape space for the rear sensor 40 in a state where the load-bearing table 10 is not lifted.

As shown in fig. 7 and 8, the lifting mechanism 70 is in a state of lifting the carrier table 10: the load bearing platform 10 is raised away from the top of the vehicle body 50 such that there is some clearance between the vehicle body 50 and the load bearing platform 10. The gap can accommodate the sensor 40 to allow the platform 10 to be retracted away from the rear sensor 40. The rear sensor 40 is raised from the vehicle body 50 to the gap so that the rear sensor 40 can scan the space behind the vehicle body 50 to sense an object behind the vehicle body 50.

The automated guided vehicle 100 according to the embodiment of the present disclosure makes full use of the internal space of the vehicle body 50 by arranging the rear sensor 40 in the vehicle body 50 so as to be able to ascend and descend. When the rear sensor 40 is used, the lifting mechanism 70 is made to lift the load-carrying platform 10, and the rear sensor 40 is lifted and exposed outside the vehicle body 50 to sense an object behind the vehicle body 50. When the rear sensor 40 is not used, the lift mechanism 70 is lowered, and the rear sensor is lowered into the vehicle body 50. That is, the rear sensor 40 is hidden in the vehicle body 50 in a state where the lifting mechanism 70 does not lift the platform 10.

The rear sensor 40 of the automated guided vehicle 100 of the present disclosure can be exposed outside the vehicle body 50 or hidden inside the vehicle body 50 in a lifting manner, so that the rear sensor 40 no longer occupies the space above the vehicle body 50 when not in use, which is beneficial to lifting the lifting height of the lifting mechanism 70.

In one embodiment, the rear sensor 40 is disposed on the lower side of the carrier 10. The rear sensor 40 may be fixed to the underside of the platform adjacent the rear of the vehicle body 10 by a connector. The lifting mechanism 70 is lifted to drive the carrying platform 10 to lift, and the rear sensor 40 is lifted along with the carrying platform 10, exposed above the vehicle body 50, and senses an object behind the vehicle body 50. The lifting mechanism 70 descends to drive the carrying platform 10 to descend, and the rear sensor 40 descends along with the carrying platform to be hidden in the vehicle body 50.

In one embodiment, the rear sensor 40 is disposed on the lifting mechanism 70 and follows the lifting mechanism 70 to move up and down. Wherein the rear sensor 40 can be exposed to the vehicle body 50 by the lifting mechanism 70 being lifted. The lifting mechanism is lowered to hide the rear sensor 40 from the vehicle body 50.

In one example, as shown in fig. 9-14, the lift mechanism 70 includes a linkage assembly 20 and a drive member 30.

In one embodiment, as shown in fig. 9 and 11, the link assembly 20 is disposed below the carrier table 10 for supporting the carrier table 10 to be raised or lowered. The linkage assembly 20 includes a first linkage, a second linkage, an upper link 27, and a lower link 25. The carrier 10 can be fixed above the upper connecting member 27.

The upper end of the first connecting rod group is hinged with the upper connecting piece 27, and the lower end is hinged with the lower connecting rod 25 to form an upper parallelogram connecting rod mechanism. The upper end of the second connecting rod group is hinged with the lower connecting rod 25, and the lower end of the second connecting rod group is fixedly hinged with the chassis 60 to form a lower parallelogram connecting rod mechanism. The upper and lower parallelogram linkages share a lower connecting rod 25 to form a connected double parallelogram linkage. Thus, the platform 10 can be lifted in the vertical direction by the double parallelogram link mechanism. The platform 10 is fixed above the upper connecting member 27, and the rear sensor 40 is fixed on the upper connecting member 27 and located below the platform 10. The driving member 30 is connected with the connecting rod assembly to drive the connecting assembly to swing, so that the bearing platform 10 and the upper connecting member 27 are lifted or lowered, and the rear sensor 40 is lifted (shown in fig. 9) or lowered (shown in fig. 10) along with the lifting mechanism 70, so that the rear sensor is exposed to the vehicle body 50 or hidden in the vehicle body 50.

