CN208631367U

CN208631367U - A kind of backgauge component and AGV trolley

Info

Publication number: CN208631367U
Application number: CN201820866267.2U
Authority: CN
Inventors: 陈齐虞; 彭华明; 徐刚
Original assignee: GUANGZHOU YONEGY LOGISTICS AUTOMATION TECHNOLOGY Co Ltd
Current assignee: GUANGZHOU YONEGY LOGISTICS AUTOMATION TECHNOLOGY Co Ltd
Priority date: 2018-06-05
Filing date: 2018-06-05
Publication date: 2019-03-22
Anticipated expiration: 2028-06-05

Abstract

The utility model relates to AGV technical field more particularly to a kind of backgauge components and AGV trolley.Backgauge component is used for the cargo backgauge of AGV trolley, comprising: striker plate and backgauge transmission component；Backgauge transmission component includes: tensioned portion, folding and unfolding portion and directive wheel, and one end of tensioned portion is installed on striker plate, and the both ends in folding and unfolding portion are connect with tensioned portion and directive wheel respectively；AGV trolley is equipped with the backgauge driving mechanism being connected with directive wheel, and directive wheel is used under the driving of backgauge driving mechanism, folding and unfolding portion is tightened or decontroled, and the lifting of striker plate is driven by the folding and unfolding in folding and unfolding portion.The AGV trolley can during traveling automatic protection cargo, prevent it from falling.The utility model AGV trolley side in shelf frame body is equipped with backgauge component, and the lifting of backgauge component can be driven by driving mechanism, automatic backgauge is achieved in, prevents cargo from falling.

Description

A kind of backgauge component and AGV trolley

Technical field

The utility model relates to AGV technical field more particularly to a kind of backgauge components and AGV trolley.

Background technique

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

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

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

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

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

Utility model content

The purpose of this utility model is to provide a kind of backgauge component of automatic stopping function that can be realized cargo and its Corresponding AGV trolley, the cargo protection structure automation degree to solve the problems, such as existing AGV trolley setting are lower.

First aspect, the utility model provide a kind of backgauge component, for the cargo backgauge of AGV trolley, the backgauge Component includes: striker plate and backgauge transmission component；The backgauge transmission component includes: tensioned portion, folding and unfolding portion and directive wheel, described One end of tensioned portion is installed on the striker plate, and the both ends in the folding and unfolding portion connect with the tensioned portion and the directive wheel respectively It connects；The AGV trolley is equipped with the backgauge driving mechanism being connected with the directive wheel, and the directive wheel is used to drive in the backgauge Under the driving of motivation structure, the folding and unfolding portion is tightened or decontroled, and the striker plate is driven by the folding and unfolding in the folding and unfolding portion Lifting.

Further, the striker plate is the plate that surrounding has frame, middle part hollow out, and the tensioned portion is tension spring, the receipts Putting portion is wire.

Preferably, the folding and unfolding portion is steel wire.

Further, the backgauge transmission component further include: mounting base, yielding coupling and rotation axis, the mounting base It is fixed on the bottom of the striker plate, the backgauge driving mechanism and the directive wheel are independently installed on the mounting base On, the yielding coupling both ends are separately connected one end of the backgauge driving mechanism and the rotation axis, the rotation axis The other end connects the directive wheel, the one end in the folding and unfolding portion is connected on one end of the tensioned portion, the folding and unfolding portion it is another One end is connected on the directive wheel, and the other end of the tensioned portion is fixed on the striker plate.

The second aspect, the utility model provide a kind of AGV trolley, comprising:

Car body；

Shelf are set on the car body；

Backgauge component is set on the inside of the shelf；

Backgauge driving mechanism is connect with the backgauge component；

Wherein, the backgauge component includes: striker plate and backgauge transmission component；The backgauge transmission component includes: tensioning Portion, folding and unfolding portion and directive wheel, one end of the tensioned portion are installed on the striker plate, the both ends in the folding and unfolding portion respectively with institute Tensioned portion is stated to connect with the directive wheel；The AGV trolley is equipped with the backgauge driving mechanism being connected with the directive wheel, described Directive wheel is used under the driving of the backgauge driving mechanism, and the folding and unfolding portion is tightened or decontroled, and passes through the folding and unfolding portion Folding and unfolding drive the lifting of the striker plate.

Preferably, the folding and unfolding portion is steel wire.

