CN208665028U

CN208665028U - A kind of AGV trolley with roller shelf

Info

Publication number: CN208665028U
Application number: CN201820866052.0U
Authority: CN
Inventors: 张礼南; 彭华明; 孙浩
Original assignee: GUANGZHOU YONEGY LOGISTICS AUTOMATION TECHNOLOGY Co Ltd
Current assignee: GUANGZHOU YONEGY LOGISTICS AUTOMATION TECHNOLOGY Co Ltd
Priority date: 2018-06-05
Filing date: 2018-06-05
Publication date: 2019-03-29
Anticipated expiration: 2028-06-05

Abstract

The utility model relates to AGV technical field more particularly to a kind of AGV trolleies with roller shelf.The AGV trolley includes: car body, the roller shelf on car body；The shelf driving mechanism being connect with roller shelf；Wherein, roller shelf include: shelf framework, the axis of rolling inside shelf frame body, the roller being coaxially fixedly arranged on the axis of rolling, the shelf transmission component with rolling axis connection；Shelf transmission component is connected, for driving the axis of rolling and roller rotation under the driving of shelf driving mechanism with shelf driving mechanism.The shelf of the AGV trolley are the roller shelf that can be rotated automatically, are docked in such a way that roller rotates with board, so as to smoothly realize the automatically delivering of cargo, shift, without manually carrying, can effectively improve cargo pick-and-place, transfer efficiency.

Description

A kind of AGV trolley with roller shelf

Technical field

The utility model relates to AGV technical field more particularly to a kind of AGV trolleies with roller shelf.

Background technique

AGV trolley (Automated Guided Vehicle) i.e. automated guided vehicle is that one kind can be achieved to lead automatically The device drawn can be applied to a variety of industry fields, such as the automatic transporting of putaway stock, Huo Zhe are realized out in warehousing industry Cooperate each link of production line to the automatic transporting of rapidoprint in manufacturing industry, to help to improve the automated production degree of producing line, It can be seen that AGV trolley is a kind of device that application field is very extensive.But existing AGV trolley exists in practical applications Following problem:

One, the structure of existing AGV trolley leads to its picking mode inefficiency.Currently, major part AGV trolley is all logical It crosses fork truck or mode that operator carries manually realizes pick-and-place cargo, both modes are all difficult to ensure accurate with board Docking, therefore the working efficiency of these pick-and-place modes and pick-and-place precision are all relatively low.

Two, the pallet height of AGV trolley is fixed, it is difficult to cooperate the demand of a variety of different platform height.To realize and placing It can smoothly be docked between the board of cargo, pick and place cargo, AGV trolley, which needs to be designed according to the height of certain board, matches the machine The shelf of platform height.However, when board height change when, then need to redesign change AGV trolley pallet height, with Adapt to new board height.This not only will increase the equipment cost of AGV trolley, but also not for every kind of different platform height customization Level shelf can make the versatility of AGV trolley poor.Moreover, if needed in a production line using one When AGV trolley carries out pick-and-place cargo operation between the board of different height back and forth, the shelf after changing height are also difficult to simultaneously Adapt to the use demand of a variety of different height boards.

Three, the alignment mode between the shelf and board of AGV trolley is not flexible, when docking deviates, may lead Cause AGV trolley can not automatic clamping and placing cargo.Since the pallet height of existing AGV trolley is fixed, between AGV trolley and board Pass through the positioning of shelf and board height being adapted to realize shelf and board.Once the shelf of AGV trolley are with respect to board position When deviating, then operator is needed to manually adjust shelf location, this not only reduces oneself of AGV trolley to a certain extent Dynamicization degree, and if operator fails to find that the small car rack of AGV has relative to board in time offset, it may cause Cargo can not smoothly be picked and placed between board and AGV trolley, in some instances it may even be possible to cause cargo fall damage etc. serious consequences.

Four, the cargo protection structure automation degree of AGV trolley setting is low.For anti-cargo from shelf during picking and placing goods In fall, cause unnecessary loss, striker plate can be arranged in the side of shelf to protect cargo in some AGV trolleies.In transport, Operator blocks cargo with striker plate, prevents it from falling；When transport to landing place, operator removes striker plate manually Afterwards, AGV trolley executes unloading operation again；After the completion of unloading, operator again loads onto striker plate, after arriving picking place, then weighs The operation of multiple manual manipulation striker plate.This mode is not only cumbersome, increases labor workload, but also leads to AGV trolley certainly Dynamicization degree reduces, and is unfavorable for improving production efficiency.

