Butt joint mechanism for AGV (Automatic Guided Vehicle) carrying goods shelf

Abstract

The invention discloses a docking mechanism for an AGV trolley carrying goods shelf, and relates to the technical field of logistics storage equipment. The storage rack comprises a storage rack body and an AGV trolley body, positioning carrying holes are formed in a butt joint frame on the surface of the storage rack body, a rotating assembly is arranged in a circular groove in the top of the AGV trolley body, and a mounting frame is fixedly mounted on the top surface of a rotating part of the rotating assembly. According to the goods shelf, by arranging the buffer contact plate, the damping rod, the buffer spring and the buffer rubber sleeve, multiple buffer protection is provided for the butt joint process, during butt joint, the buffer contact plate makes contact with the goods shelf body firstly and then slides down along the positioning pin to compress the damping rod and the buffer spring, and meanwhile the buffer rubber sleeve also plays an elastic buffer role; by means of the structure, impact force in the butt joint process is effectively buffered, impact on the goods shelf body and the AGV body is reduced, the structural integrity of equipment is protected, the stability and reliability of butt joint are improved, and the service life of the equipment is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics warehousing equipment, and particularly relates to a docking mechanism for an AGV vehicle to carry a shelf. Background Art

[0002] An AGV vehicle refers to a transport vehicle equipped with an automatic navigation device such as electromagnetic or optical, capable of traveling along a specified navigation path, having safety protection and various transfer functions. In industrial applications, it is a forklift without a driver, powered by a rechargeable battery. Generally, its travel path and behavior can be controlled by a computer, or its travel path can be set using an electromagnetic track. The electromagnetic track is adhered to the floor, and the driverless transport vehicle moves and operates relying on the information brought by the electromagnetic track. The AGV vehicle is connected to the carried shelf.

[0003] In modern logistics warehousing centers, AGV vehicles are widely used in the handling and storage operations of goods. When traditional AGV vehicles carry shelves, their docking mechanisms often have certain limitations. The existing docking mechanisms are relatively weak in adapting to shelves of different sizes and specifications. When encountering slight changes in the shelf size, complex adjustments may be required for the AGV vehicle or the docking mechanism, reducing the versatility and flexibility of the system. In addition, during the docking process, there is a lack of effective buffering and positioning devices, which easily cause impacts on the shelf and the AGV vehicle itself, resulting in damage.

[0004] Therefore, a docking mechanism for an AGV vehicle to carry a shelf is proposed. Summary of the Invention

[0005] The purpose of the present invention is: to solve the problems raised in the above background art, the present invention provides a docking mechanism for an AGV vehicle to carry a shelf.

[0006] The present invention specifically adopts the following technical solutions to achieve the above purpose: A docking mechanism for an AGV vehicle to carry a shelf, comprising a shelf body and an AGV vehicle body. A positioning and handling hole is formed in a docking frame on the surface of the shelf body. A rotating assembly is arranged in a circular groove at the top of the AGV vehicle body. An installation frame is fixedly installed on the top surface of the rotating part of the rotating assembly, and a driving device is arranged on the installation frame. A telescopic part of the driving device is fixedly installed with a bearing plate. A position synchronous adjustment assembly is arranged on the bearing plate. A lifting block is sleeved on a rotating part of the position synchronous adjustment assembly. A positioning pin is fixedly installed on the top surface of the lifting block. The positions of the lifting block and the positioning pin are adjusted through the rotating assembly, the driving device and the position synchronous adjustment assembly. A buffer contact plate is slidably sleeved on the surface of the positioning pin. A damping rod is fixedly installed on the top surface of the lifting block and the bottom surface of the buffer contact plate, and a buffer spring is sleeved on the surface of the damping rod. Two ends of the buffer spring are respectively fixedly connected to the top surface of the lifting block and the bottom surface of the buffer contact plate.

[0007] Further, a buffer rubber sleeve is fixedly installed on the bottom surface of the buffer contact plate. The buffer rubber sleeve is made of elastic rubber and is slidably sleeved on the surface of the positioning pin.

[0008] Further, at least two groups of vision sensors are arranged on the top surface of the AGV vehicle body for accurately measuring and positioning the position of the positioning and handling hole on the surface of the shelf body.

