CN107035188A - Ultrathin AGV vehicle carriers - Google Patents

Abstract

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

Description

Ultra-thin AGV Vehicle Handler

technical field

The invention discloses a novel ultra-thin AGV vehicle carrier

Background technique

In order to solve the problem of automatic storage and retrieval of automobiles in the three-dimensional garage, many carriers that can carry out the transportation and retrieval of automobiles have appeared in the current automatic three-dimensional parking equipment industry. The main handover methods of these carriers are car-loading plate type, comb-tooth type and jig-arm type. The vehicle-carrying plate transfer needs to use the vehicle-carrying plate to realize the handover of the vehicle between the carrier and the parking space. When the car is stored continuously, the carrier needs to move the empty car plate from the parking space or the car-carrying plate storage place to the parking position. , and then carry out the car storage action; when picking up the car continuously, the carrier needs to store the redundant car-carrying plate on the empty parking space or the car-carrying plate storage place to free up the car picking position. Therefore, it takes a long time to access the car in this way, the workload of the carrier is large, and the access efficiency is low. Both the comb-tooth type and the jig-arm type can realize the direct transfer of vehicles between the carrier and the parking space. Among them, the comb-tooth type has a simple structure and high feasibility, but it needs to set up a comb-tooth parking frame, which increases the construction cost and occupies a certain height space. Reduced height space utilization. The thickness of the current jib-type carriers is greater than the height of the chassis of the car. Limited by the height of the car chassis, it is necessary to park the car on the parking platform or dig a trench on the ground so that the car carrier can pass through the chassis of the car. Carrying out vehicle handover and handling under the environment still has the disadvantages of high cost of garage infrastructure and low space utilization. There are also some schemes that use side clamping, that is, for cars parked on flat ground, the carrier performs clamping handover and handling on the side of the car, and the carrier does not need to be drilled into the bottom of the car as a whole. The access, handover and handling of vehicles is realized on the parking plane, but a certain working area needs to be reserved on the side of the car, and the utilization rate of the plane is low. And the above-mentioned various clamping type carriers generally have the weakness of poor adaptability to the front and rear wheelbases of different automobiles, and the implementation effect is unsatisfactory.

Contents of the invention

Based on the above technical background, the present invention proposes a solution for an ultra-thin AGV vehicle carrier. The overall height of the carrier is less than 130mm, which is lower than the chassis height of most cars. The vehicle carrier allows it to drive directly under the chassis in the height direction, and the front and rear separated vehicle bodies are connected by a telescopic mechanism to adapt the front and rear wheelbases of the vehicle, and then each tire is supported by a rotating lift wedge Wheels, to realize the handover of access vehicles, and to realize free walking and movement in the plane through the AGV walking system. This handover method does not require special auxiliary facilities such as parking racks, parking platforms, or moving tracks for carriers, which simplifies the structure of the garage and reduces the construction and maintenance costs of the garage. Since there is no need to set up a parking rack, the height of the single floor is reduced. Under the condition that the overall height of the garage is the same, more floors can be added, which improves the space utilization rate.

Most of the current vehicle handlers walk along fixed tracks, and cannot adjust the pose and correct the deviation of the car on the parking space, or can only fine-tune the deviation car. Therefore, the driver is required to park the car upright, and there are certain requirements for the posture deviation, thereby increasing the parking difficulty of the driver. The ultra-thin AGV transporter of the present invention gets rid of the limitation of running along a fixed track, can carry out matching handling for cars parked in any posture on flat ground, reduces the requirements for the driver's parking technology, and improves the work adaptability of the transporter.

The technical scheme that the present invention adopts is as follows:

An ultra-thin AGV vehicle carrier, consisting of two car body units with the same front and rear structures, the two car body units are connected by a telescopic connection mechanism in the middle; each of the car body units includes a walking part , the lifting part of the holding wheel and the frame structure; the walking part includes two driving wheel modules and four driven wheel modules, and the two driving wheel modules are distributed along the longitudinal direction of the frame structure, and its function is To realize the plane omnidirectional walking of the transport vehicle body, the four driven wheel modules are installed on the four corners of the vehicle frame structure, and their function is to assist the driving wheels to share the load load and balance the support vehicle body; The wheel lifting part includes two sets of wheel-holding lifting components, and the two sets of wheel-holding lifting components are located on both sides of the frame structure; each set of wheel-holding lifting components includes a driving mechanism, a transmission mechanism and a wheel-holding mechanism. The driving mechanism provides power output, and the transmission mechanism To achieve motion deceleration and power amplification, the wheel-holding mechanism finally lifts the car off the ground; the frame structure uses a side beam mechanism to provide support for the walking part and the wheel-holding lifting part; compared with the commonly used center beam and box Body style, greater space utilization, and lower overall height, meeting the requirements of ultra-thin inventions.

