An automatically positioned AGV pallet rack

Abstract

The present invention relates to the technical field of AGV rack positioning devices, and in particular to an automatically positioned AGV rack, comprising a placing pier, characterized in that the placing piers are in two groups and are arranged in a symmetrical structure, a rack is placed on top of the placing pier, and a positioning base plate is inserted into the bottom of the rack. The present invention provides a vehicle body centering mechanism and auxiliary wheels on a three-section connecting rod, so that the device can adapt to the width of different AGV vehicles. When the AGV vehicle moves to the placing pier, it can always be in the center position, effectively avoiding the situation where the rack cannot contact the placing pier and tipping over due to the AGV vehicle parking deviation, and effectively ensuring the placement stability and safety of the rack.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV (Automated Guided Vehicle) (AGV) pallet positioning device, and in particular to an automatically positioned AGV pallet. Background Art

[0002] AGV generally refers to a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, which can travel along a specified guide path and has safety protection and various transfer functions. AGV is mostly used in the logistics and handling industry, which can greatly liberate manpower and is used more and more in modern society. In logistics and handling, it is often necessary to use AGV carts to transfer pallets from one place to another.

[0003] At present, most pallet racks are lifted onto the AGV cart by a sling, and their accuracy is poor. In order to ensure their accuracy, automatic positioning devices are often set up to install the pallet racks. Among them, in the patent with application number CN201721763402.2, an AGV pallet rack automatic positioning device is disclosed. The patent describes "the design of a shuttle channel formed by two bases and the movable design of each positioning plate, clamping plate, and clamping rod, so that the shelf placement position can be accurately positioned", but the automatic positioning device has difficulty in centering the body of the AGV cart, which results in the pallet rack not being able to be effectively and safely placed when the AGV cart is not parked in the right position, and it is easy to tip over. In addition, the base of the pallet rack is an integrated structure. After the end face of the pallet rack is damaged, it is difficult to quickly replace part of the structure. 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] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] An automatically positioned AGV support rack includes a placing pier, wherein the placing piers are in two groups and are arranged in a symmetrical structure, a supporting rack is placed on the top of the placing pier, and a positioning base plate is inserted at the bottom of the supporting rack;

[0007] The center of the positioning base is provided with a socket, the socket is a rectangular mechanism, and a plug block matching the socket is fixedly installed in the center of the bottom of the supporting shelf. The positioning base is provided with movable grooves on both sides of the socket, and the movable groove is connected to the socket. The front and rear inner walls of the movable groove are fixedly installed with a return spring, and the free end of the return spring is fixedly installed with a stopper. The top of the stopper is arranged in an inclined structure, and the stopper is arranged in an L-shaped structure. The two groups of stops at the front and rear inner walls of the movable groove are symmetrically arranged. A connecting groove is provided at the bottom of the movable groove, and threaded rods are rotatably installed on the inner walls of the two sides of the connecting groove. A connecting block is threadedly installed on the threaded rod, and a pressure plate is fixedly installed on the top of the connecting block. The pressure plate is arranged in an L-shaped structure. A second mounting shaft is rotatably installed on the outer side of the threaded rod in the positioning base, and a third gear is fixedly installed on one end of the threaded rod at the second mounting shaft. The top of the second mounting shaft The transmission gear of the present invention is a gear which is engaged with the gear of the first gear and the gear of the second gear is engaged with the gear of the first gear and the gear of the third gear is engaged with the gear of the first gear and the gear of the third gear is engaged with the gear of the first gear and the gear of the third gear is engaged with the gear of the first gear and the gear of the third gear is engaged with the gear of the first gear and the gear of the third gear is engaged with the gear of the first gear and the gear of the third gear is engaged with the gear of the

[0008] An adjustment and positioning mechanism is provided at the joint of the positioning base plate and the placing pier, an AGV trolley is placed at the interval between the two groups of placing piers, and a vehicle body centering mechanism is provided on the corresponding side walls of the two groups of placing piers. The top of the AGV trolley is fitted with the bottom of the pallet rack, and a height adjustment mechanism for adjusting the placement height of the pallet rack is provided on the placing pier. Anti-slip mechanisms for limiting the position of the pallet rack are installed on the front and rear sides of the placing pier. The placing pier includes a movable seat and a fixed seat, and the movable seat is plugged into the fixed seat and slidably connected to the fixed seat.