[0009] Further, the rotating assembly includes a hollow shaft rotatably inserted into a circular groove at the top of the AGV vehicle body. An internal gear ring is fixedly installed on the inner wall of the hollow shaft. A first servo motor is fixedly installed at the bottom of the circular groove at the top of the shelf body, and an output end of the first servo motor is fixedly connected with a gear. The gear meshes with the internal gear ring. The installation frame is fixedly installed on the top surface of the hollow shaft through bolts.

[0010] Further, the driving device includes a second servo motor fixedly installed on the bottom surface of the installation frame. An output end of the second servo motor penetrates through the installation frame and is fixedly connected with a first synchronous pulley. An internally threaded sleeve rod is rotatably inserted into the installation frame. A second synchronous pulley is fixedly sleeved on the surface of the internally threaded sleeve rod. A limiting wheel is rotatably installed on the top surface of the installation frame. A synchronous belt is sleeved on the surfaces of the first synchronous pulley, the second synchronous pulley and the limiting wheel. A first threaded rod is threadedly inserted into the internally threaded sleeve rod, and the bearing plate is fixedly installed at the top end of the first threaded rod.

[0011] Furthermore, the position synchronization adjustment component includes a third servo motor fixedly installed on the bottom surface of the carrier plate, and the output end of the third servo motor penetrates through the carrier plate and is fixedly installed with a first bevel gear. On the top surface of the carrier plate and at the diagonal of the top surface, a side plate is fixedly installed. Correspondingly, a second threaded rod is rotatably inserted into the side plate. One end of the second threaded rod is fixedly installed with a second bevel gear, and the second bevel gear meshes with the first bevel gear.

[0012] Furthermore, the lifting block is threadedly sleeved on the surface of the second threaded rod, and the bottom end of the lifting block is slidably arranged on the top surface of the carrier plate.

[0013] Furthermore, balls are embedded in the inner wall of the buffer contact plate. The buffer contact plate and the positioning pin are in contact through a plurality of uniformly distributed balls, so as to reduce the friction force between the positioning pin and the buffer contact plate during the docking process.

[0014] Furthermore, limiting wheels are arranged on both sides of the second synchronous wheel, so as to form a V-shaped structure for the synchronous belt on the surface of the second synchronous wheel, which is used to increase the wrap angle between the synchronous belt and the second synchronous wheel.

[0015] Furthermore, a flat thrust ball bearing is arranged between the top surface of the AGV car body and the hollow shaft to assist the hollow shaft to rotate smoothly.

[0016] The beneficial effects of the present invention are as follows: Through the precise measurement and positioning of the position of the positioning and handling holes on the surface of the shelf body by the vision sensor, and at the same time combined with the synergistic effects of the rotating component, the driving device and the position synchronization adjustment component, the lifting block and the positioning pin can be flexibly and accurately adjusted in space, ensuring that the positioning pin is accurately inserted into the positioning and handling holes of the shelf body, effectively improving the docking accuracy, and avoiding the docking failure or instability problems caused by position deviation; Through the settings of the buffer contact plate, the damping rod, the buffer spring and the buffer rubber sleeve, multiple buffer protections are provided for the docking process. During docking, the buffer contact plate first contacts the shelf body, and then slides down along the positioning pin, compressing the damping rod and the buffer spring. At the same time, the buffer rubber sleeve also plays an elastic buffering role, effectively buffering the impact force during the docking process, reducing the impact on the shelf body and the AGV car body, protecting the structural integrity of the equipment, improving the stability and reliability of the docking, and extending the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a three-dimensional structural schematic diagram of the present invention; Figure 2 is a side view of the present invention; Figure 3 is a schematic diagram of the AGV car body of the present invention; Figure 4 is a side sectional view of the present invention Figure 3 ; Figure 5 is an exploded partial view of the present invention Figure 6 is a schematic diagram of the driving device of the present invention Figure 7 is a schematic diagram of the position synchronization adjustment component of the present invention Figure 8 is a schematic diagram of the lifting block of the present invention Figure 9 is a schematic diagram of the shelf body of the present invention Reference numerals: 1, shelf body; 2, positioning and handling hole; 3, AGV car body; 31, vision sensor; 4, rotating assembly; 401, first servo motor; 402, gear; 403, hollow shaft; 404, internal gear ring; 405, flat thrust ball bearing; 5, mounting bracket; 6, driving device; 601, second servo motor; 602, first synchronous pulley; 603, internally threaded sleeve rod; 604, second synchronous pulley; 605, limiting wheel; 606, synchronous belt; 607, first threaded rod; 7, bearing plate; 8, position synchronization adjustment component; 801, third servo motor; 802, first bevel gear; 803, side plate; 804, second threaded rod; 805, second bevel gear; 9, lifting block; 10, positioning pin; 11, buffer contact plate; 12, damping rod; 13, buffer spring; 14, buffer rubber sleeve. Detailed implementation manners

[0018] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated in the accompanying drawings herein can be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0020] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", etc. are only used for descriptive distinction and cannot be construed as indicating or implying relative importance.

