CN118083871A - AGV dolly vertical lifting device - Google Patents

Abstract

The invention relates to the technical field of AGV robots, in particular to an AGV trolley vertical lifting device which comprises a frame, a control system, wheels, a supporting table, a supporting frame, a fork frame, a transverse guide mechanism, a vertical guide mechanism, a walking driving mechanism, a linear driving mechanism, a lifting driving mechanism and a self-locking mechanism, wherein the self-locking mechanism comprises a second driving motor, a rotating shaft, a fixed sleeve, two sliding sleeves, an upper guide wheel, two winding wheels, two pull ropes and two reset springs, the rotating shaft is rotatably arranged at the lower part of the supporting frame, the second driving motor is connected with the rotating shaft, the fixed sleeve is fixedly arranged on the frame and distributed at the axial middle part of the rotating shaft, first ratchets are convexly arranged at the two axial ends of the fixed sleeve, convex strips are respectively arranged at the two axial sides of the fixed sleeve, the two sliding sleeves are slidably sleeved on the rotating shaft and distributed at the two axial sides of the fixed sleeve, and the AGV trolley vertical lifting device has a self-locking function and is convenient to load and unload.

Description

AGV dolly vertical lifting device

Technical Field

The invention relates to the technical field of AGV robots, in particular to a vertical lifting device of an AGV trolley.

Background

The unmanned carrier (Automated Guided Vehicle, abbreviated as AGV) is a carrier equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path, has safety protection and various transfer functions, and is used for industrial application without a driver, and uses a rechargeable battery as its power source, and can generally control its travel route through a computer, combine an album and behaviors, or set up its travel route by using an electromagnetic track, which is stuck on the floor, and then moves and acts according to information brought by the electromagnetic track.

Patent application publication number CN114162235A discloses a lifting carriage and an AGV having the same, and specifically discloses a lifting carriage including: the lifting device comprises a bottom plate and lifting frames fixed on two sides of the bottom plate, wherein lifting guide rails are arranged on two opposite side surfaces of the lifting frames, and the lifting guide rails are arranged at two ends of the lifting frames in parallel; a lifting conveying platform is connected between the two lifting frames; the lifting conveying platform comprises a lifting frame, a lifting rail, a lifting guide rail and a lifting guide rail, wherein connecting plates are arranged on two sides of the lifting conveying platform, lifting guide rails are arranged on two sides, facing away from each other, of the lifting frame, the lifting guide rails are connected with the side faces of the connecting plates, and the lifting guide rails are used for driving the lifting conveying platform to slide along the lifting rail; the connecting plate with connect through the double hinge spare between the lift conveying platform, the double hinge spare is used for expanding and makes lift conveying platform inclines for the horizontal direction, and when lift guide takes place the skew, the double hinge spare can incline under the influence of lift lead screw effort and expand to make lift conveying platform slope rock, avoid taking place the jamming at the lift in-process through the slope, realize self-adaptation regulation's operating system.

But set up lifting frame through the both sides of bottom plate, and lifting frame's two opposite sides set up lifting rail, lifting rail parallel arrangement is at lifting frame's both ends relatively, the connection is provided with lift conveying platform between two lifting frame, just so, lift conveying platform distributes between two lifting frame, not only occupy great space, and make the convenience of loading and unloading reduce, simultaneously in lifting process because the goods is overweight, perhaps have other reasons such as electricity suddenly to lead to elevating system unable to keep former state, make it move down easily, do not have self-locking ability, very unfavorable for its use.