Illustratively, as shown in fig. 11 and 12, the driving member 30 includes a moving block 31, a lead screw 32, and a driving motor 33.

The moving block 31 is connected to the first link set, and can move up and down along the vertical direction, and drives the first link set to swing, so as to raise or lower the upper connecting member 27. The lead screw 32 is vertically arranged and in threaded connection with the moving block 31, and the rotary motion of the lead screw 32 is converted into the linear up-and-down movement of the moving block 31. For example, the moving block 31 may be directly screwed on the lead screw 32, or a nut may be screwed on the lead screw 32, and the moving block 31 is in threaded transmission with the lead screw 32 through the nut.

The driving motor 33 is vertically disposed and is in driving connection with the lead screw 32, drives the lead screw 32 to rotate, drives the moving block 31 to move up and down, and drives the first connecting rod set to swing, so that the upper connecting member 27 and the plummer 10 rise or fall, and the rear sensor 40 rises (shown in fig. 9) or falls (shown in fig. 10) along with the lifting mechanism 70, so that the rear sensor is exposed to the vehicle body 50 or hidden in the vehicle body 50.

In operation, the driving motor 33 rotates to drive the lead screw 32 to rotate, and the moving block 31 moves up or down on the lead screw 32. During the process that the moving block 31 moves upwards or downwards, the moving block 31 drives the first connecting rod set to swing, so as to drive the upper and lower parallelogram link mechanisms to link, and under the action of the upper and lower parallelogram link mechanisms, the upper connecting piece 27 rises or falls along the vertical direction, so that the rear sensor 40 rises (shown in fig. 9) or falls (shown in fig. 10) along with the lifting mechanism 70, so that the rear sensor is exposed to the vehicle body 50 or hidden in the vehicle body 50.

According to the automated guided vehicle 100 of the embodiment of the disclosure, the lifting mechanism 70 is vertically arranged through the vertically arranged driving motor 33, that is, the driving motor 33 is vertically arranged, and the area occupied in the plane space is the area of the section of the driving motor 33, so that the occupied plane space is reduced compared with the driving motor arranged horizontally. For example, in the scenario of the lifting mechanism 70 being applied to an AGV, the occupied space of the AGV chassis can be reduced, and more space is provided for the arrangement and installation of other components, so that the installation and maintenance are more convenient. For example, a larger space can be provided for a battery in the AGV, so that the capacity of the battery can be made larger, and the cruising ability of the AGV is improved; the positions of the camera and the sensor can be arranged more conveniently, so that navigation components such as the camera and the sensor on the AGV can obtain wider visual fields, and the navigation accuracy is improved; larger motors can also be used to carry larger loads and to carry more or heavier objects to be lifted. The length of the upper links 27 and the lower connecting rods 25 can also be extended for the same chassis size to increase the bearing area of the load carrier 10 secured to the upper links 27 for higher AGV carrying capacity.

The driving piece is composed of the vertically arranged driving motor 33, the lead screw 32 and the moving block 31 in a matched mode, the structure is compact, in the ascending or descending process of the bearing table 10, due to the fact that loads applied to the lead screw 32 and the moving block 31 are constant and even, lifting is more stable, the output power of the driving motor 33 is utilized more fully, and the lifting speed is higher on the premise of the same output power.

In some embodiments, as shown in fig. 11, the first linkage may include a first upper swing arm 21 and a second upper swing arm 22, and the second linkage may include a first lower swing arm 23 and a second lower swing arm 24.

The upper end of the first upper swing arm 21 is hinged with the first end 271 of the upper connecting piece 27 through a first hinge shaft 41, and the lower end of the first upper swing arm 21 is hinged with one end of the lower connecting rod 25 through a second hinge shaft 42; the upper end of the second upper swing arm 22 is hinged to the second end 272 of the upper link 27 via a third hinge shaft 43, and the lower end of the second upper swing arm 22 is hinged to the other end of the lower link 25 via a fourth hinge shaft 44. Thereby, the first upper swing arm 21, the upper link 27, the second upper swing arm 22, and the lower link 25 form an upper parallelogram link mechanism.

