CN212502506U

CN212502506U - Pusher and AGV vehicle

Info

Publication number: CN212502506U
Application number: CN202020704859.1U
Authority: CN
Inventors: 翟大庆; 莫泉湖; 李思俊; 石磊; 任勇
Original assignee: Sichuan Guoruan Science & Technology Development Co ltd
Current assignee: Sichuan Guoruan Technology Group Co Ltd
Priority date: 2020-04-30
Filing date: 2020-04-30
Publication date: 2021-02-09
Anticipated expiration: 2030-04-30

Abstract

The utility model relates to a pusher and AGV vehicle, pusher includes power portion, folding mechanism and promotion portion, the promotion portion with folding mechanism links to each other, power portion is used for providing power for folding mechanism, folding mechanism is used for making promotion portion expand to vertical position under the drive of power portion, and is used for making promotion portion fold to horizontal position or position under the horizontal position under the drive of power portion; the utility model provides a pusher has folding and expansion function, and simple structure, compactness not only, occupation space is little, and requires lowly to the cavity of vertical direction, is favorable to the miniaturization and the flattening of AGV vehicle.

Description

Pusher and AGV vehicle

Technical Field

The utility model relates to a in track traffic technical field, concretely relates to wheel set pusher and AGV vehicle.

Background

An AGV is a short for an automatic Guided Vehicle (Automated Guided Vehicle), and generally refers to a transport Vehicle equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and also a transport Vehicle that does not require a driver in industrial applications; in the actual operation process of the AGV, the controller (such as a computer host, a single chip, a vehicle host, etc.) is usually used to control the traveling route and behavior thereof, or the electromagnetic rail is usually adhered to the ground to set the traveling route, and the AGV moves and moves, such as forward, backward, and turn, etc., according to the information brought by the electromagnetic rail.

In the field of rail transit, AGV vehicles can be used to transport or push rail transit equipment, such as bogies, wheel pairs, etc.; a AGV vehicle for propelling movement wheel pair, as disclosed in prior art, be provided with one set of pushing part that can vertically go up and down usually to exert transverse thrust for the wheel pair, thereby make the wheel pair along predetermined orbiting to the destination, however, current AGV vehicle for propelling movement wheel pair, owing to adopt the mode drive pushing part of vertical lift, the space requirement to vertical direction is higher, not only has structural restriction problem, is unfavorable for AGV vehicle's miniaturization moreover, awaits for improving urgently.

SUMMERY OF THE UTILITY MODEL

For improving the not enough that exists among the prior art, the utility model provides a simple structure, compactness, pusher that occupation space is little requires lowly to the cavity of vertical direction, is favorable to the miniaturization and the flattening of AGV vehicle.

The utility model adopts the technical proposal that:

a pushing device comprises a power part, a folding mechanism and a pushing part, wherein the pushing part is connected with the folding mechanism, the power part is used for providing power for the folding mechanism, the folding mechanism is used for enabling the pushing part to be unfolded to a vertical position under the driving of the power part, and the pushing part is folded to a horizontal position or a position below the horizontal position under the driving of the power part. The wheel pair pushing device provided by the scheme has the advantages that when the wheel pair needs to be pushed, the pushing portion can be driven by the folding mechanism to rotate to the vertical position, so that the pushing portion can apply thrust along the track direction to the wheel shaft by contacting the wheel shaft of the wheel pair, the purpose of carrying and pushing the wheel shaft is achieved, when the wheel pair needs to be pushed, the pushing portion can be driven by the folding mechanism to rotate to the horizontal position or the position below the horizontal position, the folding and storage functions of the pushing portion are achieved, the structural design is adopted, the whole wheel pair pushing device is simpler and more compact in structure, smaller in occupied space, especially low in requirement on a cavity in the vertical direction, miniaturization and flattening of an AGV vehicle are facilitated, and the defects in the prior art can be effectively overcome.

In order to install or integrate the wheel pair pushing device to the AGV vehicle, the AGV vehicle further comprises an installation frame, and the power part, the folding mechanism and the pushing part are respectively installed on the installation frame. So as to form modularization, not only be convenient for install and integrate to the AGV vehicle, but also be convenient for later maintenance and maintenance.

