CN114348144B

CN114348144B - AGV offline mechanism and AGV

Info

Publication number: CN114348144B
Application number: CN202111656426.9A
Authority: CN
Inventors: 韦有溯; 李松; 佟坤; 王泽中; 陈亮; 袁帅
Original assignee: Huaxiao Precision Suzhou Co ltd
Current assignee: Huaxiao Precision Suzhou Co ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2023-03-14
Anticipated expiration: 2041-12-30
Also published as: CN114348144A

Abstract

The invention relates to an AGV (automatic guided vehicle) unloading mechanism and an AGV, which comprise an AGV chassis and a driving assembly, wherein the driving assembly is suitable for driving the AGV chassis to move; the lower winding auxiliary wheel assembly is arranged in the AGV chassis, and the distance between the end face of the lower winding auxiliary wheel assembly, which is back to the AGV chassis, and the AGV chassis is smaller than the distance between the end face of the driving assembly, which is back to the AGV chassis; the auxiliary jacking assembly is suitable for pushing the auxiliary offline wheel assembly until the auxiliary offline wheel assembly moves to be in contact with the ground and the driving assembly is separated from the ground, so that the effect of convenience and labor saving is achieved.

Description

AGV offline mechanism and AGV

Technical Field

The invention relates to the technical field of conveying equipment, in particular to an AGV offline mechanism and an AGV.

Background

An Automatic Guided Vehicle (AGV) is an industrial vehicle that loads goods in an automatic or manual manner, automatically travels or pulls a loading truck to a designated location according to a set route, and then loads and unloads the goods in an automatic or manual manner. An AGV (automatic guided vehicle) trolley is one of main equipment for automation of factory and warehouse material handling, particularly in the field of heavy engineering machinery, a plurality of AGVs are introduced to be used in the production process, and the AGV trolley has the characteristics of high efficiency, quickness and flexibility.

Because the AGV is difficult to avoid the condition of failure and off-line during the working process, the moving direction of the AGV is difficult to control under the condition that the driving wheel is not lifted off the ground, the resistance is large, the off-line is difficult,

present AGV's actuating mechanism has hoisting function a bit, can promote actuating mechanism and make the drive wheel liftoff, nevertheless has the limitation, can only be applicable to the drive and float the condition of hanging on the AGV chassis, can not general all AGV, and the AGV that does not have hoisting function can only drop the line hard, consequently need set up one kind and not receive AGV drive form and train overall arrangement restriction and can make things convenient for the mechanism of inserting the line fast to realize that the AGV of trouble rolls off the line fast.

Disclosure of Invention

Therefore, the invention provides an AGV offline mechanism and an AGV, aiming at solving the technical problems that the AGV without a driving mechanism with a lifting function is difficult to offline and cannot adapt to offline of the AGV in different driving modes.

An AGV offline mechanism, comprising an AGV chassis, further comprising:

the driving assembly is suitable for driving the AGV chassis to move;

the lower line auxiliary wheel assembly is arranged in the AGV chassis, and the distance from the end face, back to the AGV chassis, of one side of the lower line auxiliary wheel assembly to the AGV chassis is smaller than the distance from the end face, back to the AGV chassis, of one side of the driving assembly;

and the auxiliary jacking assembly is suitable for pushing the lower line auxiliary wheel assembly until the lower line auxiliary wheel assembly moves to be in contact with the ground and the driving assembly is separated from the ground.

Further, supplementary jacking subassembly includes the truckle mounting panel, the truckle mounting panel sets up in the opening of AGV chassis bottom, be provided with the mounting hole on the truckle mounting panel, be provided with trapezoidal screw nut on the mounting hole, trapezoidal screw nut female connection has T type lead screw seat, T type lead screw seat sets up towards ground direction, the auxiliary wheel subassembly of inserting the line is installed in the lower of T type lead screw seat.

Further, the auxiliary wheel subassembly that rolls off the production line includes three auxiliary wheel, and is three at least the auxiliary wheel sets up along AGV chassis bottom week edge, supplementary jacking subassembly also sets up at least threely, supplementary jacking subassembly and auxiliary wheel correspond the setting.