[0009] As a preferred technical solution of the present invention, the adjustment and positioning mechanism includes an upper mounting groove, a laser emitter, a push plate, a third electric push rod, a lower mounting groove and a laser receiver. The bottom of the positioning base plate is located at the placement pier and is provided with an upper mounting groove. The inner top of the upper mounting groove is fixedly installed with several groups of laser emitters arranged at equal distances. The top of the movable seat is provided with a lower mounting groove. The inner bottom of the lower mounting groove is installed with several groups of laser receivers arranged at equal distances. The laser receiver matches the laser emitter. The third electric push rod is embedded 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, and the top of the push plate is fitted with the bottom of the movable seat.

[0010] As an optimal technical solution of the present invention, the vehicle body centering mechanism includes a motor, a fixed plate, a threaded sleeve, a first slider, a first slide groove, a first slide rod, a three-section connecting rod and an auxiliary wheel, the corresponding side walls of the two groups of fixed seats are provided with a first slide groove, the first slide rod is fixedly installed on the inner walls of both sides of the first slide groove, the first slide rod is sleeved on the first slide rod, there are two groups of first sliders and they are successively located at the front and rear side inner walls of the first slide groove, the outer sides of the two groups of first sliders are hingedly connected to the two ends of the three-section connecting rod in sequence, the outer sides of the three-section connecting rod are provided with an auxiliary wheel, the fixing plate is fixedly installed at the center of the inner bottom of the fixed seat, the threaded sleeve is rotatably installed on one side wall of the fixing plate, the threaded screw is threaded on the threaded sleeve, the threaded screw rod transversely penetrates the fixed seat and is fixedly connected to a section in the center of the three-section connecting rod, the motor is fixedly installed on the other side of the fixing plate, the output end of the motor transversely penetrates the fixing plate and is fixedly connected to the rotating shaft of the threaded sleeve.

[0011] As a preferred technical solution of the present invention, the height adjustment mechanism includes a movable frame and a second electric push rod, the movable frame is slidably installed in 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, the second electric push rod is fixedly installed on the inner bottom of the fixed seat, and the telescopic end of the second electric push rod is fixedly connected to the bottom of the movable frame.

[0012] As a preferred technical solution of the present invention, the anti-slip mechanism includes a fixed block, a movable block and a first electric push rod. The front and rear side walls of the fixed seat are fixedly installed with fixed blocks, the first electric push rod is fixedly installed on the fixed block, and the movable block is fixedly installed on the top of the first electric push rod. The top of the movable block is arranged in an inclined structure.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. In the present invention, by setting a body centering mechanism and providing auxiliary wheels on the three-section connecting rod, the equipment can adapt to the body width of different AGV carts, so that when the AGV cart moves to the placement pier, it can always be in the center position, effectively avoiding the situation where the AGV cart is parked with deviation, causing the pallet to be unable to contact the placement pier and tipping over, and effectively ensuring the placement stability and safety of the pallet rack.

[0015] 2. In the present invention, by providing an adjustment positioning mechanism and an anti-slip mechanism, after the pallet rack is placed on the placement pier, the placement position of the pallet rack can be adjusted by adjusting the positioning mechanism, thereby achieving the effect of automatic positioning. At the same time, the laser transmitter and laser receiver provided can effectively and accurately locate the placement position of the pallet rack. At the same time, the use of the anti-slip mechanism can prevent the pallet rack from falling off on the front and rear sides of the placement pier when the adjustment positioning mechanism pushes the pallet rack.

[0016] 3. In the present invention, by setting the bottom of the pallet rack as a disassembly structure, when the bottom of the pallet rack is damaged after long-term use and needs to be repaired, the bottom plate of the pallet rack can be directly separated by turning the hand wheel, so as to be quickly replaced and repaired. This effectively avoids the situation where the bottom of the pallet rack is damaged when it is an integral structure and the entire pallet rack needs to be replaced, thereby improving the convenience of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention;

[0018] Figure 2 This is a schematic diagram of the hand wheel position structure of the present invention;

[0019] Figure 3 It is a structural schematic diagram of the positioning base plate of the present invention;

[0020] Figure 4 This is a schematic diagram of the insert block position structure of the present invention;

[0021] Figure 5 This is a schematic diagram of the cross-sectional structure of the positioning base plate of the present invention;

[0022] Figure 6 This is a schematic diagram of the three-section connecting rod position structure of the present invention;

[0023] Figure 7 This is a schematic cross-sectional structural diagram of a placement pier according to the present invention;

[0024] Figure 8 This is a schematic diagram of the lower mounting slot position structure of the present invention;

[0025] Figure 9 This is a schematic diagram of the enlarged structure of part A of the present invention;

[0026] Figure 10 This is a schematic diagram of the enlarged structure of part B of the present invention;

[0027] Figure 11 It is a schematic diagram of the enlarged structure of part C of the present invention.

