CN109081023A - AGV trolley and its alignment method with board - Google Patents

Abstract

The present invention relates to AGV technical field more particularly to a kind of AGV trolley and its with the alignment method of board.The AGV trolley includes: car body；Shelf are set on the car body；Telescopic rod is set on the shelf；Telescoping drive mechanism is connect with the telescopic rod, and the telescoping drive mechanism is flexible relative to the shelf for driving the telescopic rod, and the telescopic rod after stretching is docked with board.It can be realized accurate contraposition of the shelf to board moving process between the shelf and board of the AGV trolley, guarantee that the docking location of shelf and board will not shift, be not in the problem of can not picking and placing cargo.

Description

AGV trolley and its alignment method with board

Technical field

The present invention relates to AGV technical field more particularly to a kind of AGV trolley and its with the alignment method of board.

Background technique

AGV (Automated Guided Vehicle) i.e. automated guided vehicle, is a kind of achievable homing guidance Device can be applied to a variety of industry fields, such as the automatic transporting of putaway stock is realized out in warehousing industry, or manufacture Cooperate each link of production line to the automatic transporting of rapidoprint in industry, to help to improve the automated production degree of producing line, thus It can be seen that AGV is a kind of device that application field is very extensive.But there is the following in practical applications and ask in existing AGV Topic:

One, the alignment mode between the shelf and board of AGV is not flexible, when docking deviates, may cause AGV It can not automatic clamping and placing cargo.It is high by shelf and board between AGV and board since the pallet height of existing AGV is fixed The positioning of degree being adapted to realize shelf and board.When the shelf of AGV are deviated relative to board position, then need to operate Personnel manually adjust shelf location, this not only reduces the degree of automation of AGV, but also if operator to a certain extent Fail to find that AGV shelf have relative to board in time offset, then may cause cargo can not be smooth between board and AGV Pick and place, in some instances it may even be possible to cause cargo fall damage etc. serious consequences.

Two, the structure of existing AGV leads to its picking mode inefficiency.Currently, major part AGV is by fork truck or behaviour Make the mode that personnel carry manually to realize pick-and-place cargo, both modes are all difficult to ensure docks with the accurate of board, therefore These pick and place the working efficiency of mode and pick-and-place precision is all relatively low.

Three, the pallet height of AGV is fixed, it is difficult to cooperate the demand of a variety of different platform height.For realization and arrangement of goods Board between can smoothly dock, pick and place cargo, AGV, which needs to be designed according to the height of certain board, matches the board height Shelf.However, needing to redesign the pallet height of change AGV, then when board height changes to adapt to new board Highly.This not only will increase the equipment cost of AGV, but also for the shelf of every kind of different platform height customization different height, meeting Keep the versatility of AGV poor.Moreover, it if in a production line, needs using an AGV back and forth in different height When carrying out pick-and-place cargo operation between board, the shelf after changing height are also difficult to adapt to making for a variety of different height boards simultaneously Use demand.

Four, the cargo protection structure automation degree of AGV setting is low.Fall from shelf during picking and placing goods for anti-cargo It falls, causes unnecessary loss, striker plate can be arranged in the side of shelf to protect cargo in some AGV.In transport, operator Cargo is blocked with striker plate, prevents it from falling；When transport to landing place, after operator removes striker plate manually, AGV is held again Row unloading operation；After the completion of unloading, operator again loads onto striker plate, after arriving picking place, repeats manual manipulation backgauge The operation of plate.This mode is not only cumbersome, increases labor workload, but also leads to the reduction of AGV the degree of automation, is unfavorable for Improve production efficiency.

Summary of the invention

The purpose of the present invention is to provide a kind of AGV trolley and its with the alignment method of board, with solve existing AGV with Board contraposition be not allowed, cause can not automatic clamping and placing cargo the problem of.

First aspect, the present invention provide a kind of AGV trolley, comprising:

Car body；

Shelf are set on the car body；

Telescopic rod is set on the shelf；

Telescoping drive mechanism is connect with the telescopic rod, and the telescoping drive mechanism is for driving the telescopic rod opposite It is flexible in the shelf, and the telescopic rod after stretching is docked with board.

Further, the telescopic rod includes that pars contractilis and the internal fixed part with cavity, the pars contractilis can be stretched It is accommodated in the cavity of the fixed part to contracting, the pars contractilis is under the driving of the telescoping drive mechanism relative to described solid Portion's stretching motion is determined, so that the telescopic rod is docked with the board.

Further, slanting guide plate is installed on the board, the guide plate guides the shelf and is moved to finger At fixed contraposition.

Further, the left guide plate and right guide plate that structure is identical, contrary, the left side are installed on the board Guide plate and the right guide plate composition guide groove that Open Side Down expands, the telescopic rod extend out to any guiding of contact After plate, the open upper end of the guide groove is directed to by any guide plate.

Further, the AGV trolley further includes the elevating mechanism connecting with the shelf, and with the elevating mechanism The lift drive mechanism of connection, the elevating mechanism are used under the driving of the lift drive mechanism relative to the car body liter Drop, and then the shelf is driven to go up and down relative to the car body.

Further, the elevating mechanism includes the lifter plate and screw lift being fixedly connected with each other, and is equipped in the shelf Connecting rod, the connecting rod run through the shelf along its length after, both ends it is affixed with the lifter plate respectively；On the car body It is installed with screw, the screw is connect with the screw rod matching thread in the screw lift；The lift drive mechanism driving Screw rod in the screw lift is gone up and down relative to the screw, and the lifting of the screw rod drives the lifter plate and the goods Frame lifting.

Further, the elevating mechanism further includes support plate, and the support plate is fixedly arranged on the lifter plate and the silk The top of bar elevator；The support plate includes set on the support plate body of surrounding and set on intermediate backplate, and the backplate is Transparent PC plate；Or the support plate is the molding integral panels of integration.

Further, the elevating mechanism includes four screw lifts, and four screw lifts are located at institute The quadrangle of support plate is stated, the lifter plate is located at the opposite sides of the support plate, and the silk of any one screw lift Bar is located at outside the corresponding lifter plate；The support plate and the lifter plate are enclosed portal frame, and the shelf are set to In the portal frame.

Further, the elevating mechanism further includes the first transmission component, and first transmission component includes: the first chain Wheel, the second sprocket wheel, first shaft coupling, second shaft coupling and the first drive rod；First sprocket wheel is connected to the lifting driving In mechanism, second sprocket wheel is connected in the first shaft coupling, and the both ends of the first shaft coupling are separately connected described in one One end of screw lift and the drive rod, the both ends of the second shaft coupling be separately connected the drive rod the other end and Another screw lift；First sprocket wheel is used to pass through the first chain-driving under the driving of the lift drive mechanism The second sprocket wheel rotation, second sprocket wheel is for passing through the first shaft coupling, the drive rod and second shaft coupling The rotation of device drives two screw lift liftings simultaneously.

Further, first transmission component further includes tightener sprocket, and the tightener sprocket is set to first sprocket wheel Between second sprocket wheel, for being tensioned first chain.

Further, the elevating mechanism includes the lifter plate being fixedly connected with each other and jacking portion, the lifter plate also with it is described Shelf connect, and telescopic are equipped in the car body, the jacking portion is telescopically accommodated in the telescopic；The lifting is driven Motivation structure is hydraulic drive mechanism, and the hydraulic drive mechanism drives the jacking portion to go up and down relative to the telescopic, described The lifting in jacking portion drives the lifter plate and shelf lifting.

Further, the shelf include: shelf framework, the pick-and-place goods component inside the shelf frame body and institute The second transmission component for picking and placing the connection of goods component is stated, the AGV trolley further includes the shelf connecting with second transmission component Driving mechanism, second transmission component under the driving of the shelf driving mechanism for driving the pick-and-place goods component to turn It is dynamic.

