CN208666158U - A kind of lift AGV trolley - Google Patents

Abstract

The utility model relates to AGV trolley technical field more particularly to a kind of lift AGV trolleies.Lift AGV trolley includes: car body；Shelf are set on the car body；Elevating mechanism is connect with the shelf；First driving mechanism is connect with the elevating mechanism, and for first driving mechanism for driving the elevating mechanism to go up and down relative to the car body, the lifting of the elevating mechanism drives the shelf lifting.The shelf liftable of lift AGV trolley, therefore the demand of a variety of different platform height can be cooperated.

Description

A kind of lift AGV trolley

Technical field

The utility model relates to AGV trolley technical field more particularly to a kind of lift AGV trolleies.

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 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.

Two, the alignment mode between the shelf and board of AGV trolley is not flexible, when docking deviates, may lead Cause AGV trolley that can not pick and place cargo.Since the pallet height of existing AGV trolley is fixed, pass through between AGV trolley and board The positioning of shelf and board height being adapted to realize shelf and board.Once the shelf of AGV trolley occur with respect to board position When offset, then operator is needed to manually adjust shelf location, this not only reduces the automation of AGV trolley to a certain extent 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.

Three, 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.

Four, the structure of existing AGV trolley leads to its picking mode inefficiency.Currently, major part AGV trolley all passes through The mode that fork truck or operator carry manually realizes pick-and-place cargo, both modes are all difficult to ensure accurate right with board It connects, therefore the working efficiency of these pick-and-place modes and pick-and-place precision are all relatively low.

Utility model content

The purpose of this utility model is to provide a kind of lift AGV trolleies, to solve goods present in existing AGV trolley Frame height is difficult to align the problems such as not flexible suitable for different height board, shelf and board.

Specifically, the utility model provides a kind of lift AGV trolley, and the lift AGV trolley includes:

Car body；

Shelf are set on the car body；

Elevating mechanism is connect with the shelf；

First driving mechanism is connect with the elevating mechanism, and first driving mechanism is for driving the elevating mechanism It is gone up and down relative to the car body, the lifting of the elevating mechanism drives the shelf lifting.

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

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

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

Further, the elevating mechanism further includes the first transmission component, and first transmission component includes: the first chain Wheel, the second sprocket wheel, first shaft coupling, second shaft coupling and the first drive rod；First sprocket wheel is connected to first 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 are separately connected the another of first drive rod End and another screw lift；First sprocket wheel is used to pass through the first chain under the driving of first driving mechanism Second sprocket wheel is driven to rotate, second sprocket wheel is used for through the first shaft coupling, first drive rod and described The rotation of second shaft coupling drives two screw lift liftings simultaneously.

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

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

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

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

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

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

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

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

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

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

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

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

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

Further, the lift AGV trolley further includes the telescopic rod being located on the shelf and stretches with described The third driving mechanism of bar connection, the telescopic rod carries out stretching motion under the driving of the third driving mechanism, after stretching The telescopic rod 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 third driving 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 alignment method packet of the shelf and the board are installed on the board Include following steps:

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

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

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

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

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

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

Further, the lift AGV trolley further includes backgauge component, and the backgauge component includes: set on the goods Striker plate on the inside of frame framework and the third transmission component being connect with the striker plate；The lift AGV trolley further includes The 4th driving mechanism being connect with the third transmission component, driving of the third transmission component in the 4th driving mechanism It is lower that the striker plate is driven to go up and down relative to the shelf framework.

Further, the striker plate is the plate that surrounding has frame, middle part hollow out, and the third transmission component includes: peace Fill seat, directive wheel, yielding coupling, rotation axis, steel wire and tension part, the 4th driving mechanism and directive wheel difference It is installed in the mounting base, and the mounting base is fixed on the bottom of the striker plate, the yielding coupling both ends difference One end of the 4th 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.

Preferably, the tension part is tension spring.

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

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

Further, the lift AGV trolley further includes the power mechanism and electric cabinet being respectively arranged on the car body, The power mechanism and the electric cabinet are electrically connected, and the electric cabinet drives with first driving mechanism, described second respectively Motivation structure, the third driving mechanism and the 4th driving mechanism are electrically connected, for controlling first driving mechanism, institute State the work start and stop of the second driving mechanism, the third driving mechanism and the 4th 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 described first and drives The cabling of motivation structure, second driving mechanism, the third driving mechanism, the 4th driving mechanism.