The upper end of the first lower swing arm 23 is hinged with the first upper swing arm 21 and the lower connecting rod 25 through a second hinge shaft 42, and the lower end of the first lower swing arm 23 is hinged with the chassis or hinged with the fixed seat 35. The upper end of second lower swing arm 24 is hinged with second upper swing arm 22 and lower connecting rod 25 through fourth hinge shaft 44, and the lower end of second lower swing arm 24 is fixedly hinged, such as hinged on chassis 60. Therefore, the first lower swing arm 23, the lower connecting rod 25, the second lower swing arm 24 and the chassis form a lower parallelogram linkage mechanism. The upper and lower parallelogram linkages share a lower connecting rod 25 to form a linked upper and lower double parallelogram linkage (shown in fig. 15).

The moving block 31 is hinged with the first end 271 of the upper link 27 and the first upper swing arm 21 by the first hinge shaft 41. The driving motor 33 drives the lead screw 32 to rotate, the moving block 31 is in threaded fit with the lead screw 32 to drive the moving block 31 to move upwards or downwards, in the process that the moving block 31 moves upwards or downwards, the moving block 31 pulls the upper connecting piece 27 and the first upper swing arm 21 to swing, so that the upper parallelogram connecting rod mechanism and the lower parallelogram connecting rod mechanism are driven to be linked, under the action of the upper parallelogram connecting rod mechanism and the lower parallelogram connecting rod mechanism, the upper connecting piece 27 rises or falls along the vertical direction, so that the bearing platform 10 and the upper connecting piece 27 rise or fall, and when the lifting operation is realized, the rear sensor 40 rises (shown in fig. 9) or falls (shown in fig. 10) along with the lifting mechanism 70, so that the rear sensor is exposed to the vehicle body 50 or is hidden in the vehicle body 50.

Based on the lifting of the upper and lower two parallelogram linkages, the required horizontal component force can be made smaller as the horizontal displacement is smaller closer to the upper end of the first upper swing arm 21 than in a single parallelogram linkage. Therefore, the moving block 31 is hinged with the first end 271 of the upper link 27 and the upper end of the first upper swing arm 21 by the first hinge shaft 41, so that the component force of the force output by the driving motor 33 in the horizontal direction is small and the component force in the vertical direction is large during the upward or downward movement of the moving block 31, and the driving power of the driving motor 33 is more fully utilized.

The present disclosure is not limited thereto, and the moving block 31 may be hinged only to the first end 271 of the upper connecting member 27; alternatively, the mobile block 31 is hinged only to the first upper swing arm 21. In the process that the driving motor 33 drives the screw rod to rotate and drives the moving block 31 to move upwards or downwards, the moving block 31 pulls the upper connecting piece 27 or the first upper swing arm 21 to swing, and the upper and lower parallelogram link mechanisms are driven to be linked, so that the bearing platform 10 is lifted or lowered.

In order to further improve the supporting stability of the lifting mechanism 70, the link assemblies 20 are arranged in two groups, that is, the first link group, the second link group, the upper connecting member 27 and the lower connecting member 25 can be arranged in two groups and symmetrically arranged at two sides (left side and right side in fig. 1) below the plummer 10, wherein the upper connecting member of the upper parallelogram link mechanism of the first group and the upper connecting member of the upper parallelogram link mechanism of the second group are integrally formed. Where left and right sides refer to left and right sides with respect to the direction of travel of the AGV.