Further, the shelf framework includes the preceding deckle board successively enclosed, rear framing plate, left frame plate and right deckle board, and institute It states preceding deckle board, the rear framing plate, the left frame plate and the right deckle board and is enclosed the first accommodating space, the pick-and-place goods jointly Component is set in first accommodating space.

Further, the shelf framework further includes bottom stiffener, the bottom stiffener and the preceding deckle board, described Rear framing plate, the left frame plate and the right deckle board are enclosed first accommodating space jointly.

Further, the roller for picking and placing goods component and including: several axis of rolling and being fixedly arranged on the axis of rolling, The both ends of the axis of rolling are separately connected second transmission component, and second transmission component is in the shelf driving mechanism Driving is lower to drive the axis of rolling and the roller.

Further, second transmission component is located on the left frame plate and/or the right deckle board, second transmission Component includes: third sprocket wheel, the 4th sprocket wheel and several 5th sprocket wheels；

Wherein, the third sprocket coaxiality is connected in the shelf driving mechanism and is located at the interior of the shelf framework Side, the 4th sprocket coaxiality are sheathed on the inside on any axis of rolling and being located at the shelf framework, and each rolls The both ends of axis are respectively corresponded equipped with the 5th sprocket wheel and the 5th sprocket wheel is located at the outside of the shelf framework, each described Pass through third chain drive between 5th sprocket wheel；

The third sprocket wheel is used under the driving of the shelf driving mechanism through the 4th chain described in the second chain-driving Wheel rotation, the 4th sprocket wheel is for driving the coaxially connected axis of rolling and the 5th sprocket wheel and then making the described 5th Sprocket wheel other described 5th sprocket wheel rotations by the third chain-driving, and then the axis of rolling and the roller is driven to turn It is dynamic.

Further, second transmission component is located on the left frame plate and/or the right deckle board, second transmission Component includes: third sprocket wheel, the 4th sprocket wheel, several 5th sprocket wheels, several third shaft couplings and several 4th shaft couplings；

Wherein, the third sprocket coaxiality is connected in the shelf driving mechanism and is located at the interior of the shelf framework Side, the 4th sprocket coaxiality are sheathed on any third shaft coupling and are located at the inside of the shelf framework, and described the The both ends of three shaft couplings are connected with one end of the 5th sprocket wheel and the axis of rolling respectively, and the 5th sprocket wheel is set on described The external side of shelf frame passes through third chain drive between each 5th sprocket wheel；The other end of the axis of rolling and the described 4th Shaft coupling is connected；

The third sprocket wheel is used under the driving of the shelf driving mechanism through the 4th chain described in the second chain-driving Wheel rotation, the 4th sprocket wheel are used to drive the 5th sprocket wheel being located on the same third shaft coupling and the rolling Axis rotation, by the third chain-driving, other described 5th sprocket wheels rotations, each 5th sprocket wheel are diverted to band in turn Move the corresponding axis of rolling and roller rotation.

Further, the shelf include at least two layers pick-and-place goods component, and every layer of pick-and-place goods component is respectively in list Only shelf driving mechanism drives underdrive.

Further, the conveyer belt for picking and placing goods component and being made of belt, driving wheel and driven wheel, described second passes Dynamic component connect with the driving wheel and the driving wheel is driven to rotate, and then drives the belt transmission.

Further, be equipped with Buffer Unit inside the shelf, the Buffer Unit for buffer adjust the board with Between the shelf to Bit Shift；The Buffer Unit includes the fixed block being installed in the connecting rod and elastic portion, The affixed fixed block in elastic portion one end, the other end is movable terminal.

Further, the Buffer Unit further includes sliding shoe, the affixed spring in the side of the sliding shoe it is removable Moved end, the other side are against on the inner wall of the shelf.

Further, equipped with Buffer Unit described in two groups inside the shelf, when the shelf are by external force, one group is driven Elastic portion compression in the Buffer Unit, drive another group described in elastic portion in Buffer Unit stretch.

Further, the AGV trolley further includes backgauge component, and the backgauge component includes: set on the shelf framework The striker plate of inside and the third transmission component being connect with the striker plate；The AGV trolley further includes passing with the third The backgauge driving mechanism of dynamic component connection, the third transmission component drive the gear under the driving of the backgauge driving mechanism Flitch is gone up and down relative to the shelf framework.

Further, the striker plate is the plate that surrounding has frame, middle part hollow out, and the third transmission component includes: peace Dress seat, directive wheel, yielding coupling, rotation axis, steel wire and tension part, the mounting base are fixed on the bottom of the striker plate Portion, the backgauge driving mechanism and the directive wheel are respectively arranged in the mounting base, the yielding coupling both ends difference It connects the backgauge driving mechanism and connects the directive wheel with the other end of one end of the rotation axis, the rotation axis, it is described One end of steel wire is connected on one end of the tension part, the other end of the steel wire is connected on the directive wheel, described The other end of tension part is fixed on the striker plate.

Preferably, the tension part is tension spring.

Further, anti-wear filler strip is equipped between the shelf framework and the striker plate.

Preferably, the anti-wear filler strip is nylon filler strip.

Further, the AGV trolley further includes the power mechanism and electric cabinet being respectively arranged on the car body, described dynamic Force mechanisms and the electric cabinet are electrically connected, the electric cabinet respectively with the lift drive mechanism, the shelf driving mechanism, The telescoping drive mechanism and the backgauge driving mechanism are electrically connected, for controlling the lift drive mechanism, the shelf The work start and stop of driving mechanism, the telescoping drive mechanism and the backgauge driving mechanism.Preferably, the power mechanism is tool There is the power supply of charging/discharging function.

Further, car body pulley and differential drive device are further respectively had on the car body, the car body pulley is used for So that the car body is advanced, the differential drive device for realizing the car body turning；Along the height side of the elevating mechanism To drag chain is provided with, the drag chain is built-in with the lift drive mechanism, the shelf driving mechanism, the flexible driving machine The cabling of structure, the backgauge driving mechanism；It is equipped with drag chain backplate in the two sides of the drag chain, the drag chain backplate is installed in described On the outer wall of shelf framework.

Further, the AGV trolley is additionally provided with RFID reader, and the RFID reader is set to the bottom of the car body Portion, for scanning the RFID on ground, judging whether the AGV trolley is located at specified region；The AGV trolley is additionally provided with reflector Sensor, the reflector sensor are set to the vehicle body side, and position is opposite with the reflective tube in travelling route, for positioning The current location of the AGV trolley；The AGV trolley is additionally provided with magnetic navigation sensor, and the magnetic navigation sensor is set to described Car body is along the head and the tail both ends of direction of travel, for determining the current location of the AGV trolley；The AGV trolley is additionally provided with safety Side is touched, the safe touch side is set in a side of the car body, for preventing the AGV trolley from being damaged because of mobile or collision Evil；The AGV trolley is additionally provided with obstacle sensor, and the obstacle sensor is set to the top of the safe touch side, is used for Judge the barrier situation in travelling route；The AGV trolley is additionally provided with opposite type sensor, and the opposite type sensor is set to described Diagonal position in shelf, for detecting in the shelf with the presence or absence of cargo.

The second aspect, the present invention provide the alignment method of a kind of AGV trolley and board, and the AGV trolley is above-mentioned AGV Trolley, the alignment method the following steps are included:

The telescopic rod stretches out under the driving of the telescoping drive mechanism towards the direction of the board, until described flexible Bar is in contact with the guide plate on the board；

The shelf of the AGV trolley are mobile, so that the guide plate is guided the telescopic rod by the inclined-plane of itself and are moved to At specified contraposition.