[0021] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "inner", "outer", "upper", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0022] As Figures 1 to 9 shown, a docking mechanism for an AGV vehicle to carry a shelf includes a shelf body 1 and an AGV vehicle body 3. A positioning and carrying hole 2 is formed in a docking frame on the surface of the shelf body 1. A rotating assembly 4 is arranged in a circular groove at the top of the AGV vehicle body 3. An installation frame 5 is fixedly installed on the top surface of the rotating part of the rotating assembly 4. A driving device 6 is arranged on the installation frame 5. A telescopic part of the driving device 6 is fixedly installed with a bearing plate 7. A position synchronization adjustment assembly 8 is arranged on the bearing plate 7. A lifting block 9 is sleeved on a rotating part of the position synchronization adjustment assembly 8. A positioning pin 10 is fixedly installed on the top surface of the lifting block 9. The positions of the lifting block 9 and the positioning pin 10 are adjusted through the rotating assembly 4, the driving device 6 and the position synchronization adjustment assembly 8. A buffer contact plate 11 is slidably sleeved on the surface of the positioning pin 10. A damping rod 12 is fixedly installed on the top surface of the lifting block 9 and the bottom surface of the buffer contact plate 11. A buffer spring 13 is sleeved on the surface of the damping rod 12. Two ends of the buffer spring 13 are respectively fixedly connected to the top surface of the lifting block 9 and the bottom surface of the buffer contact plate 11.

[0023] More specifically, when the AGV cart body 3 performs a handling operation, first, the control system controls the AGV cart to drive to a specified position of the shelf body 1, so that the AGV cart body 3 is below the shelf body 1. Through the rotation assembly 4 and the position synchronization adjustment assembly 8, the adjustment lifting block 9 and the positioning pin 10 are moved to directly below the positioning handling hole 2 on the docking frame on the surface of the shelf body 1. The driving device 6 drives the bearing plate 7, the lifting block 9, and the positioning pin 10 to move vertically upward, so that the positioning pin 10 is inserted into the positioning handling hole 2 on the surface of the shelf body 1. During the insertion process, the top surface of the buffer contact plate 11 contacts the bottom surface of the docking frame of the shelf body 1. Subsequently, the buffer contact plate 11 is moved vertically downward along the surface of the positioning pin 10, thereby compressing the damping rod 12 and the buffer spring 13. Under the action of the damping force of the damping rod 12 and the elastic force of the buffer spring 13, the impact force generated by the relative movement between the AGV cart body 3 and the shelf body 1 is buffered, completing the precise docking of the shelf body 1 and the AGV cart body 3. When the docking is completed, the damping rod 12 and the buffer spring 13 are in a moderately compressed state, providing a continuous supporting force for the shelf body 1 to ensure the stability of the shelf body 1 during the handling process. After reaching the target position, the control system controls the driving device 6 to retract the positioning pin 10 vertically downward, and the buffer contact plate 11 is restored to its original state through the buffer spring 13, realizing the smooth separation of the AGV cart body 3 from the shelf body 1 and completing the handling task.

[0024] A buffer rubber sleeve 14 is fixedly installed on the bottom surface of the buffer contact plate 11, and the buffer rubber sleeve 14 is made of elastic rubber, and the buffer rubber sleeve 14 is slidably sleeved on the surface of the positioning pin 10.

[0025] More specifically, when the buffer contact plate 11 contacts the shelf body 1, the buffer rubber sleeve 14 can utilize the elastic characteristics of the elastic rubber to further buffer the impact force during the docking process and ensure the smooth progress of the docking action.

[0026] At least two groups of vision sensors 31 are arranged on the top surface of the AGV cart body 3 to accurately measure and locate the position of the positioning handling hole 2 on the surface of the shelf body 1.

