A docking mechanism for AGV cart to carry a shelf

Abstract

The application discloses a docking mechanism for AGV trolley to carry a goods shelf and relates to the technical field of logistics and storage equipment. The docking mechanism comprises a goods shelf body and an AGV trolley body, a positioning carrying hole is formed in a docking frame on the surface of the goods shelf body, a rotating assembly is arranged in a circular groove on the top of the AGV trolley body, and a mounting frame is fixedly installed on the top surface of the rotating part of the rotating assembly. The application provides multiple buffering protection for the docking process through the arrangement of a buffer contact plate, a damping rod, a buffer spring and a buffer rubber sleeve. The buffer contact plate is first contacted with the goods shelf body during docking, then slides downward along the positioning pin, compresses the damping rod and the buffer spring, and the buffer rubber sleeve also plays an elastic buffering role, so that the impact force during the docking process is effectively buffered, the impact on the goods shelf body and the AGV trolley body is reduced, the structural integrity of the equipment is protected, the stability and reliability of the docking are improved, and the service life of the equipment is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics and storage equipment, and particularly relates to a docking mechanism for an AGV trolley to carry a goods shelf. BACKGROUND

[0002] AGV trolley refers to a transport vehicle equipped with electromagnetic or optical automatic navigation device, which can travel along a specified navigation path, has safety protection and various transfer functions, and is an industrial application that does not require a driver. The trolley is powered by a rechargeable battery, and its travel path and behavior can be controlled by a computer or an electromagnetic track is used to set its travel path. The electromagnetic track is pasted on the floor. The unmanned trolley moves and acts by relying on the information brought by the electromagnetic track. The AGV trolley is connected to the carrying goods shelf.

[0003] In a modern logistics and storage center, AGV trolleys are widely used in the operation of carrying and storing goods. The docking mechanism of the traditional AGV trolley has certain limitations when carrying the goods shelf. The existing docking mechanism has weak ability to adapt to different sizes and specifications of the goods shelf. When the size of the goods shelf changes slightly, complex adjustments may be required for the AGV trolley or the docking mechanism, which reduces the versatility and flexibility of the system. In addition, during the docking process, there is a lack of effective buffer and positioning device, which is easy to cause impact on the goods shelf and the AGV trolley itself, resulting in damage.

[0004] Therefore, a docking mechanism for an AGV trolley to carry a goods shelf is provided. SUMMARY

[0005] The present application aims to solve the problems raised in the background art. The present application provides a docking mechanism for an AGV trolley to carry a goods shelf.

[0006] The present application adopts the following technical solutions to achieve the above-mentioned purposes:

[0007] A docking mechanism for AGV trolleys to transport shelves, comprising a shelf body and an AGV trolley body, a positioning and transporting hole being opened on the docking frame on the surface of the shelf body, a rotating assembly being provided in a circular groove on the top of the AGV trolley body, a mounting frame being fixedly installed on the top surface of the rotating part of the rotating assembly, and a driving device being provided on the mounting frame, a carrying plate being fixedly installed on the telescopic part of the driving device, a position synchronization adjustment assembly being provided on the carrying plate, a lifting block being sleeved on the rotating part of the position synchronization adjustment assembly, a positioning pin being fixedly installed on the top surface of the lifting block, the positions of the lifting block and the positioning pin being adjusted by the rotating assembly, the driving device and the position synchronization adjustment assembly, a buffer contact plate being provided on the surface sliding sleeve of the positioning pin, the top surface of the lifting block and the bottom surface of the buffer contact plate A damping rod is fixedly installed, and a buffer spring is provided on the surface of the damping rod, and the two ends of the buffer spring are respectively fixed to the top surface of the lifting block and the bottom surface of the buffer contact plate. A buffer rubber sleeve is fixedly installed on the bottom surface of the buffer contact plate, and the buffer rubber sleeve is made of elastic rubber, and the buffer rubber sleeve is slidingly sleeved with the surface of the positioning pin. The position synchronization adjustment component includes a third servo motor fixedly installed on the bottom surface of the supporting plate, and the output end of the third servo motor passes through the supporting plate and is fixedly installed with a first bevel gear. A side plate is fixedly installed on the top surface of the supporting plate and at the diagonal line of its top surface, and a second threaded rod is rotatably inserted in the corresponding side plate, and a second bevel gear is fixedly installed on one end of the second threaded rod, and the second bevel gear is meshed with the first bevel gear.