Further, the AGV trolley further includes the elevating mechanism connecting with the shelf, and with the elevating mechanism The lift drive mechanism of connection, the elevating mechanism are used under the driving of the lift drive mechanism relative to the car body liter Drop, and then the shelf is driven to go up and down relative to the car body.

Further, the alignment method the following steps are included:

The telescopic rod stretches out under the driving of the telescoping drive mechanism towards the direction of the board；

The elevating mechanism driven under the driving of the lift drive mechanism shelf and the telescopic rod relative to The car body rises, until the telescopic rod is in contact with the guide plate on the board；

The elevating mechanism continues to rise, and the guide plate is moved to specified by the inclined-plane guiding telescopic rod of itself Contraposition at.

Compared with prior art, the invention has the following advantages:

(1) contraposition between the shelf and board of AGV trolley of the present invention is accurate.Between the shelf and board of AGV of the present invention Position guidance is carried out to telescopic rod using guide plate, accurate contraposition of the shelf to board moving process is realized, guarantees shelf and machine The docking location of platform will not shift, be not in the problem of can not picking and placing cargo.

(2) the shelf liftable of AGV trolley of the present invention, therefore the demand of a variety of different platform height can be cooperated.It is different With general pallet fork formula AGV, the present invention is the AGV with shelf, and drives elevating mechanism and shelf by lift drive mechanism It is whole gone up and down both relative to car body, to realize shelf adjustable up-down height, suitable for the need of a variety of different height boards It asks.

(3) present invention shelf during shelf and board align can steadily adjust displacement.The present invention is in AGV trolley It is equipped in shelf for adjusting the Buffer Unit to Bit Shift.Mobile towards specified para postion in guide plate guiding telescopic rod In the process, Buffer Unit is used to buffer the displacement generated by shelf contraposition and deviates, and enables the adjustment displacement that AGV is gentle, more Accurately, also making AGV, the service life is longer.

(4) AGV of the present invention can during traveling automatic protection cargo, prevent it from falling.AGV trolley of the present invention is in shelf It is equipped with backgauge component on the inside of framework, the lifting of backgauge component can be driven by driving mechanism, automatic backgauge is achieved in, prevents goods Object falls.

(5) AGV of the present invention can realize accurate parking.RFID reader, reflector sensor and magnetic are equipped in AGV of the present invention Navigation sensor, and the corresponding information by reading to this three analyzes and determines, control AGV precisely stops in designated position Vehicle.

Detailed description of the invention

Fig. 1 is the overall structure diagram of three AGV trolley of embodiment.

Fig. 2 is the decomposition texture schematic diagram of three AGV trolley of embodiment.

Fig. 3 is the structural schematic diagram of elevating mechanism in three AGV trolley of embodiment (omitting support plate).

Fig. 4 is the decomposition texture schematic diagram of shelf in three AGV trolley of embodiment.

Fig. 5 is the structural schematic diagram of the second transmission component of shelf in embodiment three.

Fig. 6 is the structural schematic diagram of telescopic rod and guide plate in embodiment three.

Fig. 7 is the process schematic that telescopic rod and guide plate are aligned in embodiment three.

Fig. 8 is the decomposition texture schematic diagram of backgauge component in example IV AGV trolley.

Fig. 9 is the structural schematic diagram of car body in five AGV trolley of embodiment.

Figure 10 is the decomposition texture schematic diagram of shelf in seven AGV trolley of embodiment.

Figure 11 is the structural schematic diagram of the second transmission component of shelf in embodiment seven.

Specific embodiment

The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field Art personnel every other embodiment obtained without making creative work belongs to the model that the present invention protects It encloses.

It should be noted that the term " includes " of the embodiment of the present invention and " having " and their any deformation, it is intended that Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units not Those of be necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes, side The intrinsic other step or units of method, product or equipment.

Embodiment one

The present embodiment provides a kind of AGV trolley and its with the alignment method of board, which includes:

Car body；Shelf are set on the car body；Telescopic rod is set on the shelf；Telescoping drive mechanism is stretched with described The connection of contracting bar, the telescoping drive mechanism is for driving the telescopic rod flexible relative to the shelf and described after stretching Telescopic rod is docked with board.

The alignment method of the AGV trolley and board the following steps are included:

The telescopic rod stretches out under the driving of the telescoping drive mechanism towards the direction of the board, until described flexible Bar is in contact with the guide plate on the board；The shelf of the AGV trolley are mobile, make inclined-plane of the guide plate by itself The telescopic rod is guided to be moved at specified contraposition.

Embodiment two

The present embodiment provides a kind of AGV trolley and its with the alignment method of board, the AGV trolley and one AGV of embodiment are small The difference of vehicle is only that the AGV trolley of the present embodiment is additionally provided with elevating mechanism.Specifically, the AGV trolley further include with it is described The elevating mechanism of shelf connection, and the lift drive mechanism connecting with the elevating mechanism, the elevating mechanism are used in institute It states and is gone up and down under the driving of lift drive mechanism relative to the car body, and then the shelf is driven to go up and down relative to the car body.

The alignment method of the present embodiment AGV trolley and board the following steps are included:

The telescopic rod stretches out under the driving of the telescoping drive mechanism towards the direction of the board；

The elevating mechanism driven under the driving of the lift drive mechanism shelf and the telescopic rod relative to The car body rises, until the telescopic rod is in contact with the guide plate on the board；

The elevating mechanism continues to rise, and the guide plate is moved to specified by the inclined-plane guiding telescopic rod of itself Contraposition at.

Embodiment three

The present embodiment provides a kind of AGV trolley and its with the alignment method of board, for according to specified travelling route in machine The automatic clamping and placing of cargo is realized between platform and warehouse.In the present embodiment, AGV trolley is substantially in cuboid, the length of AGV trolley Direction (i.e. left and right directions in Fig. 1) is consistent with AGV trolley direction of travel, and the width direction of AGV trolley is (i.e. upper and lower in Fig. 1 Direction) it is consistent with the AGV trolley pick-and-place direction of cargo.As shown in Figure 1, the AGV trolley includes car body 1, shelf 2, elevating mechanism 3, electric cabinet 4 and power mechanism 5, and power mechanism therein 5 is the power supply with charging/discharging function.

Specifically, as shown in connection with fig. 2, the substantially concave-shaped structure of car body 1 comprising pedestal 11, respectively from 11 liang of pedestal End upwardly extends the mounting portion 12 to be formed, and mounting portion 12 is particularly located on car body 1 along the head and the tail both ends of AGV trolley direction of travel (i.e. the left and right ends of car body 1 in Fig. 2).Pedestal 11 and mounting portion 12 collectively constitute the second accommodating space 200, shelf 2 and lifting Mechanism 3 is all set in the second space 200, and power mechanism 5 and electric cabinet 4 are then installed on mounting portion 12, power mechanism 5 with Electric cabinet 4 is electrically connected, and provides electric power for electric cabinet 4, electric cabinet 4 is then for controlling the work of AGV trolley.

Specifically, AGV trolley further includes the lift drive mechanism 41 being electrically connected with electric cabinet 4, and the control of electric cabinet 4 should The work start and stop of lift drive mechanism 41.The lift drive mechanism 41 is brake motor, for driving elevating mechanism 3 relative to vehicle Body 1 is gone up and down, and then drives shelf 2 to go up and down by the lifting of elevating mechanism 3.

