CN217497578U

CN217497578U - Unmanned carrying vehicle

Info

Publication number: CN217497578U
Application number: CN202221718513.2U
Authority: CN
Inventors: 崔锦; 吉东旭; 谭杨; 李泰文; 张清; 李红涛
Original assignee: Tsinghua University; Nuctech Co Ltd
Current assignee: Tsinghua University; Nuctech Co Ltd
Priority date: 2022-07-04
Filing date: 2022-07-04
Publication date: 2022-09-27
Anticipated expiration: 2032-07-04

Abstract

The utility model discloses an unmanned carrying vehicle, include: a chassis; running gear sets up on the chassis, and running gear includes: the two walking wheels can perform homodromous or heterodromous differential rotation so as to drive the walking device to move linearly or change the walking direction; the rotating device is arranged on the chassis; the upper mounting mechanism is arranged on the rotating device and is configured to rotate relative to the chassis under the driving of the rotating device; and the transmission device is arranged at the top of the loading mechanism and used for receiving the goods of the feed opening or transmitting the goods on the transmission device to the line body track. The differential rotation through the walking wheel realizes that unmanned transport vehicle turns to and goes, and cooperation rotary mechanism keeps the relative ground of facial make-up mechanism not rotatory, can improve luggage transportation's stability, simultaneously, has richened unmanned transport vehicle's removal mode.

Description

Unmanned transport vehicle

Technical Field

The utility model discloses an at least embodiment relates to unmanned transport vehicle, especially relates to an intelligent unmanned transport vehicle suitable for transport passenger's luggage.

Background

In daily work of civil aviation, passengers need to be checked, and after the luggage is qualified, the luggage needs to be transported to a corresponding line body track according to types and boarding information and further installed on a corresponding airplane.

In the related art, the baggage is often sorted and loaded into a special baggage transportation vehicle, and then transported to a corresponding line body rail. The method has the advantages of large labor investment and low working efficiency. In the related art, the goods are transported by the freight transport unmanned transport vehicle, and the freight transport unmanned transport vehicle has the defects of poor stability and easy falling of the goods during steering, and also has the defects of single moving mode and single avoiding means.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the embodiment of the utility model provides an unmanned transport vehicle can realize advancing, retreating, the multiple motion mode of sideslip, can keep the orientation of luggage unchangeable when turning to, can improve the stability of luggage.

According to an aspect of the present invention, there is provided an automated guided vehicle, including:

a chassis;

running gear sets up on the chassis, running gear includes:

the two walking wheels can perform homodromous or heterodromous differential rotation so as to drive the walking device to move linearly or change the walking direction;

the rotating device is arranged on the chassis;

the loading mechanism is arranged on the rotating device and is configured to rotate relative to the chassis under the driving of the rotating device; and

and the transmission device is arranged at the top of the loading mechanism and used for receiving the goods at the feed opening or transmitting the goods on the transmission device to the line body track.

According to some embodiments of the utility model, the transmission device includes belt feeder or transmission band cylinder.

According to the utility model discloses a some embodiments, transmission device is provided with the baffle respectively along direction of transmission's both sides, transmission device's entrance point and exit end are provided with respectively:

the first lifting device is arranged on the loading mechanism; and

the limiting piece is configured to be lower than or higher than the upper surface of the transmission device under the driving of the first lifting device;

the baffle and the top surface of the transmission device are enclosed into a groove-shaped space with two open ends, and the limiting part can open or close the openings at the two ends of the groove-shaped space.

According to some embodiments of the invention, the first lifting device comprises one of an electric telescopic rod, a hydraulic rod, a pneumatic rod and a linear electric motor.

According to some embodiments of the invention, the rotating device comprises:

the driving motor is arranged on the chassis;

the rotating drum is rotatably arranged on the chassis and is in transmission connection with the driving motor; and

and the flange plate extends from the top of the rotary drum in the radial direction, and is connected with the bottom of the loading mechanism.

According to some embodiments of the utility model, unmanned carrier still includes second elevating gear and third elevating gear, second elevating gear with third elevating gear sets up respectively on the mechanism of facial make-up, second elevating gear with third elevating gear's output respectively with transmission device's entrance point and outlet end are articulated, are used for changing transmission device's height is in order to adapt to not feed opening and line body track of co-altitude.

