CN220165738U

CN220165738U - AGV dolly

Info

Publication number: CN220165738U
Application number: CN202321018403.XU
Authority: CN
Inventors: 林峰; 张丽
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-04-30
Filing date: 2023-04-30
Publication date: 2023-12-12
Anticipated expiration: 2033-04-30

Abstract

The utility model provides an AGV trolley, which is characterized in that a synchronization and force transmission mechanism is added on the basis of the existing double-shear fork mechanism, the front and rear sides of the left and right sides of the AGV trolley are respectively provided with a shear fork mechanism by a double-shear fork synchronization mechanism, and the front and rear shear fork mechanisms can synchronously and oppositely move, so that the shaking problem of a double-shear fork lifting mechanism platform in the prior art during loading is avoided, and the stability of the AGV trolley in operation is improved.

Description

AGV dolly

Technical Field

The utility model relates to the field of intelligent equipment manufacturing, in particular to an AGV trolley.

Background

With the advancement of technology, AGV carts are increasingly used in industrial transportation, such as in warehousing, manufacturing, port and dock, hazard areas, specialty industries, etc. Generally, an AGV car is equipped with an automatic navigation device such as electromagnetic or optical, can travel along a predetermined navigation path, and is a transport vehicle having safety protection and various transfer functions, and is configured to carry and transport loads by means of a driving mechanism, a lifting mechanism, a stage, and the like.

The driving mechanism and lifting mechanism of the hidden lifting AGV in the existing market have the following:

the driving mechanism is driven by a speed reduction driving mechanism, a steering wheel driving mechanism or a wheat wheel driving mechanism; the lifting mechanism comprises a hollow screw rod gear, a 3 screw rod synchronous gear, a single-shear fork electric or hydraulic push rod, a double-shear fork electric or hydraulic push rod, a single-shear fork rocker arm connecting rod and the like.

The AGV trolley adopting the driving mechanism or the lifting mechanism can realize the basic functions, but more or less brings about some problems, and the following concrete steps are as follows:

since most of the objects to be transported are transported in factory logistics at a weight of about 500KG or less, and the size of the cargo space determines the size of the AGV, such AGV size determines that the AGV driving mechanism can only use the differential driving mechanism and the steering wheel driving mechanism is rarely used.

Due to the AGV body and ground supporting principle, the size of the lifting mechanism and the like, most differential driving mechanisms are in floating connection with the AGV body through shock absorbing springs; although the floating connection can be well adapted to the unevenness of the ground, due to the fact that the weight of an AGV body is insufficient, the friction force between a driving wheel and the ground is insufficient, and no problem exists when the AGV is in idle load, the phenomenon that the driving wheel of the AGV cannot provide enough driving force to skid occurs possibly when the AGV is loaded, so that the AGV fails and the operation of the AGV is affected; meanwhile, the weight of the goods is borne by the AGV body universal wheels, so that the universal wheels are high in load and easy to damage.

The existing screw rod lifting mechanism has the problems of insufficient integral rigidity, heavy load and shaking of a lifting platform during movement impact, and meanwhile, the processing technology is difficult, the cost is high and the later maintenance is difficult, so that most manufacturers eliminate the mode.

The existing single-shear fork is the most economical and stable scheme, but also has the problem of occupying a height space, and the limitation of the application of the mechanism is caused due to the limitation of the AGV in the application of the height space, and the overload of the push rod is also caused due to the limitation of the height; meanwhile, the eccentricity of the single-shear fork structure causes uneven supporting stress of the lifting platform.

The double-scissor fork mechanism can avoid the defects of single-scissor fork, but has the defects; the small clearance of the motion pair of the double-shear fork mechanism can be enlarged to cause the shaking of the lifting platform, and the existing solution is to add a linear bearing sliding up and down between the lifting platform and the AGV body so as to limit other degrees of freedom outside the up-and-down motion of the lifting platform.

At present, a lifting mechanism of most large factories uses a single-scissor fork rocker arm connecting rod mechanism, and the mechanism meets the requirements of economy and rigidity stability; but also has the problems of unstable lifting movement and asymmetric mechanism and AGV body, and meanwhile, the heavy load is difficult to realize.

