CN111169880B

CN111169880B - Prevent shaking AGV

Info

Publication number: CN111169880B
Application number: CN202010013744.2A
Authority: CN
Inventors: 宣驰策; 吴伟峰; 沈振华
Original assignee: Zhejiang Guozi Robot Technology Co Ltd
Current assignee: Zhejiang Guozi Robot Technology Co Ltd
Priority date: 2020-01-07
Filing date: 2020-01-07
Publication date: 2021-07-13
Anticipated expiration: 2040-01-07
Also published as: CN111169880A

Abstract

The invention discloses an anti-shaking AGV which comprises an AGV body and an anti-shaking unit, wherein the anti-shaking unit comprises a sliding block, a driving device, a first connecting rod mechanism and a second connecting rod mechanism, wherein the driving device is used for driving the sliding block to move linearly. In the first connecting rod mechanism, the inner end of a first connecting rod is hinged with a sliding block, the outer end of the first connecting rod is hinged with the inner end of a first rocker, the first rocker is hinged with a first connecting piece, and the first connecting piece is fixedly connected to an AGV body; in the second connecting rod mechanism, the inner end of a second connecting rod is hinged with the sliding block, the outer end of the second connecting rod is hinged with the inner end of a second rocker, the second rocker is hinged with a second connecting piece, and the second connecting piece is fixedly connected to the AGV body; the first link mechanism and the second link mechanism are arranged in axial symmetry. The sliding block moves forwards, the outer ends of the first rocker and the second rocker are far away from each other and are supported on the goods shelves on two sides, and therefore the AGV is prevented from shaking; the sliding block moves reversely, and the outer ends of the first rocking bar and the second rocking bar are close to each other and retract into the gallery.

Description

Prevent shaking AGV

Technical Field

The invention relates to the technical field of logistics storage, in particular to an anti-shaking AGV.

Background

With the development of the logistics industry, more and more large warehouses appear on the market, and meanwhile, Automatic Guided Vehicles (AGVs) are also emerging. Meanwhile, in order to deal with the problem of transporting goods on a large warehouse rack, a transport type AGV capable of transporting goods has also been developed.

The warehouse, for better space utilization, would be designed to be tall. Therefore, the portal of the transport-type AGV also needs to be designed to be high enough to enable the service units to be lifted high enough to pick and place the goods at a higher position on the shelf.

In the process of taking and putting goods through the service units, particularly when the service units take and put the goods in a hooking and pulling mode, the friction force between the goods and the goods shelf is perpendicular to the door frames, the door frames are high, and therefore the generated overturning moment is quite large, and the carrying type AGV is easy to shake greatly and even topple when taking and putting the goods. Not only get and put goods work unable normal clear, influence transport type AGV's conveying efficiency, but also have the potential safety hazard in the aspect of the person and the property.

Therefore, how to solve the problem of the swinging and dumping of the transport type AGV is a technical problem that those skilled in the art are eagerly to solve.

Disclosure of Invention

In view of the above, an object of the present invention is to provide an anti-sway AGV that can solve the problem of sway and toppling of a transport-type AGV.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides a prevent shaking AGV, includes AGV body and prevents shaking the unit, prevent shaking the unit and include the slider and be used for driving the slider is rectilinear movement's drive arrangement to and first link mechanism and second link mechanism, wherein:

in the first connecting rod mechanism, the inner end of a first connecting rod is hinged with the sliding block, the outer end of the first connecting rod is hinged with the inner end of a first rocker, the first rocker is hinged with a first connecting piece, and the first connecting piece is fixedly connected to the AGV body;

in the second connecting rod mechanism, the inner end of a second connecting rod is hinged with the sliding block, the outer end of the second connecting rod is hinged with the inner end of a second rocker, the second rocker is hinged with a second connecting piece, and the second connecting piece is fixedly connected to the AGV body;

the first connecting rod mechanism and the second connecting rod mechanism are arranged in an axial symmetry mode, and when the sliding block moves forwards along a straight line, the outer end of the first rocker and the outer end of the second rocker are far away from each other in a horizontal plane so as to be respectively supported on goods shelves on two sides of the corridor; when the sliding block moves reversely along a straight line, the outer end of the first rocker and the outer end of the second rocker are close to each other in a horizontal plane so as to be respectively far away from the goods shelf and retract into the corridor.