Further, the telescopic connection mechanism is fixed by two identical telescopic mechanisms through connecting sleeves, and each telescopic mechanism includes a guide shaft and a guide rail that can slide relatively on the guide shaft. The front and rear car body units of the thin carrier are fixedly connected, so as to realize the relative movement of the two car body units in the front and rear directions.

Further, the driving wheel module includes a slewing support installed on the frame structure, two symmetrical and compactly arranged drive units are installed in the slewing support, each of the drive units drives a wheel Rotation; when the two symmetrical wheels rotate at the same speed, the drive module will go straight. When it is necessary to change direction, the speed difference between the two wheels can be adjusted by controlling the motor speed of each unit, and the differential motion can be used to realize the precise movement of the entire driving wheel module. change direction.

Further, the slewing bearing is composed of a supporting outer ring, a supporting inner ring, steel balls and rollers, the steel balls are arranged between the radial contact surfaces of the supporting outer ring and the supporting inner ring, and the rollers are arranged on the supporting outer ring Between the circumferential contact surface of the supporting inner ring; the supporting outer ring is welded to the frame structure of the carrier.

Further, each of the drive units includes a DC servo motor, a reducer, a sprocket pair, a shaft, a wheel and various structural connectors; its working process is: the DC servo motor outputs power, which is decelerated and output to the driving shaft through the reducer, Then, it is transmitted to the wheel body on the driven shaft through the sprocket pair to realize the rotation of the wheel. When the two symmetrical wheels rotate at the same speed, the drive module will go straight. When it is necessary to change direction, the speed difference between the two wheels can be adjusted by controlling the motor speed of each unit, and the precise direction change of the entire driving wheel module can be achieved by using differential motion. .

Further, the driven wheel module includes a connecting rod frame, a connecting plate, a connecting side plate, and a driven wheel; wherein the connecting rod frame connects the driven wheel and the carrier frame structure, one end of which is connected to the frame by welding, and the other One end is connected to the connecting side plates through the connecting end cover, and the driven wheels are installed between the connecting side plates.

Further, there is an eccentric distance between the axis of the driven wheel and the supporting point of the frame, so that when the vehicle body of the carrier changes direction, the driven wheel is subjected to an eccentric force, so that it moves with the carrier to avoid the wheel from being stuck.

Further, the frame structure includes two parallel support rods, two drive wheel modules are arranged between the support rods along the longitudinal direction of the support rods, and the rotary support of the drive wheel modules is welded in the support rods.

Further, the driving mechanism of the holding wheel includes two DC servo motors arranged on a straight line and two reducers, and the transmission mechanism of the holding wheel adopts two worm gears to reduce speed; the lifting device of the holding wheel includes Narrow lifting wedge and wide lifting wedge; each reducer drives a worm to rotate; each worm cooperates with a worm gear, and the worm gear is an incomplete worm gear to ensure that the rotation angle of the lifting wedge is within a given range and the turbine drives the wheel lifting device to lift; one turbine drives the narrow lifting wedge, and the other turbine drives the wide lifting wedge; the two turbines are connected with the frame mechanism through the connecting plate; the initial position of the two lifting wedges The position is close to the two sides of the car body. After entering the bottom of the car, the narrow lift wedge is rotated 90 degrees first, and the wheels are adapted and positioned through the separation movement of the front and rear car body. Then the wide lift wedge rotates, and the The wheels are raised, and when the wide lift chock rotates to a position parallel to the narrow lift chock, the lift height of the vehicle wheel reaches the maximum.

The transmission mechanism of the holding wheel adopts worm gear to reduce speed, which can keep self-locking during the lifting process.

