Automatic positioning AGV (Automatic Guided Vehicle) goods supporting rack

Abstract

The invention relates to the technical field of AGV (Automatic Guided Vehicle) goods supporting frame positioning devices, in particular to an automatic positioning AGV goods supporting frame which comprises two groups of placing piers and is characterized in that the placing piers are symmetrically arranged, a goods supporting frame is placed on the tops of the placing piers, and a positioning bottom plate is inserted into the bottom of the goods supporting frame. By arranging the vehicle body centering mechanism and arranging auxiliary wheels on three sections of connecting rods, the equipment can adapt to the vehicle body widths of different AGVs, so that when the AGVs move to the placing piers, the AGVs can be always in the centering position, and the situation that after the AGVs are parked and deviated, the AGVs cannot be parked is effectively avoided. And therefore, the placement stability and safety of the goods supporting frame are effectively ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV pallet rack positioning devices, and particularly to an automatically positioned AGV pallet rack. Background Art

[0002] AGV generally refers to a transport vehicle equipped with automatic guiding devices such as electromagnetic or optical ones, which can travel along a specified guiding path and has safety protection and various load transfer functions. AGVs are mostly used in the logistics handling industry, which can greatly liberate human labor and are used more and more in modern society. When handling logistics, it is often necessary to use an AGV trolley to transfer a pallet rack from one place to another.

[0003] Currently, most pallet racks are lifted onto an AGV trolley by a lifting tool, and their accuracy is poor. To ensure their accuracy, an automatic positioning device is often set up for the installation of the pallet rack. Among them, in the patent with the application number CN201721763402.2, an AGV pallet rack automatic positioning device is disclosed. It is described in this patent that "through the design of forming a shuttle channel by two bases and the movable design of each positioning plate, pressing plate, and pressing rod, the placement position of the rack can be accurately positioned", but it is difficult for this automatic positioning device to center the body of the AGV trolley. This leads to the situation that when the AGV trolley is parked in the wrong position, the pallet rack cannot be effectively and safely placed and is prone to tipping. In addition, the base of this pallet rack is an integral structure, and it is difficult to quickly replace some structures after the end face for placing the pallet rack is damaged. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides an automatically positioned AGV pallet rack.

[0005] To solve the above technical problems, the present invention provides the following technical solutions: An automatically positioned AGV pallet rack, including placing piers, characterized in that the number of the placing piers is two groups and they are arranged in a symmetric structure. A pallet rack is placed on the top of the placing piers, and a positioning bottom plate is inserted at the bottom of the pallet rack; A jack is provided at the center of the positioning base plate. The jack is arranged in a rectangular mechanism. A plug block matching the jack is fixedly installed at the center of the bottom of the goods shelf. Activity grooves are provided on both sides of the jack on the positioning base plate. The activity grooves are communicated with the jack. Reset springs are fixedly installed on the front and rear inner walls of the activity grooves. The free ends of the reset springs are fixedly installed with stop blocks. The top of the stop block is arranged in an inclined structure. The stop block is arranged in an L-shaped structure. The two groups of stop blocks at the front and rear inner walls of the activity grooves are symmetrically arranged. A connecting groove is provided at the bottom of the activity groove. Threaded rods are rotatably installed on the inner walls of both sides of the connecting groove. A connecting block is threadedly installed on the threaded rods. A pressing plate is fixedly installed at the top of the connecting block. The pressing plate is arranged in an L-shaped structure. A second installation shaft is rotatably installed outside the threaded rod in the positioning base plate. A third gear is fixedly installed at one end of the threaded rod located on the second installation shaft. A fourth gear and a fifth gear are fixedly installed at the top and bottom of the second installation shaft in sequence. The fourth gear is meshed with the third gear. A first installation shaft is rotatably installed at the bottom end of the second installation shaft in the positioning base plate. Sixth gears are fixedly installed at both ends of the first installation shaft. The sixth gear is meshed with the fifth gear. A first gear is fixedly installed at the center of the first installation shaft. A second gear meshed with the first gear is rotatably installed at the inner bottom of the positioning base plate. A hidden groove is provided at the bottom of the positioning base plate. A handwheel is rotatably installed at the inner top of the hidden groove. The rotating shaft of the handwheel longitudinally penetrates the positioning base plate and is fixedly connected with the rotating shaft of the second gear. A limiting plate is slidably installed in the plug block. The number of the limiting plates is two groups and they are symmetrically arranged. Extrusion springs are fixedly installed on the corresponding side walls of the limiting plates. A plug pin is fixedly installed on the outer side wall of the limiting plate. The plug pin is slidably connected with the plug block. The plug pin is clamped with the stop block; An adjustment and positioning mechanism is provided at the joint of the positioning base plate and the placement pier. An AGV cart is placed at the interval between the two placement piers. Body centering mechanisms are provided on the corresponding side walls of the two placement piers. The top of the AGV cart is attached to the bottom of the goods shelf. A height adjustment mechanism for adjusting the placement height of the goods shelf is provided on the placement pier. Anti-disengagement mechanisms for limiting the goods shelf are installed on the front and rear sides of the placement pier. The placement pier includes a movable seat and a fixed seat. The movable seat is inserted into the fixed seat and is slidably connected with the fixed seat.