Disclosure of Invention

Therefore, in order to solve the problems, the invention provides the AGV trolley vertical lifting device with a self-locking function and convenient loading and unloading.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

The utility model provides an AGV dolly vertical lift device, includes frame, control system, wheel, brace table, support frame, fork, horizontal guiding mechanism, vertical guiding mechanism, travel driving mechanism, sharp actuating mechanism, lift actuating mechanism and self-locking mechanism, the lower part of frame is located to the wheel, travel driving mechanism is connected with the wheel drive, the upper portion of frame is located to the brace table, horizontal guiding mechanism locates on the brace table, the support frame is located on the horizontal guiding mechanism, sharp actuating mechanism is connected with the support frame drive, vertical guiding mechanism locates on the support frame, the fork is located on the vertical guiding mechanism, lift actuating mechanism is connected with the fork drive, travel driving mechanism, sharp actuating mechanism, lift actuating mechanism and self-locking mechanism are connected with control system electricity respectively, lift actuating mechanism includes first actuating motor, pivot, fixed sleeve, two slip covers, upper guide pulley, two winding wheels, two stay cords and two reset springs, the pivot is rotationally located the lower part of support frame, second actuating motor is connected with the straight line actuating mechanism and support frame drive connection, straight line actuating mechanism and fork arm, the two slip covers are located on two axial direction sleeve, two axial direction sleeve fixed sleeve are located on two axial direction sleeve, two slip sleeve fixed sleeve are located on two axial direction sleeve, two axial sleeve fixed sleeve are located respectively, two axial sleeve fixed in the axial direction are located, two sleeve axial sleeve is fixed in the axial direction is located, two sleeve is fixed in the axial sleeve is fixed, and is located on the axial sleeve, and is fixed in axial sleeve, and two axial sleeve fixed, the upper guide wheel is arranged on the upper portion of the support frame, two guide grooves are formed in the upper guide wheel, the distance between the two guide grooves is smaller than the distance between the two winding wheels, two pull ropes are respectively wound on the two guide grooves of the upper guide wheel, the free ends of the pull ropes are connected with the lifting driving mechanism, and the driving speed of the first driving motor is the same as that of the second driving motor.

Further, the baffle rings are fixedly arranged on the rotating shaft and located on the outer side of the sliding sleeve in the axial direction, a first friction plate is arranged on one side face, close to the sliding sleeve, of each baffle ring, a second friction plate matched with the first friction plate is arranged on each sliding sleeve, and the sliding sleeve is pushed by the corresponding reset spring, so that the first friction plates are propped against the second friction plates.

Further, the opposite surfaces of the first friction plate and the second friction plate are respectively provided with a first friction strip and a second friction strip, the first friction strips are distributed along the radial direction of the first friction plate, and the second friction strips are distributed along the radial direction of the second friction plate.

Further, all concave first arcwall face that is equipped with of the face in opposite directions of first friction strip and second friction strip makes the upper end formation hook portion of first friction strip, second friction strip through first arcwall face, the up end of hook portion is equipped with the second arcwall face, the convex surface of second arcwall face is towards the outside.

Further, the lifting driving mechanism further comprises a transmission shaft, two driving sprockets, two driven sprockets, two chains and a driving seat, the transmission shaft is rotatably arranged at the lower part of the supporting frame, the first driving motor is connected with the transmission shaft, the driving sprockets are arranged at the two axial ends of the transmission shaft, the driven sprockets are rotatably arranged at the upper end of the supporting frame, the chains are respectively wound on the driving sprocket and the driven sprocket which are arranged at one lateral side of the transmission shaft, the driving seat is transversely arranged on the two chains and is connected with the lifting driving mechanism, and the fork frame is fixedly arranged on the driving seat.

Further, the rotary support device further comprises a rotary driving mechanism, a supporting shaft, a plurality of supporting rollers and a positioning mechanism, wherein the upper end of the supporting shaft is arranged in the middle of the supporting table, the supporting shaft is rotatably arranged on the frame through a bearing, the rotary driving mechanism is connected with the supporting shaft, the supporting rollers are arranged on the frame and are circumferentially distributed on the lower side of the supporting table, and the positioning mechanism is arranged between the supporting table and the frame and used for rotationally positioning the supporting table.

Further, the transverse guiding mechanism comprises a transverse sliding block, a first transverse guide rail arranged on the supporting table, a second transverse guide rail and a third transverse guide rail which are arranged on the frame and distributed on the periphery side of the supporting table, wherein the second transverse guide rail and the third transverse guide rail are vertically distributed, and the first transverse guide rail is matched with the second transverse guide rail or the first transverse guide rail is matched with the third transverse guide rail through rotating the supporting table.