Further, it is equipped with drag chain backplate in the two sides of the drag chain, the drag chain backplate is installed in the shelf framework Outer wall on.

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

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

Further, the lift AGV trolley is additionally provided with magnetic navigation sensor, is additionally provided with magnetic navigation sensor, described Magnetic navigation sensor is set to the car body along the head and the tail both ends of direction of travel, for determining the current of the lift AGV trolley Position.

Further, the lift AGV trolley is additionally provided with safe touch side, and the safe touch side is set to the one of the car body On side, for preventing the lift AGV trolley to be damaged because of mobile or collision.

Further, the lift AGV trolley is additionally provided with obstacle sensor, and the obstacle sensor is set to described The top of safe touch side, for judging the barrier situation in travelling route.

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

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

(1) the shelf liftable of the utility model lift AGV trolley, therefore a variety of different platform height can be cooperated Demand.Different and general pallet fork formula AGV trolley, the utility model is the AGV trolley with shelf, and passes through the first driving machine Structure drives elevating mechanism and the whole of shelf to go up and down both relative to car body, to realize shelf adjustable up-down height, be suitable for The demand of a variety of different height boards.

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

(3) the utility model shelf during shelf and board align can steadily adjust displacement.The utility model exists It is equipped in the shelf of lift AGV trolley for adjusting the Buffer Unit to Bit Shift.Refer in guide plate guiding telescopic rod direction During determining para postion movement, Buffer Unit, which is used to buffer the displacement generated by shelf contraposition, to be deviateed, and enables AGV trolley Enough gentle adjustment displacements, more accurately, also making AGV trolley, the service life is longer.

(4) the utility model AGV trolley can during traveling automatic protection cargo, prevent it from falling.The utility model Lift AGV trolley side in shelf frame body is equipped with backgauge component, the lifting of backgauge component can be driven by driving mechanism, thus It realizes automatic backgauge, prevent cargo from falling.

(5) the utility model AGV trolley can realize accurate parking.In the utility model AGV trolley be equipped with RFID reader, Reflector sensor and magnetic navigation sensor, and the corresponding information by reading to this three analyzes and determines, control AGV is small Vehicle precisely stops in designated position.

Detailed description of the invention

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

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

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

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

Fig. 5 is the structural schematic diagram of the second 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 of backgauge component in two lift AGV trolley of embodiment.

Fig. 9 is the decomposition texture schematic diagram of three lift AGV trolley of embodiment.

Figure 10 is the structural schematic diagram of car body in five lift AGV trolley of embodiment.

Figure 11 is the decomposition texture schematic diagram of shelf in seven lift AGV trolley of embodiment.

Figure 12 is the structural schematic diagram of the second transmission component of shelf in embodiment seven.

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 lift AGV trolleies, comprising:

Car body；

Shelf are set on car body；

Elevating mechanism is connect with shelf；

First driving mechanism, connect with elevating mechanism, and the first driving mechanism is for driving elevating mechanism relative to car body liter Drop, the lifting of elevating mechanism drive shelf lifting.

Embodiment two

The present embodiment provides a kind of lift AGV trolleies, for real between board and warehouse according to specified travelling route The automatic clamping and placing of stock object.In the present embodiment, lift AGV trolley is substantially in cuboid, the length side of lift AGV trolley Consistent with lift AGV trolley direction of travel to (i.e. left and right directions in Fig. 1), the width direction of lift AGV trolley (is schemed Up and down direction in 1) it is consistent with the lift AGV trolley pick-and-place direction of cargo.As shown in Figure 1, lift AGV trolley includes Car body 1, shelf 2, elevating mechanism 3, electric cabinet 4 and power mechanism 5, and power mechanism therein 5 is with charging/discharging function Power supply.