Overall working process of the present invention is as follows:

(1) Lifting steps. The user parks the car, parks the car in the waiting area, pulls up the handbrake, and the user leaves. The carrier drives under the chassis of the car, and the narrow lifting wedges of the front and rear body of the carrier are unscrewed, and the front and rear parts move in the direction of separation. After the narrow lifting wedges touch the front and rear wheels of the car, Complete the positioning between the carrier and the car. Then the wide lifting wedge rotates, and together with the narrow lifting wedge, the wheel holding movement is realized, and the vehicle is lifted by the clamping force of the two wedges, and the lifting step of the carrier is completed.

(2) Handling steps. The carrier carries the car into the elevator, and after the elevator reaches the corresponding floor, the carrier drives out of the elevator, determines its precise two-dimensional coordinate position in the garage of this floor through the positioning system, and uploads the position to the central control system. The central control system transmits the planned walking route to the carrier. The carrier follows the received route. During the walking process, the positioning device determines its own position in real time, and communicates with the central control system in real time to correct the deviation of the walking track until the carrier reaches the designated parking space.

(3) Steps to release the car. After the carrier arrives at the parking space, the lifter wedge rotates in reverse to release the wheels, the car falls, the carrier rolls out of the car chassis, and the step of putting the car ends.

(4) The process of picking up the car is opposite to the process of storing the car, and will not be repeated here.

The beneficial effects of the present invention are as follows:

1. The AGV ultra-thin vehicle carrier of the present invention can carry out the handling and access work to the cars parked on the ground, without the need for parking racks, tracks and any other auxiliary equipment. The space utilization rate is greatly improved, and the construction cost and construction difficulty of the garage are reduced.

2. The ultra-thin vehicle carrier of the present invention can automatically match and transport the cars parked in any posture on the flat ground, greatly reducing the requirements for the driver's parking technology.

3. The front and rear car bodies of the carrier are connected by a telescopic mechanism, which can realize the matching of the front and rear track of the car through the separation movement. This matching method does not require an additional drive system, and the tires are positioned by narrow lifting wedges, and its positioning accuracy is high. Adaptable.

4. The ultra-thin vehicle carrier of the present invention can directly drive into the bottom of the car to work, without the need for auxiliary facilities such as car brackets, parking racks, and tracks, which improves the space utilization rate of the garage height. Compared with the side car mover, there is no need to leave a work space for the mover between the parking spaces, which improves the utilization rate of the garage plane space.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application, and do not constitute improper limitations to the present application.

Figure 1 General drawing of ultra-thin AGV vehicle carrier;

Figure 2 The overall layout of the traveling mechanism;

Figure 3 and Figure 4 are the overall view of the traveling drive wheel set;

Figure 5 single drive wheel diagram;

Figure 6 is the body diagram of a single transport vehicle;

Figure 7 is the overall view of the driven universal wheel;

Figure 8 Assembly drawing of universal wheel axle;

Figure 9 is a general diagram of the lifting mechanism of the holding wheel;

Fig. 10 is the driving module diagram of the wheel holding lifting mechanism;

Figure 11 is a general diagram of the transmission system of the wheel holding lifting mechanism;

Figure 12 Parts diagram of incomplete worm gear;

Figure 13 Narrow lift wedge unit diagram;

Figure 14 Wide lift wedge unit diagram;

Figure 15 Assembly drawing of worm gear;

Figure 16 Front and rear car body connection diagram;

Figure 17 connection mechanism unit diagram;

In the figure above, 11 front handling vehicle body, 12 rear handling vehicle body, 13 front and rear telescopic connection mechanism, 14 traveling mechanism, 15 wheel holding lifting mechanism, 16 frame structure;

21 travel drive wheel set, 22 driven wheels;

31 Left driving wheel unit, 32 Right driving wheel unit, 33 Parts bracket, 34 Slewing bearing, 35 Supporting outer ring, 36 Supporting inner ring, 37 Steel ball, 38 Roller;

41 DC servo motor, 42 planetary reducer, 43 driving sprocket, 44 chain, 45 driven sprocket, 46 wheel axle, 47 wheel;

51 car body longitudinal beam; 52 motor support frame;

61 driven wheel connecting rod frame, 62 driven wheel lower wheel body, 63 driven wheel, 64 right side plate, 65 left side plate, 66 connecting end cover;