Specifically, as shown in Fig. 2, elevating mechanism 3 includes generally rectangular shaped support plate 31, is installed in support plate 31 respectively The two pieces of lifter plates 32 and four screw lifts 33 of lower section.Wherein, support plate 31 includes the support plate body 311 set on surrounding With the backplate 312 being set among support plate body 311, support plate body 311 is used as stress main body, plays support construction, reinforces The effect of stress, backplate 312 are transparent PC plate, can be used as the watch window of shelf 2, the cargo feelings in shelf both can be observed Condition can effectively prevent cargo again and fall ash.Wherein, two pieces of lifter plates 32 are located at the opposite sides of support plate 31, specifically position In the edge (i.e. the left and right sides of support plate 31 in Fig. 2) of 31 left and right sides short side of support plate, and lifter plate 32 is located at second In accommodating space 200.It is enclosed portal frame after support plate 31 and two pieces of lifter plates 32 in the present embodiment are affixed, shelf 2 are set In in the portal frame, it is achieved in the rationalization of integrally-built densification, space utilization.Wherein, four screw lifts 33 It is fixedly arranged on the quadrangle of support plate 31 respectively, and screw lift 33 is located at 32 outside of lifter plate, corresponds on the mounting portion 12 of car body 1 Fixed there are four screw 13 to the position difference of screw lift 33, the screw rod 331 of screw lift 33 penetrates in mounting portion 12 And it is threadedly coupled with corresponding screw 13.

The elevating mechanism 3 further include positioned at the inside of a lifter plate 32 (inside for being located at left side lifter plate 32 in Fig. 2) and The first transmission component 34 close to 32 top of lifter plate, the outside of the lifter plate 32 are connected with lift drive mechanism 41 simultaneously, Four screw lifts 33 can be driven by first transmission component 34 while being gone up and down.

As shown in connection with fig. 3, which includes: 341, two 342, two, the second sprocket wheels of first sprocket wheel The second shaft coupling 345 of first shaft coupling 344, two of tightener sprocket 343, two and two first drive rods 346.Wherein, first Sprocket wheel 341 is coaxially fixed on lift drive mechanism 41, is rotated by the driving of lift drive mechanism 41；Two the second sprocket wheels 342 are coaxially fixed in respectively in corresponding first shaft coupling 343, for driving corresponding first shaft coupling 343 to rotate；First chain Wheel 341 is located among two the second sprocket wheels 342 and height is lower than two the second sprocket wheels 342, and three sprocket wheels is made to form triangle Positional relationship is driven between the first sprocket wheel 341 and two the second sprocket wheels 342 by closed first chain 347, specifically first Chain 347 is meshed with 341, two the second sprocket wheels 342 of the first sprocket wheel；For the tensioning dynamics for further controlling the first chain 347, It is respectively provided with tightener sprocket 343 between the first sprocket wheel 341 and any one second sprocket wheel 342, to be tensioned the first chain 347；First The both ends of shaft coupling 344 are separately connected one end of a screw lift 33 and the first drive rod 346, and the two of second shaft coupling 345 End is separately connected the other end and another screw lift 33 of the first drive rod 345, is separately connected by the first drive rod both ends The mode that shaft coupling, shaft coupling are connected with screw lift again realizes the effect of four screw lifts while lifting.

The lifting process of elevating mechanism 3 are as follows: the first sprocket wheel 341 drives the first chain under the driving of lift drive mechanism 41 Item 347 moves, and the first chain 347 drives two the second sprocket wheels 342 rotations simultaneously, and furthermore two tightener sprockets 343 are also by turning It is dynamic to play tension, any second sprocket wheel 342 and then the coaxial affixed rotation of first shaft coupling 344 of drive, first shaft coupling 344 and then drive the rotation of the first drive rod 346, second shaft coupling 345, and drive respectively with first shaft coupling 344 and the Screw rod 331 in the screw lift of two shaft couplings 345 connection is relative to 13 elevating movement of screw.As a result, by the first sprocket wheel, Second sprocket wheel, shaft coupling, the mode being mutually driven between the first drive rod realize the synchronization lifting of four screw lifts 33, by It is affixed in screw lift 33 and support plate 31, lifter plate 32, therefore the entire elevating mechanism 3 of drive is relative to the progress of car body 1 Lifting.

Specifically, in conjunction with shown in Fig. 2 and Fig. 4, shelf 2 are set on car body 1, and shelf 2 include: shelf framework 21, are set to goods Bilayer inside frame framework 21 picks and places goods component 22, the second transmission component 23 connecting with pick-and-place goods component 22 and connecting rod 24.AGV trolley further includes the shelf driving mechanism 42 being electrically connected with electric cabinet 4, and electric cabinet 4 controls shelf driving mechanism 42 Work start and stop；The shelf driving mechanism 42 is brake motor, and shelf driving mechanism 42 is also connect with the second transmission component 23, is used Pick-and-place goods component 22 in driving shelf 2 rotates, while shelf driving mechanism 42 is set to 21 outside of shelf framework, and the goods Frame driving mechanism 42 and the pick-and-place goods component 22 are in the position of same vertical direction not in the same horizontal position.

The specific structure of shelf 2 is as follows: shelf framework 21 includes preceding deckle board 211, the rear framing plate 212, left frame successively enclosed Plate 213, right deckle board 214 and bottom stiffener 215, and preceding deckle board 211, rear framing plate 212, left frame plate 213, right deckle board 214 and bottom Portion's stiffening plate 215 is enclosed the first accommodating space 100 jointly, makes to pick and place goods component 22 in first accommodating space 100. Wherein, goods component 22 is picked and placed to include several axis of rolling 221 extended along AGV trolley length direction and be coaxially installed in rolling Roller 222 on axis 221, the both ends of the axis of rolling 221 are separately connected the second transmission component 23.

Wherein, as shown in connection with fig. 5, the second transmission component 23 includes third sprocket wheel 231, the 4th sprocket wheel 232, several 5th chains Wheel 233, coaxially connected with the shelf driving mechanism 42 and driving by shelf driving mechanism 42 of third sprocket wheel 231 rotate, and the Three sprocket wheels 231 are set to 21 inside of shelf framework；4th sprocket wheel 232 is coaxially set on an axis of rolling 221, for driving the axis of rolling 221 rotations, the 4th sprocket wheel 232 be equally set to 21 inside of shelf framework and its be set in be located in the middle on the axis of rolling 221, Position is right against the vertical direction of third sprocket wheel 231；Pass through closed second chain between third sprocket wheel 231 and the 4th sprocket wheel 232 Item (not shown go out) transmission, specifically the second chain are meshed with third sprocket wheel 231, the 4th sprocket wheel 232；Each axis of rolling 221 Both ends be all respectively equipped with the 5th sprocket wheel 233, and the 5th sprocket wheel 233 is set in 21 outside of shelf framework；Positioned at 221 liang of the axis of rolling Pass through third chain (not shown go out) transmission between 5th sprocket wheel 233 at end respectively, it may be assumed that positioned at the 5th of 211 left end of the axis of rolling the By a third chain drive between sprocket wheel 233, pass through another third between the 5th sprocket wheel 233 of 211 right end of the axis of rolling Chain drive.

Pick-and-place goods component 22 in shelf 2 realizes Synchronous Transmission by the second transmission component 23, and detailed process is: third chain Wheel 231 drives the second chain movement under the driving of shelf driving mechanism 42 and then drives the rotation of the 4th sprocket wheel 232, the 4th chain Wheel 232 drives the coaxial axis of rolling 221 to rotate (axis of rolling is to be located in the middle the axis of rolling) again, and the axis of rolling 221 is again The 5th sprocket wheel 233 for being located at its end is driven to rotate, the 5th sprocket wheel 233 passes through other the 5th sprocket wheels 233 of third chain-driving Rotation drives other axis of rolling 221 to rotate in turn, is achieved in the synchronous rotation of all axis of rolling.In addition, the present embodiment is double Layer shelf, each layer of pick-and-place goods component 22 are all driven by individual shelf driving mechanism 42, and specifically upper layer picks and places goods component The 22 shelf driving mechanism 42 by being disposed below drives, and lower layer picks and places goods component 22 and passes through the shelf driving being positioned above Mechanism 42 drives；Shelf driving mechanism is either-rotation motor, therefore picks and places the convertible rotation direction of goods component 22, to adapt to cargo not The requirement of equidirectional upper pick-and-place.