Disclosure of Invention

The present utility model aims to solve, at least to some extent, one of the above technical problems or at least to provide a useful commercial choice. Therefore, the utility model aims to provide the AGV trolley, and the synchronization and force transmission mechanisms are added on the basis of the existing double-scissor fork mechanisms, the double-scissor fork synchronization mechanisms are respectively provided with a scissor fork mechanism at the front and the rear of the left side and the right side of the AGV trolley, and the front and the rear scissor fork mechanisms can move in opposite directions, so that the shaking problem of a double-scissor fork lifting mechanism platform in the prior art during loading is avoided, and the stability of the AGV trolley in operation is improved.

According to the AGV trolley of the utility model, the AGV trolley comprises a lifting mechanism; the driving mechanism is hinged with the lifting mechanism through a linear bearing capable of sliding up and down; the double-scissors fork synchronous mechanism comprises a left scissors fork synchronous mechanism and a right scissors fork synchronous mechanism which are oppositely arranged, wherein the left scissors fork synchronous mechanism comprises a first front scissors fork mechanism and a first rear scissors fork mechanism, and the right scissors fork synchronous mechanism comprises a second front scissors fork mechanism and a second rear scissors fork mechanism; the force transmission synchronous sliding block is movably connected with the double-shear fork synchronous mechanism; the force transmission pressing slide block is connected with the driving mechanism through a lifting state force application spring; one end of the force transmission connecting rod is movably connected with the force transmission synchronous slide block, and the other end of the force transmission connecting rod is movably connected with the force transmission pressing slide block; the push rod mechanism is rigidly connected with the force transmission synchronous sliding block, and the first front scissors fork mechanism and the first rear scissors fork mechanism, the second front scissors fork mechanism and the second rear scissors fork mechanism can respectively move in opposite directions under the driving of the push rod mechanism.

According to the AGV trolley, the synchronization and force transmission mechanisms are added on the basis of the existing double-cutter fork mechanisms, the double-cutter fork synchronization mechanism is provided with one cutter fork mechanism at the front and the rear of the left side and the right side of the AGV trolley, and the front and the rear of the double-cutter fork synchronization mechanism can move in opposite directions, so that the shaking problem of a double-cutter fork lifting mechanism platform in the prior art during loading is avoided, and the stability of the AGV trolley in operation is improved.

In addition, the AGV trolley according to the utility model can also have the following additional technical characteristics:

the AGV dolly still includes objective table and last linear guide, and wherein, every scissors fork mechanism includes first movable rod, second movable rod, and the center of first movable rod coincides and is fixed through a mounting with the center of second movable rod, and the upper end and the objective table swing joint of first movable rod, the lower extreme and the lifting mechanism swing joint of first movable rod, the upper end of second movable rod can be followed linear guide and make a round trip to slide, the lower extreme and the synchronous slider swing joint of force transmission of second movable rod.

The AGV trolley further comprises a lower linear guide rail, and the force transmission synchronous sliding block can slide back and forth along the lower linear guide rail.

The push rod mechanism is rigidly connected with the force transmission synchronous slide block through a synchronous slide block connecting plate.

The synchronous slide block connecting plate and the force transmission synchronous slide block are integrally formed.

The AGV trolley further comprises a spring pressing plate and a driving shock-absorbing linear guide rail, wherein the spring pressing plate is rigidly connected with the lifting mechanism through the driving shock-absorbing linear guide rail.

The AGV trolley further comprises a primary force application spring, wherein the primary force application spring is respectively connected with the spring pressing plate and the driving wheel and used for transmitting pressure received by the spring pressing plate to the driving mechanism.

The push rod mechanism has a self-locking function.

The push rod mechanism comprises a servo motor.

The double-scissor fork synchronous mechanism is manufactured by adopting a compression molding process.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The foregoing and/or additional aspects and advantages of the utility model will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is a front view of an AGV cart according to one embodiment of the present utility model;

FIG. 2 is an exploded view of an AGV cart according to one embodiment of the present utility model.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

FIG. 1 is a front view of an AGV cart according to one embodiment of the present utility model; FIG. 2 is an exploded view of an AGV cart according to one embodiment of the present utility model. Referring to fig. 1-2, the present utility model provides an AGV cart that can promote stability in the motion of the AGV and has a strong driving capability.