Further, the upper ends of the first transverse guide rail, the second transverse guide rail and the third transverse guide rail are provided with convex edges along the transverse direction outwards in a protruding mode, the lower ends of the two transverse sides of the transverse sliding block are provided with extension parts along the extending parts, the extension parts are provided with supporting wheels, when the transverse sliding block is matched with the first transverse guide rail, the transverse sliding block abuts against the upper surface and the transverse two side faces of the first transverse guide rail, and the supporting wheels abut against the lower surfaces of the convex edges.

Further, positioning mechanism is two, locates the week side of second transverse guide and third transverse guide respectively, positioning mechanism is including locating the direction setting element on the frame and locating the locating lever on the brace table, the direction setting element is including rotationally locating the carousel on the frame, locating the arc separation blade on the carousel and locating the torsional spring on carousel and the frame, the arc separation blade is eccentric structure, and when the location, the locating lever supports to lean on the medial surface of arc separation blade to slide, drives the carousel simultaneously and overcomes the torsional spring and rotate for the arc separation blade blocks the locating lever and realizes the location.

By adopting the technical scheme, the invention has the beneficial effects that: the vertical lifting device of the AGV trolley drives a frame to move to the periphery of goods to be transferred through a traveling driving mechanism, drives a supporting frame and a fork frame to move outwards along a transverse guiding mechanism through a linear driving mechanism, drives the fork frame to lift through a lifting driving mechanism, thereby forking the goods, drives the fork frame to return along the transverse guiding mechanism through the linear driving mechanism, finally drives the frame to move through the traveling driving mechanism to transfer the goods, the structure is convenient for loading and unloading the goods, the fork frame is provided with power through a first driving motor of the lifting driving mechanism when lifted, drives the fork frame to move, simultaneously drives the fork frame to move through a second driving motor of a self-locking mechanism and the first driving motor to match the same speed, namely the first driving motor and the second driving motor synchronously drive the fork frame to move, so that the second driving motor provides auxiliary power, when the first driving motor of the lifting driving mechanism fails, the utility model provides a pull chain, the fork frame descends sharply, and gravity acts on the stay cord, because the stay cord produces a pulling force, because the interval between two guide slots of upper guide pulley is less than the interval between two winding wheels, the pulling force that forms at the stay cord drives slip cap extrusion reset spring and moves to fixed cover, make the second ratchet of slip cap and the first ratchet meshing of fixed cover, realize the locking, avoid the damage of goods, and can be after first actuating mechanism resumes power, make the extrusion force of extrusion reset spring reduce through lifting fork frame, and then make the first ratchet of fixed cover break away from with the second ratchet of slip cap, realize the unblock, the convenience of use is high, compared with traditional self-locking structure, this kind of structure can be when providing auxiliary power, realize the auto-lock fast through the speed difference, the reaction speed is fast, the noise is little.

Drawings

FIG. 1 is a schematic elevational view of an embodiment of the present invention;

FIG. 2 is a schematic view of a partially cut-away structure of an embodiment of the invention;

FIG. 3 is a schematic top view of an embodiment of the present invention;

FIG. 4 is a schematic top view of the fork frame with the support frame omitted in the embodiment of the invention;

FIG. 5 is a schematic top view of the embodiment of the present invention, omitting the support frame, fork and support table;

FIG. 6 is a schematic diagram of the front view of the support frame, fork, and self-locking mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a right-side view of a self-locking mechanism in an unlocked state according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a right-side view of the self-locking mechanism in a locked state according to an embodiment of the present invention;

FIG. 9 is a schematic structural view of the first friction strip and the second friction strip in the engaged state according to the embodiment of the present invention;

FIG. 10 is a right side view of a first friction plate according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of the elevation drive mechanism, support frame, fork frame in front view in an embodiment of the invention;

FIG. 12 is a schematic cross-sectional view of a cross slider and a first cross rail in an embodiment of the present invention;

FIG. 13 is a schematic view of a positioning mechanism according to an embodiment of the present invention;

FIG. 14 is a schematic top view of a positioning mechanism according to an embodiment of the present invention;

FIG. 15 is a schematic top view of the positioning mechanism in an end state according to an embodiment of the present invention;

Fig. 16 is a circuit block diagram of an embodiment of the present invention.