The upper ends of the first upper swing arms 21 of the first group are hinged to one side (the left side in fig. 11) of the first end 271 of the upper connecting piece 27 through a first hinge shaft 41, and are hinged to the moving block 31 through the first hinge shaft 41; the upper end (not shown) of the first upper swing arm and the moving block 31 of the second group are hinged to the other side (right side in fig. 11) of the first end 271 of the bearing platform 10 through a first hinge shaft 41, and are hinged to the moving block 31 through the first hinge shaft 41.

The first group of the second upper swing arms 22 and the second group of the second upper swing arms 22' are respectively hinged on both sides (left and right sides in fig. 11) of the second end 272 of the upper link 27.

Wherein, the first group of the second upper swing arms 22 and the second group of the second upper swing arms 22' are connected by a first cross bar 26 and can be integrally formed; the first set of second lower swing arms 24 and the second set of second lower swing arms 24' are connected by a second cross bar (not shown), and can be integrally formed, so that the lifting process is more stable. The first set of upper links 27 and the second set of upper links may be integrally formed to further stabilize the lifting process.

The first set of upper connectors 27 and the second set of upper connectors may be integrally formed as a plate-like structure for mounting the carrier table 10. The first lower swing arm 23 of the first group is hinged with the first upper swing arm 21 of the first group through a second hinge shaft 42, and the first lower swing arm (not shown) of the second group is hinged with the first upper swing arm of the second group through the second hinge shaft 42.

The first group second lower swing arm 24 and the second group second lower swing arm 24 'are respectively hinged with the first group second upper swing arm 22 and the second group second upper swing arm 22' through a fourth hinge shaft 44.

The lower connecting rod 25 of the first group is connected to one side (left side in fig. 1) of the second hinge shaft 42 and the fourth hinge shaft 44, and the connecting rod 25' of the second group is connected to the other side (right side in fig. 11) of the second hinge shaft 42 and the fourth hinge shaft 44.

An upper parallelogram linkage and a lower parallelogram linkage are respectively formed on two sides (left side and right side in fig. 11) below the bearing table 10 through two groups of connecting rod assemblies 20 to form four-point support for the bearing table 10, so that the bearing table 10 can obtain more stable supporting effect in the ascending or descending process, and an object to be lifted borne on the bearing table 10 can stably run to a specified height.

In addition, under the prerequisite of guaranteeing four stable point supports, because lifting mechanism 70's structure is compacter, the space that occupies the AGV chassis reduces for lifting mechanism 70 can be according to the size on AGV chassis, through the length that changes parallel four deformation link mechanism, can expand easily, with the object type and the lifting height that the adaptation AGV needs to bear.

For example, as shown in fig. 13, by changing the lengths of the second link 25 and the upper connecting member 27, the carrying area of the platform 10 fixed on the upper connecting member 27 can be conveniently enlarged, and the carrying capacity can be increased, thereby improving the working efficiency; the adaptability for bearing objects with different types and sizes can be improved. In addition, by changing the lengths of the upper swing arm (the first upper swing arm 21 and the second upper swing arm 22) and the lower swing arm (the first lower swing arm 23 and the second lower swing arm 24), the lifting height of the plummer 10 can be easily increased, and the lifting performance can be improved.

In some embodiments, as shown in fig. 11, the driving motor 33 may be located outside a projection area of the moving block 31 and the link assembly 20 in the vertical direction, and compared with the driving motor 33 disposed below the link assembly 20, the interference between the lifting of the moving block 31 and the carrier table 10 and the driving motor 33 is avoided, and an avoidance space can be provided for the lifting of the moving block 31 and the carrier table 10, so that the moving block 31 and the carrier table 10 can obtain the maximum stroke in the vertical direction, so as to increase the lifting height of the carrier table 10, and thus the sensing range of the rear sensor 40 is larger.

For example, the drive motor 33 may be located forward of the linkage assembly 20. That is, the drive 30 of the lifting mechanism 70 may be located at the front end of the AGV chassis. The present disclosure is not so limited and the drive 30 of the lift mechanism 70 may also be located at the rear end of the AGV chassis and may be adjusted according to the placement and routing of other components of the AGV.