AGV (Automated Gu ided Veh ic le ) dolly is as a novel unmanned carrier, and it has degree of automation height, load capacity big, convenient operation and area big advantage, wide application in fields such as warehouse transportation, port and pier, airport, dangerous place.

Referring to fig. 1 and 2, the present utility model provides an AGV trolley, which includes a lifting mechanism 100, a driving mechanism 200, a double-scissor fork synchronization mechanism 300, a force transmission synchronization slider 400, a force transmission pressing slider 500, a force transmission link 700, and a push rod mechanism 800.

The lift mechanism 100 constitutes the main body mechanism of the AGV and generally includes a chassis, load bearing members, supports, and the like.

The drive mechanism 200 is connected to the lift mechanism 100 of the AGV trolley, and typically, the drive mechanism 200 is connected to the lift mechanism 100 through a suspension system, for example, the drive mechanism 200 is hinged to the lift mechanism 100 through a linear bearing that can slide up and down, so that the lift mechanism 100 can lift up or move down under the drive of the drive mechanism 200. The driving mechanism 200 includes driving wheels, which are symmetrically disposed, for example, one driving wheel may be disposed at each of the left and right sides of the lifting mechanism 100 of the AGV cart, and the driving mechanism 200 is used to drive the AGV cart to move forward. In the present embodiment, a speed reducer is further provided in the driving mechanism 200, thereby reducing the rotation speed of the driving wheel and increasing the torque of the driving wheel.

The double-scissor fork synchronizing mechanism 300 is arranged on the lifting mechanism 100 of the AGV trolley and connected with the lifting mechanism 100, and comprises a left scissor fork synchronizing mechanism 310 and a right scissor fork synchronizing mechanism 320 which are oppositely arranged, wherein the left scissor fork synchronizing mechanism 310 comprises a first front scissor fork mechanism 311 and a first rear scissor fork mechanism 312, and the right scissor fork synchronizing mechanism 320 comprises a second front scissor fork mechanism 321 and a second rear scissor fork mechanism 322. Specifically, the AGV is basically configured to be bilaterally symmetrical, and in this embodiment, the left side of the traveling direction of the AGV is defined as the left side, the right side of the traveling direction of the AGV is defined as the right side, the front side of the traveling direction of the AGV is defined as the front side, and the rear side of the traveling direction of the AGV is defined as the rear side. It should be understood that the orientation of the AGV is defined in the present utility model only to better illustrate the technical solution of the present utility model, and should not be construed as limiting the scope of protection of the present patent.

The double scissor fork synchronizing mechanism 300 of the AGV trolley of the utility model comprises a left scissor fork synchronizing mechanism 310 arranged at the left side of the AGV trolley and a right scissor fork synchronizing mechanism 320 arranged at the right side of the AGV trolley. The left scissor fork synchronous mechanism 310 further comprises a first front scissor fork mechanism 311 arranged at the front end of the AGV trolley and a first rear scissor fork mechanism 312 arranged at the rear end of the AGV trolley; similarly, the right scissor fork synchronizing mechanism 320 includes a second front scissor fork mechanism 321 disposed at the front end of the AGV trolley and a second rear scissor fork mechanism 322 disposed at the rear end of the AGV trolley. Preferably, the first front scissor fork mechanism 311 and the second front scissor fork mechanism 321 are symmetrically arranged along the symmetry axis of the left-right direction of the AGV trolley, and the first rear scissor fork mechanism 312 and the second rear scissor fork mechanism 322 are also symmetrically arranged along the symmetry axis of the left-right direction of the AGV trolley; the first front scissors fork mechanism 311 and the first rear scissors fork mechanism 312 are also symmetrically arranged along the symmetry axis of the front and rear directions of the AGV, and the second front scissors fork mechanism 321 and the second rear scissors fork mechanism 322 are also symmetrically arranged along the symmetry axis of the front and rear directions of the AGV. That is, the double-scissor fork synchronization mechanism 300 included in the AGV trolley of the utility model, the double-scissor fork synchronization mechanism 300 is provided with 4 independent scissor fork synchronization mechanisms, and the 4 scissor fork synchronization mechanisms are basically symmetrically arranged at the positions close to four corners of the AGV trolley, so that the double-scissor fork synchronization mechanism 300 is uniformly stressed when bearing gravity, the stability of the AGV trolley in the running process is improved, and the problem of insufficient stability caused by the fact that the gravity of the AGV trolley inclines towards a certain position is avoided.