Reference numerals illustrate:

1. A frame; 2. a control system; 3. a wheel; 4. a support table; 5. a support frame; 6. a fork; 7. a lateral guide mechanism; 8. a vertical guide mechanism; 9. a walking driving mechanism; 10. a linear driving mechanism; 11. a lifting driving mechanism; 12. a self-locking mechanism; 13. a support shaft; 14. a rotation driving mechanism; 15. supporting rollers; 16. a positioning mechanism;

71. A transverse slide block; 72. a first transverse rail; 73. a second transverse rail; 74. a third transverse rail; 75. a convex edge; 76. an extension; 77. a support wheel;

100. A guide groove; 101. a third driving motor; 102. a rack; 201. a first arcuate surface; 202. a hook portion; 203. a second arcuate surface;

111. a first driving motor; 112. a transmission shaft; 113. a drive sprocket; 114. a driven sprocket; 115. a chain; 116. a driving seat;

121. A second driving motor; 122. a rotating shaft; 123. a fixed sleeve; 124. a sliding sleeve; 125. an upper guide wheel; 126. a winding wheel; 127. a pull rope; 128. a return spring; 129. a first ratchet; 130. a second ratchet; 131. a convex strip; 132. a baffle ring; 133. a first friction plate; 134. a second friction plate; 135. a first friction bar; 136. a second friction bar;

141. A fourth driving motor; 142. a drive gear; 143. a driven gear; 161. a positioning rod; 162. a turntable; 163. an arc-shaped baffle; 164. and (3) a torsion spring.

Detailed Description

The invention will now be further described with reference to the drawings and detailed description.

The embodiment of the invention comprises the following steps:

Referring to fig. 1 to 16, an AGV trolley vertical lifting device comprises a frame 1, a control system 2, wheels 3, a supporting table 4, a supporting frame 5, a fork frame 6, a transverse guide mechanism 7, a vertical guide mechanism 8, a walking driving mechanism 9, a linear driving mechanism 10, a lifting driving mechanism 11 and a self-locking mechanism 12, wherein the wheels 3 are arranged at the lower part of the frame 1, the walking driving mechanism 9 is in driving connection with the wheels 3, the walking driving mechanism 9 is used for driving the wheels 3 to rotate in the prior art, the supporting table 4 is arranged at the upper part of the frame 1, the transverse guide mechanism 7 is arranged on the supporting table 4, the supporting frame 5 is arranged on the transverse guide mechanism 7, the linear driving mechanism 10 is in driving connection with the supporting frame 5, the linear driving mechanism 10 comprises a third driving motor 101 arranged on the supporting frame 5, a driving gear (not shown in the figure) arranged at the output end of the third driving motor 101 and a rack 102 arranged on the supporting table 4 and the frame 1, the driving gear is meshed with the rack 102, the vertical guide mechanism 8 is arranged on the supporting frame 5, the fork frame 6 is arranged on the vertical guide mechanism 8, the lifting driving mechanism 11 is in driving connection with the fork frame 6, the walking driving mechanism 9, the linear driving mechanism 10, the lifting driving mechanism 11 and the self-locking mechanism 12 are respectively and electrically connected with the control system 2, the lifting driving mechanism 11 comprises a first driving motor 111, the self-locking mechanism 12 comprises a second driving motor 121, a rotating shaft 122, a fixed sleeve 123, two sliding sleeves 124, an upper guide wheel 125, two winding wheels 126, two pull ropes 127 and two reset springs 128, the rotating shaft 122 is rotatably arranged at the lower part of the supporting frame 5, the second driving motor 121 is connected with the rotating shaft 122, the fixed sleeve 123 is fixedly arranged on the frame 1 and is distributed in the axial middle of the rotating shaft 122, the first ratchets 129 are respectively and convexly arranged at the two axial ends of the fixed sleeve 123, the rotating shaft 122 is provided with convex strips 131 on the two axial sides of the fixed sleeve 123, the sliding sleeve 124 is slidably sleeved on the rotating shaft 122 and is distributed on the two axial sides of the fixed sleeve 123, the second ratchets 130 are respectively arranged at the axial ends, close to the fixed sleeve 123, of the sliding sleeve 124, the two return springs 128 are sleeved on the rotating shaft 122 and are distributed between the sliding sleeve 124 and the fixed sleeve 123, the two winding wheels 126 are respectively arranged on the sliding sleeve 124, the two pull ropes 127 are respectively wound on the winding wheels 126, the upper guide wheel 125 is arranged on the upper portion of the supporting frame 5, the upper guide wheel 125 is provided with two guide grooves 100, the distance between the two guide grooves 100 is smaller than the distance between the two winding wheels 126, the two pull ropes 127 are respectively wound on the two guide grooves 100, the free ends of the sliding sleeve 124 are connected with the lifting driving mechanism 11, and the driving speed of the first motor 111 is the same as the driving speed of the second driving motor 121.