Preferably, folding mechanism includes rectilinear motion portion and driven part, rectilinear motion portion includes the moving part, the driven part respectively with the moving part reaches the promotion portion links to each other, promotion portion swing joint in the mounting bracket, power portion is used for the drive moving part rectilinear motion, and drives promotion portion rotates for the mounting bracket. Thereby achieving the purpose of adjusting the position of the pushing part.

Preferably, the driven part is a transmission rod, and two ends of the transmission rod are respectively hinged to the moving part and the pushing part. So as to form a link mechanism, not only can realize the functions of unfolding and folding, but also can play a role of bearing in the process of pushing the wheel pair.

In order to ensure the realization of the linear motion, preferably, the linear motion part further comprises a guide component, the guide component is fixed on the mounting rack, the guide component is a guide rail or a guide rod, and the motion component and the guide rail or the guide rod form a moving pair. So as to realize the guide function and ensure that the moving part can strictly realize the linear motion under the constraint of the guide rail or the guide rod.

The utility model provides a scheme, power portion is cylinder or pneumatic cylinder, cylinder or pneumatic cylinder include the cylinder body and set up in the push rod of cylinder body, and the cylinder body is fixed in the mounting bracket, the push rod links to each other with the moving part, the cylinder body is used for driving the push rod and stretches out/contracts. Thereby drive moving part along guide part rectilinear motion, and then drive the promotion portion and rotate, reach the purpose of expansion and folding.

Preferably, the power part is an air cylinder or a hydraulic cylinder.

In another scheme, the power part is a motor, the linear motion part further comprises a screw, the screw and the motion part form a spiral transmission mechanism, the screw is connected with the motor through the transmission part, and the motor is used for driving the screw to rotate. So that the moving part is driven by the rotation of the screw rod to strictly realize linear motion under the constraint of the guide rail or the guide rod.

Preferably, the moving part comprises a sliding block matched with the guide rail or the guide rod and a nut matched with the screw rod, the sliding block is fixedly connected with the nut, and the driven part is hinged to the nut. So that the push device can be installed and assembled by the wheel.

Optionally, the pushing part is of a plate-shaped, rod-shaped or columnar structure. The length of promotion portion can be decided according to actual demand, and when only needing promotion portion to move vertical position, one side of promotion portion can support and lean on one side of being hauled equipment, if support and lean on one side of wheel centering shaft can to utilize the power of AGV vehicle to promote to be hauled equipment and remove, reach the mesh of propelling movement.

For the position of accurate control promotion portion, it is further, still include controller and spacing sensor, spacing sensor is fixed in the mounting bracket, and with the controller links to each other for detect moving part's position and transmit the controller, power portion with the controller links to each other, is used for control power portion. So that the folding and unfolding of the push part is precisely controlled by the controller.

Preferably, the device comprises two limit sensors, the two limit sensors are respectively fixed on the mounting frame through a support and respectively connected with the controller, and the two limit sensors are respectively used for generating sensing signals when the moving part moves to the set position and transmitting the sensing signals to the controller. By arranging the two limit sensors, whether the pushing part is unfolded in place or folded in place can be accurately controlled by the controller.

Preferably, the limit sensor may be a correlation photoelectric sensor, a photoelectric switch, or the like.

In order to arrange the power part conveniently, the transmission part is one or a combination of a shaft coupling, a universal joint, a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism, a worm and gear transmission mechanism or a gear-rack transmission mechanism. Through setting up transmission portion, the position that can be reasonable sets up power portion to be favorable to whole device's structure compacter.

The utility model provides a AGV vehicle, includes automobile body and aforementioned wheel pair pusher, wheel pair pusher set up in the automobile body.

In order to make the stress uniform in the pushing process, it is preferable that the pushing device comprises at least two wheel pair pushing devices, and when pushing portions in the at least two wheel pair pushing devices respectively rotate to the setting position, the side faces of the pushing portions, which are used for contacting the wheel shafts, are coplanar.

Preferably, the upper portion of the vehicle body is provided with an opening through the pushing portion, the wheel pair pushing device is arranged in the vehicle body, and the pushing portion is arranged at the opening. So that the pushing part can extend out of the vehicle body through the opening under the driving of the power part, thereby pushing the carried equipment and being convenient for the pushing part to be stored in the vehicle body through the opening; the structure that is favorable to whole AGV vehicle is compacter, the outward appearance is more regular.