Preferably, in the anti-shaking AGV, the first rocker includes a first inner short rod and a first outer long rod, an included angle between the first inner short rod and the first outer long rod is an obtuse angle, the first connecting member is hinged to an included angle of the first rocker, and an inner end of the first inner short rod is hinged to an outer end of the first connecting rod;

the second rocker comprises a second inner short rod and a second outer long rod, an included angle between the second inner short rod and the second outer long rod is an obtuse angle, the second connecting piece is hinged to the included angle of the second rocker, and the inner end of the second inner short rod is hinged to the outer end of the second connecting rod.

Preferably, in the anti-shaking AGV, a first stopper is disposed at a position, close to the first connecting member, outside the first outer long rod;

a second stop block is arranged at the outer side of the second outer long rod and close to the second connecting piece;

when the slider reaches preset distance along sharp forward motion, first dog with first chassis on the AGV body offsets, the second dog with second chassis on the AGV body offsets.

Preferably, in the anti-sway AGV, the driving device is a screw rod stepping motor, and the slider is a nut slider in threaded connection with the screw rod.

Preferably, in the anti-shaking AGV, the body of the screw rod stepping motor is fixedly connected to the AGV body through a motor bracket;

and/or a screw rod of the screw rod stepping motor is fixedly connected to the AGV body through a bearing seat.

Preferably, in the above anti-sloshing AGV, the AGV body includes a chassis, a gantry, and a service unit, wherein:

the portal is vertically and fixedly connected to the chassis and used for guiding the business unit to ascend and descend to a specified height;

the business unit can carry out picking and placing operation on goods on the goods shelf.

Preferably, in the above anti-sway AGV, the first connecting member and the second connecting member of the anti-sway unit are both fixedly connected to the top of the gantry.

Preferably, in the AGV, the service unit includes a box and two hooking mechanisms respectively located at two sides of the inside of the box, wherein:

in each hooking and pulling mechanism, a middle gear shaping can horizontally extend and retract towards the outside of the box relative to the outer gear shaping, an inner gear shaping can horizontally extend and retract towards the outside of the box relative to the middle gear shaping, the outer end of the inner gear shaping is provided with a swing rod, and the inner end of the inner gear shaping is provided with a push plate;

when goods are taken, the middle gear shaping and the inner gear shaping horizontally extend out of the box to be in place, and then the swing rod is driven to rotate to the horizontal position so that the goods can be hooked; the middle gear shaping and the inner gear shaping are retracted into the box, so that goods can be pulled into the box, and goods taking is realized; then driving the swing rod to rotate to a vertical position;

when putting goods, well gear shaping with when interior gear shaping all stretches out to the box outer level, through the goods are put to the push pedal realization.

Preferably, in the anti-sloshing AGV, one side of the portal is provided with one or more layer boards, and the service unit is located at the other side of the portal;

the bottom of the box body is provided with a rotating mechanism for driving the box body to horizontally rotate, so that the business unit can turn to the direction of the laminate and also can turn to the direction of the goods shelf.

Preferably, in the anti-shaking AGV, a horizontal support frame is disposed on the portal frame, a fixed part of the rotating mechanism is mounted on the horizontal support frame, and a rotating part of the rotating mechanism is connected to the bottom of the box body of the service unit;

the first connecting piece and the second connecting piece in the anti-shaking unit are fixedly connected to the horizontal support frame, or the first connecting piece and the second connecting piece in the anti-shaking unit are fixedly connected to the bottom of the box body of the service unit.