Utility model content

The purpose of this utility model is to provide a kind of AGV trolleies with roller shelf, to solve existing AGV trolley With board contraposition be not allowed, cause can not automatic clamping and placing cargo the problem of.

First aspect, the utility model provide a kind of AGV trolley with roller shelf, comprising:

Car body；

Roller shelf are set on the car body；

Shelf driving mechanism is connect with the roller shelf；

Wherein, the roller shelf include: shelf framework, it is the axis of rolling inside the shelf frame body, coaxial fixed In the roller on the axis of rolling, the shelf transmission component with the rolling axis connection；

The shelf transmission component is connected, under the driving of the shelf driving mechanism with the shelf driving mechanism The axis of rolling and the roller is driven to rotate.

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

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

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

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

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

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

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

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

Further, the roller shelf include at least two layers pick-and-place goods component, and every layer of pick-and-place goods component is distinguished Underdrive is driven in the individually shelf driving mechanism.

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

Further, the elevating mechanism includes the lifter plate and screw lift being fixedly connected with each other, in the roller shelf Equipped with connecting rod, the connecting rod run through the roller shelf along its length after, both ends it is affixed with the lifter plate respectively；Institute It states and is installed with screw on car body, the screw is connect with the screw rod matching thread in the screw lift；The lifting driving Mechanism drives the screw rod in the screw lift to go up and down relative to the screw, and the lifting of the screw rod drives the lifter plate It is gone up and down with the roller shelf.

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

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

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

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

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

Further, the AGV trolley further include the telescopic rod being located on the roller shelf and with the telescopic rod The telescoping drive mechanism of connection, the telescopic rod carries out stretching motion under the driving of the telescoping drive mechanism, after stretching The telescopic rod is docked with board.

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

Further, slanting guide plate, the contraposition side of the roller shelf and the board are installed on the board Method the following steps are included:

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

The elevating mechanism drives the roller shelf and the telescopic rod phase under the driving of the lift drive mechanism The car body is risen, until the telescopic rod is in contact with the guide plate on the board；

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

Further, the left guide plate and right guide plate that structure is identical, contrary, the left side are installed on the board Guide plate and the right guide plate composition guide groove that Open Side Down expands, the telescopic rod stretch out and rise to any institute of contact After stating guide plate, the telescopic rod is directed in the opening of the guide groove by any guide plate by the inclined-plane of itself End.

Further, Buffer Unit is equipped with inside the roller shelf, the Buffer Unit adjusts the machine for buffering Between platform and the roller shelf to Bit Shift；The Buffer Unit include the fixed block being installed in the connecting rod and Elastic portion, the affixed fixed block in elastic portion one end, the other end is movable terminal.

Further, the Buffer Unit further includes sliding shoe, the affixed spring in the side of the sliding shoe it is removable The inner wall of roller shelf described in moved end, another side contacts.

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

Further, the AGV trolley with roller shelf further includes backgauge component, and the backgauge component includes: to set In the striker plate of side in the shelf frame body and the backgauge transmission component being connect with the striker plate；It is described that there are roller shelf AGV trolley further include the backgauge driving mechanism being connect with the backgauge transmission component, the backgauge transmission component is in the gear Expect to drive the striker plate to go up and down relative to the shelf framework under the driving of driving mechanism.

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

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

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

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

Preferably, the power mechanism is the power supply with charging/discharging function.

Further, car body pulley and differential drive device are further respectively had on the car body, the car body pulley is used for So that the car body is advanced, the differential drive device for realizing the car body turning.

Further, the short transverse along the elevating mechanism is provided with drag chain, and the drag chain is built-in with the lifting and drives Motivation structure, the shelf driving mechanism, the telescoping drive mechanism, the backgauge driving mechanism cabling.

Further, it is equipped with drag chain backplate in the two sides of the drag chain, the drag chain backplate is installed in the roller shelf On the outer wall of framework.

Further, the AGV trolley is additionally provided with RFID reader, and the RFID reader is set to the bottom of the car body Portion, for scanning the RFID on ground, judging whether the AGV trolley is located at specified region.

Further, the AGV trolley is additionally provided with reflector sensor, and the reflector sensor is set to the car body side Face, position is opposite with the reflective tube in travelling route, for positioning the current location of the AGV trolley.

Further, the AGV trolley is additionally provided with safe touch side, and the safe touch side is set to a side on the chassis On, for preventing the AGV trolley to be damaged because of mobile or collision.