The vertical lifting device of the AGV trolley drives a frame 1 to move to the periphery of goods to be transferred through a traveling driving mechanism 9, drives a supporting frame 5 and a fork frame 6 to move outwards along a transverse guiding mechanism 7 through a linear driving mechanism 10, drives the fork frame 6 to lift through a lifting driving mechanism 11, thereby forking the goods, drives the fork frame 6 to return along the transverse guiding mechanism 7 through the linear driving mechanism 10, and finally drives the frame 1 to move through the traveling driving mechanism 9 to transfer the goods, the structure is convenient for loading and unloading the goods, when the fork frame 6 is lifted, the first driving motor 111 of the lifting driving mechanism 11 provides power to drive the fork frame 6 to move, meanwhile, the second driving motor 121 of the self-locking mechanism 12 and the first driving motor 111 are matched with the same speed, namely the first driving motor 111 and the second driving motor 121 synchronously drive the fork frame 6 to move, so that the second driving motor 121 provides auxiliary power, when the first driving motor 111 of the lifting driving mechanism 11 fails, the fork frame 6 is rapidly lowered and gravity acts on the pull rope 127, so that the pull rope 127 generates a pulling force, and because the distance between the two guide grooves 100 of the upper guide wheel 125 is smaller than the distance between the two winding wheels 126, the pulling force formed by the pull rope 127 drives the sliding sleeve 124 to extrude the return spring 128 to move towards the fixed sleeve 123, so that the second ratchet teeth 130 of the sliding sleeve 124 are meshed with the first ratchet teeth 129 of the fixed sleeve 123, locking is realized, damage to goods is avoided, and after the first driving motor 111 resumes power, the extrusion force of the extrusion return spring 128 is reduced by lifting the fork frame 6, so that the first ratchet teeth 129 of the fixed sleeve 123 are separated from the second ratchet teeth 130 of the sliding sleeve 124, unlocking is realized, and compared with the traditional self-locking structure, the structure can provide auxiliary power and simultaneously realize self-locking through speed difference, and has high reaction speed and low noise.

And, the pivot 122 is last and be located the axial outside of sliding sleeve 124 and all fixedly be equipped with the baffle ring 132, two be equipped with first friction disc 133 on the side that is close to sliding sleeve 124 on the baffle ring 132, two be equipped with respectively on the sliding sleeve 124 with first friction disc 133 complex second friction disc 134, promote sliding sleeve 124 through reset spring 128 for first friction disc 133 supports and leans on second friction disc 134, through reset spring 128's setting, when first driving motor 111 and second driving motor 121 synchronous drive, make first friction disc 133 support and lean on second friction disc 134, realize the power transmission of pivot 122, winding wheel 126, play auxiliary drive effect, play the guard action of second driving motor 121, and this kind of structural means can improve transmission efficiency, reduce the energy consumption, play energy-concerving and environment-protective effect.