According to the technical scheme, the anti-shaking AGV provided by the invention can effectively support the goods shelves 3 on two sides of the corridor through the anti-shaking units 2 in the goods taking and placing processes, so that the AGV can be prevented from shaking and toppling, the goods taking and placing work of the AGV can be accurately carried out, the transportation efficiency of the AGV is ensured, and potential safety hazards in the aspects of human body and property caused by the fact that the AGV shakes and topples are also avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an anti-sloshing unit according to a first embodiment of the present invention;

FIG. 2 is a schematic diagram illustrating the operation of the anti-sloshing unit of the anti-sloshing AGV according to the first embodiment of the present invention when the anti-sloshing unit is opened;

FIG. 3 is a schematic diagram of an anti-sway AGV according to a first embodiment of the present invention;

fig. 4 is a schematic structural diagram of a service unit installed with an anti-interference unit according to a first embodiment of the present invention;

fig. 5 is a schematic diagram of the operation of the first chassis and the second chassis according to the first embodiment of the present invention;

fig. 6 is a schematic diagram illustrating an operation state of an anti-sway unit in an anti-sway AGV according to a second embodiment of the present invention when the anti-sway unit is opened.

Wherein:

1-an AGV body, 2-an anti-shaking unit, 3-a goods shelf,

11-chassis, 12-gantry, 13-business unit, 14-layer,

131-external gear shaping, 132-middle gear shaping, 133-internal gear shaping, 134-oscillating bar, 135-push plate,

21-screw rod stepping motor, 22-motor bracket, 23-slide block, 24-bearing seat,

251-a first link, 252-a second link,

261-a first rocker, 262-a second rocker,

271-first stop, 272-second stop,

281-first connecting element, 282-second connecting element,

1361-first chassis, 1362-second chassis.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

First embodiment

Referring to fig. 1 to 5, fig. 1 is a schematic structural diagram of an anti-sloshing unit according to a first embodiment of the present invention; FIG. 2 is a schematic diagram illustrating the operation of the anti-sloshing unit of the anti-sloshing AGV according to the first embodiment of the present invention when the anti-sloshing unit is opened; FIG. 3 is a schematic diagram of an anti-sway AGV according to a first embodiment of the present invention; fig. 4 is a schematic structural diagram of a service unit installed with an anti-interference unit according to a first embodiment of the present invention; fig. 5 is a schematic diagram of the operation of the first chassis and the second chassis according to the first embodiment of the present invention.

A first embodiment of the present invention provides an anti-sway AGV (which may be referred to simply as an AGV). This prevent shaking AGV includes AGV body 1 and prevents shaking unit 2.

Referring to fig. 1, the anti-shaking unit 2 includes a slider 23, a driving device for driving the slider 23 to move linearly, and a first link mechanism and a second link mechanism. Wherein:

in the first link mechanism, the inner end of the first link 251 is hinged with the sliding block 23, the outer end of the first link 251 is hinged with the inner end of the first rocker 261, the first rocker 261 is hinged with a first connecting piece 281, and the first connecting piece 281 is fixedly connected to the AGV body 1;

in the second link mechanism, the inner end of a second connecting rod 252 is hinged with the sliding block 23, the outer end of the second connecting rod 252 is hinged with the inner end of a second rocker 262, the second rocker 262 is hinged with a second connecting piece 282, and the second connecting piece 282 is fixedly connected to the AGV body 1; (i.e. the sliding block 23, the first connecting rod 251 and the first rocking bar 261 are hinged in sequence, and the first remote rod 261 is hinged with the AGV body 1 through a first connecting piece 281.)

The first link mechanism and the second link mechanism are arranged in axial symmetry, and when the slide block 23 moves forward along a straight line, the outer end of the first rocker 261 and the outer end of the second rocker 262 are far away from each other in a horizontal plane (namely, the anti-sway unit 2 swings open) so as to be respectively supported on the shelves 3 at two sides of the corridor, so that the AGV is prevented from swaying and toppling; when the slider 23 moves in the opposite direction along the straight line, the outer ends of the first and

second rockers

261 and 262 approach each other in the horizontal plane (the anti-sway unit 2 is retracted) to be away from the rack 3 and retracted into the corridor, respectively, for the convenience of the AGV to walk. (i.e. the sliding block 23, the second connecting rod 252 and the second rocker 262 are hinged in sequence, and the second remote rod 262 is hinged with the AGV body 1 through a second connecting piece 282.)