The force transmission synchronization module 400 is movably coupled to the double-scissor fork synchronization mechanism 300. Specifically, the force transmission module 400 is movably connected with the double-shear fork synchronization mechanism 300, and when the double-shear fork synchronization mechanism 300 moves, the force transmission module 400 can be synchronously moved. In the present embodiment, the number of the force transmission modules 400 includes four, that is, the first front scissor mechanism 311, the first rear scissor mechanism 312, the second front scissor mechanism 321, and the second rear scissor mechanism 322 respectively correspond to one force transmission module 400, and when the double scissor fork synchronous mechanism 300 moves, the four force transmission modules 400 are driven to follow.

The force transmission pressing module 500 is connected to the driving mechanism 200, and in this embodiment, the force transmission pressing module 500 is connected to the driving mechanism 200 through a lifting state force application spring 600. Specifically, when the force transmission pressing module 500 receives a downward pressure, the lifting state force application spring 600 is compressed and elastically deformed, thereby transmitting the downward pressure received by the force transmission pressing module 500 to the driving mechanism 200.

The force transmission connecting rod 700 is movably connected with the force transmission synchronous slide block 400 and the force transmission pressing slide block 500, namely, the force transmission connecting rod 700 is connected between the force transmission synchronous slide block 400 and the force transmission pressing slide block 500, one end of the force transmission connecting rod 700 is movably connected with the force transmission synchronous slide block 400, and the other end of the force transmission connecting rod 700 is movably connected with the force transmission pressing slide block 500. Specifically, since the force transmission link 700 is connected to the force transmission synchronizing slide 400 and the force transmission pressing slide 500, respectively, when the force transmission synchronizing slide 400 is forced to move, the force transmission link 700 moves, and thus the force transmission pressing slide 500 moves downward, and finally, the force is transmitted to the driving mechanism 200 connected to the force transmission pressing slide 500.

The push rod mechanism 800 is connected to the force transmission synchronizing slider 400, and the first front scissor fork mechanism 311 and the first rear scissor fork mechanism 312 are driven by the push rod mechanism 400, and the second front scissor fork mechanism 321 and the second rear scissor fork mechanism 322 are capable of moving in opposite directions in synchronization, respectively. Specifically, the pushing rod mechanism 800 is connected with the force transmission synchronous sliding block 400, so that the force transmission synchronous sliding block 400 can move forwards or backwards, when the pushing rod mechanism 800 drives the force transmission synchronous sliding block 400 to move outwards, the first front scissor fork mechanism 311, the first rear scissor fork mechanism 312, the second front scissor fork mechanism 321 and the second rear scissor fork mechanism 322 synchronously shrink, the platform of the AGV trolley rises, the power transmission connecting rod 700 moves outwards at the moment, and then the power transmission compression sliding block moves downwards, so that the gravity born by the platform is split on the driving mechanism 200, the load of universal wheels of the AGV trolley is lightened, the friction force of the driving mechanism 200 to the ground is improved, the driving capability of the AGV trolley is increased, and the 4 scissor fork mechanisms move synchronously in opposite directions, so that the running stability of the AGV trolley is maintained.

In particular implementations, the push rod mechanism 800 drives the first front scissor mechanism 311 and the first rear scissor mechanism 312 to move toward each other, including two cases, the first case, the push rod mechanism 800 drives the first front scissor mechanism 311 and the first rear scissor mechanism 312 to move toward each other; in the second case, the push rod mechanism 800 drives the first front scissor mechanism 311 and the first rear scissor mechanism 312 to move in a direction away from each other. It will be appreciated that the first front scissor fork 311 and the first rear scissor fork 312 move along the same line in the direction of travel of the AGV trolley and in opposite directions. Similarly, the second front scissor mechanism 321 and the second rear scissor mechanism 322 also move in directions toward or away from each other.