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

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

Further, the shelf include: shelf framework, the pick-and-place goods component inside the shelf frame body and institute The shelf transmission component for picking and placing the connection of goods component is stated, the AGV trolley further includes the shelf connecting with the shelf transmission component Driving mechanism, the shelf transmission component under the driving of the shelf driving mechanism for driving the pick-and-place goods component to turn It is dynamic.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Further, the AGV trolley further includes the telescopic rod being located on the shelf and connect with the telescopic rod Telescoping drive mechanism, the telescopic rod carries out stretching motion under the driving of the telescoping drive mechanism, described after stretching Telescopic rod is docked with board.

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

Further, slanting guide plate, the alignment method packet of the shelf and the board are installed on the board Include following steps:

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

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

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

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

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

Further, the Buffer Unit further includes sliding shoe, the affixed spring in the side of the sliding shoe it is removable Moved end, the other side are against the inner wall of the shelf.

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

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

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

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

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

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

Further, the AGV trolley is additionally provided with RFID reader, and the RFID reader is set to the bottom of the car body Portion, for scanning the RFID on ground, judging whether the AGV trolley is located at specified region；The AGV trolley is additionally provided with reflector Sensor, the reflector sensor are set to the vehicle body side, and position is opposite with the reflective tube in travelling route, for positioning The current location of the AGV trolley；The AGV trolley is additionally provided with magnetic navigation sensor, and the magnetic navigation sensor is set to described Car body is along the head and the tail both ends of direction of travel, for determining the current location of the AGV trolley；The AGV trolley is additionally provided with safety Side is touched, the safe touch side is set in a side of the car body, for preventing the AGV trolley from being damaged because of mobile or collision Evil；The AGV trolley is additionally provided with obstacle sensor, and the obstacle sensor is set to the top of the safe touch side, is used for Judge the barrier situation in travelling route；The AGV trolley is additionally provided with opposite type sensor, and the opposite type sensor is set to described Diagonal position in shelf, for detecting in the shelf with the presence or absence of cargo.

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

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

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

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

(4) the utility model shelf during shelf and board align can steadily adjust displacement.The utility model exists It is equipped in the shelf of AGV trolley for adjusting the Buffer Unit to Bit Shift.It is aligned in guide plate guiding telescopic rod towards specified During position is mobile, Buffer Unit, which is used to buffer the displacement generated by shelf contraposition, to be deviateed, and keeps AGV trolley gentle Adjustment displacement, more accurately, also making AGV trolley, the service life is longer.

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

Detailed description of the invention

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

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

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

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

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

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

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

Fig. 8 is the decomposition texture schematic diagram of backgauge component in three AGV trolley of embodiment.

Fig. 9 is the overall structure diagram of example IV AGV trolley.

Figure 10 is the decomposition texture schematic diagram of backgauge component in example IV AGV trolley.

Figure 11 is the structural schematic diagram of car body in five AGV trolley of embodiment.

Figure 12 is the decomposition texture schematic diagram of shelf in six AGV trolley of embodiment.

Figure 13 is the structural schematic diagram of the shelf transmission component of shelf in embodiment six.

Specific embodiment

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

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

Embodiment one

The present embodiment provides a kind of backgauge components, and for the cargo backgauge of AGV trolley, the backgauge component includes: backgauge Plate and backgauge transmission component；The backgauge transmission component includes: tensioned portion, folding and unfolding portion and directive wheel, one end of the tensioned portion It is installed on the striker plate, the both ends in the folding and unfolding portion are connect with the tensioned portion and the directive wheel respectively；The AGV is small Vehicle is equipped with the backgauge driving mechanism being connected with the directive wheel, and the directive wheel is used for the driving in the backgauge driving mechanism Under, the folding and unfolding portion is tightened or decontroled, and drives the lifting of the striker plate by the folding and unfolding in the folding and unfolding portion.

Embodiment two

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

Car body；Shelf are set on the car body；Backgauge component is set on the inside of the shelf；Backgauge driving mechanism, with institute State the connection of backgauge component；

Embodiment three

The present embodiment provides a kind of AGV trolleies, for realizing cargo between board and warehouse according to specified travelling route Automatic clamping and placing.In the present embodiment, AGV trolley is substantially in cuboid, length direction (the i.e. right and left in Fig. 1 of AGV trolley To) consistent with AGV trolley direction of travel, the width direction (i.e. up and down direction in Fig. 1) and AGV trolley of AGV trolley pick and place goods The direction of object is consistent.As shown in Figure 1, the AGV trolley includes car body 1, shelf 2, elevating mechanism 3, electric cabinet 4 and power mechanism 5, And power mechanism 5 therein is the power supply with charging/discharging function.