Specifically, as shown in connection with fig. 2, the substantially concave-shaped structure of car body 1 comprising pedestal 11, respectively from 11 liang of pedestal End upwardly extends the mounting portion 12 to be formed, and mounting portion 12 is particularly located on car body 1 along the head and the tail of lift AGV trolley direction of travel 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 200,2 He of shelf Elevating mechanism 3 is all set in the second space 200, and power mechanism 5 and electric cabinet 4 are then installed on mounting portion 12, engine Structure 5 and electric cabinet 4 are electrically connected, and provide electric power for electric cabinet 4, electric cabinet 4 is then for controlling the work of lift AGV trolley.

Specifically, lift AGV trolley further includes the first driving mechanism 41 being electrically connected with electric cabinet 4, and electric cabinet 4 Control the work start and stop of first driving mechanism 41.First driving mechanism 41 is brake motor, for driving 3 phase of elevating mechanism Car body 1 is gone up and down, and then drives shelf 2 to go up and down by the lifting of elevating mechanism 3.

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

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

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

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

Specifically, in conjunction with shown in Fig. 2 and Fig. 4, shelf 2 are set on car body 1, and shelf 2 include: shelf framework 21, are set to goods Bilayer inside frame framework 21 picks and places goods component 22, the second transmission component 23 connecting with pick-and-place goods component 22 and connecting rod 24.Lift AGV trolley further includes the second driving mechanism 42 being electrically connected with electric cabinet 4, and the control of electric cabinet 4 second drives The work start and stop of mechanism 42；Second driving mechanism 42 be brake motor, the second driving mechanism 42 also with the second transmission component 23 Connection, for driving the pick-and-place goods component 22 in shelf 2 to rotate, while the second driving mechanism 42 is set to 21 outside of shelf framework, And second driving mechanism 42 with the pick-and-places goods component 22 not in the same horizontal position, but the position in same vertical direction It sets.

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

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

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

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

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

Shelf run to board region and with board accurate contraposition；

Second transmission component 23 of shelf drives under the driving of the second 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, lift AGV trolley is used for the transfer between warehouse, different platform and transports cargo, board It is the supporting platform of cargo, lift AGV trolley by cargo with specific route from board by being taken away or putting cargo It sets on board, the automatic transporting of Lai Shixian cargo.It therefore, can be precisely right between shelf and board in lift AGV trolley Position, will have a direct impact on whether transfer of the cargo between lift AGV trolley and board can smoothly complete, if shelf and machine Platform contraposition is deviated, and may cause cargo can not be successfully transfer, even has the risk for falling damage.To prevent the above problem from going out Existing, the present embodiment is specially provided with slanting guide plate on board, and telescopic rod is specially provided on shelf, passes through the two Cooperating realizes the accurate contraposition between board and shelf.

Specifically, as shown in connection with fig. 6, lift AGV trolley further include the telescopic rod 6 being located on shelf 2 and with it is flexible The third driving mechanism 43 that bar 6 connects, the third driving mechanism 43 and electric cabinet 4 are electrically connected and pass through the control of electric cabinet 4 Work start and stop.Wherein, telescopic rod 6 stretches out direction towards the direction for being equipped with board, which includes pars contractilis 61 and interior Portion has the fixed part 62 of cavity, and in the telescopic cavity for being accommodated in fixed part 62 of pars contractilis 61, pars contractilis 61 drives in third The driving lower edge of motivation structure 43 is equipped with the direction of board relative to 62 stretching motion of fixed part, so that the telescopic rod 6 and board Docking.Wherein, the left guide plate 71 and right guide plate 72 that structure is identical, contrary are installed in board (not shown), it is any Guide plate all has inclined-plane, and left guide plate 71 and the composition of right guide plate 72 guide groove 7 that Open Side Down expands, guide groove 7 are opened Mouth upper end (at the closing in being open) is the accurate location that shelf 2 need to align with board.

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

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

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

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

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

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

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

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

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

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

Specifically, the inside of the preceding deckle board 211 of shelf framework is arranged in striker plate 91, be surrounding have frame, middle part be engrave Empty plate, and the specification size of striker plate 91 matches with preceding deckle board 211.When lift AGV trolley is in travel condition, gear The bezel locations of the frame of flitch 91 and preceding deckle board 211 are staggered, are specifically the bezel height for being higher than preceding deckle board 211, at this time backgauge Plate 91 is used to block cargo inside shelf 2, prevents situations such as cargo is fallen in lift AGV trolley traveling process from going out It is existing；When lift AGV trolley stops advancing, preparing to pick and place cargo, striker plate 91 is overlapped with preceding deckle board 211, to guarantee to be located at Cargo inside shelf 2 is not blocked, can smoothly transmit between board and shelf 2.