Wherein, after connecting rod 24 extends through the left frame plate 213 and right deckle board 214 of shelf framework 21 along its length, two End is affixed with the lifter plate 32 of elevating mechanism 3 respectively, is achieved in the connection of shelf 2 Yu elevating mechanism 3, and then can pass through lifting Mechanism 3 drives shelf 2 to go up and down relative to car body 1 relative to the lifting of car body 1.In addition, in the present embodiment, shelf 2 are additionally provided with The protective cover 25 of strip, protective cover 25 are located on the left frame plate 213 and right deckle board 214 of shelf framework, specifically in left frame plate 213 top and bottom, which correspond at the position of the 5th sprocket wheel 233, is respectively provided with one bar of protective cover 25, also the same on right deckle board 214 Setting, the setting of protective cover 25 also contribute to reinforcing shelf framework mainly for the protection of the 5th sprocket wheel 233 being located therein The structural strength of 21 structural strength, especially left frame plate 213 and right deckle board 214.

In the present embodiment, the course of work of shelf 2 are as follows:

Shelf run to board region and with board accurate contraposition；

Second transmission component 23 of shelf drives under the driving of shelf driving mechanism 42 and picks and places the rotation of goods component 22；

Board is also rotated by specific driving mechanism, and cargo transmits between the shelf and board of rotation.

In the present embodiment, AGV trolley is used for the transfer between warehouse, different platform and transports cargo, and board is cargo Supporting platform, AGV trolley comes by the way that cargo is taken away or placed goods on board from board with specific route Realize the automatic transporting of cargo.Therefore, it can precisely be aligned between shelf and board in AGV trolley, will have a direct impact on cargo and exist Whether the transfer between AGV trolley and board can smoothly complete, if shelf are deviated with board contraposition, may cause goods Object can not be successfully transfer, even have the risk for falling damage.To prevent the above problem from occurring, the present embodiment is specially set on board Be equipped with slanting guide plate, telescopic rod be specially provided on shelf, by the cooperating of the two, realize board and shelf it Between accurate contraposition.

Specifically, as shown in connection with fig. 6, AGV trolley further includes the telescopic rod 6 being located on shelf 2 and connect with telescopic rod 6 Telescoping drive mechanism 43, the telescoping drive mechanism 43 and electric cabinet 4 are electrically connected and are opened by the control work of electric cabinet 4 Stop.Wherein, the direction of telescopic rod 6 stretched out direction direction and be equipped with board, the telescopic rod 6 include that pars contractilis 61 and inside have The fixed part 62 of cavity, in the telescopic cavity for being accommodated in fixed part 62 of pars contractilis 61, pars contractilis 61 is in telescoping drive mechanism 43 driving lower edge is equipped with the direction of board relative to 62 stretching motion of fixed part, so that the telescopic rod 6 is docked with board.Its In, the left guide plate 71 and right guide plate 72 that structure is identical, contrary are installed in board (not shown), any guide plate is equal With inclined-plane, left guide plate 71 and the composition of right guide plate 72 guide groove 7 that Open Side Down expands, the open upper end of guide groove 7 is (i.e. At the closing in of opening) it is the accurate location that shelf 2 need to align with board.

Specifically, as shown in connection with fig. 7, shelf 2 and board alignment method the following steps are included:

Pars contractilis 61 in telescopic rod 6 stretches out under the driving of telescoping drive mechanism 43 relative to fixed part 62, and stretches out Direction is towards the direction of board；

Elevating mechanism 3 drives shelf 2 and telescopic rod 6 to rise relative to car body 1 under the driving of lift drive mechanism 41, until The pars contractilis 61 of telescopic rod 6 is in contact with the left guide plate 71 on board or right guide plate 72；

Elevating mechanism 3 continues to rise, and since pars contractilis 61 is by upward tractive force, therefore pars contractilis 61 can be along guide plate Inclined-plane moves up, and the guide plate (i.e. left guide plate 71 in Fig. 7) being specifically in contact with pars contractilis 61 is oblique by itself Face guides pars contractilis 61 mobile to the open upper end of guide groove 7, is moved to shelf 2 at the specified contraposition with board.

In the present embodiment, after pars contractilis, which rises to, to be contacted with guide plate, since guide plate is inclined plane, During pars contractilis continuation rises with elevating mechanism, the angularly disposed pars contractilis that will necessarily guide of guide plate is along guide plate Inclined-plane continue to move up, until at specified contraposition, i.e., at the open upper end of guide groove.When shelf are precisely aligned with board Afterwards, then by board with while picking and placing goods component it rotates, realize cargo in board and picks and places the transmitting between goods component.

In addition, since telescopic rod is to carry out movement relative to any guide plate under external force, and the shifting of telescopic rod It is dynamic to will drive the adjustment of displacement of shelf in the horizontal direction again, therefore the drive of this external force may result in shelf and hastily send out Raw horizontal displacement, and can not more smoothly move horizontally.To solve this problem, the adjustment of displacement mode for optimizing shelf, makes goods Frame adjusts horizontal displacement more stablely, and the stability in use and service life, the present embodiment for improving entire AGV trolley are also provided with slow Rush component, for buffer adjustment board and shelf between to Bit Shift.

Specifically, the identical Buffer Unit 8 of two groups of structures is equipped in shelf 2, any group of Buffer Unit 8 includes being set in Fixed block 81, elastic portion 82 and sliding shoe 83 in connecting rod 24.Wherein, 81 fixing sleeve of fixed block be set to connecting rod 24 on and Be located proximate to the middle part of connecting rod 24, elastic portion 82 is the spring with amount of elastic deformation, 82 sets of elastic portion in connecting rod 24, And one end is fixed in fixed block 81, the other end is fixed in sliding shoe 83, sliding shoe 83 is against on the inner wall of shelf 2, is specifically two The sliding shoe 83 of group Buffer Unit 8 is against respectively on the inner wall of left frame plate 213 and the inner wall of right deckle board 214, and sliding shoe 83 can It is slided relative to connecting rod 24.When shelf 2 move horizontally its overall structure by external force, due to connecting rod 24 It can all be moved horizontally with shelf framework 21, and the fixed block 81 in Buffer Unit 8 is to be installed in connecting rod 24, sliding shoe 83 Can be slided relative to connecting rod 24, this will make sliding shoe 83 under the moving horizontally of shelf framework 21, relative to connection Bar 24 slides, and then drives the compression of elastic portion 82 or stretch, the elastic portion 82 in one group of Buffer Unit is specifically driven to compress, The elastic portion 82 in another group of Buffer Unit is driven to stretch.

It by the setting of above-mentioned Buffer Unit, can reduce when being subjected to displacement because of shelf relative to connecting rod, shelf and company Unexpected situations such as hitting and vibrating between extension bar and shelf and elevating mechanism, Buffer Unit provides shelf generation level side To cushion effect when relative motion, make shelf moving horizontally relatively steady but be unlikely to influence shelf relative to connecting rod It moves horizontally, makes the horizontal displacement adjustment mode of shelf more stable, stable conducive to the product for improving AGV trolley on the whole Property.