Specifically, as shown in connection with fig. 2, the substantially concave-shaped structure of car body 1 comprising pedestal 11, respectively from 11 liang of pedestal End upwardly extends the mounting portion 12 to be formed, and mounting portion 12 is particularly located on car body 1 along the head and the tail both ends of AGV trolley direction of travel (i.e. the left and right ends of car body 1 in Fig. 2).Pedestal 11 and mounting portion 12 collectively constitute the second accommodating space 200, shelf 2 and lifting Mechanism 3 is all set in the second space 200, and power mechanism 5 and electric cabinet 4 are then installed on mounting portion 12, power mechanism 5 with Electric cabinet 4 is electrically connected, and provides electric power for electric cabinet 4, electric cabinet 4 is then for controlling the work of AGV trolley.

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

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

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

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

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

Specifically, in conjunction with shown in Fig. 2 and Fig. 4, shelf 2 are set on car body 1, and shelf 2 include: shelf framework 21, are set to goods Bilayer inside frame framework 21 picks and places goods component 22, the shelf transmission component 23 connecting with pick-and-place goods component 22 and connecting rod 24.AGV trolley further includes the shelf driving mechanism 42 being electrically connected with electric cabinet 4, and electric cabinet 4 controls shelf driving mechanism 42 Work start and stop；The shelf driving mechanism 42 is brake motor, and shelf driving mechanism 42 is also connect with shelf transmission component 23, is used Pick-and-place goods component 22 in driving shelf 2 rotates, while shelf driving mechanism 42 is set to 21 outside of shelf framework, and described Shelf driving mechanism 42 and the pick-and-place goods component 22 are in the position of same vertical direction not in the same horizontal position.

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

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

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

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

In the present embodiment, the course of work of shelf 2 are as follows: shelf run to board region and with board accurate contraposition；Goods The shelf transmission component 23 of frame drives under the driving of shelf driving mechanism 42 and picks and places the rotation of goods component 22；Board is also specific Driving mechanism be rotated by, cargo transmits between the shelf and board of rotation.

In the present embodiment, AGV trolley is used for the transfer between warehouse, different platform and transports cargo, and board is cargo Supporting platform, AGV trolley comes by the way that cargo is taken away or placed goods on board from board with specific route Realize the automatic transporting of cargo.Therefore, it can precisely be aligned between shelf and board in AGV trolley, will have a direct impact on cargo and exist Whether the transfer between AGV trolley and board can smoothly complete, if shelf are deviated with board contraposition, may cause goods Object can not be successfully transfer, even have the risk for falling damage.To prevent the above problem from occurring, the present embodiment is specially set on board Be equipped with slanting guide plate, telescopic rod be specially provided on shelf, by the cooperating of the two, realize board and shelf it Between accurate contraposition.

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

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

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

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

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

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

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

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

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

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

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

Specifically, the inside of the preceding deckle board 211 of shelf framework is arranged in striker plate 91, be surrounding have frame, middle part be engrave Empty plate, and the specification size of striker plate 91 matches with preceding deckle board 211.When AGV trolley is in travel condition, striker plate 91 Frame and preceding deckle board 211 bezel locations be staggered, be specifically higher than preceding deckle board 211 bezel height, at this time striker plate 91 use In block be located at shelf 2 inside cargo, prevent situations such as cargo is fallen in AGV trolley traveling process appearance；When AGV trolley stops When only advancing, preparing to pick and place cargo, striker plate 91 is overlapped with preceding deckle board 211, to guarantee that the cargo being located inside shelf 2 is not hindered Gear can smoothly transmit between board and shelf 2.

The specific structure of backgauge transmission component 92 includes: mounting base 921, directive wheel 922, yielding coupling 923, rotation axis 924, the steel wire 925 as folding and unfolding portion and the tension spring 926 as tensioned portion.Wherein, mounting base 921 is fixed on the bottom of striker plate 91 Portion, backgauge driving mechanism 44 and directive wheel 922 are independently mounted on the different location of mounting base 921, and therebetween successively Transmission is realized by yielding coupling 923, rotation axis 924, and specifically 923 both ends of yielding coupling are separately connected backgauge driving machine Structure 44 connects directive wheel 922 with the other end of one end of rotation axis 924, rotation axis 924.One end of steel wire 925 is connected to tension spring On 926 one end, the other end of steel wire 925 be connected on directive wheel 922, the other end of tension spring 926 is then installed in striker plate 91 It above, is specifically on the left and right side of striker plate 91.In the present embodiment, when backgauge driving mechanism 44 work when, can by with Its connected yielding coupling 923 drives two rotation axis 924 to rotate, and then two directive wheels 922 is driven to tighten or release simultaneously Put steel wire, the final lifting for driving striker plate 91.