In particular implementations, referring to fig. 1 and 2, the AGV cart of the present utility model further includes a stage 900 and an upper linear guide 1000. The pallet is used to carry the load, i.e., the load transported by the AGV carriage is placed on the pallet 900, which is typically also provided with a securing device, such as a rope, chain, etc., for securing the load.

Each scissor fork mechanism comprises a first movable rod 330 and a second movable rod 340, the center of the first movable rod 330 coincides with the center of the second movable rod 340 and is fixed through a fixing piece, the upper end of the first movable rod 330 is movably connected with the objective table 900, the lower end of the first movable rod 330 is movably connected with the lifting mechanism 200, the upper end of the second movable rod 340 can slide back and forth along the upper linear guide rail 1000, and the lower end of the second movable rod 340 is movably connected with the force transmission synchronous sliding block 400. Specifically, the double-scissor fork synchronization mechanism 300 includes 4 scissor fork mechanisms, which are respectively a first front scissor fork mechanism 311, a first rear scissor fork mechanism 312, a second front scissor fork mechanism 321 and a second rear scissor fork mechanism 322, the specific structures of the 4 scissor fork mechanisms are the same and symmetrically arranged, any one of the 4 scissor fork mechanisms includes a first movable rod 330 and a second movable rod 340, the center position of the first movable rod 330 coincides with the center position of the second movable rod 340 and is fixed by a fixing piece such as a screw, a rivet, a buckle, etc., so that the first movable rod 330 and the second movable rod 340 form a scissor structure, the upper end of the first movable rod 330 is movably connected with the stage 900, the lower end of the first movable rod 330 is movably connected with the AGV body 100, the upper end of the second movable rod 340 can slide back and forth along the upper linear guide rail 1000, and the lower end of the second movable rod 340 is movably connected with the force transmission synchronization slider 400, and therefore when the scissor structure formed by the first movable rod 330 and the second movable rod 340 is folded, the upper end of the second movable rod 340 is close to the upper end of the first movable rod 330 along the linear guide rail 1000 near the first movable rod 330 and the lower end of the second movable rod 330; when the first movable bar 330 is separated from the scissor structure formed by the second movable bar 340, the upper end of the second movable bar 340 is far away from the upper end of the first movable bar 330 along the upper linear guide 1000, and the lower end of the first movable bar 330 is synchronously far away from the lower end of the second connecting bar 340.

In specific implementations, referring to fig. 1 and 2, the AGV trolley of the present utility model further includes a lower linear guide 1100, where the lower linear guide 1100 is disposed at the lower end of the upper linear guide 1000, and in cooperation with the upper linear guide 1000, the lower linear guide 1100 is fixedly disposed at a position below the AGV body 100, and the force transmission synchronization slider 400 can slide back and forth along the lower linear guide 1100. Specifically, when the scissors structure formed by the first movable lever 330 and the second movable lever 340 is folded or separated, the power transmission synchronization slider 400 can be moved synchronously outwards or inwards.

In particular implementations, the AGV of the present utility model has one force transfer synchronization slide 400 and one force transfer link 700 for each scissor fork mechanism.

In particular, referring to fig. 1 and 2, the pusher mechanism 800 is rigidly coupled to the force transmitting slider 400 by a slider-synchronizing plate 1200. Preferably, the slider-synchronizing connecting plate 1200 is integrally formed with the force-transmitting slider-synchronizing 300, so that the stability of the connection of the slider-synchronizing connecting plate 1200 with the force-transmitting slider-synchronizing 300 is improved, so that the driving force of the push rod mechanism 800 is more accurately transmitted to the force-transmitting slider-synchronizing 400.

In specific implementations, referring to fig. 1 and 2, the AGV cart of the present utility model further includes a spring platen 1300, a driving shock absorbing linear guide 1400, and the spring platen 1300 is rigidly connected to the lifting mechanism 100 by the driving shock absorbing linear guide 1400. Specifically, the shock absorbing linear guide 1400 and the spring pressing plate 1300 are respectively connected with the lifting mechanism 100, and are rigidly connected, and the spring pressing plate 1300 is used for bearing the goods and generating downward pressure under the action of the gravity of the goods.