According to the utility model discloses a some embodiments, unmanned transport vehicle still includes the safe limit that touches, the safe limit that touches sets up the side on chassis and protrusion in the side on chassis, the safe limit that touches is flexible material in order to reduce the influence to unmanned transport vehicle with the barrier collision.

According to some embodiments of the present invention, the automated guided vehicle further comprises:

the ranging radar is arranged on the side face of the chassis and used for acquiring distance information between the ranging radar and an obstacle;

a processor configured to control the rotational speed and steering of the two road wheels in accordance with the obtained range signal of the range radar.

and the positioner is arranged on the side surface of the loading mechanism, is matched with a butt joint device arranged at the feed opening and at the line body track inlet and is used for positioning the relative position of the positioner and the feed opening of the station or the line body track inlet.

According to the utility model discloses a some embodiments, unmanned carrying vehicle still includes:

and the material detection sensor is arranged on the conveying device or the loading mechanism and used for detecting whether the conveying device has goods to be carried or not.

and the display is arranged on the chassis or the loading mechanism and used for displaying the state information of the unmanned conveying vehicle.

According to the utility model discloses an unmanned carrying vehicle, the differential through the walking wheel rotates the steering that realizes unmanned carrying vehicle and traveles, and during the chassis rotated, rotary mechanism can keep the relative ground of facial make-up mechanism not rotatory, can improve luggage transportation's stability.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

figure 1 is a perspective view of an automated guided vehicle according to an exemplary embodiment of the present invention;

FIG. 2 is a perspective view and an exploded schematic view of the upper mounting mechanism of the automated guided vehicle shown in FIG. 1 after rotation; and

fig. 3 is a schematic view of a running site of an automated guided vehicle according to an embodiment of the present invention.

In the above figures, the reference numerals have the following meanings:

1-an automated guided vehicle;

2-a chassis;

3-mounting a mechanism;

4-travelling wheels;

5-a transmission device;

6-a limiting part;

7-a rotating drum;

8-a flange plate;

9-safe edge touching;

10-a range radar;

11-a baffle plate;

12-a locator;

13-a material detection sensor;

14-a display;

15-emergency stop button; and

16-a material status indicator light;

17-a feed opening;

18-a linear body track; and

19-handling area.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings.

It should be understood that the description is intended to be illustrative only and is not intended to limit the scope of the present invention. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the invention. It may be evident, however, that one or more embodiments may be practiced without these specific details. Furthermore, in the following description, descriptions of well-known technologies are omitted so as to avoid unnecessarily obscuring the concepts of the present invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "comprising" as used herein indicates the presence of the features, steps, operations but does not preclude the presence or addition of one or more other features.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.

Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).

In order to solve the technical problem, the embodiment of the utility model provides a have multiple motion, turn to the high unmanned transport vehicle of stability.

Figure 1 is a perspective view of an automated guided vehicle according to an exemplary embodiment of the present invention; FIG. 2 is a perspective view and an exploded schematic view of the rotary loading mechanism of the automated guided vehicle shown in FIG. 1; fig. 3 is a schematic view of a running site of an automated guided vehicle according to an embodiment of the present invention.

According to an aspect of the present invention, there is provided an Automated Guided Vehicle (AGV), as shown in fig. 1 to 3, the AGV 1 including: a chassis 2; the traveling device is arranged on the chassis 2 and comprises two traveling wheels 4, and the two traveling wheels 4 can perform homodromous or heterodromous differential rotation so as to drive the traveling device to move linearly or change the traveling direction; the rotating device is arranged on the chassis 2; the upper mounting mechanism is arranged on the rotating device and is configured to rotate relative to the chassis 2 under the driving of the rotating device; and the transmission device is arranged at the top of the loading mechanism and used for receiving the goods of the feed opening 17 or transmitting the goods on the transmission device to the line body track 18.

In this embodiment, the automated guided vehicle 1 is steered and driven by the differential rotation of the traveling wheels 4, and the loading mechanism is kept not to rotate relative to the ground by the aid of the rotating mechanism, so that the stability of luggage transportation can be improved, and meanwhile, the moving mode of the automated guided vehicle is enriched.