Further, the opposite surfaces of the first friction plate 133 and the second friction plate 134 are respectively provided with a first friction strip 135 and a second friction strip 136, the first friction strips 135 are distributed along the radial direction of the first friction plate 133, the second friction strips 136 are distributed along the radial direction of the second friction plate 134, the opposite surfaces of the first friction strips 135 and the second friction strips 136 are concavely provided with a first arc-shaped surface 201, the upper ends of the first friction strips 135 and the second friction strips 136 form a hook portion 202 through the first arc-shaped surface 201, the upper end surface of the hook portion 202 is provided with a second arc-shaped surface 203, the convex surface of the second arc-shaped surface 203 faces to the outside, when the first friction plate 133 is attached to the second friction plate 134, the hook portion 202 on the first friction strips 135 is hooked with the hook portion 202 on the second friction strips 136, so that good transmission efficiency is achieved, and under the condition of the second friction plate 134, the first friction strips 135 and the second friction strips 136 are convenient to separate, and the convenience in use is high.

In this embodiment, the lifting driving mechanism 11 further includes a driving shaft 112, two driving sprockets 113, two driven sprockets 114, two chains 115 and a driving seat 116, the driving shaft 112 is rotatably disposed at the lower portion of the supporting frame 5, the first driving motor 111 is connected with the driving shaft 112, two driving sprockets 113 are disposed at two axial ends of the driving shaft 112, two driven sprockets 114 are rotatably disposed at the upper end of the supporting frame 5, each chain 115 is respectively wound on the driving sprocket 113 and the driven sprocket 114 disposed at one lateral side of the driving shaft 112, the driving seat 116 is transversely mounted on the two chains 115 and connected with the lifting driving mechanism 11, the fork 6 is fixedly disposed on the driving seat 116, and the driving shaft 112 is driven by the first driving motor 111 to rotate, so that the driving sprocket 113, the driven sprocket 114 and the chains 115 are synchronously driven, and the fork 6 are driven to move, thereby improving the stability of operation.

And still include rotation actuating mechanism 14, back shaft 13, a plurality of backing roller 15 and positioning mechanism 16, rotation actuating mechanism 14 is including locating the fourth driving motor 141 on the frame 1, locating the epaxial driving gear 142 of fourth driving motor 141 output, locating the driven gear 143 on the back shaft 13, the middle part of supporting bench 4 is located to the upper end of back shaft 13, back shaft 13 is rotationally located on the frame 1 through the bearing, rotation actuating mechanism 14 is connected with back shaft 13, each backing roller 15 locates on the frame 1, and encircles and distribute in the downside of supporting bench 4, positioning mechanism 16 locates between supporting bench 4 and the frame 1 for the rotational positioning of supporting bench 4 for supporting bench 4 can drive fork 6 rotation, and the adjustment of fork 6 of being convenient for reduces the rotation and the turning around of frame 1, improves the operating efficiency, and then improves work efficiency.

Notably, the transverse guiding mechanism 7 includes a transverse slider 71, a first transverse guide rail 72 disposed on the supporting platform 4, a second transverse guide rail 73 and a third transverse guide rail 74 disposed on the frame 1 and distributed on the periphery side of the supporting platform 4, the second transverse guide rail 73 is vertically distributed with the third transverse guide rail 74, the first transverse guide rail 72 is matched with the second transverse guide rail 73 or the first transverse guide rail 72 is matched with the third transverse guide rail 74 by rotating the supporting platform 4, convex edges 75 are disposed at the upper ends of the first transverse guide rail 72, the second transverse guide rail 73 and the third transverse guide rail 74 along the upper edges of the transverse slider 71 along the transverse directions, extension portions 76 are disposed at the lower edges of the two transverse sides of the transverse slider 71, supporting wheels 77 are abutted against the upper surface and the two transverse sides of the first transverse guide rail 72, and the supporting wheels 77 are abutted against the lower surface of the convex edges 75.