In some embodiments, as shown in FIG. 14, the drive member 30 further includes a speed reducer 34 that functions to match the rotational speed required to raise or lower the lead screw 32, as well as to transmit torque. The speed reducer 34 may include a housing and a gear train (not shown) located within the housing. The output end of the reducer 34 is positioned below the moving block 31 and connected with the screw rod 32; the input end of the speed reducer 34 is positioned below the driving motor 33 and connected with the output shaft of the driving motor 33. The driving motor 33 rotates to change the rotation speed and transmit torque through the reducer 34, so as to drive the lead screw 32 to rotate, and the moving block 31 driven by the lead screw threads moves upwards or downwards to drive the upper and lower parallelogram link mechanisms to be linked, so that the bearing platform 10 is lifted.

As shown in fig. 13 and 14, the input end of the speed reducer 34 is located below the driving motor 33, and the output end is located below the moving block 31, so that a part of the speed reducer 34 is within the area of the vertical projection of the moving block 31 and a part is within the area of the vertical projection of the driving motor 33.

In fact, in the planar space of the AGV chassis, besides the space occupied by the parallel four-bar linkage, the lead screw 32 and the moving block 31, which are necessary for completing the lifting operation, and the projection area of the driving motor 33 in the vertical direction, the speed reducer 34 does not need to additionally occupy the chassis space, and the occupied area of the chassis space is greatly reduced. Therefore, compared with the way that the driving motor and the speed reducer are horizontally arranged on the chassis in the related art, the lifting mechanism 70 of the present disclosure has a tendency to minimize the occupied space of the plane, so that the lifting mechanism 70 is more compact, provides more space for arranging other components of the AGV, and facilitates the miniaturization design of the AGV to improve the adaptability under the limited working environment.

In some embodiments, as shown in fig. 11 and 12, the driving member 30 further includes a fixed seat 35. The fixing seat 35 can be detachably fixed on the AGV chassis through bolts. The fixing base 35 is located below the moving block 31, and is used for fixing the driving motor 33 and the reducer 34. The fixing base 35 may include a base 351 and a pair of symmetrical frame bodies 352 located at both sides (left and right sides) of the base 351. Vertical linear rails 36 are disposed on opposite inner side surfaces of the two frame bodies 352, and both sides (left and right sides) of the moving block 31 are slidably coupled to the rails 36, respectively. In the up-and-down movement process of the moving block 31, two sides of the moving block 31 slide in the slide rails 36, so that the moving block 31 can move upwards or downwards more stably, and then the upper and lower two parallelogram link mechanisms can be driven to link more stably, so that an object to be lifted borne on the bearing platform 10 can be conveyed to a designated position more stably.

The speed reducer 34 is fixed to the bottom of the seat body 351, an accommodating groove is formed in the bottom of the seat body 351, a part of the speed reducer 34 is accommodated in the accommodating groove, and one end of the screw rod 32 penetrates through the seat body 351 and extends into the accommodating groove to be connected with the output end of the speed reducer 34. The driving motor 33 is fixed to the front end of the seat body 351. The lower end of the first lower swing arm 23 is hinged to the side of the seat body 351. For example, the lower end of the first lower swing arm 23 of the first group is hinged to the left end of the seat body 351, the second lower swing arm of the second group is hinged to the right end of the seat body 351, and the speed reducer 34 is located between the first lower swing arm 23 of the first group and the lower swing arm of the second group.

In an embodiment, an upper limiting member 38 is disposed on the top of the frame 352, and the upper limiting member 38 limits the upward movement stroke of the moving block 31, so as to prevent the moving block 31 from being separated from the slide rail 36, which may cause an object carried on the carrying platform 10 to slip off, thereby improving safety.