It should be noted that the shelf herein is generally a shelf for storing goods (such as bins) in a warehouse; each goods shelf is generally provided with a plurality of goods storage layers in an overlapped mode from bottom to top in sequence, and each goods storage layer is provided with a plurality of storage units side by side; each warehouse is generally provided with a plurality of shelves side by side, and the passage between the adjacent shelves is a corridor.

Furthermore, in order to fit the anti-sway unit 2 in the anti-sway AGV, a "support" is provided on each rack on the side opposite to the AGV (or adjacent to the aisle). Before the anti-shaking AGV starts to take and place the goods (or in the process of taking and placing the goods), the anti-shaking unit 2 is swung open and is abutted against the supporting part on the side surface of the goods shelf. Typically, the support portion is the side of the top plate of the shelf, or the side of the bottom plate of the storage unit, or other planar structure or snap-fit structure or other structure added to the side of the shelf.

In conclusion, the anti-shaking AGV provided in the first embodiment of the present invention can effectively support the shelves 3 on both sides of the corridor through the anti-shaking units 2 during the process of picking and placing goods, so as to prevent the AGV from shaking and dumping, ensure the accurate picking and placing work of the AGV, ensure the transportation efficiency of the AGV, and avoid the potential safety hazard in human and property aspects caused by the shaking and dumping of the AGV.

Specifically, referring to fig. 2, in the anti-sloshing unit 2:

the first rocking bar 261 comprises a first inner short bar and a first outer long bar, the inner end of the first inner short bar is hinged with the outer end of the first connecting bar 251, the included angle between the first inner short bar and the first outer long bar is an obtuse angle, and at the included angle, the first rocking bar 261 is hinged with the first connecting piece 281;

the second rocking bar 262 comprises a second inner short bar and a second outer long bar, the inner end of the second inner short bar is hinged with the outer end of the second connecting rod 252, the included angle between the second inner short bar and the second outer long bar is an obtuse angle, and at the included angle, the second rocking bar 262 is hinged with the second connecting piece 282;

and when the first outer long rod and the second outer long rod are parallel, if the distance between the first outer long rod and the second outer long rod is L and the distance between the inner end of the first inner short rod and the inner end of the second inner short rod is M, the M is smaller than the L.

When the slider 23 is moved forward along a straight line, the distance between the outer end A1 of the first outer long rod part and the outer end A2 of the second outer long rod part is greater than the width of the corridor, so that the AGV can be supported on the shelves 3 on two sides of the corridor, the AGV can be supported and positioned, and the AGV is prevented from shaking and dumping.

Further, a first stop block 271 is arranged at the outer side of the first outer long rod and close to the first connecting piece 281; a second stopper 272 is provided at an outer side of the second outer long bar, near the second connecting member 282.

When the slide 23 moves forward along a straight line to reach a preset distance, the first link mechanism and the second link mechanism are swung open to abut against the shelves 3 on both sides, the first stopper 271 abuts against the first chassis 1361 on the AGV body 1, and the second stopper 272 abuts against the second chassis 1362 on the AGV body 1.

Specifically, referring to fig. 4, the anti-shaking unit 2 may be disposed below the service unit 13, and the first chassis 1361 and the second chassis 1362 are disposed at a lower side of the box body of the service unit 13.

In the process of taking and placing goods, the first chassis 1361 and the second chassis 1362 are beneficial to avoiding the first remote rod 261 and the second remote rod 262 from being excessively swung open, and the first link mechanism and the second link mechanism are positioned. Moreover, the first chassis 1361 and the second chassis 1362 are also capable of receiving a portion of the "opposing force of the shelf on the first linkage and the second linkage" (shown by the large arrows in fig. 5) during the picking and placing of the goods, and preventing the opposing force from being directly transmitted to the driver, thereby protecting the linkage and the driver.

Specifically, the driving device for driving the link mechanism preferably employs a lead screw stepping motor 21, and the slider 23 is a nut slider screwed with the lead screw. However, the present invention is not limited to this, and other driving devices such as an air cylinder and a hydraulic cylinder may be used as the driving device.