[0008] Furthermore, at least two groups of visual sensors are provided on the top surface of the AGV trolley body for accurately measuring and locating the positions of the positioning and carrying holes on the surface of the shelf body.

[0009] Furthermore, the rotating assembly includes a hollow shaft that is rotatably inserted into the circular groove on the top of the AGV trolley body, an inner gear ring is fixedly installed on the inner wall of the hollow shaft, a first servo motor is fixedly installed on the bottom of the circular groove on the top of the shelf body, and the output end of the first servo motor is fixedly connected to a gear, the gear is meshed with the inner gear ring, and the mounting frame is fixedly installed on the top surface of the hollow shaft by bolts.

[0010] Furthermore, the driving device includes a second servo motor fixedly mounted on the bottom surface of the mounting frame, and the output end of the second servo motor passes through the mounting frame and is fixedly connected to the first synchronous wheel. An internally threaded sleeve is rotatably inserted on the mounting frame, and the surface of the internally threaded sleeve is fixedly sleeved with a second synchronous wheel. A limiting wheel is rotatably installed on the top surface of the mounting frame, and the surfaces of the first synchronous wheel, the second synchronous wheel and the limiting wheel are sleeved with a synchronous belt. The internal thread of the internally threaded sleeve is inserted with the first threaded rod, and the bearing plate is fixedly mounted on the top end of the first threaded rod.

[0011] 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 with the top surface of the bearing plate.

[0012] Furthermore, balls are embedded in the inner wall of the buffer contact plate, and the buffer contact plate and the positioning pin are in contact with each other through a plurality of evenly distributed balls, so as to reduce the friction between the positioning pin and the buffer contact plate during the docking process.

[0013] Furthermore, the limiting wheels are located on both sides of the second synchronous wheel so that the synchronous belt forms a V-shaped structure 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.

[0014] Furthermore, a plane thrust ball bearing is provided between the top surface of the AGV trolley body and the hollow shaft to assist the smooth rotation of the hollow shaft.

[0015] The beneficial effects of the present invention are as follows:

[0016] The visual sensor accurately measures and locates the position of the positioning and handling holes on the surface of the shelf body. At the same time, the synergistic effect of the rotating component, the drive device and the position synchronization adjustment component can achieve flexible and precise adjustment of the lifting block and the positioning pin 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 docking failure or instability caused by position deviation.

[0017] By setting up the buffer contact plate, damping rod, buffer spring and 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 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

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0019] Figure 2 is a side view of the present invention;

[0020] Figure 3 It is a schematic diagram of the AGV vehicle body of the present invention;

[0021] Figure 4 This invention Figure 3 A side sectional view of

[0022] Figure 5 It is a partial exploded view of the present invention;

[0023] Figure 6 is a schematic diagram of the drive device of the present invention;

[0024] Figure 7 is a schematic diagram of a position synchronization adjustment component of the present invention;

[0025] Figure 8 is a schematic diagram of the lifting block of the present invention;

[0026] Figure 9 is a schematic diagram of the shelf body of the present invention;

[0027] Figure numerals: 1. Shelf body; 2. Positioning and carrying hole; 3. AGV trolley body; 31. Visual sensor; 4. Rotating assembly; 401. First servo motor; 402. Gear; 403. Hollow shaft; 404. Internal gear ring; 405. Planar thrust ball bearing; 5. Mounting frame; 6. Driving device; 601. Second servo motor; 602. First synchronous wheel; 603. Internal threaded sleeve; 604. Second synchronous wheel; 605. Limiting wheel; 606. Synchronous belt; 607. First threaded rod; 7. Loading plate; 8. Position synchronization adjustment assembly; 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 DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0029] 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 invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0030] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. In addition, the terms "first," "second," etc. are used only to distinguish the descriptions and are not to be understood as indicating or implying relative importance.