In one embodiment, the automated guided vehicle 100 further comprises a lifting device (not shown). The lifting device is disposed in the vehicle body 50. The rear sensor 40 is mounted to the lifting device. In a state where the lifting mechanism 70 lifts the platform 10, the lifting device lifts the rear sensor 40 to be exposed to the vehicle body 50. The lifting mechanism 70 is hidden in the vehicle body 50 in a state where the platform is not lifted.

In a state where the lift mechanism 70 lifts the platform 10, a gap is formed between the platform 10 and the vehicle body 50. The lifting device drives the rear sensor 40 to lift, so that the rear sensor 40 reaches a gap between the bearing platform 10 and the vehicle body 50 from the inside of the vehicle body 50, the rear sensor 40 is exposed outside the vehicle body 50, and an object behind the vehicle body 50 is sensed through the gap.

When the lifting mechanism 70 is lowered, the lifting device drives the rear sensor 40 to be lowered, so that the rear sensor 40 is hidden in the vehicle body 50 from the outside of the vehicle body 50.

The rear sensor 40 of the automatic guided vehicle 100 of the present disclosure is lifted by the independent lifting device to drive the rear sensor 40 to be exposed outside the vehicle body 50 or to be hidden inside the vehicle body 50, so that when the rear sensor 40 is not used, the rear sensor 40 does not need to be lifted by the lifting mechanism 70, and can be kept still and hidden inside the vehicle body 50. So that the rear sensor 40 does not interfere with the elevation of the lift mechanism 70.

In one example, the lifting device includes a screw rod connected to an output shaft of the lifting motor and a slider threadedly connected to the screw rod, wherein the screw rod is rotatably disposed in the vehicle body 50, and the rear sensor 40 is disposed in the slider. The lifting motor rotates to drive the screw rod to rotate so as to slide and lift, and the rear sensor 40 lifts along with the slider and is exposed or hidden in the vehicle body 50.

In another example, the lifting device includes a lifting motor, a gear installed on an output shaft of the lifting motor, and a rack engaged with the gear, and the rear sensor 40 is installed on the rack. The motor rotates to drive the gear to rotate, so that the rack meshed with the gear ascends or descends, and the rear sensor 40 ascends and descends along with the rack and is exposed or hidden in the vehicle body 50.

In one embodiment, the automated guided vehicle 100 further comprises a controller. The controller is connected to the rear sensor 40. In a state where the lifting mechanism 70 lifts the carrier table 10, the controller controls the rear sensor 40 to be turned on. In a state where the lifting mechanism 70 does not lift the susceptor, the controller controls the rear sensor 40 to be turned off. The controller may be provided in the vehicle body 50 and electrically connected by wire. The controller may also be an external control device, connected to the rear sensor 40 in a wireless manner.

The automated guided vehicle of the embodiment controls the opening and closing of the rear sensor 40 through the controller, and when the rear sensor 40 is not used, that is, when the rear sensor 40 is hidden in the vehicle body 50, the rear sensor 40 is closed, so that the electric energy of the automated guided vehicle 100 can be saved, and the cruising ability of the automated guided vehicle can be improved.

In some embodiments, the automated guided vehicle 100 further includes an angle adjustment mechanism for adjusting the sensing angle of the rear sensor 40. The angle adjusting mechanism comprises a rotating motor and a connecting piece. The rotating motor may be provided on a chassis 60 within the vehicle body 50. The upper end of the connecting piece is fixedly connected with the rear sensor 40, the lower end of the connecting piece is connected with an output shaft of the rotating motor, and the rotating motor drives the connecting piece to rotate to drive the rear sensor 40 to rotate so as to adjust the sensing angle of the rear sensor. The angle range of the rear sensor 40 for sensing the object behind the vehicle body 50 is larger, and the avoidance capability and safety can be improved.

The foregoing description of the implementation of the utility model has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the utility model to the precise form disclosed, and modifications and variations are possible in light of the above teachings or may be acquired from practice of the utility model. The embodiments were chosen and described in order to explain the principles of the utility model and its practical application to enable one skilled in the art to utilize the utility model in various embodiments and with various modifications as are suited to the particular use contemplated.

Claims (19)

1. An automated guided vehicle, comprising:

a vehicle body; and

a rear sensor for sensing an object behind the vehicle body;

the automated guided vehicle further comprises:

a chassis supporting the vehicle body;

the lifting mechanism is arranged on the chassis;

the bearing table is arranged above the lifting mechanism, and the lifting mechanism drives the bearing table to lift; wherein the rear sensor is positioned between the chassis and the bearing table.

2. The automated guided vehicle of claim 1, wherein the rear sensor is liftably disposed within the vehicle body; wherein the content of the first and second substances,

under the state that the lifting mechanism lifts the bearing table, the rear sensor is lifted and exposed outside the vehicle body;

and under the state that the lifting mechanism does not lift the bearing table, the rear sensor is hidden in the vehicle body.

3. The automated guided vehicle of claim 2,

the rear sensor is arranged on the lower side surface of the bearing table.

4. The automated guided vehicle of claim 2,

the rear sensor is arranged on the lifting mechanism and ascends and descends along with the lifting mechanism;

wherein the lifting mechanism is lifted to expose the rear sensor outside the vehicle body;

the lifting mechanism descends to enable the rear sensor to be hidden in the automobile body.

5. The automated guided vehicle of claim 4,

the lifting mechanism comprises:

a connecting rod assembly, the connecting rod assembly comprising: the upper end of the first connecting rod group is hinged with the upper connecting piece, and the lower end of the first connecting rod group is hinged with the lower connecting rod to form an upper parallelogram connecting rod mechanism; the upper end of the second connecting rod group is hinged with the lower connecting rod, and the lower end of the second connecting rod group is fixedly hinged with the chassis to form a lower parallelogram connecting rod mechanism;

the bearing table is fixed above the upper connecting piece, and the rear sensor is fixed on the upper connecting piece and positioned below the bearing table; and

and the driving piece is connected with the connecting rod assembly and drives the connecting rod assembly to swing so as to enable the bearing platform to ascend or descend.

6. The automated guided vehicle of claim 5,

the driving piece comprises a moving block, a lead screw and a driving motor;

the moving block is connected with the first connecting rod group,

the lead screw is vertically arranged and is in threaded connection with the moving block;

the driving motor is vertically arranged and is in driving connection with the lead screw, the lead screw is driven to rotate to drive the moving block to move up and down, and the first connecting rod group swings to enable the upper connecting piece and the bearing platform to ascend or descend.

7. The automated guided vehicle of claim 6,

the driving motor is located on the outer side of a projection area of the moving block and the connecting rod assembly in the vertical direction.

8. The automated guided vehicle of claim 7,

the driving piece further comprises a speed reducer;

the output end of the speed reducer is positioned below the moving block and is connected with the lead screw,

and the input end of the speed reducer is positioned below the driving motor and connected with the output shaft of the driving motor.

9. The automated guided vehicle of claim 8,

the driving mechanism further comprises a fixed seat;

the fixed seat comprises a seat body and a pair of symmetrical frame bodies positioned on two sides of the seat body, slide rails are arranged on the opposite inner surfaces of the two frame bodies, and two sides of the moving block are respectively connected with the slide rails in a sliding manner.

10. The automated guided vehicle of claim 9,

the bottom of the seat body is provided with a containing groove, one part of the speed reducer is contained in the containing groove, and one end of the lead screw penetrates through the seat body and extends into the containing groove to be connected with the output end of the speed reducer.

11. The automated guided vehicle of claim 9,

the top of the frame body is provided with an upper limiting piece, and the upper limiting piece is used for limiting the upward movement stroke of the moving block.