In addition, the AGV trolley in the present embodiment further respectively has car body pulley 14 and differential drive device on car body 1 15, car body pulley for making car body advance, differential drive device for realizing car body turning.Wherein, differential drive device is adopted With the differential drive device in differential drive device in the prior art, such as Chinese patent CN201410112544.7, Details are not described herein.

In addition, in the present embodiment, since lift drive mechanism 41, shelf driving mechanism is electrically connected in electric cabinet 4 42, telescoping drive mechanism 43 and backgauge driving mechanism 44, therefore above-mentioned driving mechanism can be connected with corresponding cabling, for effectively traction With protect these cablings, therefore along the short transverse of elevating mechanism 3 be equipped with drag chain, the cabling of above-mentioned driving mechanism is built in drag chain In, and it is equipped with drag chain backplate in the two sides of drag chain, to guide and protect drag chain, drag chain backplate is installed in the outer wall of shelf framework 21 On.

The AGV trolley of the present embodiment can realize multiple functions, excellent combination property.In a first aspect, elevating mechanism is to pass through First transmission component realizes lifting of the screw rod relative to screw to realize lifting of the elevating mechanism relative to car body；Second party Face is connected between elevating mechanism and shelf by connecting rod, and the lifting of shelf is driven so as to the lifting by elevating mechanism；The Three aspects, the cooperation of telescopic rod and guide plate can be realized the accurate contraposition of shelf and board；Fourth aspect, Buffer Unit can AGV trolley adjusts the mode of displacement during optimization contraposition.

Example IV

The present embodiment provides a kind of AGV trolley and its with the alignment method of board, the difference of the present embodiment and embodiment three It is only that, is further provided with backgauge component in the AGV trolley of the present embodiment.

Specifically, as shown in connection with fig. 8, the AGV trolley of the present embodiment further includes the identical backgauge component 9 of two groups of structures, by It is identical in the structure of two groups of backgauge components, therefore the present embodiment is only described in detail the structure of wherein one group of backgauge component.

Backgauge component 9 includes: the striker plate 91 and the third biography that connect with striker plate 91 set on the inside of shelf framework 21 Dynamic component 92, and nylon filler strip 93 is additionally provided between striker plate 91 and shelf framework 21, it can be effectively reduced by nylon filler strip 93 Friction, reduces abrasion between the two, extends the service life of product caused by striker plate 91 and 21 relative motion of shelf framework. AGV trolley further includes the backgauge driving mechanism 44 being electrically connected with electric cabinet 4 and controls backgauge driving mechanism by electric cabinet 4 44 work start and stop, the backgauge driving mechanism 44 are decelerating motor；Backgauge driving mechanism 44 is also connect with third transmission component 92, For driving striker plate 91 to go up and down relative to shelf framework 21.

Specifically, the inside of the preceding deckle board 211 of shelf framework is arranged in striker plate 91, be surrounding have frame, middle part be engrave Empty plate, and the specification size of striker plate 91 matches with preceding deckle board 211.When AGV trolley is in travel condition, striker plate 91 Frame and preceding deckle board 211 bezel locations be staggered, be specifically higher than preceding deckle board 211 bezel height, at this time striker plate 91 use In block be located at shelf 2 inside cargo, prevent situations such as cargo is fallen in AGV trolley traveling process appearance；When AGV trolley stops When only advancing, preparing to pick and place cargo, striker plate 91 is overlapped with preceding deckle board 211, to guarantee that the cargo being located inside shelf 2 is not hindered Gear can smoothly transmit between board and shelf 2.

The specific structure of third transmission component 92 includes: 921, two directive wheels 922 of mounting base, yielding coupling 923, turns Moving axis 924, steel wire 925 and the tension spring 926 as tension part.Wherein, mounting base 921 is fixed on the bottom of striker plate 91, gear Material driving mechanism 44 and directive wheel 922 are independently mounted on the different location of mounting base 921, and pass sequentially through bullet therebetween Property shaft coupling 923, rotation axis 924 realize transmission, specifically 923 both ends of yielding coupling are separately connected 44 He of backgauge driving mechanism One end of rotation axis 924, the other end of rotation axis 924 connect directive wheel 922.One end of steel wire 925 is connected to the one of tension spring 926 On end, the other end of steel wire 925 be connected on directive wheel 922, the other end of tension spring 926 is then installed on striker plate 91, specific It is on the left and right side of striker plate 91.It, can be by coupled when backgauge driving mechanism 44 works in the present embodiment Yielding coupling 923 drives two rotation axis 924 to rotate, and then two directive wheels 922 is driven to tighten simultaneously or release steel wire, most The lifting of striker plate 91 is driven eventually.

In the present embodiment, the course of work of backgauge component 9 are as follows:

AGV trolley travelling to designated position stops, preparing transmission cargo；

Yielding coupling 923 backgauge driving mechanism 44 be rotated by and drive rotation axis 924 rotate, rotation axis 924 drive directive wheel 922 to tighten steel wire 925 again winds；

Tightening of the steel wire 925 on directive wheel 922 pulls striker plate 91 to drop to and is overlapped with shelf framework 21, at this time tension spring 926 are in tensional state, and cargo is not affected by the blocking of striker plate 91；

Cargo is transmitted by picking and placing goods component 22 between shelf 2 and board；

After the completion of transmission, directive wheel 922 discharges steel wire 925 under the driving of backgauge driving mechanism 44；

The release of steel wire 925 is so that 91 liters of striker plate are back to original position, i.e. the position of blocking cargo in shelf of striker plate 91 It sets, guarantees that cargo will not fall；During this, tension spring is restored to reset condition from tensional state, since the rebound of tension spring can rise To effective buffer function so that the release of steel wire 925 not will lead to flying up for striker plate, but in a manner of gently by It edges up and is back to home position；

AGV trolley starts to advance.

Embodiment five

The present embodiment provides a kind of AGV trolley and its with the alignment method of board, the present embodiment AGV trolley and embodiment three The difference is that: the AGV of the present embodiment still further comprises multiple sensors, by the way that multiple sensors are arranged, using more Collective effect between kind sensor realizes AGV trolley in the accurate parking positioning in specified region, designated position.

Specifically, the position distribution of operative sensor is shown in Fig. 9, as shown in connection with fig. 9, in the present embodiment, lifting Formula AGV trolley further includes central processing unit (not shown), RFID reader 300, magnetic navigation sensor 400 and reflector sensor 500。

Wherein, RFID reader 300 is set to the bottom of car body 1, and for acquiring the RFID information in specified region, judgement rises Whether drop formula AGV trolley reaches specified region；Magnetic navigation sensor 400 is set to the head and the tail both ends of car body 1, for acquiring specified area Magnetic strip information in domain judges that lift AGV trolley is presently in position；Reflector sensor 500 is set to the side of car body 1, Position is opposite with the reflective tube in travelling route, for acquiring the light beam that reflective tube reflects in specified region, judges lift AGV Trolley present position.Information is carried out by above-mentioned RFID reader 300, magnetic navigation sensor 400 and reflector sensor 500 to adopt Collection, again after central processor comprehensive is handled, finally accurately judge whether lift AGV trolley accurately reaches designated position.

In addition, the lift AGV trolley of the present embodiment further includes safe touch side 600, obstacle sensor 700 and passes to penetrating Sensor (not shown).Wherein, safe touch side 600 is set on the two ends side of car body 1, for preventing lift AGV trolley Edge is damaged because of mobile or collision；Obstacle sensor 700 is set to the top of safe touch side 600, for judging traveling road Barrier situation in line；Opposite type sensor is set to the diagonal position in shelf 2, for detecting in shelf with the presence or absence of cargo.