[0031] In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0032] like Figures 1 to 9 As shown, a docking mechanism for an AGV trolley to transport shelves comprises a shelf body 1 and an AGV trolley body 3, a positioning and transporting hole 2 is opened on the docking frame on the surface of the shelf body 1, a rotating component 4 is arranged in a circular groove on the top of the AGV trolley body 3, a mounting frame 5 is fixedly installed on the top surface of the rotating part of the rotating component 4, and a driving device 6 is arranged on the mounting frame 5, a telescopic part of the driving device 6 is fixedly installed with a bearing plate 7, a position synchronization adjustment component 8 is arranged on the bearing plate 7, a lifting block 9 is sleeved on the rotating part of the position synchronization adjustment component 8, a positioning pin 10 is fixedly installed on the top surface of the lifting block 9, the position of the lifting block 9 and the positioning pin 10 are adjusted by the rotating component 4, the driving device 6 and the position synchronization adjustment component 8, a buffer contact plate 11 is slidingly 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, and a buffer spring 13 is sleeved on the surface of the damping rod 12, and the 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.

[0033] More specifically, when the AGV trolley body 3 performs the handling operation, the control system first controls the AGV trolley to travel to the specified position of the shelf body 1, so that the AGV trolley body 3 is under the shelf body 1, and the rotating component 4 and the position synchronization adjustment component 8 are used to adjust the lifting block 9 and the positioning pin 10 to be directly below the positioning and handling hole 2 on the docking frame on the surface of the shelf body 1. The driving device 6 drives the carrying 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 and 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, and then the buffer contact plate 11 moves vertically downward along the surface of the positioning pin 10. This compresses the damping rod 12 and the buffer spring 13. The damping force of the damping rod 12 and the elastic force of the buffer spring 13 buffer the impact force generated by the relative movement between the AGV trolley body 3 and the shelf body 1, and completes the precise docking of the shelf body 1 and the AGV trolley body 3. When the docking is completed, the damping rod 12 and the buffer spring 13 are in a moderately compressed state, providing continuous support for the shelf body 1, ensuring the stability of the shelf body 1 during transportation. After reaching the target position, the control system controls the drive 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, so that the AGV trolley body 3 is smoothly separated from the shelf body 1, completing the transportation task.

[0034] 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 is slidably sleeved with the surface of the positioning pin 10 .

[0035] More specifically, when the buffer contact plate 11 contacts the shelf body 1 , the buffer rubber sleeve 14 can utilize the elastic properties of the elastic rubber to further buffer the impact force during the docking process, while ensuring that the docking action is carried out smoothly.

[0036] At least two groups of visual sensors 31 are provided on the top surface of the AGV body 3 for accurately measuring and locating the positions of the positioning and carrying holes 2 on the surface of the shelf body 1 .

[0037] More specifically, during the docking process, the visual sensor 31 can accurately measure and locate the positioning and handling hole 2 on the shelf body 1, ensuring that the positioning pin 10 can accurately dock with the positioning and handling hole 2 on the surface of the shelf body 1, thereby improving the docking accuracy and avoiding the problem of docking failure caused by position deviation.

[0038] The rotating assembly 4 includes a hollow shaft 403 that is rotatably inserted into the circular groove at the top of the AGV trolley body 3. An inner gear ring 404 is fixedly installed on the inner wall of the hollow shaft 403. A first servo motor 401 is fixedly installed on 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 is engaged with the inner gear ring 404. The mounting frame 5 is fixedly installed on the top surface of the hollow shaft 403 by bolts.