Specifically, the body of the screw stepping motor 21 is fixedly connected to the AGV body 1 through a motor bracket 22, and the screw of the screw stepping motor 21 is fixedly connected to the AGV body 1 through a bearing seat 24.

Specifically, the AGV body 1 as referred to herein includes a chassis 11, a gantry 12, and a business unit 13. The gantry 12 is vertically and fixedly connected to the chassis 11 and used for guiding the service unit 13 to ascend and descend to a specified height, so that the gantry 12 can be regarded as a vertical guide rail of the service unit 13; the service unit 13 can take and place goods on the shelf 3; the chassis 11 provides transportation power for preventing shaking the AGV, generally installs drive wheel and navigation head, can realize preventing shaking the autonomic location and the removal of AGV through camera discernment two-dimensional code or laser navigation's mode.

Specifically, as shown in fig. 4, the service unit 13 includes a box body, and two hooking mechanisms respectively located at two sides inside the box body, where each hooking mechanism includes an outer insert 131, an inner insert 132, an inner insert 133, a swing link 134, and a push plate 135. The middle insert tooth 132 can horizontally extend and retract towards the outside of the box relative to the outer insert tooth 131, the inner insert tooth 133 can horizontally extend and retract towards the outside of the box relative to the middle insert tooth 132, the swing rod 134 is arranged at the outer end of the inner insert tooth 133, and the push plate 135 is arranged at the inner end of the inner insert tooth 133.

When goods are taken, after the middle insert teeth 132 and the inner insert teeth 133 extend out of the box to the outside in place horizontally, the swing rod 134 is driven to rotate to the horizontal position, and then the goods can be hooked; the middle gear shaping 132 and the inner gear shaping 133 are retracted into the box, so that goods can be pulled into the box, and goods taking is realized; the pendulum 134 is then driven to rotate to the vertical position.

When putting goods, when the middle latch 132 and the inner latch 133 both horizontally extend out of the box, the goods are put through the push plate 135.

Therefore, the swing rod 134 can swing back and forth for 90 degrees in a vertical plane perpendicular to the stretching direction of the hooking and pulling mechanism, the goods can be hooked when the swing rod swings to the horizontal position, and the goods can be conveniently put in and taken out when the swing rod swings to the vertical position.

Specifically, as shown in fig. 4, the middle gear piece 132 is clamped in and slidably connected to the inner sliding groove of the outer gear piece 131, so as to ensure that the middle gear piece 132 can slide back and forth (i.e., extend and retract) on the outer gear piece 131 in the horizontal direction, but is not disengaged; moreover, the inner insert teeth 133 are engaged with and slidably connected to the inner sliding grooves of the middle insert teeth 132 to ensure that the inner insert teeth 133 can slide back and forth (i.e., extend and retract) on the middle insert teeth 132 in the horizontal direction without disengaging. In the process of stretching, the two hooking mechanisms act synchronously.

In particular, one side of the gantry 12 is provided with one or more laminae 14, and the service units 13 are located on the other side of the gantry 12.

Specifically, the bottom of the box body is provided with a rotating mechanism for driving the box body to rotate horizontally, so that the business unit 13 can turn to the direction of the layer plate 14 and also can turn to the direction of the shelf 3, and therefore the goods on the layer plate 14 and the goods on the shelf 3 can be transferred and taken out.

The rotating mechanism can drive the business unit to rotate within +/-90 degrees, so that goods can be taken and placed between the layer plate 14 and the goods shelf 3 on one side of the corridor; the rotating mechanism can drive the business unit to rotate within +/-180 degrees, so that goods can be taken and placed between the layer plate 14 and the goods shelves 3 on two sides of the corridor.

Specifically, a horizontal support frame is arranged on the gantry 12, a fixed part of the rotating mechanism is installed on the horizontal support frame, and a rotating part of the rotating mechanism is connected with the bottom of the box body of the business unit 13, so that the business unit 13 can be driven to rotate horizontally through the rotating mechanism.