[0006] As a preferred technical solution of the present invention, the adjustment and positioning mechanism includes an upper installation groove, a laser emitter, a push plate, a third electric push rod, a lower installation groove and a laser receiver. An upper installation groove is provided at the bottom of the positioning base plate at the placement pier. A number of laser emitters arranged at equal intervals are fixedly installed at the inner top of the upper installation groove. A lower installation groove is provided at the top of the movable seat. A number of laser receivers arranged at equal intervals are installed at the inner bottom of the lower installation groove. The laser receivers are matched with the laser emitters. A third electric push rod is embedded and installed in the movable seat. The telescopic end of the third electric push rod is fixedly installed with a push plate. The push plate is arranged in an inverted L-shaped structure. The upper part of the push plate is attached to the bottom of the movable seat.

[0007] As a preferred technical solution of the present invention, the vehicle body centering mechanism includes a motor, a fixing plate, a threaded sleeve, a first slider, a first chute, a first sliding rod, a three-section connecting rod and an auxiliary wheel. First chutes are provided on the corresponding side walls of the two fixed seats. The inner walls on both sides of the first chute are fixedly installed with first sliding rods. A first slider is sleeved and installed on the first sliding rod. The number of first sliders is two and they are sequentially located at the front and rear inner walls of the first chute. The outer sides of the two first sliders are sequentially hinged to the two ends of the three-section connecting rod. An auxiliary wheel is provided on the outer side of the three-section connecting rod. A fixing plate is fixedly installed at the center of the inner bottom of the fixed seat. A threaded sleeve is rotatably installed on one side wall of the fixing plate. A threaded lead screw is threadedly installed on the threaded sleeve. The threaded lead screw horizontally penetrates the fixed seat and is fixedly connected to the middle section of the three-section connecting rod. A motor is fixedly installed on the other side of the fixing plate. The output end of the motor horizontally penetrates the fixing plate and is fixedly connected to the rotating shaft of the threaded sleeve.

[0008] As a preferred technical solution of the present invention, the height adjusting mechanism includes a movable frame and a second electric push rod. A movable frame is slidably installed inside the fixed seat. The movable frame is arranged in a U-shaped structure. The top of the movable frame is fixedly connected to the movable seat. A second electric push rod is fixedly installed at the inner bottom of the fixed seat. The telescopic end of the second electric push rod is fixedly connected to the bottom of the movable frame.

[0009] As a preferred technical solution of the present invention, the anti-detachment mechanism includes a fixed block, a movable block and a first electric push rod. Fixed blocks are fixedly installed on the front and rear side walls of the fixed seat. A first electric push rod is fixedly installed on the fixed block. The top of the first electric push rod is fixedly installed with a movable block. The top of the movable block is arranged in an inclined structure.

[0010] Compared with the prior art, the beneficial effects that the present invention can achieve are: 1. In the present invention, by setting the vehicle body centering mechanism and arranging the auxiliary wheel on the three-section connecting rod, the device can adapt to the vehicle body width of different AGV vehicles, so that when the AGV vehicle moves to the placement pier, it can always be in the centered position, effectively avoiding the situation that the cargo rack cannot contact the placement pier and topples over after the AGV vehicle is parked with deviation, effectively ensuring the placement stability and safety of the cargo rack.