Further, be located in the AGV chassis supplementary jacking subassembly department is provided with the gravity backup pad, the top of gravity backup pad and T type lead screw seat is contradicted, be provided with the mounting panel in the AGV chassis, the gravity backup pad slides and sets up on the mounting panel, be provided with on the mounting panel and remove spacing subassembly, be suitable for to remove with spacing fixed the gravity backup pad on the mounting panel.

Furthermore, a supporting plate is arranged at the top of the T-shaped screw rod seat, and a plurality of reinforcing ribs are arranged between the supporting plate and the T-shaped screw rod seat.

Further, remove spacing subassembly including seting up a plurality of spouts that set up along T type lead screw seat length direction on the mounting panel, the gravity backup pad all is provided with the slider on spout one side towards the spout, the slider is located the spout and contradicts with the spout inner wall, be provided with the screw rod along its length direction in the spout, the screw rod pass the slider and with slider threaded connection, be provided with drive screw pivoted driving piece on the screw rod.

Further, remove spacing subassembly including setting up a plurality of pneumatic cylinders in the AGV chassis, the telescopic link of pneumatic cylinder sets up and is connected with the gravity backup pad towards the gravity backup pad direction.

Further, be provided with distance sensor on the bottom of gravity backup pad, distance sensor sets up towards T type lead screw seat direction, distance sensor passes through the controller and removes spacing subassembly electric connection.

An AGV includes the AGV mechanism that rolls off production line.

The technical scheme of the invention has the following advantages:

1. the AGV offline mechanism comprises an AGV chassis and a driving assembly, wherein the driving assembly is suitable for driving the AGV chassis to move; the lower winding auxiliary wheel assembly is arranged in the AGV chassis, and the distance between the end face of the lower winding auxiliary wheel assembly, which is back to the AGV chassis, and the AGV chassis is smaller than the distance between the end face of the driving assembly, which is back to the AGV chassis; supplementary jacking subassembly, be suitable for promoting the auxiliary wheel subassembly of inserting the line, move to and make drive assembly and ground break away from until inserting the auxiliary wheel subassembly of inserting the line, when AGV goes wrong at the in-process that work removed, the supplementary jacking subassembly of direct start this moment, supplementary jacking subassembly begins work, thereby it removes toward ground direction to drive the auxiliary wheel subassembly of inserting the line, it contradicts to insert auxiliary wheel subassembly and ground until inserting the line, and continuously make supplementary jacking subassembly work, until drive assembly and ground break away from, thereby lift AGV is whole, accomplish inserting the line of AGV, make AGV stop movement, convenient maintenance, in whole in-process, need not prescribe a limit to drive assembly's drive mode and drive assembly's the restriction of overall arrangement train, can adapt to all AGVs and realize inserting the line fast, the suitability is wider, and is convenient and labor-saving.

2. The AGV offline mechanism comprises a foot wheel mounting plate, the foot wheel mounting plate is arranged in an opening at the bottom of an AGV chassis, a mounting hole is formed in the foot wheel mounting plate, a trapezoidal lead screw nut is arranged on the mounting hole, a T-shaped lead screw seat is connected with the inside of the trapezoidal lead screw nut in a threaded manner, the T-shaped lead screw seat is arranged towards the ground direction, and the offline auxiliary wheel assembly is mounted at the lowest position of the T-shaped lead screw seat.

3. According to the AGV offline mechanism provided by the invention, the offline auxiliary wheel assembly at least comprises three auxiliary wheels, the three auxiliary wheels are arranged along the periphery of the bottom of the AGV chassis, the number of the auxiliary jacking assemblies is at least three, the auxiliary jacking assemblies and the auxiliary wheels are correspondingly arranged, and the offline support is more stable through the arrangement of the at least three auxiliary wheels.

4. According to the AGV inserting-line mechanism provided by the invention, the gravity supporting plate is arranged in the AGV chassis and positioned at the auxiliary jacking assembly, the gravity supporting plate is abutted against the top of the T-shaped screw rod seat, the mounting plate is arranged in the AGV chassis, the gravity supporting plate is arranged on the mounting plate in a sliding manner, the mounting plate is provided with the movement limiting assembly which is suitable for moving, limiting and fixing the gravity supporting plate on the mounting plate, when the T-shaped screw rod seat is rotated to move the T-shaped screw rod seat until the auxiliary wheel on the T-shaped screw rod seat is driven to be in contact with the ground, the driving assembly is lifted off, the AGV pushes the line, the movement limiting assembly is started at the moment, the movement limiting assembly drives the gravity supporting plate to move towards the T-shaped screw rod seat until the gravity supporting plate is abutted against the T-shaped screw rod seat, the gravity supporting plate is fixed and limited on the gravity supporting plate by the movement limiting assembly, the gravity supporting plate stops moving, the T-shaped screw rod seat is abutted and supported by the gravity supporting plate, so that the gravity supporting plate is dispersed on the T-shaped screw rod seat and the trapezoidal screw nut, and the stress is dispersed, thereby protecting the T-shaped screw rod seat and the screw nut.