Moreover, the first connector 281 and the second connector 282 in the anti-shaking unit 2 are both fixedly connected to the horizontal support frame and do not rotate with the service unit 13; alternatively, the first connector 281 and the second connector 282 of the anti-sloshing unit 2 are both attached to the bottom of the housing of the service unit 13 and horizontally rotate together with the service unit 13.

Specifically, the anti-sway AGV provided by the first embodiment of the present invention has the following goods taking process:

step a: when the AGV runs to the position near the corresponding shelf 3, the service unit 13 is lifted to a first designated height, and the service unit is rotated by 90 degrees to enable the stretching direction of the hooking and pulling mechanism to face the shelf 3;

step b: the service unit 13 picks up goods, that is, the middle inserting teeth 132 and the middle inserting teeth 133 in the hooking mechanisms at the two sides extend out to the two sides of the goods, the swing rods 134 swing by 90 degrees to the horizontal position, and at this time, the two swing rods 134 hook the goods on the shelf 3 at the same time;

step c: the first rocker 261 and the second remote lever 262 in the anti-shaking unit 2 are swung open and abut against the goods shelves 3 on the two sides;

step d: the business unit 13 receives goods, that is, the middle insert teeth 132 and the middle insert teeth 133 in the hooking mechanisms on the two sides are retracted, at this time, the goods are transferred into the business unit 13, and the swing rod 134 swings back by 90 degrees to the vertical plane;

step e: the first rocking bar 261 and the second remote bar 262 in the anti-rocking unit 2 are folded;

step f: the business unit 13 rotates 90 degrees, the stretching direction of the hooking mechanism faces to the temporary storage unit on the other side of the gantry 11, and the business unit is lifted to a second designated height so as to select an empty temporary storage unit;

step g: the business unit 13 puts goods, that is, the two sides of the hooking mechanism extend out of the temporary storage unit through the middle insertion teeth 132 and the inner insertion teeth 133, at this time, the goods can be pushed to the temporary storage unit through the push plate 135 on the inner insertion teeth 133, and then the hooking mechanism is retracted. Thus, the goods taking process is completed once.

This prevent shaking AGV's put goods process and above-mentioned get goods process reverse, this text is no longer repeated.

Second embodiment

Referring to fig. 5, fig. 5 is a schematic diagram illustrating an operating state of an anti-sway unit in an anti-sway AGV according to a second embodiment of the present invention when the anti-sway unit is opened.

The second embodiment of the present invention provides an anti-sway AGV, which is different from the anti-sway AGV provided by the first embodiment of the present invention only in that: the first connector 281 and the second connector 282 of the anti-sway unit 2 are both fixedly connected to the top of the gantry 12, and the first chassis 1361 and the second chassis 1362 are disposed at the top end of the gantry 12. This prevent shaking AGV can solve rocking and empting problem of transport type AGV equally.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a prevent shaking AGV which characterized in that includes AGV body (1) and prevents shaking unit (2), prevent shaking unit (2) and include slider (23) and be used for the drive slider (23) are the drive arrangement of rectilinear movement to and first link mechanism and second link mechanism, wherein:

in the first link mechanism, the inner end of a first link (251) is hinged with the sliding block (23), the outer end of the first link (251) is hinged with the inner end of a first rocker (261), the first rocker (261) is hinged with a first connecting piece (281), and the first connecting piece (281) is fixedly connected to the AGV body (1);

in the second link mechanism, the inner end of a second link (252) is hinged with the sliding block (23), the outer end of the second link (252) is hinged with the inner end of a second rocker (262), the second rocker (262) is hinged with a second connecting piece (282), and the second connecting piece (282) is fixedly connected to the AGV body (1);

the first linkage mechanism and the second linkage mechanism are arranged in an axial symmetry manner, and when the sliding block (23) moves forwards along a straight line, the outer end of the first rocker (261) and the outer end of the second rocker (262) are far away from each other in a horizontal plane so as to be respectively supported on the goods shelves (3) on two sides of the corridor; when the sliding block (23) moves reversely along a straight line, the outer end of the first rocker (261) and the outer end of the second rocker (262) approach each other in a horizontal plane to respectively get away from the goods shelf (3) and retract into the corridor.