Meanwhile, the two positioning mechanisms 16 are respectively arranged on the circumference sides of the second transverse guide rail 73 and the third transverse guide rail 74, the positioning mechanism 16 comprises a guiding positioning piece arranged on the frame 1 and a positioning rod 161 arranged on the supporting table 4, the guiding positioning piece comprises a rotary table 162 rotatably arranged on the frame 1, an arc-shaped baffle plate 163 arranged on the rotary table 162 and a torsion spring 164 arranged on the rotary table 162 and the frame 1, the arc-shaped baffle plate 163 is of an eccentric structure, when the positioning is performed, the positioning rod 161 is propped against the inner side surface of the arc-shaped baffle plate 163 to slide, the rotary table 162 is driven to overcome the torsion spring 164 to rotate, the positioning rod 161 is blocked to realize positioning, the positioning rod 161 is propped against the inner side surface of the arc-shaped baffle plate 163 to slide, and the arc-shaped baffle plate 163 is of an eccentric structure, so that friction force is formed between the positioning rod 161 and the arc-shaped baffle plate 163, and further, the rotating speed of the supporting table 4 is reduced, and furthermore, the positioning rod 161 pushes the rotary table 162 to overcome the torsion spring 164 through the arc-shaped baffle plate 163, so that the positioning rod 161 is blocked and positioned, the positioning rod 161 is simple in structure, and the positioning is convenient due to the fact that the positioning rod 161 is blocked by the torsion spring 164 when the positioning rod is positioned, and the guiding positioning rod 161 is well separated from the guiding positioning piece.

While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (9)

1. AGV dolly vertical lifting device, its characterized in that: the ratchet wheel is characterized by comprising a frame, a control system, wheels, a supporting table, a supporting frame, a fork frame, a transverse guide mechanism, a vertical guide mechanism, a traveling driving mechanism, a linear driving mechanism, a lifting driving mechanism and a self-locking mechanism, wherein the wheels are arranged at the lower part of the frame, the traveling driving mechanism is in driving connection with the wheels, the supporting table is arranged at the upper part of the frame, the transverse guide mechanism is arranged on the supporting table, the supporting frame is arranged on the transverse guide mechanism, the linear driving mechanism is in driving connection with the supporting frame, the vertical guide mechanism is arranged on the supporting frame, the fork frame is arranged on the vertical guide mechanism, the lifting driving mechanism is in driving connection with the fork frame, the traveling driving mechanism, the linear driving mechanism, the lifting driving mechanism and the self-locking mechanism are respectively and electrically connected with the control system, the lifting driving mechanism comprises a first driving motor, the self-locking mechanism comprises a second driving motor, a rotating shaft, two sliding sleeves, an upper guide wheel, two winding wheels, two pull ropes and two reset springs, the rotating shaft are rotatably arranged at the lower part of the supporting frame, the second driving motor is connected with the fixed sleeve, the fixed sleeve is fixedly arranged at the frame, the middle part of the two winding wheels is axially arranged on the two sliding sleeves, the two sliding sleeves are axially distributed on the two sliding sleeves, the two sliding sleeves are axially arranged on the two sliding sleeves, and are axially distributed on the two sliding sleeves and are respectively, and fixedly arranged on the two sides of the two sliding sleeves and are axially arranged on the two sliding sleeves and the two sliding sleeve respectively. The upper guide wheel is arranged on the upper portion of the support frame, two guide grooves are formed in the upper guide wheel, the distance between the two guide grooves is smaller than the distance between the two winding wheels, two pull ropes are respectively wound on the two guide grooves of the upper guide wheel, the free ends of the pull ropes are connected with the lifting driving mechanism, and the driving speed of the first driving motor is the same as that of the second driving motor.