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

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

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

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

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

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

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

AGV trolley starts to advance.

In addition, the AGV trolley in the present embodiment further respectively has car body pulley 14 and differential drive device on car body 1 15, car body pulley for making car body advance, differential drive device for realizing car body turning.Wherein, differential drive device is adopted With the differential drive device in differential drive device in the prior art, such as Chinese patent CN201410112544.7, Details are not described herein.

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

The AGV trolley of the present embodiment can realize multiple functions, excellent combination property.In a first aspect, elevating mechanism is to pass through Lifting and driving component realizes lifting of the screw rod relative to screw to realize lifting of the elevating mechanism relative to car body；Second party Face is connected between elevating mechanism and shelf by connecting rod, and the lifting of shelf is driven so as to the lifting by elevating mechanism；The Three aspects, the cooperation of telescopic rod and guide plate can be realized the accurate contraposition of shelf and board；Fourth aspect, Buffer Unit can AGV trolley adjusts the mode of displacement during optimization contraposition.

Example IV

The present embodiment provides a kind of AGV trolleies, for realizing cargo between board and warehouse according to specified travelling route Automatic clamping and placing.In the present embodiment, AGV trolley is substantially in cuboid, length direction (the i.e. right and left in Fig. 9 of AGV trolley To) consistent with AGV trolley direction of travel, the width direction (i.e. up and down direction in Fig. 9) and AGV trolley of AGV trolley pick and place goods The direction of object is consistent.As shown in figure 9, the AGV trolley includes car body 1, shelf 2, electric cabinet 4 and power mechanism 5, and therein dynamic Force mechanisms 5 are the power supply with charging/discharging function.

Specifically, the substantially concave-shaped structure of car body 1 comprising pedestal 11 from 11 both ends of pedestal upwardly extends shape respectively At mounting portion 12, mounting portion 12 is particularly located at head and the tail both ends (the i.e. left and right in Fig. 1 on car body 1 along AGV trolley direction of travel Both ends).Pedestal 11 and mounting portion 12 collectively constitute the second accommodating space, and shelf 2 are set in second accommodating space, engine Structure 5 and electric cabinet 4 are then installed on mounting portion 12, and power mechanism 5 and electric cabinet 4 are electrically connected, and provide electric power for electric cabinet 4, Electric cabinet 4 is then for controlling the work of AGV trolley.

The AGV trolley of embodiment further includes the identical backgauge component 9 of two groups of structures, due to the structure phase of two groups of backgauge components Together, therefore the present embodiment is only described in detail the structure of wherein one group of backgauge component.

As shown in connection with fig. 10, backgauge component 9 includes: to connect set on the striker plate 91 of 2 inside of shelf and with striker plate 91 Backgauge transmission component 92, and be additionally provided with nylon filler strip 93 between striker plate 91 and shelf 2, can effectively be subtracted by nylon filler strip 93 Few striker plate 91 and friction caused by 2 relative motion of shelf, reduce abrasion between the two, extend the service life of product.AGV Trolley further includes the backgauge driving mechanism 44 being electrically connected with electric cabinet 4 and controls backgauge driving mechanism 44 by electric cabinet 4 Work start and stop, the backgauge driving mechanism 44 be decelerating motor；Backgauge driving mechanism 44 is also connect with backgauge transmission component 92, For driving striker plate 91 to go up and down relative to shelf 2.

Specifically, the inside of shelf 2 is arranged in striker plate 91, is that have frame, middle part be the plate of hollow out to surrounding, and striker plate 91 specification size matches with the shelf framework of shelf 2.When AGV trolley is in travel condition, the frame of striker plate 91 with The shelf framework bezel locations of shelf 2 are staggered, are specifically the bezel height for being higher than the shelf framework of shelf 2, at this time striker plate 91 For blocking the cargo being located inside shelf 2, preventing situations such as cargo is fallen in AGV trolley traveling process appearance；When AGV trolley When stopping advancing, preparing to pick and place cargo, the shelf frame weight of striker plate 91 and shelf 2 is closed, to guarantee to be located inside shelf 2 Cargo is not blocked, can smoothly transmit between board and shelf 2.