Embodiment six

The present embodiment provides a kind of lift AGV trolley, the present embodiment and the difference of embodiment three are only that, the present embodiment In shelf be multi-layered storage rack, specifically in shelf include three layers of pick-and-place goods component.In fact, in the present invention, can also set Four layers, five layers or more shelf are set, the quantity of specific shelf can be determined according to the demand of practical warehouse logistics.

In conjunction with shown in Figure 10, Figure 11, the second transmission component structure of the present embodiment is specifically: the second transmission component 23 includes Third sprocket wheel 231, the 4th sprocket wheel 232, several 5th sprocket wheels 233, several third shaft couplings 234 and several 4th shaft couplings 235, Third sprocket wheel 231 and the second driving mechanism 42 are coaxially connected and rotated by the driving of the second driving mechanism 42, and third sprocket wheel 231 are set to 21 inside of shelf framework；4th sprocket wheel 232 is coaxially set on a third shaft coupling 234, for driving third shaft coupling Device 234 rotates, and the 4th sprocket wheel 232 is equally set to 21 inside of shelf framework；Lead between third sprocket wheel 231 and the 4th sprocket wheel 232 Closed second chain drive is crossed, specifically the second chain is meshed with third sprocket wheel 231, the 4th sprocket wheel 232；Each third connection The both ends of axis device 234 are connected with the 5th sprocket wheel 233 and the axis of rolling 221 respectively, and the 5th sprocket wheel 233 is set to outside shelf framework 21 Side；Pass through closed third chain drive, specifically third chain and every one the 5th sprocket wheel 233 between all 5th sprocket wheels 233 It is meshed；The other end of the axis of rolling 221 is connected with one end of the 4th shaft coupling 235, and the other end of the 4th shaft coupling 235 is then same It is connected between sprocket wheel and these sprocket wheels and synchronous rotation is realized by chain drive.

Goods component 22 being picked and placed in shelf 2, Synchronous Transmission being realized by the second transmission component 23, detailed process is: third sprocket wheel 231 drive the rotation of the second chain under the driving of the second driving mechanism 42 and then drive the rotation of the 4th sprocket wheel 232, the 4th sprocket wheel 232 drive coaxial third shaft coupling 234 and the 5th coaxial sprocket wheel 233, the coaxial rotation of the axis of rolling 221 (should again The axis of rolling be located in the middle the axis of rolling), the 5th sprocket wheel 233 by other the 5th sprocket wheels 233 of third chain-driving rotation, into And other axis of rolling 221 is driven to rotate, it is achieved in the synchronous rotation of all axis of rolling.It is understood that yes, in the present embodiment In, the 4th shaft coupling 235 and corresponding sprocket wheel, chain on the right side of shelf framework be also by with third shaft coupling, Five sprocket wheels, third chain, the identical kind of drive of drum shaft are driven.

Detailed Jie has been carried out to a kind of AGV trolley disclosed by the embodiments of the present invention and its with the alignment method of board above It continues, used herein a specific example illustrates the principle and implementation of the invention, and the explanation of above embodiments is only It is to be used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to this hair Bright thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not manage Solution is limitation of the present invention.

Claims (28)

1. a kind of AGV trolley characterized by comprising

Car body；

Shelf are set on the car body；

Telescopic rod is set on the shelf；

Telescoping drive mechanism is connect with the telescopic rod, and the telescoping drive mechanism is for driving the telescopic rod relative to institute It states shelf to stretch, and the telescopic rod after stretching is docked with board.

2. AGV trolley according to claim 1, which is characterized in that the telescopic rod includes that pars contractilis and inside have The fixed part of cavity, the pars contractilis are telescopically accommodated in the cavity of the fixed part, and the pars contractilis is described flexible Relative to the fixed part stretching motion under the driving of driving mechanism, so that the telescopic rod is docked with the board.

3. AGV trolley according to claim 1, which is characterized in that slanting guide plate is installed on the board, it is described Guide plate guides the shelf and is moved at specified contraposition.

4. AGV trolley according to claim 3, which is characterized in that it is identical, contrary to be installed with structure on the board Left guide plate and right guide plate, the guide groove of the left guide plate and right guide plate composition Open Side Down expansion is described After telescopic rod extend out to any guide plate of contact, the open upper end of the guide groove is directed to by any guide plate.

5. AGV trolley according to claim 1, which is characterized in that the AGV trolley further includes connecting with the shelf Elevating mechanism, and the lift drive mechanism connecting with the elevating mechanism, the elevating mechanism are used to drive in the lifting It is gone up and down under the driving of mechanism relative to the car body, and then the shelf is driven to go up and down relative to the car body.

6. AGV trolley according to claim 5, which is characterized in that the elevating mechanism includes the lifter plate being fixedly connected with each other And screw lift, be equipped with connecting rod in the shelf, the connecting rod run through the shelf along its length after, both ends difference It is affixed with the lifter plate；Screw is installed on the car body, the screw rod in the screw and the screw lift cooperates spiral shell Line connection；The lift drive mechanism drives the screw rod in the screw lift to go up and down relative to the screw, the screw rod Lifting drive the lifter plate and the shelf lifting.

7. AGV trolley according to claim 6, which is characterized in that the elevating mechanism further includes support plate, the support Plate is fixedly arranged on the top of the lifter plate and the screw lift；The support plate include set on surrounding support plate body and Set on intermediate backplate, the backplate is transparent PC plate；Or the support plate is the molding integral panels of integration.

8. AGV trolley according to claim 6, which is characterized in that the elevating mechanism includes four screw rod liftings Machine, four screw lifts are located at the quadrangle of the support plate, and the lifter plate is located at the opposite sides of the support plate, And the screw rod of any one screw lift is located at outside the corresponding lifter plate；The support plate is enclosed with the lifter plate Conjunction forms portal frame, and the shelf are set in the portal frame.

9. AGV trolley according to claim 8, which is characterized in that the elevating mechanism further includes the first transmission component, institute Stating the first transmission component includes: the first sprocket wheel, the second sprocket wheel, first shaft coupling, second shaft coupling and the first drive rod；Described One sprocket wheel is connected on the lift drive mechanism, and second sprocket wheel is connected in the first shaft coupling, and described first The both ends of axis device are separately connected one end of the screw lift and the drive rod, the both ends difference of the second shaft coupling Connect the other end and another screw lift of the drive rod；First sprocket wheel is used in the lift drive mechanism Driving under pass through the second sprocket wheel described in the first chain-driving rotation, second sprocket wheel be used for by the first shaft coupling, The rotation of the drive rod and the second shaft coupling drives two screw lift liftings simultaneously.

10. AGV trolley according to claim 9, which is characterized in that first transmission component further includes tightener sprocket, The tightener sprocket is set between first sprocket wheel and second sprocket wheel, for being tensioned first chain.

11. AGV trolley according to claim 10, which is characterized in that the elevating mechanism includes the lifting being fixedly connected with each other Plate and jacking portion, the lifter plate are also connect with the shelf, telescopic are equipped in the car body, the jacking portion is telescopically It is accommodated in the telescopic；The lift drive mechanism is hydraulic drive mechanism, and the hydraulic drive mechanism drives the top Ascending part is gone up and down relative to the telescopic, and the lifting in the jacking portion drives the lifter plate and shelf lifting.

12. AGV trolley according to claim 1, which is characterized in that the shelf include: shelf framework, are set to the goods Pick-and-place goods component inside frame framework, the second transmission component connect with the pick-and-place goods component, the AGV trolley further include and The shelf driving mechanism of the second transmission component connection, second transmission component are used for the drive in the shelf driving mechanism The dynamic lower drive pick-and-place goods component rotation.