5. According to the AGV offline mechanism provided by the invention, the supporting disc is arranged at the top of the T-shaped screw rod seat, the plurality of reinforcing ribs are arranged between the supporting disc and the T-shaped screw rod seat, and the contact area between the T-shaped screw rod seat and the gravity supporting plate is increased through the arrangement of the supporting disc, so that the stress of the T-shaped screw rod seat on the gravity supporting plate is more uniformly dispersed.

6. The invention provides an AGV offline mechanism, which is characterized in that a moving limiting component comprises a plurality of sliding grooves arranged on a mounting plate along the length direction of a T-shaped lead screw seat, sliding blocks are arranged on one side, facing the sliding grooves, of a gravity supporting plate, the sliding blocks are positioned in the sliding grooves and are abutted against the inner walls of the sliding grooves, a screw rod is arranged in the sliding grooves along the length direction of the sliding grooves, penetrates through the sliding blocks and is in threaded connection with the sliding blocks, a driving part for driving the screw rod to rotate is arranged on the screw rod, the T-shaped lead screw seat is rotated at the moment when the AGV fails, the T-shaped lead screw seat moves on a trapezoidal lead screw nut until an offline auxiliary wheel component on the T-shaped lead screw seat is contacted with the ground, the driving component is separated from the ground, the driving part is started, the driving part starts to work, the screw rod is driven to rotate, the screw rod is limited in the sliding grooves, the sliding blocks can only move along the length direction of the screw rod under the driving of the screw rod until the gravity supporting plate on the T-shaped lead screw seat is abutted against the top wall of the T-shaped lead screw seat, the gravity supporting plate and the T-shaped lead screw seat is dispersed to protect the T-shaped lead screw seat and the gravity supporting plate and the trapezoidal lead screw seat.

7. The invention provides an AGV offline mechanism, wherein a moving limiting component comprises a plurality of hydraulic cylinders arranged in an AGV chassis, telescopic rods of the hydraulic cylinders are arranged towards the direction of a gravity supporting plate and are connected with the gravity supporting plate, when offline is carried out, a T-shaped lead screw seat is started to rotate at the moment, the T-shaped lead screw seat is driven to move on a trapezoidal lead screw nut until an offline auxiliary wheel component is contacted with the ground, the whole AGV is lifted, the hydraulic cylinders are directly started at the moment, the telescopic rods of the hydraulic cylinders drive the gravity supporting plate to move until the gravity supporting plate is abutted against the side wall of the T-shaped lead screw seat, and the force exerted on the T-shaped lead screw seat by the gravity of the AGV chassis is dispersed through the gravity supporting plate, so that the T-shaped lead screw seat is protected.

8. According to the AGV offline mechanism provided by the invention, the bottom of the gravity supporting plate is provided with the distance sensor, the distance sensor is arranged towards the direction of the T-shaped screw rod seat, the distance sensor is electrically connected with the movement limiting component through the controller, through the distance sensor, when the distance between the T-shaped screw rod seat and the gravity supporting plate reaches the maximum value, the preset value is reached, the distance sensor transmits a signal into the controller, and the movement limiting component is started under the action of the controller, so that the gravity supporting plate is driven to be abutted against the T-shaped screw rod seat.

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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic diagram of the overall configuration of an AGV according to the present invention;

FIG. 2 is a partial schematic view of the downline auxiliary wheel assembly of the present invention;

FIG. 3 is a cross-sectional view of the internal structure of the AGV downline mechanism of the present invention;

fig. 4 is a schematic view of a second embodiment of a movement limiting assembly of the present invention.