[0027] More specifically, during the docking process, the vision sensors 31 can accurately measure and locate the positioning handling hole 2 on the shelf body 1, ensuring that the positioning pin 10 can accurately dock with the positioning handling hole 2 on the surface of the shelf body 1, improving the docking accuracy and avoiding the problem of docking failure caused by position deviation.

[0028] The rotating assembly 4 includes a hollow shaft 403 rotatably inserted into the circular groove at the top of the AGV car body 3. An internal gear ring 404 is fixedly installed on the inner wall of the hollow shaft 403. A first servo motor 401 is fixedly installed at the bottom of the circular groove at the top of the shelf body 1, and the output end of the first servo motor 401 is fixedly connected to a gear 402. The gear 402 meshes with the internal gear ring 404. The mounting bracket 5 is fixedly installed on the top surface of the hollow shaft 403 by bolts.

[0029] More specifically, the first servo motor 401 drives the gear 402 to rotate. Since the gear 402 meshes with the internal gear ring 404, the hollow shaft 403 is driven to rotate in the circular groove at the top of the AGV car body 3, thereby realizing the rotational adjustment of the bearing plate 7, the lifting block 9, and the positioning pin 10. The position of the positioning pin 10 is adjusted so that the positioning pin 10 corresponds to the positioning and handling hole 2 on the surface of the shelf body 1.

[0030] The driving device 6 includes a second servo motor 601 fixedly installed on the bottom surface of the mounting bracket 5. The output end of the second servo motor 601 penetrates through the mounting bracket 5 and is fixedly connected to a first synchronous pulley 602. An internally threaded sleeve rod 603 is rotatably inserted into the mounting bracket 5. A second synchronous pulley 604 is fixedly sleeved on the surface of the internally threaded sleeve rod 603. A limiting wheel 605 is rotatably installed on the top surface of the mounting bracket 5. A synchronous belt 606 is sleeved on the surfaces of the first synchronous pulley 602, the second synchronous pulley 604, and the limiting wheel 605. A first threaded rod 607 is threadedly inserted into the internally threaded sleeve rod 603, and the bearing plate 7 is fixedly installed at the top end of the first threaded rod 607.

[0031] More specifically, the second servo motor 601 drives the first synchronous pulley 602 to rotate. Under the action of the synchronous belt 606, the second synchronous pulley 604 and the limiting wheel 605 are driven to rotate, thereby rotating the internally threaded sleeve rod 603. Since the internally threaded sleeve rod 603 is threadedly connected to the first threaded rod 607, the rotation of the internally threaded sleeve rod 603 drives the first threaded rod 607 to move up and down, thereby realizing the lifting movement of the bearing plate 7, the lifting block 9, and the positioning pin 10, and realizing the insertion of the positioning pin 10 into the positioning and handling hole 2 on the surface of the shelf body 1 to lift the shelf body 1 and carry it by the AGV car body 3.

[0032] The position synchronous adjustment assembly 8 includes a third servo motor 801 fixedly installed on the bottom surface of the bearing plate 7. The output end of the third servo motor 801 penetrates through the bearing plate 7 and is fixedly installed with a first bevel gear 802. Side plates 803 are fixedly installed on the top surface of the bearing plate 7 at the diagonal of the top surface. A second threaded rod 804 is rotatably inserted into the corresponding side plate 803. A second bevel gear 805 is fixedly installed at one end of the second threaded rod 804, and the second bevel gear 805 meshes with the first bevel gear 802.

[0033] More specifically, the third servo motor 801 drives the first bevel gear 802 to rotate. The first bevel gear 802 meshes with the second bevel gear 805, thereby driving the second threaded rod 804 to rotate within the side plate 803. Since the second threaded rod 804 is threadedly connected to the lifting block 9, the rotation of the second threaded rod 804 drives the lifting block 9 to slide along the top surface of the bearing plate 7, thereby realizing the position adjustment of the lifting block 9 and the positioning pin 10 in the horizontal direction to meet the requirements of the docking positions of different shelf bodies 1.

[0034] The lifting block 9 is threadedly sleeved on the surface of the second threaded rod 804, and the bottom end of the lifting block 9 is slidably arranged on the top surface of the bearing plate 7. More specifically, when the second threaded rod 804 rotates, the lifting block 9 moves along the axial direction of the second threaded rod 804 under the action of the thread. Since the bottom end of the lifting block 9 is slidably arranged on the top surface of the bearing plate 7, the stability and smoothness of the lifting block 9 during movement are ensured, thereby realizing the precise position adjustment of the four groups of lifting blocks 9 and positioning pins 10 in the horizontal position.