Further, the AGV trolley is additionally provided with magnetic navigation sensor, and the magnetic navigation sensor is set to the car body edge The head and the tail both ends of direction of travel, for determining the current location of the AGV trolley.

Further, the AGV trolley is additionally provided with obstacle sensor, and the obstacle sensor is set to the safety touching The top on side, for judging the barrier situation in travelling route.

Further, the AGV trolley is additionally provided with opposite type sensor, and the opposite type sensor is set in the roller shelf Diagonal position, for detecting in the roller shelf with the presence or absence of cargo.

Compared with prior art, the utility model has the following beneficial effects:

(1) shelf of the utility model AGV trolley are the roller shelf that can be rotated automatically, roller rotate by way of with Board docking, without manually carrying, can effectively improve cargo and take so as to smoothly realize the automatically delivering of cargo, shift It puts, transfer efficiency.

(2) the roller shelf liftable of the utility model AGV trolley, therefore the need of a variety of different platform height can be cooperated It asks.Different and general pallet fork formula AGV, the utility model is the AGV with roller shelf, and passes through lift drive mechanism band Dynamic elevating mechanism and the whole of roller shelf are gone up and down both relative to car body, to realize roller shelf adjustable up-down height, fit Demand for a variety of different height boards.

(3) contraposition between the roller shelf and board of the utility model AGV trolley is accurate.The rolling of the utility model AGV Position guidance is carried out to telescopic rod using guide plate between cylinder shelf and board, realizes standard of the roller shelf to board moving process Really contraposition guarantees that the docking location of roller shelf and board will not shift, be not in the problem of can not picking and placing cargo.

(4) the utility model roller shelf during roller shelf and board align can steadily adjust displacement.This reality With the novel Buffer Unit being equipped in the roller shelf of AGV trolley for adjusting to Bit Shift.Telescopic rod is guided in guide plate During specifying para postion mobile, Buffer Unit, which is used to buffer the displacement generated by the contraposition of roller shelf, to be deviateed, Enable the adjustment displacement that AGV is gentle, more accurately, also making AGV, the service life is longer.

(5) the utility model AGV can during traveling automatic protection cargo, prevent it from falling.The utility model AGV is small Vehicle side in roller shelf frame body is equipped with backgauge component, and the lifting of backgauge component can be driven by driving mechanism, is achieved in certainly Dynamic backgauge prevents cargo from falling.

(6) the utility model AGV can realize accurate parking.RFID reader, reflector are equipped in the utility model AGV Sensor and magnetic navigation sensor, and the corresponding information by reading to this three analyzes and determines, controls AGV in specific bit Set accurate parking.

Detailed description of the invention

Fig. 1 is the overall structure diagram for the AGV trolley that embodiment two has roller shelf.

Fig. 2 is the decomposition texture schematic diagram for the AGV trolley that embodiment two has roller shelf.

Fig. 3 is the structural representation that embodiment two has elevating mechanism in the AGV trolley of roller shelf (omitting support plate) Figure.

Fig. 4 is the decomposition texture schematic diagram that embodiment two has roller shelf in the AGV trolley of roller shelf.

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

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

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

Fig. 8 is the decomposition texture schematic diagram that embodiment two has backgauge component in the AGV trolley of roller shelf.

Fig. 9 is the structural schematic diagram that embodiment three has car body in the AGV trolley of roller shelf.

Figure 10 is the decomposition texture schematic diagram that example IV has roller shelf in the AGV trolley of roller shelf.

Figure 11 is the structural schematic diagram of the shelf transmission component of shelf in example IV.

Figure 12 is the overall structure diagram for the AGV trolley that embodiment five has roller shelf.

Figure 13 is the decomposition texture schematic diagram that embodiment five has roller shelf in the AGV trolley of roller shelf.

Figure 14 is the structural schematic diagram of the shelf transmission component of roller shelf in embodiment five.

Specific embodiment

Below by the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described Embodiment is only the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, Every other embodiment obtained by those of ordinary skill in the art without making creative efforts, belongs to this reality With novel protected range.

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

Embodiment one

The present embodiment provides a kind of AGV trolleies with roller shelf, comprising:

Car body；Roller shelf are set on the car body；Shelf driving mechanism is connect with the roller shelf；Wherein, institute Roller shelf are stated to include: shelf framework, the axis of rolling inside the shelf frame body, be coaxially fixedly arranged on the axis of rolling Roller, the shelf transmission component with the rolling axis connection；The shelf transmission component is connected with the shelf driving mechanism, uses The axis of rolling and the roller is driven to rotate under the driving in the shelf driving mechanism.