13. AGV trolley according to claim 12, which is characterized in that the shelf framework includes the front frame successively enclosed Plate, rear framing plate, left frame plate and right deckle board, and the preceding deckle board, the rear framing plate, the left frame plate and the right deckle board enclose jointly It closes and forms the first accommodating space, the pick-and-place goods component is set in first accommodating space.

14. AGV trolley according to claim 13, which is characterized in that the shelf framework further includes bottom stiffener, institute It states bottom stiffener and the preceding deckle board, the rear framing plate, the left frame plate and the right deckle board is enclosed described the jointly One accommodating space.

15. AGV trolley according to claim 12, which is characterized in that the pick-and-place goods component includes: several axis of rolling And it is fixedly arranged on the roller on the axis of rolling, and the both ends of the axis of rolling are separately connected second transmission component, and described Two transmission components drive the axis of rolling and the roller under the driving of the shelf driving mechanism.

16. AGV trolley according to claim 12, which is characterized in that second transmission component is located at the left frame plate And/or on the right deckle board, second transmission component includes: third sprocket wheel, the 4th sprocket wheel and several 5th sprocket wheels；

Wherein, the third sprocket coaxiality is connected to the inside in the shelf driving mechanism and being located at the shelf framework, institute It states the 4th sprocket coaxiality and is sheathed on the inside on any axis of rolling and being located at the shelf framework, each axis of rolling Both ends are respectively corresponded equipped with the 5th sprocket wheel and the 5th sprocket wheel is located at the outside of the shelf framework, and each described 5th Pass through third chain drive between sprocket wheel；

The third sprocket wheel is used under the driving of the shelf driving mechanism through the rotation of the 4th chain described in the second chain-driving Dynamic, the 4th sprocket wheel is for driving the coaxially connected axis of rolling and the 5th sprocket wheel and then making the 5th sprocket wheel Other described 5th sprocket wheel rotations by the third chain-driving, and then drive the axis of rolling and roller rotation.

17. AGV trolley according to claim 12, which is characterized in that second transmission component is located at the left frame plate And/or on the right deckle board, second transmission component includes: third sprocket wheel, the 4th sprocket wheel, several 5th sprocket wheels, Ruo Gan Three shaft couplings and several 4th shaft couplings；

Wherein, the third sprocket coaxiality is connected to the inside in the shelf driving mechanism and being located at the shelf framework, institute It states the 4th sprocket coaxiality and is sheathed on the inside on any third shaft coupling and being located at the shelf framework, the third connection The both ends of axis device are connected with one end of the 5th sprocket wheel and the axis of rolling respectively, and the 5th sprocket wheel is set to the shelf On the outside of framework, pass through third chain drive between each 5th sprocket wheel；The other end of the axis of rolling and the 4th shaft coupling Device is connected；

The third sprocket wheel is used under the driving of the shelf driving mechanism through the rotation of the 4th chain described in the second chain-driving Dynamic, the 4th sprocket wheel is used to that the 5th sprocket wheel being located on the same third shaft coupling and the axis of rolling to be driven to turn It moves and then other described 5th sprocket wheels rotations by the third chain-driving, each 5th sprocket wheel is diverted to drive pair The axis of rolling answered and roller rotation.

18. AGV trolley according to claim 12, which is characterized in that the shelf include at least two layers pick-and-place goods component, And every layer of pick-and-place goods component drives underdrive in the individually shelf driving mechanism respectively.

19. AGV trolley according to claim 12, which is characterized in that Buffer Unit is equipped with inside the shelf, it is described slow Rush component for buffer adjustment the board and the shelf between to Bit Shift；The Buffer Unit is described including being installed in Fixed block and elastic portion in connecting rod, the affixed fixed block in elastic portion one end, the other end is movable terminal；It is described Buffer Unit further includes sliding shoe, and the movable terminal of the affixed spring in the side of the sliding shoe, the other side are against the goods On the inner wall of frame.

20. AGV trolley according to claim 19, which is characterized in that buffering group described in being equipped with two groups inside the shelf Part, when the shelf are by external force, drive one group described in elastic portion compression in Buffer Unit, drive another group described in buffering group Elastic portion in part stretches.

21. AGV trolley according to claim 12, which is characterized in that the AGV trolley further includes backgauge component, described Backgauge component includes: the striker plate of side and the third transmission component connecting with the striker plate in the shelf frame body； The AGV trolley further includes the backgauge driving mechanism connecting with the third transmission component, and the third transmission component is described The striker plate is driven to go up and down under the driving of backgauge driving mechanism relative to the shelf framework.

22. AGV trolley according to claim 21, which is characterized in that the striker plate is that surrounding has frame, middle part hollow out Plate, the third transmission component includes: mounting base, directive wheel, yielding coupling, rotation axis, steel wire and tension part, described Mounting base is fixed on the bottom of the striker plate, and the backgauge driving mechanism and the directive wheel are respectively arranged in the mounting base On, the yielding coupling both ends are separately connected one end of the backgauge driving mechanism and the rotation axis, the rotation axis The other end connects the directive wheel, one end of the steel wire is connected on one end of the tension part, the steel wire it is another End is connected on the directive wheel, and the other end of the tension part is fixed on the striker plate.

23. AGV trolley according to claim 22, which is characterized in that set between the shelf framework and the striker plate There is anti-wear filler strip.

24. AGV trolley according to claim 23, which is characterized in that the anti-wear filler strip is nylon filler strip；Described Tight component is tension spring.

25. AGV trolley according to claim 23, which is characterized in that the AGV trolley further includes being respectively arranged on the vehicle Power mechanism and electric cabinet on body, the power mechanism and the electric cabinet are electrically connected, the electric cabinet respectively with it is described Lift drive mechanism, the shelf driving mechanism, the telescoping drive mechanism and the backgauge driving mechanism are electrically connected, and are used for Control the work of the lift drive mechanism, the shelf driving mechanism, the telescoping drive mechanism and the backgauge driving mechanism Make start and stop；The AGV trolley is additionally provided with RFID reader, and the RFID reader is set to the bottom of the car body, for scanning The RFID on ground, judge whether the AGV trolley is located at specified region；The AGV trolley is additionally provided with reflector sensor, described Reflector sensor is set to the vehicle body side, and position is opposite with the reflective tube in travelling route, for positioning the AGV trolley Current location；The AGV trolley is additionally provided with magnetic navigation sensor, and the magnetic navigation sensor is set to the car body along traveling side To head and the tail both ends, for determining the current location of the AGV trolley.

26. a kind of alignment method of AGV trolley and board, which is characterized in that the AGV trolley is any one of claim 1-25 The AGV trolley, the alignment method the following steps are included:

The telescopic rod stretches out under the driving of the telescoping drive mechanism towards the direction of the board, to the telescopic rod and Guide plate on the board is in contact；

The shelf of the AGV trolley are mobile, are moved to the guide plate by the inclined-plane guiding telescopic rod of itself specified Contraposition at.

27. alignment method according to claim 26, which is characterized in that the AGV trolley further includes connecting with the shelf The elevating mechanism connect, and the lift drive mechanism connecting with the elevating mechanism, the elevating mechanism are used in the lifting It is gone up and down under the driving of driving mechanism relative to the car body, and then the shelf is driven to go up and down relative to the car body.

28. the alignment method according to shown in claim 27, which is characterized in that the alignment method the following steps are included:

The telescopic rod stretches out under the driving of the telescoping drive mechanism towards the direction of the board；

The elevating mechanism drives the shelf and the telescopic rod relative to described under the driving of the lift drive mechanism Car body rises, until the telescopic rod is in contact with the guide plate on the board；

The elevating mechanism continues to rise, and the guide plate guides the telescopic rod by the inclined-plane of itself and is moved to specified pair At position.