The specific structure of third transmission component 92 includes: 921, two directive wheels 922 of mounting base, yielding coupling 923, turns Moving axis 924, steel wire 925 and the tension spring 926 as tension part.Wherein, mounting base 921 is fixed on the bottom of striker plate 91, the Four driving mechanisms 44 and directive wheel 922 are independently mounted on the different location of mounting base 921, and pass sequentially through bullet therebetween Property shaft coupling 923, rotation axis 924 realize transmission, specifically 923 both ends of yielding coupling are separately connected 44 He of the 4th driving mechanism One end of rotation axis 924, the other end of rotation axis 924 connect directive wheel 922.One end of steel wire 925 is connected to the one of tension spring 926 On end, the other end of steel wire 925 be connected on directive wheel 922, the other end of tension spring 926 is then installed on striker plate 91, specific It is on the left and right side of striker plate 91.It, can be by coupled when the work of the 4th driving mechanism 44 in the present embodiment Yielding coupling 923 drives two rotation axis 924 to rotate, and then two directive wheels 922 is driven to tighten simultaneously or release steel wire, most The lifting of striker plate 91 is driven eventually.

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

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

Yielding coupling 923 the 4th driving mechanism 44 be rotated by and drive rotation axis 924 rotate, rotation axis 924 drive directive wheel 922 to tighten steel wire 925 again winds；

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

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

After the completion of transmission, directive wheel 922 discharges steel wire 925 under the driving of the 4th 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；

Lift AGV trolley starts to advance.

In addition, the lift AGV trolley in the present embodiment further respectively has car body pulley 14 and differential driving on car body 1 Device 15, car body pulley for making car body advance, differential drive device for realizing car body turning.Wherein, differential driving dress It sets using the differential driving dress in differential drive device in the prior art, such as Chinese patent CN201410112544.7 It sets, details are not described herein.

In addition, in the present embodiment, since the first driving mechanism 41, the second driving mechanism is electrically connected in electric cabinet 4 42, third driving mechanism 43 and the 4th 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 lift AGV trolley of the present embodiment can realize multiple functions, excellent combination property.In a first aspect, elevating mechanism It is to realize lifting of the screw rod relative to screw to realize lifting of the elevating mechanism relative to car body by the first transmission component； Second aspect is connected between elevating mechanism and shelf by connecting rod, so as to drive shelf by the lifting of elevating mechanism Lifting；The cooperation of the third aspect, telescopic rod and guide plate can be realized the accurate contraposition of shelf and board；Fourth aspect, buffering AGV trolley adjusts the mode being displaced during component can optimize contraposition；In terms of 5th, the cooperation between multiple sensors makes With, realize AGV trolley parking position it is accurate.

Embodiment three

The present embodiment provides a kind of lift AGV trolley, the difference of the present embodiment and embodiment two is only that elevating mechanism It does not include screw lift and the first transmission component, and the first driving mechanism is hydraulic drive mechanism.Specifically, as shown in figure 9, Elevating mechanism in the present embodiment includes the support plate 31 of rectangle, two pieces of 32 and of lifter plate for being installed in 31 lower section of support plate respectively Four jacking portions 35.Wherein, support plate 31 includes set on the support plate body 311 of surrounding and among support plate body 311 Backplate 312, support plate body 311 be used as stress main body, play the role of support construction, reinforce stress, backplate 312 be it is transparent PC plate, can be used as the watch window of shelf 2, the description of the goods in shelf not only can be observed but also can effectively prevent cargo fall ash. Wherein, lifter plate 32 is located at the opposite sides of support plate 31, is specifically located at the edge of 31 left and right sides short side of support plate Locate (i.e. the left and right sides of support plate in Fig. 9), it is common after the support plate 31 and two pieces of lifter plates 32 in the present embodiment are affixed to enclose Portal frame is formed, shelf 2 are set in the portal frame, are achieved in the rationalization of integrally-built densification, space utilization.Its In, four jacking portions 35 are respectively arranged on the quadrangle of support plate 31, and jacking portion 35 is located at 32 outside of lifter plate, the installation of car body 1 Telescopic (not shown) is equipped in portion 12, jacking portion 35 is telescopically accommodated in telescopic.Hydraulic drive mechanism (not shown) It is connect with jacking portion and jacking portion is driven to go up and down relative to telescopic, to realize that elevating mechanism is transported relative to the lifting of car body It is dynamic.

Example IV

The present embodiment provides a kind of lift AGV trolleies, the pick-and-place that the difference is that only shelf with embodiment two The structure of goods component is different, and the pick-and-place goods component in the present embodiment not transmits cargo in a manner of roller, but in a manner of belt Transmission.Specifically, the transmission belt that the pick-and-place goods component in the present embodiment is made of belt, driving wheel and driven wheel, second passes Dynamic component connect with driving wheel, driving wheel is driven to rotate, and driving wheel drives belt and driven wheel rotation, is achieved in belt and gets in stocks The pick-and-place function of object.

Embodiment five

The present embodiment provides a kind of lift AGV trolleies, with embodiment two the difference is that: the liter of the present embodiment Drop formula AGV trolley also passes through setting multiple sensors, using the collective effect between multiple sensors, realizes that lift AGV is small Vehicle is advanced according to fixed route, the accurate parking positioning in specified region, designated position.

Specifically, the position distribution of operative sensor is shown in Figure 10, as shown in connection with fig. 10, in the present embodiment, is risen Drop formula AGV trolley further includes central processing unit (not shown), RFID reader 300, magnetic navigation sensor 400 and reflector sensing Device 500.

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

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

Embodiment six

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

Embodiment seven

The present embodiment provides a kind of lift AGV trolley, the present embodiment and the difference of embodiment two are only that, the present embodiment Second transmission component structure of middle shelf is different, and the present embodiment is respectively arranged with shaft coupling at the axis of rolling both ends of the second transmission component Device, and be further connected with the 5th sprocket wheel by shaft coupling, be driven.

In conjunction with shown in Figure 11, Figure 12, the second transmission component structure of the present embodiment is specifically: the second transmission component 23 includes Third sprocket wheel 231, the 4th sprocket wheel 232, several 5th sprocket wheels 233, several third shaft couplings 234 and several 4th shaft couplings 235, Third sprocket wheel 231 and the second driving mechanism 42 are coaxially connected and rotated by the driving of the second driving mechanism 42, and third sprocket wheel 231 are set to 21 inside of shelf framework；4th sprocket wheel 232 is coaxially set on a third shaft coupling 234, for driving third shaft coupling Device 234 rotates, and the 4th sprocket wheel 232 is equally set to 21 inside of shelf framework；Lead between third sprocket wheel 231 and the 4th sprocket wheel 232 Closed second chain drive is crossed, specifically the second chain is meshed with third sprocket wheel 231, the 4th sprocket wheel 232；Each third connection The both ends of axis device 234 are connected with the 5th sprocket wheel 233 and the axis of rolling 221 respectively, and the 5th sprocket wheel 233 is set to outside shelf framework 21 Side；Pass through closed third chain drive, specifically third chain and every one the 5th sprocket wheel 233 between all 5th sprocket wheels 233 It is meshed；The other end of the axis of rolling 221 is connected with one end of the 4th shaft coupling 235, and the other end of the 4th shaft coupling 235 is then same It is connected between sprocket wheel and these sprocket wheels and synchronous rotation is realized by chain drive.

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

A kind of lift AGV trolley disclosed in the utility model embodiment is described in detail above, is answered herein The principles of the present invention and embodiment are expounded with specific case, the explanation of above example is only intended to sides Assistant solves the method and its core concept of the utility model；At the same time, for those skilled in the art is practical new according to this The thought of type, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not manage Solution is limitations of the present invention.

Claims (10)

1. a kind of lift AGV trolley, which is characterized in that the lift AGV trolley includes:

Car body；

Shelf are set on the car body；

Elevating mechanism is connect with the shelf；

First driving mechanism is connect with the elevating mechanism, and first driving mechanism is for driving the elevating mechanism opposite It is gone up and down in the car body, the lifting of the elevating mechanism drives the shelf lifting.

2. lift AGV trolley according to claim 1, which is characterized in that the elevating mechanism includes being fixedly connected with each other Lifter plate and screw lift, are equipped with connecting rod in the shelf, the connecting rod run through the shelf along its length after, two It holds affixed with the lifter plate respectively；Screw, the screw rod in the screw and the screw lift are installed on the car body Matching thread connection；First driving mechanism drives the screw rod in the screw lift to go up and down relative to the screw, institute The lifting for stating screw rod drives the lifter plate and shelf lifting.

3. lift AGV trolley according to claim 2, which is characterized in that the elevating mechanism further includes support plate, institute State the top that support plate is fixedly arranged on the lifter plate and the screw lift；The support plate includes the support plate set on surrounding Main body and set on intermediate backplate, the backplate is transparent PC plate；Or the support plate is the molding integral panels of integration； The elevating mechanism includes four screw lifts, and four screw lifts are located at the quadrangle of the support plate, institute The opposite sides that lifter plate is located at the support plate is stated, and the screw rod of any one screw lift is located at the corresponding liter It drops outside plate；The support plate and the lifter plate are enclosed portal frame, and the shelf are set in the portal frame.

4. lift AGV trolley according to claim 3, which is characterized in that the elevating mechanism further includes the first transmission Component, first transmission component include: the first sprocket wheel, the second sprocket wheel, first shaft coupling, second shaft coupling and the first transmission Bar；First sprocket wheel is connected in first driving mechanism, and second sprocket wheel is connected in the first shaft coupling, institute The both ends for stating first shaft coupling are separately connected one end of the screw lift and the drive rod, the second shaft coupling Both ends are separately connected the other end and another screw lift of the drive rod；First sprocket wheel is used for described first Pass through the rotation of the second sprocket wheel described in the first chain-driving under the driving of driving mechanism, second sprocket wheel is used to pass through described first The rotation of shaft coupling, the drive rod and the second shaft coupling drives two screw lift liftings simultaneously；Described One transmission component further includes tightener sprocket, and the tightener sprocket is set between first sprocket wheel and second sprocket wheel, is used for It is tensioned first chain.

5. lift AGV trolley according to claim 2, which is characterized in that the lift AGV trolley further includes being located at Telescopic rod on the shelf and the second driving mechanism connecting with the telescopic rod, the telescopic rod is in second driving Stretching motion is carried out under the driving of mechanism, the telescopic rod after stretching is docked with board.

6. lift AGV trolley according to claim 5, which is characterized in that be installed with slanting guiding on the board Plate, the guide plate guide the shelf and are moved at specified contraposition.

7. lift AGV trolley according to claim 5, which is characterized in that be equipped with Buffer Unit, institute inside the shelf State Buffer Unit for buffer adjustment the board and the shelf between to Bit Shift；The Buffer Unit includes being installed in Fixed block and elastic portion in the connecting rod, the affixed fixed block in elastic portion one end, the other end is movable terminal.

8. lift AGV trolley according to claim 5, which is characterized in that the shelf include: shelf framework, are set to Pick-and-place goods component inside the shelf frame body, the second transmission component being connect with the pick-and-place goods component, the lift AGV Trolley further includes the third driving mechanism connecting with second transmission component, and second transmission component is used in the third The pick-and-place goods component is driven to rotate under the driving of driving mechanism.

9. lift AGV trolley according to claim 8, which is characterized in that the lift AGV trolley further includes backgauge Component, the backgauge component include: the striker plate of side and the third connecting with the striker plate in the shelf frame body Transmission component；The lift AGV trolley further includes the 4th driving mechanism connecting with the third transmission component, the third Transmission component drives the striker plate to go up and down relative to the shelf framework under the driving of the 4th driving mechanism.

10. lift AGV trolley according to claim 9, which is characterized in that the lift AGV trolley further includes point Not She Yu power mechanism and electric cabinet on the car body, the power mechanism and the electric cabinet are electrically connected, described automatically controlled Case is electrically connected with first driving mechanism, second driving mechanism, the third driving mechanism respectively, for controlling State the work start and stop of the first driving mechanism, second driving mechanism, the third driving mechanism.