[0011] 2. In the present invention, by setting the adjustment and positioning mechanism and the anti-detachment mechanism, after the cargo rack is placed on the placement pier, the placement position of the cargo rack can be adjusted through the adjustment and positioning mechanism, so as to achieve the effect of automatic positioning. At the same time, the laser emitter and laser receiver provided can effectively and accurately locate the placement position of the cargo rack. At the same time, the use of the anti-detachment mechanism can avoid the situation that the cargo rack falls off the front and rear sides of the placement pier when the adjustment and positioning mechanism pushes the cargo rack.

[0012] 3. In the present invention, by setting the bottom of the cargo carrier as a disassembled structure, when the bottom of the cargo carrier is damaged after long-term use and needs to be repaired, the bottom plate of the cargo carrier can be directly separated by rotating the handwheel, so as to perform rapid replacement and repair, effectively avoiding the situation that when the bottom of the cargo carrier is an integral structure and the bottom of the cargo carrier is damaged and the whole cargo carrier needs to be replaced, thus improving the convenience of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a schematic structural diagram of the position of the handwheel of the present invention; Figure 3 is a schematic structural diagram of the positioning bottom plate of the present invention; Figure 4 is a schematic structural diagram of the position of the insertion block of the present invention; Figure 5 is a schematic cross-sectional structural diagram of the positioning bottom plate of the present invention; Figure 6 is a schematic structural diagram of the position of the three-section connecting rod of the present invention; Figure 7 is a schematic cross-sectional structural diagram of the placing pier of the present invention; Figure 8 is a schematic structural diagram of the position of the lower installation groove of the present invention; Figure 9 is a schematic enlarged structural diagram of part A of the present invention; Figure 10 is a schematic enlarged structural diagram of part B of the present invention; Figure 11 is a schematic enlarged structural diagram of part C of the present invention.

[0014] Wherein: 1. Goods shelf; 2. Placing pier; 3. Positioning bottom plate; 4. AGV vehicle; 5. Laser emitter; 6. Upper mounting groove; 7. Insert block; 8. Hidden groove; 9. Handwheel; 10. Return spring; 11. Movable groove; 12. Stop block; 13. Extrusion spring; 14. Plug pin; 15. Limit plate; 16. Pressure plate; 17. Movable seat; 18. First electric push rod; 19. Three-section connecting rod; 20. Auxiliary wheel; 21. Movable block; 22. Fixed block; 23. Fixed seat; 24. Push plate; 25. Movable frame; 26. Second electric push rod; 27. Motor; 28. Fixed plate; 29. Threaded sleeve; 30. Lower mounting groove; 31. Laser receiver; 32. First slider; 33. First slide bar; 34. First chute; 35. Third electric push rod; 36. First gear; 37. First mounting shaft; 38. Second gear; 39. Threaded rod; 40. Third gear; 41. Fourth gear; 42. Second mounting shaft; 43. Connecting block; 44. Fifth gear; 45. Sixth gear. Detailed implementation manner

[0015] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments. However, the following embodiments are only the preferred embodiments of the present invention, not all of them. Based on the embodiments in the implementation manner, other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the present invention. The experimental methods in the following embodiments are all conventional methods unless otherwise specified. The materials, reagents, etc. used in the following embodiments can be obtained from commercial channels unless otherwise specified.

[0016] Embodiment: As Figures 1-11 shown, an automatically positioned AGV goods shelf includes two placing piers 2, the number of the placing piers 2 is two groups and they are arranged symmetrically. A goods shelf 1 is placed on the top of the placing piers 2. A positioning bottom plate 3 is inserted at the bottom of the goods shelf 1. An adjusting and positioning mechanism is arranged at the joint of the positioning bottom plate 3 and the placing piers 2. An AGV vehicle 4 is placed at the interval between the two groups of placing piers 2. Vehicle body centering mechanisms are arranged on the corresponding side walls of the two groups of placing piers 2. The top of the AGV vehicle 4 is in contact with the bottom of the goods shelf 1. A height adjusting mechanism for adjusting the placing height of the goods shelf 1 is arranged on the placing piers 2. Anti-disengagement mechanisms for limiting the goods shelf 1 are installed on the front and rear sides of the placing piers 2.