Tightening of the steel wire 925 on directive wheel 922 pulls striker plate 91 to drop to and closes with the shelf frame weight of shelf 2, this When tension spring 926 be in tensional state, cargo is not affected by the blocking of striker plate 91；

Cargo is transmitted between shelf 2 and board；

AGV trolley starts to advance.

When striker plate 91, which is dropped to, to be overlapped with shelf 2, due to the middle part hollow out of striker plate 91 itself, therefore will not be to being located at Cargo in shelf 2 causes to stop, and transmit cargo can smoothly；When striker plate 91 rises to original position, the four of striker plate 91 Peripheral frame and effectively blocking cargo, prevent it from falling from shelf.

Embodiment five

The present embodiment provides a kind of AGV trolleies, with embodiment three the difference is that: the AGV trolley of the present embodiment Also realize AGV trolley according to fixed route row using the collective effect between multiple sensors by setting multiple sensors Into the accurate parking in specified region, designated position positions.

Specifically, the position distribution of operative sensor is shown in Figure 11, in conjunction with shown in Figure 11, in the present embodiment, AGV Trolley further includes central processing unit (not shown), RFID reader 300, magnetic navigation sensor 400 and reflector sensor 500.

Wherein, RFID reader 300 is set to the bottom of car body 1, for acquiring the RFID information in specified region, judgement Whether AGV trolley reaches specified region；Magnetic navigation sensor 400 is set to the head and the tail both ends of car body 1, for acquiring in specified region Magnetic strip information, judge that AGV trolley is presently in position；Reflector sensor 500 is set to the side of car body 1, position and traveling Reflective tube in route is opposite, for acquiring the light beam that reflective tube reflects in specified region, judges AGV trolley present position.It is logical It crosses above-mentioned RFID reader 300, magnetic navigation sensor 400 and reflector sensor 500 and carries out information collection, again through centre After managing device integrated treatment, finally accurately judge whether AGV trolley accurately reaches designated position.

In addition, the AGV trolley of the present embodiment further includes safe touch side 600, obstacle sensor 700 and opposite type sensor (not shown).Wherein, safe touch side 600 is set on the two ends side of car body 1, for preventing the edge of AGV trolley because of movement Or collision is damaged；Obstacle sensor 700 is set to the top of safe touch side 600, for judging the obstacle in travelling route Principle condition；Opposite type sensor is set to the diagonal position in shelf 2, for detecting in shelf with the presence or absence of cargo.

Embodiment six

The present embodiment provides a kind of AGV trolley, the present embodiment and the difference of embodiment three are only that, shelf in the present embodiment Shelf transmission component structure it is different, the present embodiment is respectively arranged with shaft coupling at the axis of rolling both ends of shelf transmission component, and Further it is connected with the 5th sprocket wheel by shaft coupling, is driven.

In conjunction with shown in Figure 12, Figure 13, the shelf transmission component structure of the present embodiment is specifically: shelf transmission component 23 includes Third sprocket wheel 231, the 4th sprocket wheel 232, several 5th sprocket wheels 233, several third shaft couplings 234 and several 4th shaft couplings 235, Coaxially connected with the shelf driving mechanism 42 and driving by shelf driving mechanism 42 of third sprocket wheel 231 rotates, and third sprocket wheel 231 are set to 21 inside of shelf framework；4th sprocket wheel 232 is coaxially set on a third shaft coupling 234, for driving third to join Axis device 234 rotates, and the 4th sprocket wheel 232 is equally set to 21 inside of shelf framework；Between third sprocket wheel 231 and the 4th sprocket wheel 232 By closed second chain drive, specifically the second chain is meshed with third sprocket wheel 231, the 4th sprocket wheel 232；Each third The both ends of shaft coupling 234 are connected with the 5th sprocket wheel 233 and the axis of rolling 221 respectively, and the 5th sprocket wheel 233 is set to outside shelf framework 21 Side；Pass through closed third chain drive, specifically third chain and every one the 5th sprocket wheel 233 between all 5th sprocket wheels 233 It is meshed；The other end of the axis of rolling 221 is connected with one end of the 4th shaft coupling 235, and the other end of the 4th shaft coupling 235 is then same It is connected between sprocket wheel and these sprocket wheels and synchronous rotation is realized by chain drive.