Embodiment two

The present embodiment provides a kind of AGV trolleies with roller shelf, are used for according to specified travelling route in board and storehouse The automatic clamping and placing of cargo is realized between library.In the present embodiment, the AGV trolley with roller shelf is substantially in cuboid, is had The length direction (i.e. left and right directions in Fig. 1) of the AGV trolley of roller shelf and the AGV trolley direction of travel with roller shelf Unanimously, the width direction (i.e. up and down direction in Fig. 1) of the AGV trolley with roller shelf and the AGV with roller shelf are small The direction that vehicle picks and places cargo is consistent.As shown in Figure 1, there is the AGV trolley of roller shelf to include car body 1, roller shelf 2, rise for this Descending mechanism 3, electric cabinet 4 and power mechanism 5, and power mechanism therein 5 is the power supply with charging/discharging function.

Specifically, as shown in connection with fig. 2, the substantially concave-shaped structure of car body 1 comprising pedestal 11, respectively from 11 liang of pedestal End upwardly extends the mounting portion 12 to be formed, and mounting portion 12 is particularly located on car body 1 along the AGV trolley traveling side with roller shelf To head and the tail both ends (i.e. the left and right ends of car body 1 in Fig. 2).Pedestal 11 and mounting portion 12 collectively constitute the second accommodating space 200, Roller shelf 2 and elevating mechanism 3 are all set in the second space 200, and power mechanism 5 and electric cabinet 4 are then installed on mounting portion On 12, power mechanism 5 and electric cabinet 4 are electrically connected, and provide electric power for electric cabinet 4, electric cabinet 4 then has roller goods for controlling The AGV trolley of frame works.

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

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

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

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

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

Specifically, in conjunction with shown in Fig. 2 and Fig. 4, roller shelf 2 are set on car body 1, and roller shelf 2 include: shelf framework 21, double-deck inside shelf framework 21 pick and place goods component 22, the shelf transmission component 23 being connect with pick-and-place goods component 22 with And connecting rod 24.AGV trolley with roller shelf further includes the shelf driving mechanism 42 being electrically connected with electric cabinet 4, and electric Control the work start and stop that case 4 controls shelf driving mechanism 42；The shelf driving mechanism 42 is brake motor, and shelf driving mechanism 42 is also It is connect with shelf transmission component 23, for driving the pick-and-place goods component 22 in roller shelf 2 to rotate, while shelf driving mechanism 42 Set on the outside of shelf framework 21, and the shelf driving mechanism 42 and the pick-and-place goods component 22 be in the same horizontal position, but Position in same vertical direction.

The specific structure of roller shelf 2 is as follows: shelf framework 21 include successively enclose preceding deckle board 211, rear framing plate 212, Left frame plate 213, right deckle board 214 and bottom stiffener 215, and preceding deckle board 211, rear framing plate 212, left frame plate 213, right deckle board 214 It is enclosed the first accommodating space 100 jointly with bottom stiffener 215, makes to pick and place goods component 22 set on first accommodating space In 100.Wherein, picking and placing goods component 22 includes the axis of rolling that there is the AGV trolley length direction of roller shelf to extend on several edges 221 and it coaxially is installed in roller 222 on the axis of rolling 221, the both ends of the axis of rolling 221 are separately connected shelf transmission component 23.

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

Pick-and-place goods component 22 in roller shelf 2 realizes Synchronous Transmission by shelf transmission component 23, and detailed process is: the Three sprocket wheels 231 drive the second chain movement under the driving of shelf driving mechanism 42 and then drive the rotation of the 4th sprocket wheel 232, the Four sprocket wheels 232 drive the coaxial axis of rolling 221 to rotate (axis of rolling is to be located in the middle the axis of rolling), the axis of rolling again 221 drive the 5th sprocket wheel 233 rotation positioned at its end again, and the 5th sprocket wheel 233 passes through other the 5th chains of third chain-driving 233 rotation of wheel drives other axis of rolling 221 to rotate in turn, is achieved in the synchronous rotation of all axis of rolling.In addition, this implementation Example is the double-deck shelf, and each layer of pick-and-place goods component 22 is all driven by individual shelf driving mechanism 42, and specifically upper layer picks and places Goods component 22 passes through the shelf driving mechanism 42 being disposed below and drives, and lower layer picks and places goods component 22 and passes through the goods being positioned above Frame driving mechanism 42 drives；Shelf driving mechanism is either-rotation motor, therefore picks and places the convertible rotation direction of goods component 22, to adapt to goods The requirement that object picks and places in different directions.