[0017] In some implementations, when it is necessary to use the AGV cart 4 to place the storage rack 1, the AGV cart 4 needs to move along a route to the space between the placement piers 2. At this time, the vehicle body centering mechanism adjusts the distance between the two parts of the vehicle body centering mechanism according to the width of the AGV cart 4. Then, the AGV cart 4 enters the center of the two groups of placement piers 2 under the guidance of the vehicle body centering mechanism. Next, the placement tray of the AGV cart 4 is driven to place the storage rack 1 on the placement piers 2. When the storage rack 1 is in contact with the placement piers 2, the positioning mechanism is driven to center and position the storage rack 1, completing the precise placement of the storage rack 1. After the placement is completed, the anti-detachment mechanism is driven to effectively prevent the storage rack 1 from falling off from the front and back of the placement piers 2.

[0018] As Figure 6 , Figure 7 and Figure 8 shown, the placement pier 2 includes a movable seat 17 and a fixed seat 23, and the movable seat 17 is inserted into the fixed seat 23 and is slidably connected to the fixed seat 23.

[0019] As Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 9 , Figure 10 and Figure 11As shown, a jack is provided at the center of the positioning base plate 3. The jack is arranged in a rectangular mechanism. A plug block 7 matching the jack is fixedly installed at the center of the bottom of the goods shelf 1. On both sides of the jack on the positioning base plate 3, movable grooves 11 are provided. The movable grooves 11 are communicated with the jack. Reset springs 10 are fixedly installed on the front and rear inner walls of the movable grooves 11. The free ends of the reset springs 10 are fixedly installed with stop blocks 12. The top of the stop block 12 is arranged in an inclined structure. The stop block 12 is arranged in an L-shaped structure. The two groups of stop blocks 12 at the front and rear inner walls of the movable groove 11 are symmetrically arranged. A connecting groove is provided at the bottom of the movable groove 11. Threaded rods 39 are rotatably installed on the inner walls on both sides of the connecting groove. A connecting block 43 is threadedly installed on the threaded rods 39. A pressing plate 16 is fixedly installed at the top of the connecting block 43. The pressing plate 16 is arranged in an L-shaped structure. A second mounting shaft 42 is rotatably installed outside the threaded rod 39 in the positioning base plate 3. A third gear 40 is fixedly installed at one end of the threaded rod 39 located on the second mounting shaft 42. A fourth gear 41 and a fifth gear 44 are fixedly installed at the top and bottom of the second mounting shaft 42 in sequence. The fourth gear 41 and the third gear 40 are meshed. A first mounting shaft 37 is rotatably installed at the bottom end of the second mounting shaft 42 in the positioning base plate 3. Sixth gears 45 are fixedly installed at both ends of the first mounting shaft 37. The sixth gears 45 are meshed with the fifth gears 44. A first gear 36 is fixedly installed at the center of the first mounting shaft 37. A second gear 38 meshed with the first gear 36 is rotatably installed at the inner bottom of the positioning base plate 3. A hidden groove 8 is provided at the bottom of the positioning base plate 3. A handwheel 9 is rotatably installed at the inner top of the hidden groove 8. The rotating shaft of the handwheel 9 longitudinally penetrates the positioning base plate 3 and is fixedly connected with the rotating shaft of the second gear 38. A limiting plate 15 is slidably installed in the plug block 7. The number of the limiting plates 15 is two and they are symmetrically arranged. Extrusion springs 13 are fixedly installed on the corresponding side walls of the limiting plates 15. A plug pin 14 is fixedly installed on the outer side wall of the limiting plate 15. The plug pin 14 is slidably connected with the plug block 7. The plug pin 14 is clamped with the stop block 12.

[0020] When it is necessary to replace and repair the positioning base plate 3 on the goods shelf 1, at this time, the user rotates the handwheel 9. After the handwheel 9 rotates, it drives the second gear 38, causing the first gear 36 and the first mounting shaft 37 to rotate. At this time, the sixth gear 45 on the first mounting shaft 37 rotates. At this time, the fifth gear 44, the second mounting shaft 42 and the fourth gear 41 rotate. At this time, it drives the third gear 40 and the threaded rod 39 to rotate, causing the connecting block 43 to drive the pressing plate 16 to move towards each other, squeezing the plug pin 14, causing the plug pin 14 to retract into the plug block 7, and enabling the plug block 7 to be separated from the positioning base plate 3, so that the positioning base plate 3 can be taken off separately for maintenance.