Compared with the prior art, use the utility model provides a pair of pusher and AGV vehicle, simple structure, compactness, occupation space is little, not only can be used for the propelling movement wheel pair, can realize folding and expand the function moreover, and the cavity to vertical direction requires lowly, is favorable to the miniaturization and the flattening of AGV vehicle.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a pushing device provided in this embodiment 1.

Fig. 2 is a front view of fig. 1.

Fig. 3 is a schematic structural diagram of a driven portion of the pushing device provided in this embodiment 1.

Fig. 4 is a schematic structural diagram of an AGV vehicle according to embodiment 2.

Fig. 5 is a schematic view showing the structure of another AGV vehicle according to this embodiment 2.

Description of the drawings

A power part 101, a transmission part 102, a screw 103, a bearing seat 104, a nut 105, a guide member 106, a slider 107, a driven part 108, a pushing part 109, a hinge bracket 110, a hinge shaft 111, a hinge hole 112, a buffer layer 113,

A mounting rack 201,

A limit sensor 301, a bracket 302,

Body 401, housing 402, opening 403.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

Referring to fig. 1 and 2, the present embodiment provides a pushing device, which includes a power portion 101, a folding mechanism, and a pushing portion 109, wherein the pushing portion 109 is connected to the folding mechanism, the power portion 101 is used for providing a driving force for the folding mechanism, the folding mechanism is used for unfolding the pushing portion 109 to a vertical position under the driving of the power portion 101, and is used for folding the pushing portion 109 to a position at or below a horizontal position under the driving of the power portion 101. According to the pushing device provided by the embodiment, when a wheel pair needs to be pushed, the pushing part 109 can be driven by the folding mechanism to rotate to the vertical position, so that the pushing part can be driven by the folding mechanism to rotate to the horizontal position or the position below the horizontal position through contacting with the wheel shaft of the wheel pair and applying the pushing force along the track direction to the wheel shaft, and therefore the purposes of carrying and pushing the wheel shaft are achieved, and when the wheel pair needs to be pushed, the pushing part 109 can be driven by the folding mechanism to rotate to the horizontal position or the position below the horizontal position, so that the folding and storage functions of the pushing part 109 are achieved; in addition, through the reasonable length that sets up promotion portion 109, can satisfy the demand of different propelling movement height, and need change the whole height of whole AGV vehicle to more be favorable to practical application, the commonality is better.

In order to facilitate installation or integration of the pushing device to an AGV, in a further aspect, the pushing device further includes an installation frame 201, and the power portion 101, the folding mechanism and the pushing portion 109 are respectively installed on the installation frame 201 so as to form modularization, which facilitates installation and integration to the AGV and facilitates later-stage maintenance and repair; as shown in fig. 1 and 2, the mounting frame 201 mainly plays a supporting role, and the structure thereof is not limited.

Preferably, the folding mechanism includes a linear motion portion and a driven portion 108, the linear motion portion includes a motion component, the driven portion 108 is respectively connected to the motion component and the pushing portion 109, the pushing portion 109 is movably connected to the mounting frame 201, as shown in fig. 1 to 3, the pushing portion 109 is movably connected to the hinge frame 110, the hinge frame 110 is mounted to the mounting frame 201, and the power portion 101 is configured to drive the motion component to move linearly and drive the pushing portion 109 to rotate relative to the mounting frame 201, so as to achieve the purpose of adjusting the position of the pushing portion 109.

Specifically, as an example, the driven portion 108 may be a transmission rod, and both ends of the transmission rod are respectively hinged (by matching the hinge shaft 111 with the hinge hole 112, which will not be described in detail later) to the moving part and the pushing portion 109, as shown in fig. 1 to 3; so as to form a link mechanism, not only can realize the functions of unfolding and folding, but also can play a role of bearing in the process of pushing the wheel pair.