[0035] The inner wall of the buffer contact plate 11 is embedded with balls. The buffer contact plate 11 and the positioning pin 10 are in contact through a plurality of uniformly distributed balls to reduce the frictional force between the positioning pin 10 and the buffer contact plate 11 during docking.

[0036] More specifically, the balls can roll on the surface of the positioning pin 10 when the buffer contact plate 11 and the positioning pin 10 move relative to each other, reducing the frictional force between the two during relative movement and making the docking action smoother.

[0037] Limit wheels 605 are located on both sides of the second synchronous wheel 604 to form a V-shaped structure of the synchronous belt 606 on the surface of the second synchronous wheel 604, which is used to increase the wrap angle between the synchronous belt 606 and the second synchronous wheel 604.

[0038] More specifically, the synchronous belt 606 forms a V-shaped structure on the surface of the second synchronous wheel 604, and it can increase the wrap angle between the synchronous belt 606 and the second synchronous wheel 604, thereby improving the transmission efficiency and stability, ensuring that the inner threaded sleeve rod 603 can rotate smoothly, and further realizing the precise lifting of the bearing plate 7.

[0039] A flat thrust ball bearing 405 is arranged between the top surface of the AGV vehicle body 3 and the hollow shaft 403 to assist the hollow shaft 403 to rotate smoothly.

[0040] More specifically, during the rotation of the hollow shaft 403, the flat thrust ball bearing 405 can support and stabilize the hollow shaft 403, preventing the hollow shaft 403 from shaking or shifting during rotation.

[0041] In summary: When the AGV cart body 3 performs handling operations, first, the control system controls the AGV cart to drive to the designated position of the shelf body 1, so that the AGV cart body 3 is below the shelf body 1. Through the rotation assembly 4 and the position synchronization adjustment assembly 8, the adjustment lifting block 9 and the positioning pin 10 are moved to directly below the positioning handling hole 2 on the docking frame on the surface of the shelf body 1. The driving device 6 drives the bearing plate 7, the lifting block 9, and the positioning pin 10 to move vertically upward, so that the positioning pin 10 is inserted into the positioning handling hole 2 on the surface of the shelf body 1. During the insertion process, the top surface of the buffer contact plate 11 contacts the bottom surface of the docking frame of the shelf body 1. Subsequently, the buffer contact plate 11 is moved vertically downward along the surface of the positioning pin 10, thereby compressing the damping rod 12 and the buffer spring 13. Under the action of the damping force of the damping rod 12 and the elastic force of the buffer spring 13, the impact force generated by the relative movement between the AGV cart body 3 and the shelf body 1 is buffered, and the precise docking of the shelf body 1 and the AGV cart body 3 is completed. When the docking is completed, the damping rod 12 and the buffer spring 13 are in a moderately compressed state, providing a continuous supporting force for the shelf body 1 to ensure the stability of the shelf body 1 during handling. After reaching the target position, the control system controls the driving device 6 to retract the positioning pin 10 vertically downward, and the buffer contact plate 11 is restored to its original state through the buffer spring 13, realizing the smooth separation of the AGV cart body 3 from the shelf body 1 and completing the handling task.

[0042] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection required by the present invention is defined by the appended claims and their equivalents.

Claims

1. A docking mechanism for AGV trolleys to transport shelves, characterized in that: The invention comprises a shelf body (1) and an AGV trolley body (3), wherein a positioning and carrying hole (2) is provided on a docking frame on the surface of the shelf body (1), a rotating assembly (4) is arranged in a circular groove on the top of the AGV trolley body (3), a mounting frame (5) is fixedly mounted on the top surface of the rotating part of the rotating assembly (4), and a driving device (6) is arranged on the mounting frame (5), a carrying plate (7) is fixedly mounted on the telescopic part of the driving device (6), a position synchronization adjustment assembly (8) is arranged on the carrying plate (7), and a lifting block (9) is sleeved on the rotating part of the position synchronization adjustment assembly (8). ), a positioning pin (10) is fixedly mounted on the top surface of the lifting block (9), and the positions of the lifting block (9) and the positioning pin (10) are adjusted via a rotating assembly (4), a driving device (6) and a position synchronization adjustment assembly (8), a surface sliding sleeve of the positioning pin (10) is provided with a buffer contact plate (11), a damping rod (12) is fixedly mounted on the top surface of the lifting block (9) and the bottom surface of the buffer contact plate (11), and a buffer spring (13) is sleeved on the surface of the damping rod (12), and two ends of the buffer spring (13) are respectively fixed to the top surface of the lifting block (9) and the bottom surface of the buffer contact plate (11).