[0039] More specifically, the gear 402 is driven to rotate by the first servo motor 401. Since the gear 402 is engaged with the inner gear ring 404, the hollow shaft 403 is driven to rotate in the circular groove on the top of the AGV trolley body 3, thereby realizing the rotation adjustment of the load-bearing plate 7, the lifting block 9 and the positioning pin 10, and adjusting the position of the positioning pin 10 so that the positioning pin 10 corresponds to the positioning and handling hole 2 on the surface of the shelf body 1.

[0040] The driving device 6 includes 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 the first synchronous wheel 602. An internal threaded sleeve 603 is rotatably inserted on the mounting frame 5, and the surface of the internal threaded sleeve 603 is fixedly sleeved with a second synchronous wheel 604. A limiting wheel 605 is rotatably installed on the top surface of the mounting frame 5. The surfaces of the first synchronous wheel 602, the second synchronous wheel 604 and the limiting wheel 605 are sleeved with a synchronous belt 606. The internal thread of the internal threaded sleeve 603 is inserted with a first threaded rod 607, and the supporting plate 7 is fixedly mounted on the top of the first threaded rod 607.

[0041] More specifically, the first synchronous wheel 602 is driven to rotate by the second servo motor 601, and the second synchronous wheel 604 and the limiting wheel 605 are driven to rotate under the action of the synchronous belt 606, thereby rotating the internal threaded sleeve 603. Since the internal threaded sleeve 603 is threadedly connected to the first threaded rod 607, the rotation of the internal threaded sleeve 603 will drive the first threaded rod 607 to move up and down, thereby realizing the lifting and movement of the load-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 transporting hole 2 on the surface of the shelf body 1, so as to lift the shelf body 1 and transport it through the AGV trolley body 3.

[0042] The position synchronization adjustment component 8 includes a third servo motor 801 fixedly mounted on the bottom surface of the supporting plate 7, and the output end of the third servo motor 801 passes through the supporting 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 supporting plate 7 and located at the diagonal of its top surface. A second threaded rod 804 is rotatably inserted in the corresponding side plate 803, and 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.

[0043] More specifically, the first bevel gear 802 is driven to rotate by the third servo motor 801, and the first bevel gear 802 is engaged with the second bevel gear 805, thereby driving the second threaded rod 804 to rotate in the side panel 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 supporting plate 7, thereby realizing the horizontal position adjustment of the lifting block 9 and the positioning pin 10 to meet the requirements of the docking position of different shelf bodies 1.

[0044] The lifting block 9 is threadedly mounted on the surface of the second threaded rod 804, and the bottom end of the lifting block 9 is slidably mounted on the top surface of the support plate 7. More specifically, when the second threaded rod 804 rotates, the lifting block 9 moves along the axis of the second threaded rod 804 under the action of the threads. Since the bottom end of the lifting block 9 is slidably mounted on the top surface of the support plate 7, the stability and smoothness of the lifting block 9 during movement are ensured, thereby achieving precise adjustment of the horizontal positions of the four sets of lifting blocks 9 and the positioning pins 10.

[0045] 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 through 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.

[0046] More specifically, the ball 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, thereby reducing the friction between the two and making the docking action smoother.

[0047] 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.

[0048] More specifically, the V-shaped structure formed by the synchronous belt 606 on the surface of the second synchronous wheel 604 can increase the wrap angle between the synchronous belt 606 and the second synchronous wheel 604, thereby improving the efficiency and stability of the transmission, ensuring that the internal threaded sleeve 603 can rotate smoothly, and thus realizing the precise lifting and lowering of the supporting plate 7.

[0049] A planar thrust ball bearing 405 is provided between the top surface of the AGV body 3 and the hollow shaft 403 to assist the hollow shaft 403 in rotating smoothly.

[0050] More specifically, during the rotation of the hollow shaft 403 , the planar thrust ball bearing 405 can support and stabilize the hollow shaft 403 , thereby preventing the hollow shaft 403 from shaking or deflecting during rotation.