According to the utility model discloses a some embodiments, chassis 2 is the bottom sprag structure of unmanned transport vehicle 1, and is optional, and chassis 2 is the box column structure, and chassis 2's below is provided with two walking wheels 4, and wherein, the inside motor that is provided with of the box column structure on chassis 2, the motor pass through differential mechanism and are connected with two 4 transmissions of walking wheels respectively to realize the differential rotation of two walking wheels.

According to the utility model discloses some alternative embodiments, every 4 configuration independent motors of walking wheel drive to realize that two walking wheels 4's differential rotate.

According to some embodiments of the utility model, set one or more universal wheel pair chassis 2 in the bottom of chassis 2 and carry out auxiliary stay and supplementary rotation, for example, the symmetry sets up two universal wheels between two walking wheels 4, and two universal wheels and two walking wheels 4 are located four summits of square respectively.

According to some embodiments of the present invention, the rotating means comprises a drive motor (not shown) and a drum 7. The driving motor is arranged on (or inside) the chassis, the rotary drum 7 is arranged on (or inside) the chassis 2, the axis of the rotary drum 7 is perpendicular to the upper surface of the chassis 2, and the rotary drum 7 is connected with the output shaft of the driving motor through a connecting part, so that the rotary drum 7 can rotate around the vertical direction (the axis of the rotary drum 7) under the driving of the driving motor. For example, a gear ring is provided on the drum 7, and a gear engaged with the gear ring is provided on the drive motor; the rotating drum and the output shaft of the driving motor are driven by a belt and a chain. The top of the drum 7 is provided with a radially outwardly extending flange 8 which is simultaneously connected to the bottom side of the loading means 3, for example by means of a plurality of bolt members. The stress area of the upper mounting mechanism 3 can be increased through the flange plate 8, so that the rotating stability of the upper mounting mechanism 3 is improved.

In this embodiment, when unmanned transport vehicle 1 need turn to, two walking wheels 4 are different to rotate with fast, and chassis 2 rotates for ground, and simultaneously, driving motor drive rotary drum is reverse to rotate with fast, can keep facial make-up mechanism 3 motionless for ground, has improved the stability of facial make-up mechanism 3 and goods on it when unmanned transport vehicle 1 turns to.

According to some embodiments of the utility model, transmission device 5 includes belt feeder or transmission band cylinder. In this embodiment, the automated guided vehicle 1 moves to a discharge opening of a station (e.g., (r), (c), and (r) regions in fig. 3) to receive a load to be carried, and transfers the load to be carried to an intermediate position of the loading mechanism 3 through a belt conveyor or a belt roller. The automated guided vehicle 1 starts to move in the conveying area 19, moves to the corresponding linear body track 18, and transfers the goods to be conveyed to the linear body track through the rotation of the belt conveyor or the conveyor belt roller, thereby completing the conveying of the goods.

According to some embodiments of the present invention, a plurality of feed openings 17 may correspond to one linear body track 18, for example, a plurality of security inspection channels correspond to one linear body track 18 (baggage transfer channel); or one feed opening 17 corresponds to a plurality of line body rails 18 (luggage transfer channels); and the plurality of feed openings 17 correspond to the plurality of wire body rails 18 (baggage transfer lanes).

According to some embodiments of the present invention, the conveying device 5 is provided with baffles 11 on both sides perpendicular to the conveying direction. The inlet end and the outlet end of the conveying device 5 are respectively provided with a first lifting device, and the first lifting devices are arranged on the upper mounting mechanism. A limiting piece 6 is connected to the first lifting device, and the limiting piece 6 is configured to be lower or higher than the upper surface of the transmission device under the driving of the first lifting device. Wherein, baffle 11 and transmission device 5's top surface encloses and establishes into a slot-like space of both ends open-ended, and this slot-like space is used for holding and treats the transport goods, and the locating part can be opened or close the opening at slot-like space both ends.

According to the utility model discloses a some embodiments are provided with main control unit, navigation calculation module, IO controller and image sensor in the chassis 2, and the structure and the relation of connection that its corresponds can be understood to the technical personnel in the field, do not carry out too much repeated description here.