2. The docking mechanism for AGV trolley transporting shelves according to claim 1 is characterized in that: A buffer rubber sleeve (14) is fixedly mounted on the bottom surface of the buffer contact plate (11), the buffer rubber sleeve (14) is made of elastic rubber, and the buffer rubber sleeve (14) and the surface of the positioning pin (10) are slidably sleeved.

3. The docking mechanism for AGV trolley transporting shelves according to claim 1 is characterized in that: At least two groups of visual sensors (31) are arranged on the top surface of the AGV trolley body (3) for accurately measuring and locating the positions of the positioning and transporting holes (2) on the surface of the shelf body (1).

4. The docking mechanism for AGV trolley transporting shelves according to claim 1 is characterized in that: The rotating assembly (4) comprises a hollow shaft (403) rotatably plugged into a circular groove at the top of the AGV trolley body (3); an inner gear ring (404) is fixedly mounted on the inner wall of the hollow shaft (403); a first servo motor (401) is fixedly mounted on the bottom of the circular groove at the top of the shelf body (1); a gear (402) is fixedly connected to the output end of the first servo motor (401); the gear (402) is meshed with the inner gear ring (404); and a mounting frame (5) is fixedly mounted on the top surface of the hollow shaft (403) by bolts.

5. The docking mechanism for AGV trolley transporting shelves according to claim 1 is characterized in that: The driving device (6) comprises a second servo motor (601) fixedly mounted on the bottom surface of the mounting frame (5), and the output end of the second servo motor (601) passes through the mounting frame (5) and is fixedly connected to a first synchronous wheel (602); an internally threaded sleeve rod (603) is rotatably inserted on the mounting frame (5), and a second synchronous wheel (604) is fixedly sleeved on the surface of the internally threaded sleeve rod (603); a limit wheel (605) is rotatably mounted on the top surface of the mounting frame (5); the surfaces of the first synchronous wheel (602), the second synchronous wheel (604) and the limit wheel (605) are sleeved with a synchronous belt (606); the internal thread of the internally threaded sleeve rod (603) is inserted with a first threaded rod (607), and the bearing plate (7) is fixedly mounted on the top of the first threaded rod (607).

6. The docking mechanism for AGV trolley transporting shelves according to claim 1 is characterized in that: The position synchronization adjustment component (8) comprises a third servo motor (801) fixedly mounted on the bottom surface of the carrier plate (7), and the output end of the third servo motor (801) passes through the carrier plate (7) and is fixedly mounted with a first bevel gear (802), a side plate (803) is fixedly mounted on the top surface of the carrier plate (7) and located at the diagonal of the top surface, a second threaded rod (804) is rotatably inserted in the corresponding side plate (803), a second bevel gear (805) is fixedly mounted on one end of the second threaded rod (804), and the second bevel gear (805) is meshed with the first bevel gear (802).

7. The docking mechanism for AGV trolley transporting shelves according to claim 6 is characterized in that: The lifting block (9) is threadedly sleeved on the surface of the second threaded rod (804), and the bottom end of the lifting block (9) is slidably arranged with the top surface of the bearing plate (7).

8. The docking mechanism for AGV trolley transporting shelves according to claim 1 is characterized in that: Ball bearings are embedded in the inner wall of the buffer contact plate (11), and the buffer contact plate (11) and the positioning pin (10) are in contact with each other via a plurality of evenly distributed ball bearings, so as to reduce the friction between the positioning pin (10) and the buffer contact plate (11) during the docking process.

9. The docking mechanism for AGV trolley transporting shelves according to claim 5, characterized in that: The limiting wheels (605) are located on both sides of the second synchronous wheel (604) so ​​that the synchronous belt (606) forms a V-shaped structure on the surface of the second synchronous wheel (604), which is used to increase the wrap angle between the synchronous belt (606) and the second synchronous wheel (604).

10. The docking mechanism for AGV trolley transporting shelves according to claim 4, characterized in that: A plane thrust ball bearing (405) is provided between the top surface of the AGV trolley body (3) and the hollow shaft (403) to assist the hollow shaft (403) in rotating smoothly.

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