Description of reference numerals:

1. a drive assembly; 2. a lower thread auxiliary wheel assembly; 3. an auxiliary jacking assembly; 31. a caster mounting plate; 32. mounting holes; 33. a trapezoidal lead screw nut; 34. a T-shaped screw rod seat; 4. a distance sensor; 5. a gravity support plate; 6. mounting a plate; 7. moving the limiting assembly; 71. a chute; 72. a slider; 73. a screw; 74. a drive member; 75. a hydraulic cylinder; 8. a support disc; 9. reinforcing ribs; 10. AGV chassis.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood 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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Examples

Referring to fig. 1-4, the present invention provides an AGV, which includes an AGV downline mechanism, wherein the AGV downline mechanism includes an AGV chassis 10, a driving assembly 1, a downline auxiliary wheel assembly 2 and an auxiliary jacking assembly 3, and the driving assembly 1 is suitable for driving the AGV chassis 10 to move; the lower line auxiliary wheel assembly 2 is arranged in the AGV chassis 10, and the distance between the end face of one side of the lower line auxiliary wheel assembly 2 back to the AGV chassis 10 and the AGV chassis 10 is smaller than the distance between the end face of one side of the driving assembly 1 back to the AGV chassis 10; the auxiliary jacking assembly 3 is adapted to push the lower line auxiliary wheel assembly 2 until the lower line auxiliary wheel assembly 2 moves into contact with the ground and disengages the drive assembly 1 from the ground.

When the AGV moves at work in-process goes wrong, this moment the auxiliary jacking subassembly 3 of direct start, auxiliary jacking subassembly 3 begins work, thereby it removes toward ground direction to drive the auxiliary wheel subassembly 2 of inserting the line, it conflicts to insert auxiliary wheel subassembly 2 and ground until inserting the line, and continuously make auxiliary jacking subassembly 3 work, break away from until drive assembly 1 and ground, thereby lift up the AGV is whole, accomplish inserting the line of AGV, make AGV stop moving, convenient maintenance, at whole in-process, need not inject the restriction of drive assembly 1's drive mode and drive assembly 1's train overall arrangement, can adapt to all AGVs and realize inserting the line fast, the suitability is wider, it is convenient laborsaving.

Supplementary jacking subassembly 3 includes truckle mounting panel 31, truckle mounting panel 31 erects in the opening of AGV chassis 10 bottom, still leaves the clearance before truckle mounting panel 31 and the open-ended lateral wall, operates through the clearance, be provided with mounting hole 32 on the truckle mounting panel 31, be provided with trapezoidal lead screw nut 33 on the mounting hole 32, trapezoidal lead screw nut 33 female connection has T type lead screw seat 34, T type lead screw seat 34 sets up towards the ground direction, the auxiliary wheel subassembly 2 that rolls off the production line is installed at the lowest of T type lead screw seat 34, when the AGV dolly breaks down and needs to roll off the production line, T type lead screw seat 34 is rotated through outside rotating-structure this moment, because T type lead screw seat 34 and trapezoidal lead screw nut 33 threaded connection, when T type lead screw seat 34 rotates on trapezoidal lead screw nut 33, can make T type lead screw seat 34 move on trapezoidal lead screw nut 33 to drive auxiliary wheel subassembly 2 that rolls off the production line on T type lead screw seat 34 moves toward ground direction, until roll off the production line auxiliary wheel subassembly 2 and ground contact, and rotate T type lead screw seat 34 once more, thereby drive subassembly 1 and the ground drive wheel subassembly that will drive the line that rolls off the production line and get rid of AGV, and the whole AGV drive wheel subassembly that the production line is more suitable for a general, and the ground drive the AGV is more suitable for the AGV, and the ground drive the AGV, and the AGV is more.

Offline auxiliary wheel assembly 2 comprises three auxiliary wheels, and is three the auxiliary wheels are arranged along the periphery of the bottom of AGV chassis 10, auxiliary jacking assembly 3 is also arranged three, auxiliary jacking assembly 3 and auxiliary wheels are arranged correspondingly, and the offline auxiliary wheel assembly is arranged through at least three auxiliary wheels, so that the offline support is more stable.