71 driven wheel shaft, 72 ball bearing, 73 sleeve, 74 shaft end cover plate;

81 right motor unit, 82 worm gear pair, 83 connecting plate, 84 narrow lifting wedge, 85 wide lifting wedge, 86 left motor unit;

91 DC servo motor, 92 reducer, 93 coupling, 94 worm;

101 worm gear, 102 narrow lifting wedge connecting shaft, 103 wide lifting wedge connecting shaft;

141 bearing seat;

161 guide shafts, 162 limit blocks, 163 middle connecting sleeves, 164 car body guide rails.

detailed description

It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

The present invention is described in detail below in conjunction with accompanying drawing:

1. The overall function division of the ultra-thin AGV vehicle carrier

As shown in FIG. 1 , the ultra-thin AGV vehicle carrier includes two carrier bodies 11 and 12 with the same front and rear structures, and the two are movably connected through a telescopic connection mechanism 13 in the middle of the carrier. A single transport vehicle body unit, taking the rear vehicle body as an example, includes a walking part 14 that can realize straight travel and steering, a wheel-holding lifting part 15 that can directly lift the car from the ground, and a frame structure 16 that connects various mechanisms.

2. Invention of walking part structure

As shown in Figure 2, the walking part of the AGV vehicle carrier includes four drive wheel sets 21 with front and rear symmetry and eight universal wheels 22 with front and rear symmetry. Azimuth walking.

As shown in FIGS. 3 and 4 , the traveling drive wheel set includes two symmetrical wheel units 31 and 32 , component supports 33 and slewing bearings 34 . The slewing ring 34 is made up of the supporting outer ring 35 of the traveling drive wheel set, the supporting inner ring 36 of the traveling driving wheel set, the steel ball 37 and the roller 38. The friction in the vertical direction between the two, the roller 38 reduces the friction in the horizontal direction between the two, and the support outer ring 35 is welded with the carrier body.

As shown in Figure 5, the working process of a single differential wheel unit is as follows: the DC servo motor 41 outputs power, after being decelerated by the planetary reducer 42, it is transmitted to the driving sprocket 43 on the output shaft, and then transmitted to the driven chain through the chain 44 Wheel 45, driven sprocket and wheel shaft 46 are connected, and finally drive wheel 47 to rotate through shaft 46, and each described component is connected and assembled through bracket 33. As shown in Figures 3 and 4, the two wheel units 31 and 32 are symmetrically installed on the circular installation platform, and the speed control of the two wheels is realized by controlling the output speed of the servo motor. When the speed of the two wheels is the same, the wheel unit is driven Going straight, when there is a speed difference between the two wheels, the driving wheel unit will rotate at different angles, and through the cooperation of the four driving wheel groups 21 in walking modes, the ultra-thin vehicle carrier body can travel in all directions on a plane. Since the ultra-thin vehicle carrier needs to drill into the chassis of the car when it is working, the geometric parameters of the standard parts such as the DC servo motor 41 and the reducer 42, as well as the processed parts such as the connecting frame 33 and the installation platform 34, must meet the power requirements. All must select or invent the minimum size in the height direction. Simultaneously, the present invention adopts eight motor-driven modes, which disperses the work power undertaken by each motor, thereby further reducing the size of the motor and each component.

As shown in Figure 6, universal wheels 22 are installed on the four corners of the car body, and as shown in Figure 2, there are eight universal wheels in total in the front and rear car bodies. As shown in Figure 7, the universal wheel body is welded to the car body longitudinal beam 51 through the upper connecting rod 61. This connection makes there be an eccentricity of the length of the connecting rod 61 between the universal wheel axis and the connection point, so when When the car body changes direction, the universal wheel will be subjected to eccentric force, which can make the universal wheel move quickly and avoid jamming. The lower wheel body 62 of the driven wheel is connected to the connecting rod frame 61 through the connecting end cover 66. The connection mode of the lower wheel body is shown in Figure 7. The right end of the wheel shaft 71 is fixedly connected by the cover plate 74 and the right connecting plate 66. The connecting plate 65 and the supporting wheel 63 are connected to the wheel shaft 71 through a pair of ball bearings 72, and the bearings are axially positioned through the sleeve 73, so that the wheel body can bear forces from both axial and radial directions, thereby stabilizing the vehicle body .