[0021] Such as Figure 6 、 Figure 2 and Figure 8As shown in the figure, the adjustment and positioning mechanism includes an upper mounting groove 6, a laser emitter 5, a push plate 24, a third electric push rod 35, a lower mounting groove 30, and a laser receiver 31. At the bottom of the positioning base plate 3, an upper mounting groove 6 is provided at the position corresponding to the placement pier 2. At the inner top of the upper mounting groove 6, a number of groups of laser emitters 5 arranged at equal intervals are fixedly installed. At the top of the movable seat 17, a lower mounting groove 30 is provided. At the inner bottom of the lower mounting groove 30, a number of groups of laser receivers 31 arranged at equal intervals are installed. The laser receivers 31 are matched with the laser emitters 5. A third electric push rod 35 is embedded in the movable seat 17. The telescopic end of the third electric push rod 35 is fixedly installed with a push plate 24. The push plate 24 is arranged in an inverted L-shaped structure. The upper part of the push plate 24 is in contact with the bottom of the movable seat 17.

[0022] When the cargo carrier 1 is placed on the placement pier 2, at this time, the third electric push rod 35 drives the push plate 24 to move horizontally, so as to push the cargo carrier 1 on the placement pier 2, causing the laser emitter 5 on the positioning base plate 3 to move directly above the laser receiver 31. When the laser emitter 5 is paired with the laser receiver 31, the positioning and placement of the cargo carrier 1 can be completed.

[0023] As Figure 6 , Figure 7 and Figure 8 shown in the figure, the vehicle body centering mechanism includes a motor 27, a fixing plate 28, a threaded sleeve 29, a first slider 32, a first chute 34, a first slide bar 33, a three-section connecting rod 19, and an auxiliary wheel 20. On the corresponding side walls of the two fixed seats 23, a first chute 34 is provided. On the inner side walls of both sides of the first chute 34, a first slide bar 33 is fixedly installed. A first slider 32 is sleeved on the first slide bar 33. The number of the first sliders 32 is two, and they are successively located at the front and rear inner walls of the first chute 34. The outer sides of the two first sliders 32 are successively hinged to the two ends of the three-section connecting rod 19. An auxiliary wheel 20 is provided on the outer side of the three-section connecting rod 19. At the center of the inner bottom of the fixed seat 23, a fixing plate 28 is fixedly installed. On one side wall of the fixing plate 28, a threaded sleeve 29 is rotatably installed. A threaded lead screw is threadedly installed on the threaded sleeve 29. The threaded lead screw horizontally penetrates through the fixed seat 23 and is fixedly connected to the middle section of the three-section connecting rod 19. On the other side of the fixing plate 28, a motor 27 is fixedly installed. The output end of the motor 27 horizontally penetrates through the fixing plate 28 and is fixedly connected to the rotating shaft of the threaded sleeve 29.

[0024] When it is necessary to pair different models of AGV vehicles 4, at this time, the motor 27 drives the threaded sleeve 29 to rotate, causing the threaded lead screw to move horizontally, thereby pushing the middle connecting rod of the three-section connecting rod 19 to move horizontally, adjusting the distance between the symmetrically arranged three-section connecting rods 19, so as to achieve the effect of meeting the model of the AGV vehicle 4.

[0025] As Figure 7As shown in the figure, the height adjustment mechanism includes a movable frame 25 and a second electric push rod 26. The movable frame 25 is slidably installed inside the fixed seat 23. The movable frame 25 is arranged in a U-shaped structure. The top of the movable frame 25 is fixedly connected to the movable seat 17. The second electric push rod 26 is fixedly installed at the inner bottom of the fixed seat 23. The telescopic end of the second electric push rod 26 is fixedly connected to the bottom of the movable frame 25.

[0026] When the models of different AGV carts 4 are different, the heights of the AGV carts 4 are also different. It is necessary to adjust the height of the goods shelf 1. At this time, the second electric push rod 26 drives the movable frame 25 to move longitudinally, driving the movable seat 17 to adjust the height.

[0027] As Figure 6 shown in the figure, the anti-detachment mechanism includes a fixed block 22, a movable block 21 and a first electric push rod 18. Fixed blocks 22 are fixedly installed on the front and rear side walls of the fixed seat 23. The first electric push rod 18 is fixedly installed on the fixed block 22. The top of the first electric push rod 18 is fixedly installed with the movable block 21. The top of the movable block 21 is arranged in an inclined structure.