Wherein, after connecting rod 24 extends through the left frame plate 213 and right deckle board 214 of shelf framework 21 along its length, two End is affixed with the lifter plate 32 of elevating mechanism 3 respectively, is achieved in the connection of roller shelf 2 Yu elevating mechanism 3, and then can lead to The lifting that elevating mechanism 3 is crossed relative to car body 1 drives roller shelf 2 to go up and down relative to car body 1.In addition, in the present embodiment, rolling Cylinder shelf 2 are additionally provided with the protective cover 25 of strip, and protective cover 25 is located on the left frame plate 213 and right deckle board 214 of shelf framework, have Body is to be respectively provided with one bar of protective cover 25, right deckle board at the position that the top and bottom of left frame plate 213 correspond to the 5th sprocket wheel 233 Similarly it is arranged on 214, the setting of protective cover 25 also contributes to simultaneously mainly for the protection of the 5th sprocket wheel 233 being located therein Reinforce structural strength, the structural strength of especially left frame plate 213 and right deckle board 214 of shelf framework 21.

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

Shelf run to board region and with board accurate contraposition；

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

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

In the present embodiment, the AGV trolley with roller shelf is used for the transfer between warehouse, different platform and transports goods Object, board are the supporting platforms of cargo, and the AGV trolley with roller shelf from board by being taken cargo with specific route It walks or places goods on board, the automatic transporting of Lai Shixian cargo.Therefore, goods in the AGV trolley with roller shelf It can precisely be aligned between frame and board, will have a direct impact on shifting of the cargo between AGV trolley and board with roller shelf Whether can smoothly complete, if shelf are deviated with board contraposition, may cause cargo can not be successfully transfer, even has if carrying Fall the risk of damage.To prevent the above problem from occurring, the present embodiment is specially provided with slanting guide plate on board, in goods It is specially provided with telescopic rod on frame, by the cooperating of the two, realizes the accurate contraposition between board and shelf.

Specifically, as shown in connection with fig. 6, the AGV trolley with roller shelf further includes the telescopic rod being located on roller shelf 2 6 and the telescoping drive mechanism 43 that is connect with telescopic rod 6, the telescoping drive mechanism 43 be electrically connected and pass through with electric cabinet 4 The control work start and stop of electric cabinet 4.Wherein, the direction of telescopic rod 6 stretched out direction direction and be equipped with board, the telescopic rod 6 include Pars contractilis 61 and the internal fixed part 62 with cavity in the telescopic cavity for being accommodated in fixed part 62 of pars contractilis 61, are stretched Contracting portion 61 telescoping drive mechanism 43 driving lower edge be equipped with board direction relative to 62 stretching motion of fixed part so that institute Telescopic rod 6 is stated to dock with board.Wherein, 71 and of left guide plate that structure is identical, contrary is installed in board (not shown) Right guide plate 72, any guide plate all have inclined-plane, left guide plate 71 and the composition of right guide plate 72 guiding that Open Side Down expands Slot 7, the open upper end (at the closing in being open) of guide groove 7 are the accurate location that roller shelf 2 need to align with board.

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

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

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

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

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

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

Specifically, the identical Buffer Unit 8 of two groups of structures is equipped in roller shelf 2, any group of Buffer Unit 8 includes set Fixed block 81, elastic portion 82 and the sliding shoe 83 being located in connecting rod 24.Wherein, 81 fixing sleeve of fixed block is set to connecting rod 24 Middle part that is upper and being located proximate to connecting rod 24, elastic portion 82 is the spring with amount of elastic deformation, and 82 sets of elastic portion are connecting On bar 24, and one end is fixed in fixed block 81, the other end is fixed in sliding shoe 83, and sliding shoe 83 is against the inner wall of roller shelf 2 Sliding shoe 83 that is upper, being specifically two groups of Buffer Units 8 is against respectively on the inner wall of left frame plate 213 and the inner wall of right deckle board 214, And sliding shoe 83 can be slided relative to connecting rod 24.When roller shelf 2 move its overall structure generation level by external force When dynamic, since connecting rod 24 and shelf framework 21 can all move horizontally, and the fixed block 81 in Buffer Unit 8 is to be installed in connection On bar 24, sliding shoe 83 can be slided relative to connecting rod 24, this will make sliding shoe 83 in the level of shelf framework 21 It is slided under movement, relative to connecting rod 24, and then drives the compression of elastic portion 82 or stretch, specifically drive one group of Buffer Unit In elastic portion 82 compression, drive the elastic portion 82 in another group of Buffer Unit to stretch.