According to some optional embodiments of the present invention, the first lifting device is provided inside the loading mechanism 3. The two limit pieces 6 of the automated guided vehicle 1 may be normally located above, below or flush with the top surface of the conveying device. Taking the example that the two limiting members 6 are normally higher than the top surface of the conveying device, when the automated guided vehicle 1 arrives at the feed opening of the station to pick up goods, the first lifting device near the inlet end of the conveying device 5 drives the limiting member 6 at the side to move downwards to be lower than the top surface of the conveying device 5. Therefore, the conveyer belt of the station feed opening 17 is matched with the belt conveyor or the roller to convey the goods to be conveyed to the conveying device, and then the first lifting device close to one end of the feed opening 17 drives the limiting part 6 on the side to move upwards to be above the top surface of the conveying device 5, so that the sealing of the groove-shaped space port is completed. And starting transportation, and protecting the goods to be transported in the transportation process to prevent the goods from sliding off. After the automated guided vehicle 1 arrives at the line body track, the process is similar to the above process, and the first lifting device near one end of the line body track 18 performs the operation.

According to some embodiments of the utility model, first elevating gear includes one of electric telescopic handle, hydraulic stem, pneumatic rod and linear electric motor.

According to some embodiments of the utility model, locating part 6 includes baffle, bumping post, guardrail isotructure.

According to some embodiments of the present invention, the automated guided vehicle 1 further comprises a second lifting device and a third lifting device. The second lifting device and the third lifting device are respectively arranged on the upper mounting mechanism 3, and the output ends of the second lifting device and the third lifting device are respectively hinged with the inlet end and the outlet end of the transmission device and used for changing the height of the transmission device 3 so as to adapt to the feed openings and the line body rails with different heights.

According to the utility model discloses a some embodiments, unmanned transport vehicle still includes safe limit 9 of touching, touches limit 9 safely and sets up in the side of chassis 2 and protrusion in the side of chassis 2. The safety contact edge 9 is made of a flexible material to reduce the influence of collision with an obstacle on the automated guided vehicle 1.

According to some embodiments of the present invention, the automated guided vehicle 1 further includes a distance measuring radar 10 and a processor, the distance measuring radar 10 is disposed on a side surface of the chassis 2, and is configured to obtain distance information from an obstacle; the processor is configured to control the speed and steering of the two road wheels 4 in dependence on the obtained range signal of the range radar.

According to some embodiments of the utility model, unmanned transport vehicle 1 still includes locator 12, sets up in the side of last mechanism 3, locator 12 and the interfacing apparatus looks adaptation that sets up at feed opening 17 and the entry of line body track 18 for the relative position of location and the feed opening of website or line body track entry. Optionally, the positioner 12 includes a positioning sensor and an alignment sensor. For example, the positioning sensor includes an ultrasonic sensor, more than 3 ultrasonic transmitters are installed at fixed positions in the working area, the ultrasonic sensor receives ultrasonic signals transmitted by the ultrasonic sensor, the distance between the ultrasonic sensor and each transmitter is calculated, and the two-dimensional coordinates of the ultrasonic sensor are obtained. The positioning sensor comprises a laser sensor, the transmitting plate is arranged at a known fixed position in a working area, the laser sensor detects included angles or distances between the laser sensor and each reflecting plate, and the coordinate of the laser sensor is calculated. The alignment sensor comprises a transmitting end and a receiving end, the transmitting end and the receiving end are respectively arranged at a preset position on the feed opening 17 (or the line body track 18) and on the automatic guided vehicle 1, and the alignment sensor comprises a laser sensor, an infrared sensor and the like. When the distance and the angle between the transmitting end and the receiving end of the alignment sensor satisfy the preset conditions, the feed opening 17 (or the line body rail 18) and the automated guided vehicle 1 successfully hold the hands, that is, the automated guided vehicle 1 reaches the preset position and can receive or transmit the goods.

According to the utility model discloses a some embodiments, unmanned carrying vehicle still includes material detection sensor 13, and material detection sensor 13 sets up on transmission device 5 or loading mechanism 3 for whether detect transmission device exists and treat the transport goods. Optionally, the material detection sensor 13 includes a pressure sensor (for determining whether there is a cargo by monitoring a load change on the transmission device), a laser sensor (for determining whether there is a cargo by determining whether there is an obstacle), and the like.