In order to ensure that the moving part performs linear motion, the linear motion part preferably further includes a guide part 106, the guide part 106 is fixed to the mounting frame 201, the guide part 106 is a guide rail or a guide rod, and the moving part and the guide rail or the guide rod form a moving pair so as to provide guidance for the moving part and ensure that the moving part can perform linear motion strictly under the constraint of the guide rail or the guide rod.

As a first preferred embodiment, the power portion 101 may be an air cylinder or a hydraulic cylinder, the air cylinder or the hydraulic cylinder includes a cylinder body and a push rod disposed on the cylinder body, the cylinder body is fixed to the mounting frame 201, the push rod is connected to the moving component, and the cylinder body is configured to drive the push rod to extend/retract, so as to drive the moving component to linearly move along the guiding component 106, and further drive the pushing portion 109 to rotate, thereby achieving the purposes of unfolding and folding. In this case, the moving member may be a slider 107 fitted to the guide member 106.

As a second preferred embodiment, the power part 101 may be a motor, the linear motion part further includes a screw 103, the screw 103 and the motion part form a screw transmission mechanism, the screw 103 is connected to the motor through a transmission part 102, and the motor is configured to drive the screw 103 to rotate, so that the rotation of the screw 103 drives the motion part to strictly realize linear motion under the constraint of a guide rail or a guide rod, and thus the pushing part 109 is driven to rotate, so as to achieve the purpose of unfolding and folding. In this embodiment, the screw 103 may be fixed to the mounting frame 201 by a bearing and a bearing seat 104.

In order to facilitate the installation and assembly of the pushing device, as shown in fig. 1 or fig. 2, the moving component preferably includes a sliding block 107 adapted to the guide rail or the guide rod, and a nut 105 adapted to the screw 103, the sliding block 107 and the guide rail or the guide rod form a moving pair, the nut 105 and the screw 103 form a screw transmission mechanism, the sliding block 107 and the nut 105 are fixedly connected, and the driven portion 108 is hinged to the nut 105, so that the moving component can be moved to drive the driven portion 108 to move, thereby driving the pushing portion 109 to rotate.

In the present embodiment, the pushing portion 109 may have a plate-like, rod-like or column-like structure. The length of pushing portion 109 can be decided according to actual needs, and when only pushing portion 109 needed to move to vertical position, one side of pushing portion 109 can be abutted against one side of the transported equipment, if abutted against one side of the wheel centering shaft, so that the power of the AGV vehicle can be utilized to push the transported equipment to move, and the purpose of pushing is achieved. For example, as shown in fig. 1 or fig. 2, in the present embodiment, the pushing portion 109 is a square rod, and in order to achieve buffering and shock absorption, a buffer layer 113 is disposed on one side of the pushing portion 109, which is used for contacting with a wheel pair, and as shown in fig. 1 and fig. 2, the buffer layer 113 may be a rubber layer.

In order to accurately control the position of the pushing part 109, in a further scheme provided in this embodiment, the pushing device further includes a controller and a limit sensor 301, the limit sensor 301 is fixed to the mounting frame 201 and connected to the controller for detecting the position of the moving part and transmitting the detected position to the controller, and the power part 101 is connected to the controller for controlling the power part 101, such as controlling the extension/retraction of a cylinder or a hydraulic cylinder, or controlling the starting, stopping, forward rotation, reverse rotation, and the like of a motor, so as to accurately control the folding and unfolding of the pushing part 109 through the controller.

By way of example, in the present embodiment, the pushing device includes two limit sensors 301, the two limit sensors 301 are respectively fixed to the mounting frame 201 through a bracket 302 and are respectively connected to the controller, as shown in fig. 1 or fig. 2, the two limit sensors 301 are respectively used for generating a sensing signal when the moving component moves to a set position and transmitting the sensing signal to the controller. By arranging the two limit sensors 301, the controller can be used for accurately controlling whether the pushing part 109 is unfolded in place or folded in place. It is understood that the limit sensor 301 may be a relative emission type photoelectric sensor, a photoelectric switch, etc., and in this example, the limit sensor 301 is a photoelectric switch.

To facilitate the arrangement of the power portion 101, the transmission portion 102 may be one or more of a coupling, a universal joint, a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism, a worm-and-gear transmission mechanism, or a gear-and-rack transmission mechanism. By arranging the transmission part 102, the position of the power part 101 can be reasonably arranged, thereby being beneficial to the more compact structure of the whole device. For example, in the present embodiment, the transmission part 102 is a coupling, as shown in fig. 1 and fig. 2.