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

As a kind of optimization design of structure, as shown in connection with fig. 8, the AGV trolley with roller shelf of the present embodiment is also Including the identical backgauge component 9 of two groups of structures, since the structure of two groups of backgauge components is identical, the present embodiment is only to wherein one The structure of group backgauge component is described in detail.

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

Specifically, the inside of the preceding deckle board 211 of shelf framework is arranged in striker plate 91, be surrounding have frame, middle part be engrave Empty plate, and the specification size of striker plate 91 matches with preceding deckle board 211.It advances when the AGV trolley with roller shelf is in When state, the bezel locations of the frame of striker plate 91 and preceding deckle board 211 are staggered, are specifically the bezel height for being higher than preceding deckle board 211, Striker plate 91 is used to block cargo inside roller shelf 2, prevents the AGV trolley traveling process with roller shelf at this time Situations such as middle cargo is fallen appearance；When the AGV trolley with roller shelf stops advancing, preparing to pick and place cargo, striker plate 91 Be overlapped with preceding deckle board 211, with guarantee the cargo being located inside roller shelf 2 be not blocked, can board and roller shelf 2 it Between smoothly transmit.

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

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

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

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

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

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

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

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

AGV trolley with roller shelf starts to advance.

In addition, the AGV trolley with roller shelf in the present embodiment further respectively has 14 He of car body pulley on car body 1 Differential drive device 15, car body pulley for making car body advance, differential drive device for realizing car body turning.Wherein, poor Fast driving device is using the difference in differential drive device in the prior art, such as Chinese patent CN201410112544.7 Fast driving device, details are not described herein.

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

The AGV trolley with roller shelf of the present embodiment can realize multiple functions, excellent combination property.In a first aspect, Elevating mechanism is to realize lifting of the screw rod relative to screw to realize elevating mechanism relative to car body by lifting and driving component Lifting；Second aspect is connected between elevating mechanism and shelf by connecting rod, so as to be driven by the lifting of elevating mechanism The lifting of shelf；The cooperation of the third aspect, telescopic rod and guide plate can be realized the accurate contraposition of shelf and board；Four directions Face, AGV trolley adjusts the mode being displaced during Buffer Unit can optimize contraposition.

Embodiment three

The present embodiment provides a kind of AGV trolleies with roller shelf, with embodiment two the difference is that: this reality The AGV trolley for applying example also passes through setting multiple sensors, using the collective effect between multiple sensors, realizes that AGV trolley exists The accurate parking positioning in specified region, designated position.

Specifically, in the present embodiment, AGV trolley further include central processing unit, RFID reader, magnetic navigation sensor and Reflector sensor.

Specifically, as shown in connection with fig. 9, in the present embodiment, the AGV trolley with roller shelf further includes central processing unit (not shown), RFID reader 300, magnetic navigation sensor 400 and reflector sensor 500.

Wherein, RFID reader 300 is set to the bottom of car body 1, for acquiring the RFID information in specified region, judgement Whether the AGV trolley with roller shelf reaches specified region；Magnetic navigation sensor 400 is set to the head and the tail both ends of car body 1, uses In acquiring the magnetic strip information in specified region, judge that the AGV trolley with roller shelf is presently in position；Reflector sensor 500 are set to the side of car body 1, and position is opposite with the reflective tube in travelling route, reflect for acquiring reflective tube in specified region Light beam, judge have roller shelf AGV trolley present position.Pass through above-mentioned RFID reader 300, magnetic navigation sensor 400 and reflector sensor 500 carry out information collection, again after central processor comprehensive is handled, final accurate judgement has rolling Whether the AGV trolley of cylinder shelf accurately reaches designated position.

In addition, the AGV trolley with roller shelf of the present embodiment further includes safe touch side 600, obstacle sensor 700 With opposite type sensor (not shown).Wherein, safe touch side 600 is set on the two ends side of car body 1, for preventing with roller The edge of the AGV trolley of shelf is damaged because of mobile or collision；Obstacle sensor 700 is set to the top of safe touch side 600, For judging the barrier situation in travelling route；Opposite type sensor is set to the diagonal position in roller shelf 2, for detecting goods It whether there is cargo in frame.

Example IV

The present embodiment provides a kind of AGV trolley with roller shelf, the present embodiment and the difference of embodiment two are only that, The shelf transmission component structure of shelf is different in the present embodiment, and the present embodiment is set respectively at the axis of rolling both ends of shelf transmission component It is equipped with shaft coupling, and is further connected with the 5th sprocket wheel by shaft coupling, is driven.