According to some optional embodiments of the present invention, the material detection sensor 13 can obtain some basic information of the goods to be handled, for example, volume and weight.

According to the utility model discloses a some embodiments, unmanned transport vehicle 1 still includes material status indicator 16, can set for according to the state of waiting to carry the goods according to the luminance, colour and the scintillation condition of material status indicator 16. For example, the display of normal transportation is green, overweight or over-size and red, so as to prompt the staff or passerby that certain danger exists in the current transportation state and please pay attention to avoiding; if a certain condition is preset as a suspicious transportation state, a yellow light is displayed.

In this embodiment, the state of the shipment can be determined according to the sensor, for example, the weight or size can be determined by the material detection sensor 13, or the shipment can be manually input by the staff, or classified according to the determination result of the previous package security inspection image. For example, a case wrapped in an X-ray security inspection machine shows that the case contains liquid, the wrapping is judged to be a high-risk transport product according to a preset rule, a signal is transmitted to the unmanned transport vehicle 1, and the corresponding material state indicator lamp 16 shows red.

According to some embodiments of the present invention, the automated guided vehicle 1 further comprises a display 14, the display 14 being arranged on the chassis 2 or the loading mechanism 3 for displaying status information of the automated guided vehicle 1.

According to some embodiments of the utility model, unmanned transport vehicle 1 still includes emergency stop button 15, and emergency stop button 15 is connected with unmanned transport vehicle 1's control system, and after emergency stop button was pressed, unmanned transport vehicle 1 stopped to remove, waited to examine.

The technical solution of the present invention is further described below with reference to a specific embodiment (as shown in fig. 3), it should be understood that this specific embodiment is only for facilitating the better understanding of the technical solution of the present invention by those skilled in the art, and should not be taken as a limitation to the protection scope of the present invention.

The security inspection system of the first security inspection channel finishes inspection of the first luggage, sends security inspection information of the first luggage to the scheduling system, and simultaneously conveys the first luggage to the discharge port 17 through the conveying belt.

The dispatching system sends the dispatching signal and the first baggage safety inspection information to an unmanned vehicle (hereinafter abbreviated as AGV) to be dispatched, and the AGV moves to a feed opening 17 (for example, to the position).

After the AGV reaches the fourth place, the position of the AGV and the angle of the loading mechanism relative to the blanking port 17 are finely adjusted, the transmitting end and the receiving end of the alignment sensor are matched, the preset condition is met, the AGV and the blanking port 17 successfully hold hands, and a signal is sent to the dispatching system.

The baffle that is close to feed opening 17 one side on the AGV moves down, and dispatch system sends the signal to the feed opening, and the transmission band of feed opening and AGV's transmission device start, and it shifts to AGV's facial make-up mechanism from feed opening 17 with luggage one. During the period, the material detection sensor 13 detects the transmission condition of the first luggage, and after the material detection sensor 13 monitors that the first luggage reaches the preset position of the loading mechanism, the material detection sensor sends and receives a completion signal to the dispatching system, the transmission belt of the feed opening and the transmission device of the AGV stop working, and the baffle plate on the AGV, which is close to one side of the feed opening 17, moves upwards.

The AGV moves to the linear track 18 according to the planned route (e.g., straight to turn, traverse to sixty).

After the AGV reaches the sixth place, the position of the AGV and the angle of the upper mounting mechanism relative to the line body track 18 are finely adjusted, the transmitting end and the receiving end of the alignment sensor are matched, the preset condition is met, the handshake is successful, and the signal is sent to the dispatching system.

The baffle close to one side of the line body track 18 on the AGV moves downwards, the dispatching system sends a signal to the line body track 18, the conveying belt of the line body track 18 and the conveying device of the AGV are started, and the first luggage is transferred to the line body track 18 from the loading mechanism of the AGV. During the period, the material detection sensor 13 detects the transmission condition of the first luggage, after the material detection sensor 13 detects that the first luggage completely leaves the loading mechanism, a transfer completion signal is sent to the dispatching system, the first luggage is continuously transmitted by the line body rail 18, the transmission device of the AGV stops working, and the baffle plate on the AGV, which is close to one side of the line body rail 18, moves upwards.