12. The automated guided vehicle of any one of claims 6-11,

the first connecting rod group comprises a first upper swing arm and a second upper swing arm, and the second connecting rod group comprises a first lower swing arm and a second lower swing arm;

the upper end of the first upper swing arm is hinged with the first end of the upper connecting piece through a first hinge shaft, the lower end of the first upper swing arm is hinged with one end of the lower connecting rod through a second hinge shaft,

the upper end of the second upper swing arm is hinged with the second end of the upper connecting piece through a third hinge shaft, and the lower end of the second upper swing arm is hinged with the other end of the lower connecting rod through a fourth hinge shaft;

the upper end of the first lower swing arm is hinged with the first upper swing arm and the lower connecting rod through a second hinge shaft, the lower end of the first lower swing arm is hinged with the chassis,

the upper end of the second lower swing arm is hinged with the second upper swing arm and the lower connecting rod through a fourth hinge shaft, and the lower end of the second lower swing arm is hinged with the chassis;

the moving block is hinged with the first end of the upper connecting piece and the first upper swing arm through the first hinge shaft.

13. The automated guided vehicle of claim 12,

the first connecting rod group, the second connecting rod group, the upper connecting piece and the lower connecting rod are arranged into two groups to form two groups of upper parallelogram link mechanisms which are bilaterally symmetrical and two groups of lower parallelogram link mechanisms which are bilaterally symmetrical;

the upper ends of the first upper swing arms of the first group are hinged to one side of the first end of the upper connecting piece through the first hinge shaft and are hinged to the moving block through the first hinge shaft; the upper ends of the first upper swing arms and the moving blocks of the second group are hinged to the other side of the first end of the bearing platform through the first hinge shaft and are hinged to the moving blocks through the first hinge shaft;

the first group of second upper swing arms and the second group of second upper swing arms are respectively hinged to two sides of the second end of the upper connecting piece, and the first group of second upper swing arms and the second group of second upper swing arms are connected through a first cross rod and are integrally formed; the second lower swing arms of the first group are connected with the second lower swing arms of the second group through a second cross rod and are integrally formed; the upper connecting piece of the first group and the upper connecting piece of the second group are integrally formed.

14. The automated guided vehicle of claim 2, wherein the automated guided vehicle further comprises:

the lifting device is arranged in the vehicle body;

the rear sensor is arranged on the lifting device;

wherein, under the state that the lifting mechanism lifts the bearing table, the lifting device lifts the rear sensor to be exposed outside the vehicle body;

and under the state that the lifting mechanism does not lift the bearing table, the rear sensor is hidden in the vehicle body.

15. The automated guided vehicle of claim 14,

the lifting device comprises a lifting motor, a screw rod connected with an output shaft of the lifting motor and a sliding block in threaded connection with the screw rod, wherein the screw rod is rotatably arranged in the vehicle body, and the rear sensor is arranged on the sliding block.

16. The automated guided vehicle of claim 1,

under the state that the lifting mechanism does not lift the bearing table, a gap is formed between the bearing table and the top surface of the vehicle body;

the rear sensor is fixedly arranged in the vehicle body and is exposed outside the vehicle body through the gap.

17. The automated guided vehicle of claim 1,

the bearing table is provided with a notch corresponding to the position of the rear sensor;

and under the state that the lifting mechanism does not lift the bearing table, the rear sensor is accommodated in the notch and is exposed outside the vehicle body through the notch.

18. The automated guided vehicle of claim 2, wherein the automated guided vehicle comprises:

the controller is connected with the rear sensor;

under the state that the lifting mechanism lifts the bearing table, the controller controls the rear sensor to be started;

and under the condition that the lifting mechanism does not lift the bearing table, the controller controls the rear sensor to be closed.

19. The automated guided vehicle of any one of claims 1-11, 16-18, wherein the automated guided vehicle further comprises an angle adjustment mechanism comprising:

the rotating motor is arranged in the vehicle body;

the upper end of the connecting piece is fixedly connected with the rear sensor, the lower end of the connecting piece is connected with an output shaft of the rotating motor, and the rotating motor drives the rear sensor to rotate so as to adjust the sensing angle of the rear sensor.

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