Be located in AGV chassis 10 supplementary jacking subassembly 3 department is provided with gravity support plate 5, the top of gravity support plate 5 and T type lead screw seat 34 is contradicted, be provided with mounting panel 6 in the AGV chassis 10, gravity support plate 5 slides and sets up on mounting panel 6, be provided with on the mounting panel 6 and remove spacing subassembly 7, be suitable for to remove and spacing fixed to gravity support plate 5 on the mounting panel 6, make T type lead screw seat 34 remove through rotating T type lead screw seat 34, auxiliary wheel and ground contact on up to driving T type lead screw seat 34, and leave driving assembly 1 liftoff, when pushing away the line with AGV, start moving spacing subassembly 7 this moment, it removes to T type lead screw seat 34 direction to remove spacing subassembly 7 drive gravity support plate 5, conflict until gravity support plate 5 and T type lead screw seat 34, and come to fix spacing to gravity support plate 5 through removing spacing subassembly 7, make gravity support plate 5 stop to support T type lead screw seat 34 and contradict, thereby support auxiliary wheel support and apply on T type lead screw seat 34 and trapezoidal lead screw seat 33 through the gravity dispersion nut, thereby the gravity dispersion nut 33 is carried out through gravity dispersion nut 34, thereby trapezoidal nut dispersion protection screw seat 33.

The top of T type lead screw seat 34 is provided with supporting disk 8, be provided with a plurality of strengthening ribs 9 between supporting disk 8 and the T type lead screw seat 34, through the setting of supporting disk 8 to make the area of contact increase of T type lead screw seat 34 and gravity backup pad 5, thereby make the atress of T type lead screw seat 34 on gravity backup pad 5 evenly dispersed more, intensity between T type lead screw seat 34 and the supporting disk 8 can be strengthened to strengthening rib 9 simultaneously.

The supporting disc 8 is provided with an elastic rubber layer on the end face of one side facing the gravity supporting plate 5, and when the gravity supporting plate 5 moves to the supporting disc 8, the elastic rubber layer is abutted to the elastic rubber layer.

The movable limiting component 7 comprises a plurality of sliding grooves 71 which are formed in the mounting plate 6 and arranged along the length direction of the T-shaped lead screw seat 34, a sliding block 72 is arranged on one side of the gravity supporting plate 5 facing the sliding grooves 71, the sliding block 72 is located in the sliding grooves 71 and is abutted to the inner wall of the sliding grooves 71, a screw 73 is arranged in the sliding grooves 71 along the length direction of the sliding grooves, the screw 73 penetrates through the sliding block 72 and is in threaded connection with the sliding block 72, a driving piece 74 for driving the screw 73 to rotate is arranged on the screw 73, when the AGV fails, the lower line is required to be made, the T-shaped lead screw seat 34 is rotated, the T-shaped lead screw seat 34 is moved on the trapezoidal lead screw nut 33 until the lower line auxiliary wheel component 2 on the T-shaped lead screw seat 34 is in contact with the ground, the driving piece 1 is separated from the ground, the driving piece 74 is started, the driving piece 74 starts to work, the screw 73 is driven to drive the screw 73 to rotate, the screw 73 is rotated, the sliding block 72 is limited in the sliding groove 71, so that the sliding block 72 can only move along the length direction of the screw 73 under the driving force of the gravity supporting plate 5 and the supporting plate 34 is dispersed, the supporting plate 34, and the top wall of the trapezoidal lead screw seat is subjected to the force dispersed, and the top wall of the supporting plate 34, so that the trapezoidal lead screw 34 is dispersed, and the top wall is dispersed, and the supporting plate 34, and the top wall is subjected to the top wall of the supporting plate 34, and the supporting plate 34, and the top wall of the supporting plate 34, and the top wall of the supporting plate.

Here, the driving member 74 is provided as a driving motor, and the slide groove 71 is provided in two, and the two slide grooves 71 are symmetrically provided with respect to the gravity support plate 5.

As an alternative embodiment, move spacing subassembly 7 including setting up a plurality of pneumatic cylinders 75 in AGV chassis 10, the telescopic link of pneumatic cylinder 75 sets up towards gravity backup pad 5 direction and is connected with gravity backup pad 5, when going on inserting the production line, start to rotate T type lead screw seat 34 this moment, drive T type lead screw seat 34 and move on trapezoidal screw nut 33, auxiliary wheel subassembly 2 and ground contact up to inserting the production line, lift whole AGV, directly start up pneumatic cylinder 75 this moment, the telescopic link of pneumatic cylinder 75 drives gravity backup pad 5 and moves, conflict until gravity backup pad 5 and T type lead screw seat 34 lateral wall, come the power of dispersing AGV chassis 10 gravity and applying on T type lead screw seat 34 through gravity backup pad 5, protect T type lead screw seat 34.