3. Lifting part of holding wheel

The wheel-holding lifting part can lift the car parked on the ground. Its overall structure is shown in Figure 6 and Figure 9. The left and right motors 86, 81 of the wheel-holding lifting mechanism 15 pass through the motor frame 52 and the vehicle body longitudinal beam 51. Connection, the worm gear and worm pair 82 of the wheel-holding lifting mechanism, the narrow lifting wedge 84, the wide lifting wedge 85, and the supporting and positioning parts of each component are all detachably connected by the heart-shaped connecting wall plate 83 and the car body longitudinal beam 51 screws . FIG. 10 shows the motor unit. After the DC motor 91 is decelerated in one stage by the reducer 92 , its output shaft is connected with the coupling 93 to transmit the power to the worm 94 . As shown in Figure 10, the worm 94 and the worm wheel 101 are meshed to carry out two-stage deceleration, so that the worm wheel 101 is rotated at a certain angle, and the narrow lifting wedge 84 and the wide lifting wedge 85 which are fixedly connected with the left and right worm gears also rotate thereupon. The two are movably connected to the connecting plate 83 through the connecting shafts 102 and 103. Since the limit rotation angle of the wide and narrow lifting wedges is 90 degrees, the worm wheel has only about one-third of the circumference of the teeth, and the incomplete worm wheel is shown in Figure 12. Show. The ends of the wide and narrow lifting wedges are two disc connecting plates installed on the worm shaft, the structure of which is shown in Figure 13 and Figure 14, and the assembly relationship of the worm gear is shown in Figure 15. The working process of lifting the car is as follows: the initial positions of the two lifting wedges are close to the two sides of the car body, and the carrier is in the minimum width state. When the carrier enters the chassis of the car, the motor 81 is started, and the worm gear and worm are driven through the coupling 93. Auxiliary 62, make the lifting wedge 84 of front and rear handling car body rotate out 90 degrees, as shown in the dotted line position of Figure 11, the front and rear car body separates and displaces certain distance, makes narrow lifting wedge 84 touch the wheel, completes During the positioning process between the carrier and the car, the wide lifting wedge 85 rotates, and the wide lifting wedge cooperates with the narrow lifting wedge 84, and the wheels are lifted by the clamping force to complete the lifting step. The running mechanism starts, and the lifting wedge is always in the state of holding the wheel. When the carrier travels to the designated position, the wide and narrow lifting wedges perform a counter-rotation movement opposite to the lifting process, the wheels are slowly lowered, the car lands, and the carrier drives out from under the chassis of the car.

3. Frame connection mechanism

The present invention adopts the structure of two car bodies that can realize front and rear separation, that is, the front car body is used to lift the front tires of the car, and the rear car body is used to lift the rear wheels of the car. As shown in Figure 16, the front and rear car bodies The movable connection is performed through the connection structure 151 having a telescoping function. As shown in FIG. 17 , the connecting mechanism is left-right symmetrical with respect to the middle connecting sleeve 163 , and the guide rail 164 on the right side is removed for clarity of structure expression. The connecting sleeve 163 in the middle provides support and fixation for the long guide shaft 161, and a limit block 162 is nested on the front and rear guide rails 164 at the end of the guide shaft 161. Block 162 limit. The front and rear guide rails are respectively welded to the longitudinal beams of the front and rear car bodies, and the walking part and the wheel-holding lifting part are fixedly connected to the longitudinal beams of the car body, so as to realize the fixation of the front and rear car bodies in the x direction and the relative movement in the y direction.

In order to ensure that the height of the carrier is within 130mm, each component is assembled on the same plane based on the two longitudinal beams of the car body, thereby greatly reducing the overall height of the carrier.

Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.