The shelf transmission component structure of shelf is different in the present embodiment, the axis of rolling two of the present embodiment in shelf transmission component End is respectively arranged with shaft coupling, and is further connected with the 5th sprocket wheel by shaft coupling, is driven.

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

Goods component 22 being picked and placed in roller shelf 2, Synchronous Transmission being realized by shelf transmission component 23, detailed process is: third Sprocket wheel 231 drives the rotation of the second chain under the driving of shelf driving mechanism 42 and then drives the rotation of the 4th sprocket wheel 232, and the 4th Sprocket wheel 232 drives coaxial third shaft coupling 234 and the 5th coaxial sprocket wheel 233, the coaxial axis of rolling 221 to rotate again (axis of rolling is to be located in the middle the axis of rolling), the 5th sprocket wheel 233 passes through other 233 turns of the 5th sprocket wheels of third chain-driving It moves and then other axis of rolling 221 is driven to rotate, be achieved in the synchronous rotation of all axis of rolling.It is understood that yes, in this reality Apply in example, the 4th shaft coupling 235 and corresponding sprocket wheel, chain on the right side of shelf framework be also by with third shaft coupling Device, the 5th sprocket wheel, third chain, the identical kind of drive of drum shaft are driven.

Embodiment five

The present embodiment provides a kind of AGV trolleies with roller shelf, are used for according to specified travelling route in board and storehouse The automatic clamping and placing of cargo is realized between library.In the present embodiment, the AGV trolley with roller shelf is substantially in cuboid, is had The length direction (i.e. left and right directions in Figure 12) of the AGV trolley of roller shelf and the AGV trolley traveling side with roller shelf To consistent, the width direction (i.e. up and down direction in Figure 12) of the AGV trolley with roller shelf and the AGV with roller shelf The direction that trolley picks and places cargo is consistent.As shown in figure 12, this have the AGV trolley of roller shelf include car body 1, roller shelf 2, Electric cabinet 4 and power mechanism 5, and power mechanism therein 5 is the power supply with charging/discharging function.

Specifically, as shown in connection with fig. 2, the substantially concave-shaped structure of car body 1 comprising pedestal 11, respectively from 11 liang of pedestal End upwardly extends the mounting portion 12 to be formed, and mounting portion 12 is particularly located on car body 1 along the AGV trolley traveling side with roller shelf To head and the tail both ends (i.e. the left and right ends of car body 1 in Fig. 1).Pedestal 11 and mounting portion 12 collectively constitute the second accommodating space, rolling Cylinder shelf 2 are set in the second space, and power mechanism 5 and electric cabinet 4 are then installed on mounting portion 12, power mechanism 5 and electricity It controls case 4 to be electrically connected, provides electric power for electric cabinet 4, electric cabinet 4 then works for controlling the AGV trolley with roller shelf.

Specifically, in conjunction with shown in Figure 12 to Figure 14, roller shelf 2 are set on car body 1, and roller shelf 2 include: shelf frame Body 21, the double-deck shelf transmission component 23 for picking and placing goods component 22, being connect with pick-and-place goods component 22 inside shelf framework 21 And connecting rod 24.AGV trolley with roller shelf further includes the shelf driving mechanism 42 being electrically connected with electric cabinet 4, and The work start and stop of the control shelf driving mechanism 42 of electric cabinet 4；The shelf driving mechanism 42 is brake motor, shelf driving mechanism 42 Also it is connect with shelf transmission component 23, for driving the pick-and-place goods component 22 in roller shelf 2 to rotate, while shelf driving mechanism 42 are set to the outside of shelf framework 21, and the shelf driving mechanism 42 and the pick-and-place goods component 22 be in the same horizontal position, But it is in the position of same vertical direction.