2. The AGV cart vertical lift device of claim 1 wherein: the sliding sleeve is characterized in that a baffle ring is fixedly arranged on the axial outer side of the sliding sleeve in the rotating shaft, a first friction plate is arranged on one side face, close to the sliding sleeve, of the baffle ring, a second friction plate matched with the first friction plate is respectively arranged on the sliding sleeve, and the sliding sleeve is pushed by a reset spring, so that the first friction plate is propped against the second friction plate.

3. The AGV cart vertical lift device of claim 2 wherein: the first friction plate and the second friction plate are respectively provided with a first friction strip and a second friction strip on opposite surfaces, the first friction strips are distributed along the radial direction of the first friction plate, and the second friction strips are distributed along the radial direction of the second friction plate.

4. The AGV cart vertical lift device of claim 3 wherein: the friction device is characterized in that the facing surfaces of the first friction strip and the second friction strip are concavely provided with a first arc-shaped surface, the upper ends of the first friction strip and the second friction strip are enabled to form a hook part through the first arc-shaped surface, the upper end face of the hook part is provided with a second arc-shaped surface, and the convex surface of the second arc-shaped surface faces to the outer side.

5. The AGV trolley vertical lift device of any one of claims 1 to 4 wherein: the lifting driving mechanism further comprises a transmission shaft, two driving sprockets, two driven sprockets, two chains and a driving seat, wherein the transmission shaft is rotatably arranged at the lower part of the supporting frame, the first driving motor is connected with the transmission shaft, the driving sprockets are arranged at the two axial ends of the transmission shaft, the driven sprockets are rotatably arranged at the upper end of the supporting frame, the chains are respectively wound on the driving sprocket and the driven sprocket which are arranged at one lateral side of the transmission shaft, the driving seat is transversely arranged on the two chains and is connected with the lifting driving mechanism, and the fork frame is fixedly arranged on the driving seat.

6. The AGV cart vertical lift device of claim 5 wherein: the support device is characterized by further comprising a rotation driving mechanism, a support shaft, a plurality of support rollers and a positioning mechanism, wherein the upper end of the support shaft is arranged in the middle of the support table, the support shaft is rotatably arranged on the frame through a bearing, the rotation driving mechanism is connected with the support shaft, the support rollers are arranged on the frame and are distributed on the lower side of the support table in a surrounding manner, and the positioning mechanism is arranged between the support table and the frame and used for rotating and positioning the support table.

7. The AGV cart vertical lift device of claim 6 wherein: the transverse guide mechanism comprises a transverse sliding block, a first transverse guide rail arranged on the supporting table, a second transverse guide rail and a third transverse guide rail which are arranged on the frame and distributed on the periphery of the supporting table, wherein the second transverse guide rail and the third transverse guide rail are vertically distributed, and the first transverse guide rail is matched with the second transverse guide rail or the first transverse guide rail is matched with the third transverse guide rail through rotating the supporting table.

8. The AGV cart vertical lift device of claim 7 wherein: the upper ends of the first transverse guide rail, the second transverse guide rail and the third transverse guide rail are provided with convex edges along the transverse direction outwards in a protruding mode, the lower ends of the two transverse sides of the transverse sliding block are provided with extending parts along the extending parts, supporting wheels are arranged on the extending parts, when the transverse sliding block is matched with the first transverse guide rail, the transverse sliding block abuts against the upper surface and the transverse two side faces of the first transverse guide rail, and the supporting wheels abut against the lower surfaces of the convex edges.

9. The AGV cart vertical lift device of claim 8 wherein: the positioning mechanism is two, locates the week side of second transverse guide and third transverse guide respectively, positioning mechanism is including locating the direction setting element on the frame and locating the locating lever on the brace table, the direction setting element is including rotationally locating the carousel on the frame, locating the arc separation blade on the carousel and locating the torsional spring on carousel and the frame, the arc separation blade is eccentric structure, and when the location, the locating lever supports to slide in the medial surface of arc separation blade, drives the carousel simultaneously and overcomes the torsional spring and rotate for the arc separation blade blocks the locating lever and realizes the location.