Claims (10)

1. a kind of ultra-thin AGV vehicle carriers, it is characterised in that be made up of two car body units of front-end geometry identical, described Two car body units connected by the telescopic connection mechanism at middle part；Each described car body unit include running gear, Wheel holding lifting part and body frame structure for automotive；Described running gear includes two driving wheel modules and four driven pulley modules, described Two driving wheel modules along body frame structure for automotive longitudinal direction distribution, its effect be realize carry car body plane omnidirectional row Walk, four described driven pulley modules are arranged on four angles of body frame structure for automotive, and its effect is that auxiliary drive wheels share carrier vehicle Weight and balance supporting body；Described wheel holding lifting part includes two sets of wheel holding lifting components, two sets of wheel holding lifting component positions In the both sides of body frame structure for automotive；Often set wheel holding lifting component includes drive mechanism, transmission mechanism and wheel holding mechanism, and drive mechanism is provided Power output, transmission mechanism realizes deceleration of motion and power augmentation, and most automobile is lifted away from ground at last for wheel holding mechanism.

2. ultra-thin AGV vehicle carriers as claimed in claim 1, it is characterised in that described telescopic connection mechanism by Two identical telescoping mechanisms are fixed by adapter sleeve, and described each telescoping mechanism includes the axis of guide and can be on the axis of guide The relative guide rail composition slided, front and rear guide rails are connected with the front and rear car body unit of ultrathin carrier respectively, so as to realize two cars Relative movement of the body unit in fore-and-aft direction.

3. ultra-thin AGV vehicle carriers as claimed in claim 1, it is characterised in that described driving wheel module includes one Revolving support on body frame structure for automotive, is provided with two symmetrical and compact Layout driving lists in described revolving support Member, each described driver element drives a wheel rotation；When two symmetrical vehicle wheel rotational speeds are identical, drive module straight trip, When needing deflecting, the speed discrepancy of two wheels can be regulated and controled by controlling the motor speed of each unit, transported using differential The dynamic accurate deflecting for realizing whole driving wheel module.

4. ultra-thin AGV vehicle carriers as claimed in claim 3, it is characterised in that the pivoting support is by supporting outer ring, branch Inner ring, steel ball and roller composition are held, the steel ball is arranged between supporting outer ring and the radially facing surface for supporting inner ring, described Roller is arranged between supporting outer ring and the circumferential contact surface for supporting inner ring；Supporting outer ring is welded with carrier body frame structure for automotive.

5. ultra-thin AGV vehicle carriers as claimed in claim 3, it is characterised in that each driver element includes direct current Servomotor and decelerator, chain wheel pair, driving shaft, driven shaft and wheel；The DC servo motor exports power, by slowing down Device slows down output to driving shaft, then is delivered to the wheel body on driven shaft by chain wheel pair, realizes vehicle wheel rotation.

6. ultra-thin AGV vehicle carriers as claimed in claim 1, it is characterised in that described driven pulley module includes connection Bridge, connecting plate, connecting lateral plate, driven wheel；Wherein connection bridge connects driven wheel and carrier body frame structure for automotive its one end By being welded to connect on vehicle frame, the other end is connected on connecting lateral plate by connecting end cap, and driven wheel is arranged on connecting side Between plate.

7. ultra-thin AGV vehicle carriers as claimed in claim 6, it is characterised in that described driven pulley, its axis and vehicle frame There is eccentric throw between supporting-point, so that when carrier car body deflecting, driven pulley is made it follow carrier to transport by eccentric force It is dynamic.

8. a kind of new type superthin AGV vehicle carriers as claimed in claim 1, it is characterised in that described body frame structure for automotive bag Two parallel support bars are included, two driving wheel modules are arranged between support bar along the longitudinal direction of support bar, and driving The revolving support of wheel module is welded in support bar.

9. ultra-thin AGV vehicle carriers as claimed in claim 1, it is characterised in that the wheel holding drive mechanism includes two DC servo motor and two decelerators point-blank is set, and the transmission mechanism of the wheel holding is using two worm and gears Slow down；Described wheel holding lifting apparatus includes narrow lift car voussoir and wide lift car voussoir；Each reductor drives a worm screw rotation； Each worm screw coordinates with a turbine, and turbine drives wheel holding lifting apparatus is lifted；The narrow lift car voussoir of one turbine drives, it is another The individual wide lift car voussoir of turbine drives；Two turbines are connected by connecting plate with vehicle frame mechanism.

10. ultra-thin AGV vehicle carriers as claimed in claim 9, it is characterised in that two worm gears are incomplete snail Wheel, it is ensured that the anglec of rotation of lift car voussoir is in given range.