The shelf transmission component structure of the present embodiment is specifically: shelf transmission component 23 includes third sprocket wheel the 231, the 4th Sprocket wheel 232, several 5th sprocket wheels 233, several third shaft couplings 234 and several 4th shaft couplings 235, third sprocket wheel 231 and goods The coaxially connected and driving by shelf driving mechanism 42 of frame driving mechanism 42 rotates, and third sprocket wheel 231 is set to shelf frame 21 inside of body；4th sprocket wheel 232 is coaxially set on a third shaft coupling 234, for driving third shaft coupling 234 to rotate, and 4th sprocket wheel 232 is equally set to 21 inside of shelf framework；Pass through closed second between third sprocket wheel 231 and the 4th sprocket wheel 232 Chain drive, specifically the second chain are meshed with third sprocket wheel 231, the 4th sprocket wheel 232；The two of each third shaft coupling 234 End is connected with the 5th sprocket wheel 233 and the axis of rolling 221 respectively, and the 5th sprocket wheel 233 is set to 21 outside of shelf framework；All five By closed third chain drive between sprocket wheel 233, specifically third chain is meshed with every one the 5th sprocket wheel 233；It rolls The other end of axis 221 is connected with one end of the 4th shaft coupling 235, the other end of the 4th shaft coupling 235 be then equally connected with sprocket wheel, And it is realized and is rotated synchronously by chain drive between these sprocket wheels.

A kind of AGV trolley with roller shelf disclosed in the utility model embodiment is described in detail above, Specific case used herein is expounded the principles of the present invention and embodiment, and the explanation of above embodiments is only It is the method and its core concept for being used to help understand the utility model；At the same time, for those skilled in the art, foundation The thought of the utility model, there will be changes in the specific implementation manner and application range, in conclusion in this specification Appearance should not be construed as a limitation of the present invention.

Claims

1. a kind of AGV trolley with roller shelf characterized by comprising

Car body；

Roller shelf are set on the car body；

Shelf driving mechanism is connect with the roller shelf；

Wherein, the roller shelf include: shelf framework, the axis of rolling inside the shelf frame body, are coaxially fixedly arranged on institute State the roller on the axis of rolling, the shelf transmission component with the rolling axis connection；

The shelf transmission component is connected, for driving under the driving of the shelf driving mechanism with the shelf driving mechanism The axis of rolling and roller rotation.

2. AGV trolley according to claim 1, which is characterized in that the AGV trolley further includes picking and placing goods component, described Shelf framework includes the preceding deckle board successively enclosed, rear framing plate, left frame plate and right deckle board, and the preceding deckle board, the rear framing plate, institute It states left frame plate and the right deckle board is enclosed the first accommodating space jointly, it is empty that the pick-and-place goods component is set to first accommodating Between in.

3. AGV trolley according to claim 2, which is characterized in that the shelf framework further includes bottom stiffener, described Bottom stiffener and the preceding deckle board, the rear framing plate, the left frame plate and the right deckle board are enclosed described first jointly Accommodating space.

4. AGV trolley according to claim 3, which is characterized in that the shelf transmission component be located at the left frame plate and/ Or on the right deckle board, the shelf transmission component includes: third sprocket wheel, the 4th sprocket wheel and several 5th sprocket wheels；

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

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

5. AGV trolley according to claim 3, which is characterized in that the shelf transmission component be located at the left frame plate and/ Or on the right deckle board, the shelf transmission component includes: third sprocket wheel, the 4th sprocket wheel, several 5th sprocket wheels, several thirds connection Axis device and several 4th shaft couplings；

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

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

6. AGV trolley according to any one of claims 1 to 5, which is characterized in that the roller shelf include at least two layers Goods component is picked and placed, and every layer of pick-and-place goods component drives underdrive in the individually shelf driving mechanism respectively.

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

8. AGV trolley according to claim 7, which is characterized in that the AGV trolley further includes being located at the roller shelf On telescopic rod and the telescoping drive mechanism that is connect with the telescopic rod, drive of the telescopic rod in the telescoping drive mechanism Dynamic lower progress stretching motion, the telescopic rod after stretching are docked with board.

9. AGV trolley according to claim 8, which is characterized in that the AGV trolley further includes backgauge component, the gear Expect that component includes: the striker plate of side and the backgauge transmission group connecting with the striker plate in the roller shelf frame body Part；The AGV trolley further includes the backgauge driving mechanism connecting with the backgauge transmission component, and the backgauge transmission component is in institute It states and the striker plate is driven to go up and down under the driving of backgauge driving mechanism relative to the roller shelf framework.

10. AGV trolley according to claim 9, which is characterized in that the AGV trolley further includes being respectively arranged on the vehicle Power mechanism and electric cabinet on body, the power mechanism and the electric cabinet are electrically connected, the electric cabinet respectively with it is described Lift drive mechanism, the shelf driving mechanism, the telescoping drive mechanism and the backgauge driving mechanism are electrically connected, and are used for Control the work of the lift drive mechanism, the shelf driving mechanism, the telescoping drive mechanism and the backgauge driving mechanism Make start and stop；The power mechanism is the power supply with charging/discharging function.