[0028] After the goods shelf 1 is placed, at this time, the first electric push rod 18 drives the movable block 21 to move longitudinally, so that the height of the movable block 21 is higher than the height of the movable seat 17, completing the limit lock on the front and rear sides of the goods shelf 1.

[0029] Working principle: First, according to the body width of the AGV cart 4, the driving motor 27 causes the threaded sleeve 29 to rotate. At this time, the three-section connecting rod 19 moves towards each other to adjust the spacing to fit the body width of the AGV cart 4. At the same time, the driving first electric push rod 18 drives the movable block 21 to move longitudinally, so that the top of the movable block 21 is higher than the top of the movable seat 17. When the AGV cart 4 transports the goods shelf 1 for placement, at this time, the AGV cart 4 moves to the interval of the placement pier 2. At this time, the AGV cart 4 releases the lifted top plate, so that the goods shelf 1 fits with the top of the placement pier 2, and the goods shelf 1 is completely parked on the placement pier 2. At this time, the third electric push rod 35 drives the two push plates 24 to push the goods shelf 1 at the same time, so that the laser emitter 5 on the goods shelf 1 is matched with the laser receiver 31 on the placement pier 2, and the positioning can be completed.

[0030] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to this. Within the scope of knowledge possessed by those skilled in the art to which the present invention pertains, various changes can be made without departing from the purpose of the present invention.

Claims

1. An automatically positioned AGV pallet rack, comprising a placement pier (2), characterized in that, The number of the placement piers (2) is two groups and they are arranged in a symmetric structure. A shelf support (1) is placed on the top of the placement pier (2). A positioning bottom plate (3) is inserted at the bottom of the shelf support (1). An adjustment and positioning mechanism is arranged at the joint between the positioning bottom plate (3) and the placement pier (2). An AGV cart (4) is placed at the interval between the two groups of placement piers (2). Body centering mechanisms are arranged on the corresponding side walls of the two groups of placement piers (2). The top of the AGV cart (4) is in close contact with the bottom of the shelf support (1). A height adjustment mechanism for adjusting the placement height of the shelf support (1) is arranged on the placement pier (2). Anti-disengagement mechanisms for limiting the shelf support (1) are installed on the front and rear sides of the placement pier (2).

2. The automatic positioning AGV cargo rack according to claim 1, wherein, The placement pier (2) includes a movable seat (17) and a fixed seat (23). The movable seat (17) is inserted on the fixed seat (23) and is slidably connected to the fixed seat (23).

3. An automatically positioned AGV goods shelf according to claim 1, characterized in that, A jack is provided at the center of the positioning base plate (3). The jack is arranged in a rectangular mechanism. A plug block (7) matching the jack is fixedly installed at the center of the bottom of the goods shelf (1). On both sides of the jack on the positioning base plate (3), movable grooves (11) are provided. The movable grooves (11) are communicated with the jack. Reset springs (10) are fixedly installed on the front and rear inner walls of the movable grooves (11). The free ends of the reset springs (10) are fixedly installed with stop blocks (12). The top of the stop block (12) is arranged in an inclined structure. The stop block (12) is arranged in an L-shaped structure. The two groups of stop blocks (12) at the front and rear inner walls of the movable groove (11) are symmetrically arranged. A connecting groove is provided at the bottom of the movable groove (11). A threaded rod (39) is rotatably installed on the inner walls on both sides of the connecting groove. A connecting block (43) is threadedly installed on the threaded rod (39). A pressing plate (16) is fixedly installed at the top of the connecting block (43). The pressing plate (16) is arranged in an L-shaped structure. A second mounting shaft (42) is rotatably installed outside the threaded rod (39) inside the positioning base plate (3). A third gear (40) is fixedly installed at one end of the threaded rod (39) located on the second mounting shaft (42). A fourth gear (41) and a fifth gear (44) are fixedly installed at the top and bottom of the second mounting shaft (42) in sequence. The fourth gear (41) and the third gear (40) are meshed. A first mounting shaft (37) is rotatably installed at the bottom end of the second mounting shaft (42) inside the positioning base plate (3). Sixth gears (45) are fixedly installed at both ends of the first mounting shaft (37). The sixth gears (45) are meshed with the fifth gear (44). A first gear (36) is fixedly installed at the center of the first mounting shaft (37). A second gear (38) meshed with the first gear (36) is rotatably installed at the inner bottom of the positioning base plate (3). A hidden groove (8) is provided at the bottom of the positioning base plate (3). A handwheel (9) is rotatably installed at the inner top of the hidden groove (8). The rotating shaft of the handwheel (9) longitudinally penetrates the positioning base plate (3) and is fixedly connected with the rotating shaft of the second gear (38). A limiting plate (15) is slidably installed inside the plug block (7). The number of the limiting plates (15) is two and they are symmetrically arranged. Extrusion springs (13) are fixedly installed on the corresponding side walls of the limiting plates (15). A plug pin (14) is fixedly installed on the outer side wall of the limiting plate (15). The plug pin (14) is slidably connected with the plug block (7). The plug pin (14) is clamped with the stop block (12).