2. Anti-sway AGV according to claim 1, characterized in that the first rocking lever (261) comprises a first inner short bar and a first outer long bar, the angle between the first inner short bar and the first outer long bar being an obtuse angle, the first connecting piece (281) being hinged at the included angle of the first rocking lever (261), the inner end of the first inner short bar being hinged with the outer end of the first connecting bar (251);

the second rocker (262) comprises a second inner short rod and a second outer long rod, an included angle between the second inner short rod and the second outer long rod is an obtuse angle, the second connecting piece (282) is hinged to the included angle of the second rocker (262), and the inner end of the second inner short rod is hinged to the outer end of the second connecting rod (252).

3. Anti-sloshing AGV according to claim 2, characterized in that the outside of the first outer long stick, near the first connector (281), is provided with a first stop (271);

a second stop block (272) is arranged at the outer side of the second outer long rod and close to the second connecting piece (282);

when slider (23) reach preset distance along straight line forward motion, first dog (271) with first chassis (1361) on AGV body (1) offset, second dog (272) with second chassis (1362) on AGV body (1) offset.

4. Anti-sloshing AGV according to claim 1, characterized in that the driving means is a screw stepping motor (21) and the slide (23) is a nut slide in threaded connection with the screw.

5. Anti-sway AGV according to claim 4, characterized in that the body of the screw stepping motor (21) is fixedly connected to the AGV body (1) by a motor bracket (22);

and/or a screw rod of the screw rod stepping motor (21) is fixedly connected to the AGV body (1) through a bearing seat (24).

6. Anti-sloshing AGV according to any one of claims 1 to 5, characterized in that said AGV body (1) comprises a chassis (11), a portal (12) and a service unit (13), wherein:

the gantry (12) is vertically and fixedly connected to the chassis (11) and used for guiding the service unit (13) to ascend and descend to a specified height;

the business unit (13) can take and place goods on the goods shelf (3).

7. Anti-sloshing AGV according to claim 6, characterized in that said first (281) and second (282) connectors of the anti-sloshing unit (2) are each attached to the top of said portal (12).

8. Anti-sloshing AGV according to claim 6, characterized in that the service unit (13) comprises a cassette and two hooking mechanisms respectively located on both sides inside the cassette, wherein:

in each hooking and pulling mechanism, a middle gear shaping (132) can horizontally extend and retract towards the outside of the box relative to an outer gear shaping (131), an inner gear shaping (133) can horizontally extend and retract towards the outside of the box relative to the middle gear shaping (132), the outer end of the inner gear shaping (133) is provided with a swing rod (134), and the inner end of the inner gear shaping (133) is provided with a push plate (135);

when goods are taken, after the middle gear shaping (132) and the inner gear shaping (133) horizontally extend out of the box to a proper position, the swing rod (134) is driven to rotate to a horizontal position, and then the goods can be hooked; the middle gear shaping (132) and the inner gear shaping (133) are retracted into the box, so that goods can be pulled into the box, and goods taking is realized; then the swing rod (134) is driven to rotate to a vertical position;

when putting goods, well gear shaping (132) with when interior gear shaping (133) all stretches out to the box level outward, through push pedal (135) realize putting goods.

9. Anti-sloshing AGV according to claim 8, characterized in that one side of the portal (12) is provided with one or more layers (14), the service unit (13) being located on the other side of the portal (12);

the bottom of the box body is provided with a rotating mechanism for driving the box body to horizontally rotate, so that the business unit (13) can turn to the direction of the layer plate (14) and also can turn to the direction of the goods shelf (3).

10. Anti-sloshing AGV according to claim 9, characterized in that a horizontal support frame is provided on the portal (12), on which a fixed part of the rotating mechanism is mounted, the rotating part of the rotating mechanism being connected to the bottom of the magazine of the service unit (13);

the first connecting piece (281) and the second connecting piece (282) in the anti-shaking unit (2) are both fixedly connected on the horizontal support frame, or the first connecting piece (281) and the second connecting piece (282) in the anti-shaking unit (2) are both fixedly connected at the bottom of the box body of the service unit (13).