Example 2

The embodiment provides an AGV comprising a vehicle body 401 and the pushing device in embodiment 1, wherein the pushing device is arranged on the vehicle body 401; the vehicle body 401 can be a vehicle body 401 of an AGV vehicle, which is common in the prior art, the vehicle body 401 is generally provided with a traveling wheel, a power assembly and a controller, the power assembly is connected with the traveling wheel and electrically connected with the controller, and the power assembly is used for driving the traveling wheel to rotate under the control of the controller, so as to drive the vehicle body 401 to move; the vehicle body 401 generally includes a frame and a housing 402, the housing 402 is disposed on the upper portion of the frame, as shown in fig. 4 and 5, so as to achieve the closed or semi-closed state of the frame, the power assembly and the controller are respectively disposed inside the housing 402 and fixed to the frame, and the road wheels are disposed on the bottom of the frame for contacting the ground so as to achieve the walking.

In this embodiment, the powertrain may be one commonly used in existing AGV vehicles, and is not illustrated here. The vehicle body 401 is provided with a storage battery pack, and the storage battery pack is connected with the power assembly and used for supplying power.

Since the AGV vehicle without manual control is provided in this embodiment, the vehicle body 401 is further provided with a guiding device for the existing AGV vehicle, the guiding device is connected to the controller, and the controller controls the vehicle body 401 to travel along a set route through the guiding device; for example, in this embodiment, the guiding device may preferentially adopt an RFID sensor, an electromagnetic track is disposed on the set traveling route, the electromagnetic track 105 is parallel to a track on which the transported equipment runs, and may be disposed outside the track or between the two tracks, and the controller controls the vehicle body 401 to run along the electromagnetic track through a message brought by the electromagnetic track induced by the RFID sensor, such as forward movement, backward movement, steering, and the like, which are the prior art, and are not described herein again.

In the prior art, the wheel set generally comprises a wheel axle and wheels arranged at two ends of the wheel axle, wherein the two wheels are respectively matched with the track so as to move along the track; the bogie is composed of two wheel pairs, and the AGV can be pushed by the AGV, so that the detailed description is omitted.

In order to make the stress uniform in the pushing process, the AGV preferably comprises at least two pushing devices, and when pushing portions 109 of the at least two pushing devices rotate to the setting positions respectively, the side surfaces of the pushing portions 109, which are used for contacting the wheel shafts, are coplanar and parallel to the transverse direction of the car body 401; as an example, as shown in fig. 5, the vehicle body comprises two pushing devices, the two pushing devices are respectively symmetrically arranged on two sides of the vehicle body 401, so that when the wheel pairs are pushed, the two pushing devices can simultaneously apply thrust to the wheel pairs from different positions, which is beneficial to more uniform stress of the wheel pairs and avoiding the problems of deviation and the like.

In a further aspect, as shown in fig. 4 or 5, an upper portion of the vehicle body 401 (i.e., an upper portion of the housing 402) is provided with an opening 403 through the pushing portion 109, the pushing device is provided in the vehicle body 401, and the pushing portion 109 is provided at the opening 403. So that the pushing part 109 can extend out of the vehicle body 401 through the opening 403 under the driving of the power part 101 to push the carried equipment, and so that the pushing part 109 can be received in the vehicle body 401 through the opening 403; the structure that is favorable to whole AGV vehicle is compacter, the outward appearance is more regular.

In a more complete scheme, the controller may be a controller commonly used in the existing AGV, such as a single chip, a PLC or an ARM chip, and is not described herein again.