4. The automatic positioning AGV cargo rack according to claim 1, characterized in that, The adjusting and positioning mechanism includes an upper mounting groove (6), a laser emitter (5), a push plate (24), a third electric push rod (35), a lower mounting groove (30), and a laser receiver (31). An upper mounting groove (6) is provided at the bottom of the positioning base plate (3) at the placement pier (2). A number of groups of laser emitters (5) arranged at equal intervals are fixedly installed at the inner top of the upper mounting groove (6). A lower mounting groove (30) is provided at the top of the movable seat (17). A number of groups of laser receivers (31) arranged at equal intervals are installed at the inner bottom of the lower mounting groove (30). The laser receivers (31) are matched with the laser emitters (5). A third electric push rod (35) is embedded and installed in the movable seat (17). A push plate (24) is fixedly installed at the telescopic end of the third electric push rod (35). The push plate (24) is arranged in an inverted L-shaped structure. The upper part of the push plate (24) is attached to the bottom of the movable seat (17).

5. An automatically positioned AGV cargo rack according to claim 1, characterized in that, The vehicle body centering mechanism includes a motor (27), a fixing plate (28), a threaded sleeve (29), a first slider (32), a first sliding groove (34), a first sliding rod (33), a three-section connecting rod (19), and an auxiliary wheel (20). First sliding grooves (34) are provided on the corresponding side walls of the two fixing seats (23). First sliding rods (33) are fixedly installed on the inner side walls of both sides of the first sliding groove (34). A first slider (32) is sleeved and installed on the first sliding rod (33). The number of the first sliders (32) is two, and they are successively located at the front and rear inner side walls of the first sliding groove (34). The outer sides of the two first sliders (32) are successively hinged to the two ends of the three-section connecting rod (19). An auxiliary wheel (20) is provided on the outer side of the three-section connecting rod (19). A fixing plate (28) is fixedly installed at the center of the inner bottom of the fixing seat (23). A threaded sleeve (29) is rotatably installed on one side wall of the fixing plate (28). A threaded lead screw is threadedly installed on the threaded sleeve (29). The threaded lead screw horizontally penetrates the fixing seat (23) and is fixedly connected to the middle section of the three-section connecting rod (19). A motor (27) is fixedly installed on the other side of the fixing plate (28). The output end of the motor (27) horizontally penetrates the fixing plate (28) and is fixedly connected to the rotating shaft of the threaded sleeve (29).

6. An automatically positioned AGV goods shelf according to claim 1 or 2, characterized in that The height adjusting mechanism includes a movable frame (25) and a second electric push rod (26). A movable frame (25) is slidably installed inside the fixing seat (23). The movable frame (25) is arranged in a U-shaped structure. The top of the movable frame (25) is fixedly connected to the movable seat (17). A second electric push rod (26) is fixedly installed at the inner bottom of the fixing seat (23). The telescopic end of the second electric push rod (26) is fixedly connected to the bottom of the movable frame (25).

7. An automatically positioned AGV goods shelf according to claim 1 or 2, characterized in that, The anti-disengagement mechanism includes a fixed block (22), a movable block (21), and a first electric push rod (18). Fixed blocks (22) are fixedly installed on the front and rear side walls of the fixing seat (23). A first electric push rod (18) is fixedly installed on the fixed block (22). A movable block (21) is fixedly installed at the top of the first electric push rod (18). The top of the movable block (21) is arranged in an inclined structure.

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