In specific implementation, referring to fig. 1 and 2, the AGV cart of the present utility model further includes a primary biasing spring 1500, where one biasing spring 1500 is connected to the spring pressing plate 1300 and the driving mechanism 200, respectively, for transmitting the pressure applied by the spring pressing plate 1300 to the driving mechanism 200. Specifically, the AGV trolley is connected with the driving wheel and the speed reducer of the driving mechanism 200 by arranging the primary force application spring 1500, so that when the AGV trolley is applied to a pressure slightly smaller than the gravity of the AGV trolley, the AGV trolley can be ensured to bear all the gravity on the driving mechanism 200 when the AGV trolley is in no-load, the load on universal wheels of the AGV trolley is reduced, the friction between the driving mechanism 200 and the ground is improved, and the driving capability of the AGV trolley is increased.

In particular implementations, the push rod mechanism 800 of the AGV trolley has a self-locking function, so that the lifting mechanism is more rigid and impact resistant.

In implementations, the push rod mechanism 800 may be driven using a servo motor, steering engine, or the like. In this embodiment, the push rod mechanism 800 is illustrated by taking a servo motor as an example.

In particular implementations, the lifting mechanisms of the AGV cart, such as the double scissor fork synchronizing mechanism 300, may be manufactured using a compression molding process, thereby reducing manufacturing costs.

According to the AGV trolley, most of load force can be distributed to the driving mechanism 200 through the arrangement of the structure, the running stability of the AGV is improved, loads of hundreds of kilograms to several tons, even tens of tons can be borne, and the application scene and the application range of the AGV trolley are expanded.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present utility model have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the utility model, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the utility model.

Claims

1. An AGV cart, comprising:

a lifting mechanism;

the driving mechanism is hinged with the lifting mechanism through a linear bearing capable of sliding up and down;

the double-scissors fork synchronous mechanism comprises a left scissors fork synchronous mechanism and a right scissors fork synchronous mechanism which are oppositely arranged, wherein the left scissors fork synchronous mechanism comprises a first front scissors fork mechanism and a first rear scissors fork mechanism, and the right scissors fork synchronous mechanism comprises a second front scissors fork mechanism and a second rear scissors fork mechanism;

the force transmission synchronous sliding block is movably connected with the double-shear fork synchronous mechanism;

the force transmission pressing slide block is connected with the driving mechanism through a lifting state force application spring;

one end of the force transmission connecting rod is movably connected with the force transmission synchronous slide block, and the other end of the force transmission connecting rod is movably connected with the force transmission pressing slide block;

the push rod mechanism is rigidly connected with the force transmission synchronous sliding block, and the first front scissors fork mechanism and the first rear scissors fork mechanism, the second front scissors fork mechanism and the second rear scissors fork mechanism can respectively move in opposite directions under the driving of the push rod mechanism.

2. The AGV cart of claim 1 further comprising an objective table and an upper linear guide, wherein each scissor fork mechanism comprises a first movable rod and a second movable rod, the center of the first movable rod coincides with the center of the second movable rod and is fixed by a fixing piece, the upper end of the first movable rod is movably connected with the objective table, the lower end of the first movable rod is movably connected with the lifting mechanism, the upper end of the second movable rod can slide back and forth along the upper linear guide, and the lower end of the second movable rod is movably connected with the force transmission synchronous slide block.

3. The AGV cart of claim 1, further comprising a lower linear rail, wherein the force transfer synchronization slide is capable of sliding back and forth along the lower linear rail.

4. The AGV cart of claim 1, wherein the pusher mechanism is rigidly connected to the force transfer synchronizing slide by a synchronizing slide connection plate.

5. The AGV cart of claim 4, wherein said synchronizing slide web is integrally formed with said force transfer synchronizing slide.

6. The AGV cart of claim 1 further comprising a spring platen, a drive shock absorbing linear guide, the spring platen being rigidly connected to the lift mechanism by the drive shock absorbing linear guide.

7. The AGV cart of claim 6, further comprising a primary apply spring coupled to the spring platen and the drive wheel, respectively, for transmitting pressure experienced by the spring platen to the drive mechanism.

8. The AGV cart of claim 1, wherein the pusher mechanism has a self-locking function.

9. The AGV cart of any of claims 1-8, wherein said pusher mechanism includes a servo motor.

10. The AGV trolley of any of claims 1-8 wherein the double scissor fork synchronizing mechanism is manufactured using a compression molding process.