[0051] In summary: when the AGV trolley body 3 is performing a handling operation, the control system first controls the AGV trolley to travel to the specified position of the shelf body 1, so that the AGV trolley body 3 is under the shelf body 1, and the rotating component 4 and the position synchronization adjustment component 8 are used to adjust the lifting block 9 and the positioning pin 10 to move to the position directly below the positioning and handling hole 2 on the docking frame on the surface of the shelf body 1. The driving device 6 drives the carrying 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 and 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, and then the buffer contact plate 11 moves vertically downward along the surface of the positioning pin 10, and then The damping rod 12 and the buffer spring 13 are compressed, and the impact force generated by the relative movement between the AGV trolley body 3 and the shelf body 1 is buffered by the damping force of the damping rod 12 and the elastic force of the buffer spring 13, completing the precise docking of the shelf body 1 and the AGV trolley body 3. When the docking is completed, the damping rod 12 and the buffer spring 13 are in a moderately compressed state, providing continuous support force for the shelf body 1, ensuring the stability of the shelf body 1 during the transportation process. After reaching the target position, the control system controls the drive 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, so that the AGV trolley body 3 is smoothly separated from the shelf body 1, completing the transportation task. 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 to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may have various changes and improvements without departing from the spirit and scope of the present invention, and these changes and improvements fall within the scope of the invention claimed. The scope of protection sought by the present invention is defined by the following claims and their equivalents.

Claims

1. A docking mechanism for AGV trolley transporting shelves, characterized in that: The invention comprises a shelf body (1) and an AGV trolley body (3), wherein a positioning and transporting hole (2) is provided on a docking frame on the surface of the shelf body (1), a rotating assembly (4) is provided in a circular groove on the top of the AGV trolley body (3), a mounting frame (5) is fixedly installed on the top surface of the rotating part of the rotating assembly (4), and a driving device (6) is provided on the mounting frame (5), a supporting plate (7) is fixedly installed on the telescopic part of the driving device (6), and a position synchronization adjustment group is provided on the supporting plate (7). Part (8), a lifting block (9) is sleeved on the rotating part of the position synchronization adjustment component (8), a positioning pin (10) is fixedly installed on the top surface of the lifting block (9), and the positions of the lifting block (9) and the positioning pin (10) are adjusted through the rotating component (4), the driving device (6) and the position synchronization adjustment component (8), a surface sliding sleeve of the positioning pin (10) is provided with a buffer contact plate (11), 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), and the damping rod ( The surface of the lifting block (12) is provided with a buffer spring (13), and the 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). The bottom surface of the buffer contact plate (11) is fixedly installed with a buffer rubber sleeve (14), and 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. The position synchronization adjustment component (8) includes a third servo motor ( 801), 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), the top surface of the carrier plate (7) and a side plate (803) are fixedly mounted at the diagonal line of the top surface, and a second threaded rod (804) is rotatably inserted into the corresponding side plate (803), and one end of the second threaded rod (804) is fixedly mounted with a second bevel gear (805), and the second bevel gear (805) is meshed with the first bevel gear (802).

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

3. The docking mechanism for AGV trolley transporting shelves according to claim 1, characterized in that: The rotating assembly (4) includes 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); and 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) via bolts.

4. The docking mechanism for AGV trolley transporting shelves according to claim 1, 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 internal 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 internal threaded sleeve rod (603); a limiting 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 limiting wheel (605) are sleeved with a synchronous belt (606); the internal thread of the internal 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).

5. The docking mechanism for AGV trolley transporting shelves according to claim 1, 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).

6. The docking mechanism for AGV trolley transporting shelves according to claim 1, 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 friction between the positioning pin (10) and the buffer contact plate (11) during docking.

7. The docking mechanism for AGV trolley transporting shelves according to claim 4, 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).

8. The docking mechanism for AGV trolley transporting shelves according to claim 3, characterized in that: A planar 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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