Be provided with distance sensor 4 on the bottom of gravity backup pad 5, distance sensor 4 sets up towards T type lead screw seat 34 orientation, distance sensor 4 passes through the controller and removes spacing subassembly 7 electric connection, through distance sensor 4, when the distance between T type lead screw seat 34 and the gravity backup pad 5 reaches the biggest, reaches the default this moment, and in distance sensor 4 arrived the controller with signal transmission this moment, start under the effect of controller and remove spacing subassembly 7 to drive gravity backup pad 5 and the conflict of T type lead screw seat 34.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims

1. An AGV offline mechanism comprising an AGV chassis (10), further comprising:

the driving assembly (1) is suitable for driving the AGV chassis (10) to move;

the lower line auxiliary wheel assembly (2) is arranged in the AGV chassis (10), and the distance from the end surface of one side, back to the AGV chassis (10), of the lower line auxiliary wheel assembly (2) to the AGV chassis (10) is smaller than the distance from the end surface of one side, back to the AGV chassis (10), of the driving assembly (1);

an auxiliary jacking assembly (3) adapted to push the auxiliary wheel assembly (2) until the auxiliary wheel assembly (2) moves into contact with the ground and disengages the drive assembly (1) from the ground;

the auxiliary jacking assembly (3) comprises a caster mounting plate (31), the caster mounting plate (31) is arranged in an opening in the bottom of the AGV chassis (10), a mounting hole (32) is formed in the caster mounting plate (31), a trapezoidal lead screw nut (33) is arranged on the mounting hole (32), a T-shaped lead screw seat (34) is connected to the inner thread of the trapezoidal lead screw nut (33), the T-shaped lead screw seat (34) is arranged towards the ground direction, and the offline auxiliary wheel assembly (2) is arranged at the lowest position of the T-shaped lead screw seat (34);

be located in AGV chassis (10) supplementary jacking subassembly (3) department is provided with gravity backup pad (5), the top of T type screw seat (34) in gravity backup pad (5) and the supplementary jacking subassembly (3) is contradicted, be provided with mounting panel (6) in the AGV chassis (10), gravity backup pad (5) slide and set up on mounting panel (6), be provided with on mounting panel (6) and remove spacing subassembly (7), be suitable for to remove with spacing fixed gravity backup pad (5) on mounting panel (6).

2. An AGV downline mechanism according to claim 1 wherein the downline auxiliary wheel assembly (2) includes at least three auxiliary wheels, three of which are located along the bottom periphery of the AGV chassis (10), the auxiliary jacking assembly (3) is also located at least three, and the auxiliary jacking assembly (3) and the auxiliary wheels are correspondingly located.

3. AGV downloader according to claim 1, characterised in that a support plate (8) is arranged on top of the T-shaped screw seat (34), a number of stiffening ribs (9) being arranged between the support plate (8) and the T-shaped screw seat (34).

4. An AGV off-line mechanism according to claim 3 characterized in that, remove spacing subassembly (7) including set up on mounting panel (6) along a plurality of spouts (71) that T type lead screw seat (34) length direction set up, gravity support plate (5) all are provided with slider (72) towards spout (71) one side, slider (72) are located spout (71) and contradict with spout (71) inner wall, be provided with screw rod (73) along its length direction in spout (71), slider (72) and slider (72) threaded connection are passed and to screw rod (73), be provided with drive screw rod (73) pivoted driving piece (74) on screw rod (73).

5. AGV off line mechanism according to claim 3, characterized in that the movement limiting assembly (7) comprises a plurality of hydraulic cylinders (75) arranged in the AGV chassis (10), the telescopic rods of the hydraulic cylinders (75) being arranged towards the gravity support plate (5) and connected to the gravity support plate (5).

6. An AGV off-line mechanism according to claim 3 characterized in that a distance sensor (4) is provided on the bottom of the gravity support plate (5), the distance sensor (4) is set towards the T-shaped screw seat (34), the distance sensor (4) is electrically connected with the moving limit component (7) through a controller.

7. An AGV comprising an AGV downline according to any of claims 1 to 6.