The AGV finishes conveying the first luggage, leaves the area and enters the standby area or enters another blanking port 17 to convey the second luggage (for example, the second luggage is transversely moved to reach the seventh luggage after passing through the seventh luggage, and then the second luggage is turned to move straight to the sixth luggage).

In this embodiment, after the AGV receives the first baggage item, the material status indicator light 16 lights up the predetermined policy according to the security check information.

In this embodiment, when the AGV moves to the fifth position, the two traveling wheels rotate in opposite directions to change the orientation of the chassis 2 (i.e. the traveling direction of the chassis 2), and the rotating mechanism rotates to keep the loading mechanism stationary relative to the ground, so as to prevent the first baggage from falling off when the AGV turns.

In this embodiment, in the transport region, there are a plurality of AGVs simultaneously to the transport of a plurality of luggage, wherein, if a certain AGV breaks down or is pressed down the scram button after, other AGVs reach the regional back of trouble AGV and turn to and dodge.

Through the unmanned carrying vehicle provided by the embodiment of the utility model, a transverse movement mode can be realized, the field use area is reduced, a plurality of movement modes of forward movement, backward movement and transverse movement are provided, a plurality of optimized path selections are provided for a dispatching system, and the conveying efficiency is improved; the position and state information of the passenger luggage can be fed back in real time, and the passenger luggage can be conveniently checked by a worker; the front and the back are respectively provided with a radar, and all-round intelligent detection and identification of the obstacle effectively prevent the AGV from colliding with the workers and objects.

So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. In addition, the above definitions of the components are not limited to the specific structures, shapes or manners mentioned in the embodiments, and those skilled in the art may easily modify or replace them.

It should also be noted that, unless otherwise indicated, the numerical parameters set forth in this specification and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by the present disclosure. In particular, all numbers expressing dimensions, range conditions, and so forth, used in the specification and claims are to be understood as being modified in all instances by the term "about". Generally, the expression is meant to encompass variations of ± 10% in some embodiments, 5% in some embodiments, 1% in some embodiments, 0.5% in some embodiments by the specified amount.

It will be appreciated by a person skilled in the art that various combinations and/or combinations of features described in the various embodiments and/or the claims of the present invention are possible, even if such combinations or combinations are not explicitly described in the present invention. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present invention may be made without departing from the spirit and teachings of the invention. All such combinations and/or associations fall within the scope of the present invention.

The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. An automated guided vehicle, comprising:

a chassis;

running gear, set up on the chassis, running gear includes:

the rotating device is arranged on the chassis;

2. The automated guided vehicle of claim 1, wherein the conveyor comprises a belt conveyor or a conveyor belt roller.

3. The automated guided vehicle according to claim 1, wherein the transportation device is provided with a baffle on each of both sides in the transportation direction, and the transportation device is provided with:

the first lifting device is arranged on the loading mechanism; and

a limiting member configured to be lower or higher than the upper surface of the conveying device under the driving of the first lifting device;

the baffle and the top surface of the transmission device are enclosed to form a groove-shaped space with two open ends, and the limiting part can open or close the openings at the two ends of the groove-shaped space.

4. The automated guided vehicle of claim 3, wherein the first lift device comprises one of an electric telescopic rod, a hydraulic rod, a pneumatic rod, and a linear motor.

5. The automated guided vehicle of claim 1, wherein the rotation device comprises:

the driving motor is arranged on the chassis;

6. The automated guided vehicle of claim 1, further comprising a second lifting device and a third lifting device, wherein the second lifting device and the third lifting device are respectively disposed on the loading mechanism, and output ends of the second lifting device and the third lifting device are respectively hinged to an inlet end and an outlet end of the conveying device, so as to change the height of the conveying device to adapt to a feeding opening and a line body rail with different heights.

7. The automated guided vehicle of claim 1, further comprising a safety edge disposed at and protruding from a side of the chassis, the safety edge being made of a flexible material to reduce an impact on the automated guided vehicle due to a collision with an obstacle.

8. The automated guided vehicle of claim 1, further comprising:

9. The automated guided vehicle of claim 1, further comprising:

10. The automated guided vehicle of claim 1, further comprising:

11. The automated guided vehicle of claim 1, further comprising: