CN210026913U

CN210026913U - AGV dolly switching-over structure and AGV dolly

Info

Publication number: CN210026913U
Application number: CN201920743422.6U
Authority: CN
Inventors: 刘波; 方鹏橙
Original assignee: Chongqing Jiateng Robot Automation Co Ltd
Current assignee: Chongqing Jiateng Robot Automation Co Ltd
Priority date: 2019-05-22
Filing date: 2019-05-22
Publication date: 2020-02-07
Anticipated expiration: 2029-05-22

Abstract

The utility model belongs to the technical field of the AGV dolly, a AGV dolly switching-over structure, AGV dolly and switching-over method are provided, the switching-over structure includes mounting panel, motor, rolling disc, bearing follower, movable block, fly leaf, transfer line, truckle fixed plate, directional truckle, first spring, and the motor is installed on the mounting panel to drive the rolling disc and rotate, thereby drive the bearing follower and move together. In the process that the bearing follower ascends, the bearing follower drives the movable block and the movable plate to move upwards together, and the movable plate drives the trundle fixing plate to move upwards through the transmission rod, so that the directional trundle is driven to move upwards, and the first spring is compressed. During the descending process of the bearing follower, the directional caster moves downwards under the action of the elastic force of the first spring. The utility model provides a switching-over structure simple structure, low cost.

Description

AGV dolly switching-over structure and AGV dolly

Technical Field

The utility model relates to a AGV dolly technical field, concretely relates to AGV dolly switching-over structure still relates to an AGV dolly.

Background

With the development of science and technology and the improvement of labor cost, people have higher and higher requirements on material transportation, and the efficiency and the cost are low. Thus, AGV carts are the preferred alternative.

An Automated Guided Vehicle (AGV), also known as an Automated Guided Vehicle, an automatic Guided Vehicle or a laser Guided Vehicle, is called an AGV. The AGV has the remarkable characteristics that the AGV is unmanned, the AGV is provided with an automatic guiding system, the system can be ensured to automatically run along a preset route without manual navigation, and goods or materials are automatically conveyed to a destination from a starting point. In order to ensure that the AGV trolley is convenient to change direction and runs stably in the running process, the AGV trolley can be freely switched between orientation and universal direction in the running process, but the traditional reversing structure of the AGV trolley is complex in structure and high in cost.

SUMMERY OF THE UTILITY MODEL

To the defect among the prior art, the utility model aims at providing a AGV dolly switching-over structure makes its structure simpler, the cost is cheaper.

In a first aspect, the utility model provides a dolly switching-over structure, truckle fixed plate and mounting panel including relative setting, install directional truckle on the truckle fixed plate, be provided with on the mounting panel and be used for making the elevating system that the truckle fixed plate goes up and down and be used for controlling the lift stroke's lift stroke control mechanism.

The lifting mechanism comprises a motor, a rotating disc, a bearing follower, a movable block, a movable plate, a transmission rod, a first spring guide sleeve, a first spring pressure head and a first spring, the motor is arranged on the mounting plate and is provided with an output shaft, the rotating disc is coaxially fixed with the output shaft of the motor, the bearing follower is eccentrically arranged on the end surface of the rotating disc far away from the motor, the movable block is positioned above the bearing follower and is in contact with the bearing follower, the movable plate is connected with the movable block, the upper end of the transmission rod is connected with the movable block, the lower end of the transmission rod penetrates through a transmission rod through hole arranged on the mounting plate and is then connected with a truckle fixing plate, the first spring guide sleeve is longitudinally arranged, the upper end of the first spring guide sleeve penetrates through hole arranged on the mounting plate, the lower end of the first spring guide sleeve is connected with the mounting plate, and the first spring pressure, the first spring is positioned in the first spring guide sleeve, and two ends of the first spring are respectively abutted against the first spring pressure head and the caster fixing plate.

The lifting travel control mechanism comprises a metal photosensitive sheet, a first photoelectric switch and a second photoelectric switch, the metal photosensitive sheet is arranged on the end face of the motor, close to the rotating disc, and the first photoelectric switch and the second photoelectric switch are oppositely arranged on two sides of the motor.

Further, still include guiding mechanism, guiding mechanism includes guide bar cover, guide bar and retaining ring, be provided with guide bar cover through-hole on the mounting panel, guide bar cover upper end is passed guide bar cover through-hole, lower extreme and the mounting panel is connected, the guide bar sets up in the guide bar cover, the lower extreme with the truckle fixed plate is connected, the upper end with retaining ring fixed connection, the retaining ring is used for preventing the upper end of guide bar breaks away from the guide bar cover.

Furthermore, the upper end of the guide rod is also sleeved with a shock pad, and the shock pad is positioned between the check ring and the guide rod sleeve.

Furthermore, a screw used for preventing the first spring from sliding is further arranged on the caster fixing plate, the lower end of the screw is fixedly connected with the caster fixing plate, and the upper end of the screw extends into the first spring along the axial lead of the first spring.

Furthermore, a limiting groove is formed in one surface, which is in contact with the bearing follower, of the movable block, and when the bearing follower is located at the highest point and the lowest point, the symmetry plane of the limiting groove coincides with the symmetry plane of the bearing follower.

Further, still include self-locking mechanism, self-locking mechanism includes slide bar, cam, gear and second spring, the mounting panel still is provided with the slide bar guiding hole, the one end of slide bar slides and sets up in the slide bar guiding hole, the other end with the cam keeps conflicting, the cam with gear connection, the cam is provided with base circle portion and lift portion, base circle portion axial lead with the axial lead coincidence of gear, lift portion is including rising portion and decline part, and rising portion is glossy cambered surface, and decline part is the section, gear rotation sets up on the mounting panel, and with the gear structure meshing that the outer peripheral face of rolling disc set up, the second spring housing is established on the slide bar, its both ends respectively with the inner wall of slide bar guiding hole with the slide bar the other end is contradicted.

Furthermore, the self-locking mechanism further comprises a sliding contact and a third spring, the other end of the sliding rod is provided with a mounting hole, the sliding contact is cylindrical, one end of the sliding contact is slidably arranged in the mounting hole, the other end of the sliding contact extends out of the mounting hole, the third spring is arranged in the mounting hole, and the two ends of the third spring are fixedly connected with the one end of the sliding contact and the inner wall of the mounting hole respectively.

In a second aspect, the utility model also provides a AGV dolly, which comprises a base plate, both ends are provided with above-mentioned AGV dolly switching-over structure respectively around the chassis, and in the both sides of switching-over structure still are provided with universal castor.

The utility model has the advantages that: the utility model provides a pair of AGV dolly switching-over structure, switching-over structure include mounting panel, motor, rolling disc, bearing follower, movable block, fly leaf, transfer line, truckle fixed plate, directional truckle, first spring, and the motor is installed on the mounting panel to the drive rolling disc rotates, thereby drives the bearing follower and rotates together. In the process that the bearing follower ascends, the bearing follower drives the movable block and the movable plate to move upwards together, and the movable plate drives the trundle fixing plate to move upwards through the transmission rod, so that the directional trundle is driven to move upwards, and the first spring is compressed. During the descending process of the bearing follower, the directional caster moves downwards under the action of the elastic force of the first spring. The reversing structure with the structure has the advantages of simple structure and low cost.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is a schematic perspective view of an AGV cart reversing structure according to an embodiment of the present invention;

FIG. 2 is a cross-sectional view of portion A of FIG. 1;

FIG. 3 is a top view of the AGV cart reversing structure shown in FIG. 1;

FIG. 4 is a schematic view of the anti-loosening structure of the present invention;

FIG. 5 is an enlarged view of portion B of FIG. 4;

FIG. 6 is a schematic view of a three-dimensional structure of a chassis part of an AGV provided by the present invention.

Reference numerals:

1-a caster wheel fixing plate; 2-mounting a plate; 2A-a transmission rod through hole; 2B-a first spring guide sleeve through hole; 2C, sleeving a through hole on the guide rod; 2D-slide bar guide hole; 3-directional caster wheels; 4-a lifting mechanism; 41-a motor; 42-a rotating disk; 43-bearing follower; 44-a movable block; 441-a limiting groove; 45-a movable plate; 46-a transmission rod; 47-a first spring guide; 471-a first spring guide hole; 48-a first spring ram; 49-a first spring; 410-screws; 5-lifting stroke control mechanism; 51-metal photosensitive sheet; 52R-first opto-electronic switch; 52L-second opto-electronic switch; 6-a guide mechanism; 61-guide rod sleeve; 62-a guide bar; 63-a retainer ring; 64-a shock pad; 7-a self-locking mechanism; 71-a slide bar; 711-mounting holes; 72-a cam; 721-base circle portion; 722-lift part; 7221-ascending section; 7222-a descending section; 73-gear; 74-a second spring; 75-a sliding contact; 76-a third spring; 8-a chassis; 9-a commutation configuration; 10-universal caster.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention belongs.

In the description of the present application, it is to be understood that the terms "lateral," "axial," "upper," "lower," "counterclockwise," "bottom," "top," and the like are used in the orientations and positional relationships indicated in the drawings, which are used for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element so indicated must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of indicated technical features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," "disposed," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1-5, the reversing structure of the AGV trolley comprises a caster fixing plate 1 and a mounting plate 2 which are oppositely arranged, and a directional caster 3 is mounted on the caster fixing plate 1. Mounting panel 2 is installed in AGV dolly chassis 8 bottom, is provided with on mounting panel 2 to be used for making elevating system 4 that 1 goes up and down of truckle fixed plate and the lift stroke control mechanism 5 that is used for controlling lift stroke.

The lifting mechanism 4 includes a motor 41, a rotary disk 42, a bearing follower 43, a movable block 44, a movable plate 45, a transmission rod 46, a first spring guide 47, a first spring ram 48, and a first spring 49. The motor 41 is mounted on the mounting plate 2 and is provided with an output shaft. Preferably, the motor 41 is installed on the mounting plate 2 through the motor fixing plate 11 so as to facilitate installation of the lifting stroke control mechanism 5, the motor fixing plate 11 is in an "L" shape, the bottom of the motor fixing plate is connected with the mounting plate 2, the side part of the motor fixing plate is provided with an output shaft through hole of the motor 41, the motor 41 is arranged on the inner side surface of the motor fixing plate 11, and the output shaft of the motor 41 penetrates through the output shaft through hole from the inner side surface of the motor fixing plate. The rotary disk 42 is coaxially fixed to an output shaft of the motor 41. The bearing follower 43 is eccentrically disposed on an end face of the rotary disk 42 remote from the motor 41. The movable block 44 is located above the bearing follower 43 and maintains interference with the bearing follower 43. The movable plate 45 is connected to the movable block 44. The upper end of the transmission rod 46 is connected with the movable block 44, the lower end of the transmission rod passes through the transmission rod through hole 2A arranged on the mounting plate 2 and then is connected with the caster fixing plate 1, and the number of the transmission rods 46 is preferably two and is respectively arranged on the left side and the right side of the movable plate 45, so that the transmission effectiveness is improved, and a certain guiding effect is also achieved. The first spring guide 47 is cylindrical and has a first spring guide hole 471 formed along the axial direction, the first spring guide 47 is longitudinally disposed on the mounting plate 2, the upper end of the first spring guide passes through a first spring guide through hole 2B disposed on the mounting plate 2, and the lower end of the first spring guide is connected to the mounting plate 2. The first spring ram 48 is disposed on top of the first spring guide aperture 471. The lower extreme of first spring 49 is contradicted with truckle fixed plate 1, and the upper end sets up in first spring guiding hole 471 and contradicts with first spring pressure head 48, and the quantity of first spring is preferred two, sets up respectively in the both ends of a diagonal of truckle fixed plate 1, so both can make spring force distribute evenly, also play certain direction effect.

The lifting stroke control mechanism 5 includes a metal photosensitive sheet 51, a first photoelectric switch 52R and a second photoelectric switch 52L, the metal photosensitive sheet 51 is disposed on the end face of the rotating disc 42 close to the motor 41, and the first photoelectric switch 52R and the second photoelectric switch 52L are disposed on two sides, preferably left and right sides, of the motor 41 in the horizontal direction, respectively, so as to facilitate the setting. Preferably, the first and second

photoelectric switches

52R and 52L are installed at an outer side surface of a side portion of the motor fixing plate 11 for easy installation. When the metal photosensitive sheet 51 rotates to the position of the first photoelectric switch 52R or the second photoelectric switch 52L along with the rotating disk 42, the light source of the photoelectric switch can be blocked, so that the ascending and descending stroke of the directional caster can be controlled more accurately.

When it is desired to orient the caster 3 up, the motor 41 is activated. The motor 41 drives the rotary disk 42 to rotate counterclockwise to drive the bearing follower 43 and the metal photosensitive web 51 to rotate counterclockwise together with the rotary disk 42. The bearing follower 43 moves upward against the movable block 44, the movable block 44 carries the movable plate 45 upward, the movable plate 45 carries the transmission rod 46 upward, the transmission rod 46 carries the caster fixing plate 1 upward and compresses the first spring 49, and the caster fixing plate 1 carries the directional caster 3 upward. When the bearing follower 43 moves to the highest point, the metal photosensitive sheet 51 blocks the light source of the left second photoelectric switch 52L, and the motor 41 is turned off. When it is desired to lower the orienting caster 3, the motor 41 is again activated. The motor 41 again drives the rotary disk 42 to continue the counterclockwise rotation to bring the bearing follower 43 and the metal photosensitive web 51 to rotate counterclockwise together with the rotary disk 42. The caster fixing plate 1 moves downward by the elastic force of the first spring 49 and carries the directional caster 3 and the transmission rod 46 together, the transmission rod 46 carries the movable plate 45 downward, the movable plate 45 carries the movable block 44 downward, so that the movable block 44 always keeps interference with the bearing follower 43. When the bearing follower 43 moves to the lowest point, the directional caster 3 contacts the ground, and the metal photosensitive sheet 51 moves to the right and blocks the light source of the first photoelectric switch 52R on the right, and the motor 41 is turned off again.

As a modification of the above scheme, the guide mechanism 6 is further included, and the guide mechanism 6 includes a guide rod sleeve 61, a guide rod 62 and a retainer ring 63. The mounting plate 2 is also provided with a guide rod sleeve through hole 2C. The guide rod sleeve 61 is cylindrical and is provided with a guide rod guide hole 611 in the axial direction, the upper end of the guide rod sleeve penetrates through the guide rod sleeve through hole 2C, and the lower end of the guide rod sleeve is connected with the mounting plate 2. The guide rods 62 are longitudinally arranged on the caster fixing plate 1, the lower ends of the guide rods are connected with the caster fixing plate 1, the upper ends of the guide rods penetrate through the guide rod guide holes 611 and then are fixedly connected with the retainer rings 63, the number of the guide rods 62 is preferably two, and the guide rods are respectively arranged at two ends of another diagonal line of the caster fixing plate 1, so that the guiding reliability of the guide mechanism 6 is guaranteed, and the number of the guide rods 62 is also reduced. The retainer 63 serves to prevent the upper end of the guide rod 62 from being separated from the guide rod cover 61. To reduce the likelihood of the directional caster 3 tilting during ascent or descent. During the ascending or descending of the caster fixing plate 1, the caster fixing plate 1 ascends or descends together with the guide rod 62 because the guide rod guide hole 611 functions so that the guide rod 62 does not incline during the movement, thereby reducing the possibility that the caster fixing plate 1 inclines during the movement.

As an improvement of the above scheme, the other end of the guide rod 62 is also sleeved with a shock pad 64, the shock pad 64 is positioned between the retainer ring 63 and the guide rod sleeve 61, the shock pad 64 is preferably made of high-strength rubber, and is wear-resistant, high-temperature-resistant, and good in shock absorption and sound reduction effects. In the process that the caster fixing plate 1 descends under the action of the first spring 49, the guide rod 62 brings the damping pad 64 to descend together and collides with the guide rod sleeve 61, and the damping pad 64 is used for absorbing part of elastic potential energy released by the first spring 49 at the moment so as to reduce damage and noise caused by direct contact between the retainer ring 63 and the guide rod sleeve 61. In the running process of the AGV trolley, the AGV trolley inevitably bumps and shakes, and the shock absorption pad 64 plays a role in shock absorption and noise reduction.

As an improvement of the above solution, the caster fixing plate 1 is further provided with a screw 410 for preventing the first spring 49 from sliding, a lower end of the screw 410 is fixedly connected with the caster fixing plate 1, and an upper end of the screw extends into the first spring 49 along an axial line of the first spring 49. When the first spring 49 is bent due to compression and moves laterally, the inner peripheral surface of the first spring 49 abuts against the screw 410 to prevent the first spring 49 from moving laterally, thereby reducing the possibility of failure of the lifting mechanism 4.

As an improvement of the above scheme, the movable block 44 is provided with a limiting groove 441 on a surface contacting with the bearing follower 43, and when the bearing follower 43 is located at the highest point or the lowest point, a symmetrical surface of the limiting groove 441 coincides with a symmetrical surface of the bearing follower 43, that is, the limiting groove 441 can clamp the bearing follower 43. The possibility of the bearing follower 43 swinging left and right due to an external factor is reduced.

As a modification of the above scheme, the self-locking mechanism 7 is further included, and the self-locking mechanism 7 includes a sliding rod 71, a cam 72, a gear 73 and a second spring 74. The mounting plate 2 is also provided with a slide bar guide hole 2D. One end of the slide bar 71 is slidably disposed in the slide bar guide hole 2D, and the other end of the slide bar 71 is in contact with the cam 72, and the number of the slide bars 71 is preferably two, and the two slide bars are disposed on the left and right sides of the cam 72, so as to enhance the reliability of the self-locking mechanism 7. The cam 72 is connected with the gear 73, the cam 72 is provided with a base circle part 721 and a lift part 722, the axis of the base circle part 721 is coincident with the axis of the gear 73, the lift part 722 comprises an ascending part 7221 and a descending part 7222, the ascending part 7221 is a smooth cambered surface, the descending part 7222 is a cross section, and preferably, the cam 72 is provided with the lift parts 722 along the radial left and right sides of the base circle part 721 so as to drive the slide bars 71 on the left and right sides to move simultaneously. The gear 73 is rotatably provided on the mounting plate 2 and engages with a gear structure provided on the outer peripheral surface of the rotary disk 42. The second spring 74 is sleeved on the slide bar 71, and two ends of the second spring respectively abut against the inner wall of the slide bar guide hole 2D and the other end of the slide bar 71. During the ascending process of the directional caster 3, the motor 41 drives the rotating disc to rotate counterclockwise, the rotating disc 42 is meshed with the gear 73, the driving gear 73 drives the cam 72 to rotate clockwise, the cam 73 drives the left and right sliding rods 71 to slide at the base circle part 721, then the left and right sliding rods 71 slide at the ascending part 7221 of the lifting part 722 and slide in the direction away from the cam 72 in the guide holes respectively, and the second spring 74 is compressed. When the motor 41 is stopped when the shaft rises to the highest point, the sliding rod 71 just extends into the hole 462 formed in the lower end of the peripheral surface of the transmission rod 46. When the directional caster 3 descends, the motor 41 is started to continue rotating counterclockwise, the cam 72 rotates clockwise to enter the cross section, the sliding rod 71 loses contact with the cam 72, the sliding rod 71 slides in a direction approaching the cam 72 under the action of the elastic force of the second spring 74, and the sliding rod 71 exits from the hole. When the caster of the directional caster 3 bottoms out, the slide 71 is extended by the cam 72 into a hole 461 provided in the upper end of the drive link 46. This reduces the possibility that the directional caster 3 will be re-lowered by the excessive spring force of the first spring 49 when it rises to the highest point and will be re-raised by external factors when the directional caster 3 is lowered to the lowest point.

As an improvement of the above scheme, the self-locking mechanism 7 further includes a sliding contact 75 and a third spring 76, the one end of the sliding rod is provided with a mounting hole 711, the sliding contact 75 is cylindrical, one end of the sliding contact is slidably disposed in the mounting hole 711, and the other end of the sliding contact 75 extends out of the mounting hole 711, and preferably, the other end of the sliding contact 75 is spherical to reduce friction. The third spring 76 is disposed in the mounting hole 711, and both ends of the third spring are respectively and fixedly connected to the one end of the sliding contact 75 and the inner wall of the mounting hole 711 to prevent the sliding contact 75 from being separated from the mounting hole 711. During the raising or lowering of the directional castor 3, the slide rod is moved away from the cam 72 by the cam 72, the sliding contact 75 interferes with the peripheral surface of the transmission rod 46, and compresses the third spring 76. When the directional caster 3 is raised to the highest point, the sliding contact 75 is aligned with the hole 462 formed at the lower end of the peripheral surface of the transmission rod 46, and the sliding contact 75 slides into the hole 462 under the elastic force of the third spring 76. When the caster is lowered to the lowest point, the sliding contact 75 is aligned with the hole 461 provided at the upper end of the peripheral surface of the driving lever 46, and the sliding contact 75 is slid into the hole 461 by the elastic force of the third spring 76. This further reduces the possibility of the directional caster 3 being re-lowered by the excessive spring force of the first spring 49 when it rises to the highest point and re-raised by external factors when the directional caster 3 is lowered to the lowest point.

As shown in fig. 6, the utility model also provides an AGV trolley, including chassis 8, both ends are provided with respectively around chassis 8 the AGV trolley switching-over structure 9 that the utility model provided, and in switching-over structure 9's both sides still are provided with universal caster 10. The AGV trolley reversing method comprises the following steps: the method comprises the following steps:

s100, when the AGV trolley positively runs, the directional trundle positioned at the front end of the chassis is upwards retracted by the lifting mechanism, and the directional trundle positioned at the rear end of the chassis is put down by the lifting mechanism and keeps contact with the ground;

s200, when the AGV trolley runs reversely, the directional trundle at the front end of the chassis is put down by the lifting mechanism and keeps in contact with the ground, and the directional trundle at the rear end of the chassis is upwards retracted by the lifting mechanism;

s300, in the process of forward driving and reverse driving of the AGV trolley, the universal caster keeps contact with the ground.

In the specification of the present invention, a large number of specific details are explained. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the scope of the embodiments of the present invention, and are intended to be covered by the claims and the specification.

Claims

1. The reversing structure of the AGV trolley is characterized by comprising a caster fixing plate (1) and a mounting plate (2) which are oppositely arranged, wherein directional casters (3) are mounted on the caster fixing plate (1), and a lifting mechanism (4) for lifting the caster fixing plate (1) and a lifting stroke control mechanism (5) for controlling a lifting stroke are arranged on the mounting plate (2);

the lifting mechanism (4) comprises a motor (41), a rotating disc (42), a bearing follower (43), a movable block (44), a movable plate (45), a transmission rod (46), a first spring guide sleeve (47), a first spring pressure head (48) and a first spring (49), the motor (41) is installed on the installation plate (2) and provided with an output shaft, the rotating disc (42) is coaxially fixed with the output shaft of the motor (41), the bearing follower (43) is eccentrically arranged on the end surface, far away from the motor (41), of the rotating disc (42), the movable block (44) is located above the bearing follower (43) and keeps abutting against the bearing follower (43), the movable plate (45) is connected with the movable block (44), the upper end of the transmission rod (46) is connected with the movable block (44), and the lower end of the transmission rod penetrates through a through hole (2A) formed in the installation plate (2) and then is connected with the caster fixing plate (1) The first spring guide sleeve (47) is arranged along the longitudinal direction, the upper end of the first spring guide sleeve penetrates through a first spring guide sleeve through hole (2B) formed in the mounting plate (2), the lower end of the first spring guide sleeve is connected with the mounting plate (2), the first spring pressure head (48) is arranged at the top of the first spring guide sleeve (47), the first spring (49) is located in the first spring guide sleeve (47), and two ends of the first spring pressure head (48) are respectively abutted against the caster fixing plate (1);

lift stroke control mechanism (5) include metal sensitization piece (51), first photoelectric switch (52R) and second photoelectric switch (52L), metal sensitization piece (51) set up being close to of rolling disc (42) on the terminal surface of motor (41), first photoelectric switch (52R) and second photoelectric switch (52L) set up relatively the both sides of motor (41).

2. The AGV dolly reversing structure according to claim 1, characterized in that, further comprises a guiding mechanism (6), the guiding mechanism (6) comprises a guiding rod sleeve (61), a guiding rod (62) and a retainer ring (63), a guiding rod sleeve through hole (2C) is arranged on the mounting plate (2), the upper end of the guiding rod sleeve (61) passes through the guiding rod sleeve through hole (2C), the lower end of the guiding rod sleeve (61) is connected with the mounting plate (2), the guiding rod (62) is arranged in the guiding rod sleeve (61), the lower end of the guiding rod sleeve is connected with the caster fixing plate (1), the upper end of the guiding rod sleeve (62) is fixedly connected with the retainer ring (63), and the retainer ring (63) is used for preventing the upper end of the guiding rod (62) from being separated from the guiding rod sleeve (61).

3. An AGV cart reversing structure according to claim 2, wherein a shock absorbing pad (64) is further sleeved on the upper end of the guide rod (62), and the shock absorbing pad (64) is located between the retainer ring (63) and the guide rod sleeve (61).

4. An AGV trolley reversing structure according to claim 1, wherein a screw (410) for preventing the first spring (49) from sliding is further provided on the caster fixing plate (1), the lower end of the screw (410) is fixedly connected to the caster fixing plate (1), and the upper end of the screw extends into the first spring (49) along the axial line of the first spring (49).

5. The AGV car reversing structure according to claim 1, wherein a limiting groove (441) is formed in a surface of the movable block (44) contacting the bearing follower (43), and when the bearing follower (43) is located at the highest point and the lowest point, a symmetrical plane of the limiting groove (441) coincides with a symmetrical plane of the bearing follower (43).

6. The AGV trolley reversing structure according to claim 1, further comprising a self-locking mechanism (7), wherein the self-locking mechanism (7) comprises a slide bar (71), a cam (72), a gear (73) and a second spring (74), the mounting plate (2) is further provided with a slide bar guide hole (2D), one end of the slide bar (71) is slidably arranged in the slide bar guide hole (2D), the other end of the slide bar is abutted against the cam (72), the cam (72) is connected with the gear (73), the cam (72) is provided with a base circle portion (721) and a lift portion (722), the axial line of the base circle portion (721) is overlapped with the axial line of the gear (73), the lift portion (722) comprises a rising portion (7221) and a falling portion (7222), the rising portion (7221) is a smooth arc surface, and the falling portion (7222) is a cross section, gear (73) rotate to set up on mounting panel (2), and with the gear structure meshing that the outer peripheral face of rolling disc (42) set up, second spring (74) cover is established on slide bar (71), its both ends respectively with the inner wall of slide bar guiding hole (2D) with slide bar (71) the other end is contradicted.

7. An AGV trolley reversing structure according to claim 6, wherein said self-locking mechanism (7) further comprises a sliding contact (75) and a third spring (76), said sliding rod (71) is provided with a mounting hole (711) at the other end thereof, said sliding contact (75) is cylindrical, one end of said sliding contact is slidably disposed in said mounting hole (711), the other end of said sliding contact extends out of said mounting hole (711), said third spring (76) is disposed in said mounting hole (711), and the two ends of said third spring are fixedly connected to said one end of said sliding contact (75) and the inner wall of said mounting hole (711), respectively.

8. AGV dolly, including chassis (8), characterized in that, both ends are provided with AGV dolly switching-over structure (9) according to any one of claims 1-7 respectively around chassis (8), and still be provided with universal caster (10) in the both sides of switching-over structure (9).