The AGV provided by the embodiment is used for transporting transported equipment placed on a track, such as wheel sets or equipment provided with wheel sets, such as a bogie, and the process can be as follows: the AGV vehicle moves to the position of the transported equipment, the pushing part 109 is driven by the power part 101 to be unfolded to the vertical position and contact with the transported equipment, the power assembly is started under the control of the controller and gradually accelerated, and in the process, the transported equipment is synchronously pushed to move along the track by the pushing part 109; thereafter, there are two control modes, one of which is: in the process of accelerating the vehicle body 401, if the vehicle body 401 detects that an obstacle exists in front (the vehicle body 401 is provided with a sensor for detecting the obstacle, the sensor is connected with the controller), a sensing signal is generated and transmitted to the controller, and the controller immediately controls the power assembly to decelerate or stop after receiving the sensing signal, so that the carried equipment and the pushing part 109 can be automatically separated, the carrying equipment can be thrown, and the separated carried equipment can continuously move along the track; the second is that: the vehicle body 401 is provided with a speed sensor for detecting speed, the speed sensor is connected with a controller, the speed detector can detect real-time vehicle speed of the vehicle body 401 and transmit the vehicle speed to the controller in the acceleration process of the vehicle body 401, when the vehicle speed is greater than or equal to a set speed, the controller immediately controls the power assembly to decelerate or stop, so that the carried equipment and the pushing part 109 can be automatically separated, the carrying of the carried equipment is realized, and the separated carried equipment can continuously move along a track; the AGV vehicle that this scheme of utilization provided, simple structure can promote the wheel pair and be provided with the equipment of wheel pair along the track, not only need not bear the weight of by hauled equipment, does not need the AGV vehicle in whole handling process and by hauled equipment synchronization moreover, has both been favorable to simplifying the handling process, can effectively improve handling efficiency again, is particularly useful for the transport to set up in orbital wheel pair and be provided with the equipment of wheel pair.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention.

Claims

1. The pushing device is characterized by comprising a power part, a folding mechanism and a pushing part, wherein the pushing part is connected with the folding mechanism, the power part is used for providing power for the folding mechanism, the folding mechanism is used for unfolding the pushing part to a vertical position under the driving of the power part and is used for folding the pushing part to a horizontal position or a position below the horizontal position under the driving of the power part.

2. The pushing device as claimed in claim 1, further comprising a mounting bracket, wherein the power portion, the folding mechanism and the pushing portion are respectively mounted to the mounting bracket.

3. The pushing device as claimed in claim 2, wherein the folding mechanism includes a linear moving portion and a driven portion, the linear moving portion includes a moving member, the driven portion is connected to the moving member and the pushing portion respectively for transmission, the pushing portion is movably connected to the mounting bracket, and the power portion is configured to drive the moving member to move linearly and drive the pushing portion to rotate relative to the mounting bracket.

4. The pushing device as claimed in claim 3, wherein the driven part is a transmission rod, and two ends of the transmission rod are respectively hinged to the moving part and the pushing part.

5. The pushing device as claimed in claim 3, wherein the linear motion part further comprises a guide member fixed to the mounting frame, the guide member is a guide rail or a guide rod, and the motion member and the guide rail or the guide rod form a moving pair.

6. The pushing device as claimed in claim 3, wherein the power part is an air cylinder or a hydraulic cylinder, the air cylinder or the hydraulic cylinder comprises a cylinder body and a push rod arranged on the cylinder body, the cylinder body is fixed on the mounting frame, the push rod is connected with the moving part, the cylinder body is used for driving the push rod to extend/retract,

or, the power part is a motor, the linear motion part further comprises a screw, the screw and the motion part form a spiral transmission mechanism, the screw is connected with the motor through the transmission part, and the motor is used for driving the screw to rotate.

7. The pushing device according to any one of claims 2 to 6, further comprising a controller and a limit sensor, wherein the limit sensor is fixed to the mounting frame, connected to the controller, and used for detecting the position of the moving member and transmitting the detected position to the controller, and the power unit is connected to the controller and used for controlling the power unit.

8. The pushing device as claimed in claim 7, comprising two limit sensors, wherein the two limit sensors are respectively fixed to the mounting frame through a bracket and respectively connected to the controller, and the two limit sensors are respectively used for generating a sensing signal when the moving member moves to a set position and transmitting the sensing signal to the controller.

9. An AGV vehicle comprising a vehicle body and a pusher according to any one of claims 1 to 8, said pusher being mounted on said vehicle body.

10. The AGV vehicle of claim 9, wherein an upper portion of the vehicle body is provided with an opening through which the pushing portion passes, the pushing device is provided in the vehicle body, and the pushing portion is provided at the opening.