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

Claims

1. a kind of backgauge component, the cargo backgauge for AGV trolley, which is characterized in that the backgauge component include: striker plate and Backgauge transmission component；The backgauge transmission component includes: tensioned portion, folding and unfolding portion and directive wheel, and one end of the tensioned portion is fixed On the striker plate, the both ends in the folding and unfolding portion are connect with the tensioned portion and the directive wheel respectively；The AGV trolley is set There is the backgauge driving mechanism being connected with the directive wheel, the directive wheel is used under the driving of the backgauge driving mechanism, The folding and unfolding portion is tightened or decontroled, and drives the lifting of the striker plate by the folding and unfolding in the folding and unfolding portion.

2. backgauge component according to claim 1, which is characterized in that the striker plate is that surrounding has frame, middle part hollow out Plate, the tensioned portion be tension spring, the folding and unfolding portion be wire.

3. backgauge component according to claim 2, which is characterized in that the folding and unfolding portion is steel wire.

4. backgauge component according to claim 2, which is characterized in that the backgauge transmission component further include: mounting base, bullet Property shaft coupling and rotation axis, the mounting base are fixed on the bottom of the striker plate, the backgauge driving mechanism and the guiding Wheel is independently installed in the mounting base, and the yielding coupling both ends are separately connected the backgauge driving mechanism and described The other end of one end of rotation axis, the rotation axis connects the directive wheel, and the one end in the folding and unfolding portion is connected to the tensioning On the one end in portion, the other end in the folding and unfolding portion be connected on the directive wheel, the other end of the tensioned portion is fixed on described On striker plate.

5. a kind of AGV trolley characterized by comprising

Car body；

Shelf are set on the car body；

Backgauge component is set on the inside of the shelf；

Backgauge driving mechanism is connect with the backgauge component；

Wherein, the backgauge component includes: striker plate and backgauge transmission component；The backgauge transmission component includes: tensioned portion, receives Put portion and directive wheel, one end of the tensioned portion is installed on the striker plate, the both ends in the folding and unfolding portion respectively with described Tight portion is connected with the directive wheel；The AGV trolley is equipped with the backgauge driving mechanism being connected with the directive wheel, the guiding Wheel is for tightening the folding and unfolding portion or decontroling, and pass through the receipts in the folding and unfolding portion under the driving of the backgauge driving mechanism Put the lifting for driving the striker plate.

6. AGV trolley according to claim 5, which is characterized in that the striker plate is that surrounding has frame, middle part hollow out Plate, the tensioned portion are tension spring, and the folding and unfolding portion is wire；Mounting base, yielding coupling and rotation axis, the mounting base are solid It is scheduled on the bottom of the striker plate, the backgauge driving mechanism and the directive wheel are independently installed in the mounting base, The yielding coupling both ends are separately connected one end of the backgauge driving mechanism and the rotation axis, the rotation axis it is another End connects the directive wheel, and the one end in the folding and unfolding portion is connected on one end of the tensioned portion, the other end in the folding and unfolding portion It is connected on the directive wheel, the other end of the tensioned portion is fixed on the striker plate.

7. AGV trolley according to claim 5, which is characterized in that be equipped with abrasionproof between the shelf and the striker plate Damage filler strip；The folding and unfolding portion is steel wire.

8. AGV trolley according to claim 5, which is characterized in that shelf framework, taking inside the shelf frame body Goods putting component, the shelf transmission component connecting with the pick-and-place goods component, the AGV trolley further include and the shelf transmission group The shelf driving mechanism of part connection, the shelf transmission component are used to take described in drive under the driving of the shelf driving mechanism The rotation of goods putting component.

9. AGV trolley according to claim 8, which is characterized in that the AGV trolley further includes connecting with the shelf Elevating mechanism, and the lift drive mechanism connecting with the elevating mechanism, the elevating mechanism are used to drive in the lifting It is gone up and down under the driving of mechanism relative to the car body, and then the shelf is driven to go up and down relative to the car body.

10. AGV trolley according to claim 8, which is characterized in that further, the AGV trolley further includes being located at institute The telescoping drive mechanism stating the telescopic rod on shelf and connecting with the telescopic rod, the telescopic rod is in the flexible driving machine Stretching motion is carried out under the driving of structure, the telescopic rod after stretching is docked with board.