[0028] Among them: 1. Pallet; 2. Placement pier; 3. Positioning base; 4. AGV trolley; 5. Laser transmitter; 6. Upper mounting slot; 7. Insert block; 8. Hidden slot; 9. Handwheel; 10. Return spring; 11. Movable slot; 12. Stop block; 13. Extrusion spring; 14. Latch; 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 rod; 34. First slide groove; 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 DESCRIPTION

[0029] In order to make the technical means, creative features, purpose and efficacy of the present invention easy to understand, the present invention is further described below in conjunction with specific examples, but the following examples are only preferred embodiments of the present invention, not all. Based on the examples in the embodiments, other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention. The experimental methods in the following examples, unless otherwise specified, are conventional methods, and the materials, reagents, etc. used in the following examples, unless otherwise specified, can be obtained from commercial channels.

[0030] Example: Figure 1-11 As shown, an automatically positioned AGV pallet rack includes placing piers 2, the number of placing piers 2 is two groups and they are symmetrically structured, a pallet rack 1 is placed on the top of the placing piers 2, a positioning base plate 3 is inserted at the bottom of the pallet rack 1, an adjustment and positioning mechanism is provided at the joint between the positioning base plate 3 and the placing piers 2, an AGV trolley 4 is placed at the interval between the two groups of placing piers 2, the corresponding side walls of the two groups of placing piers 2 are provided with a vehicle body centering mechanism, the top of the AGV trolley 4 is fitted with the bottom of the pallet rack 1, a height adjustment mechanism for adjusting the placement height of the pallet rack 1 is provided on the placing piers 2, and anti-slip mechanisms for limiting the pallet rack 1 are installed on the front and rear sides of the placing piers 2.

[0031] In some implementations, when it is necessary to use an AGV trolley 4 to place the pallet 1, the AGV trolley 4 needs to move through the route to the interval between the placement piers 2. At this time, the vehicle body centering mechanism adjusts the spacing of the vehicle body centering mechanism according to the width of the AGV trolley 4. At this time, the AGV trolley 4 enters the center of the two groups of placement piers 2 through the guidance of the vehicle body centering mechanism. At this time, the placement tray of the AGV trolley 4 is driven to place the pallet 1 on the placement pier 2. At this time, when the pallet 1 is fitted with the placement pier 2, the positioning mechanism is adjusted to drive, causing the pallet 1 to be centered, completing the precise placement of the pallet 1. After the placement is completed, the anti-slip mechanism is driven to effectively limit the pallet 1 from falling off from the front and back of the placement pier 2.

[0032] like Figure 6 、 Figure 7 and Figure 8 As shown, the placing pier 2 includes a movable seat 17 and a fixed seat 23 , and the movable seat 17 is plugged into the fixed seat 23 and is slidably connected to the fixed seat 23 .

[0033] like Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 9 、 Figure 10 and Figure 11As shown, a socket is provided in the middle of the positioning base plate 3, and the socket is a rectangular structure. A plug block 7 matching the socket is fixedly installed in the middle of the bottom of the support shelf 1. A movable groove 11 is provided on both sides of the socket on the positioning base plate 3. The movable groove 11 is connected to the socket. A reset spring 10 is fixedly installed on the front and rear inner walls of the movable groove 11. A stopper 12 is fixedly installed on the free end of the reset spring 10. The top of the stopper 12 is arranged in an inclined structure. The stopper 12 is arranged in an L-shaped structure. The front of the movable groove 11 The two groups of blocks 12 at the rear inner wall are symmetrically arranged, and a connecting groove is opened at the bottom of the movable groove 11. The inner walls on both sides of the connecting groove are rotatably installed with threaded rods 39, and a connecting block 43 is threadedly installed on the threaded rod 39. The top of the connecting block 43 is fixedly installed with a pressure plate 16, and the pressure plate 16 is arranged in an L-shaped structure. A second mounting shaft 42 is rotatably installed on the outer side of the threaded rod 39 in the positioning base 3. The threaded rod 39 is located at one end of the second mounting shaft 42 and is fixedly installed with a third gear 40. The top of the second mounting shaft 42 is fixed to the bottom The fourth gear 41 and the fifth gear 44 are fixedly installed at the ends in sequence, and the fourth gear 41 is meshed with the third gear 40. The first mounting shaft 37 is rotatably installed at the bottom end of the second mounting shaft 42 in the positioning base 3. Sixth gears 45 are fixedly installed at both ends of the first mounting shaft 37. The sixth gear 45 is meshed with the fifth gear 44. The first gear 36 is fixedly installed at the center of the first mounting shaft 37. The second gear 38 meshed with the first gear 36 is rotatably installed at the inner bottom of the positioning base 3. A hidden groove 8 is provided at the bottom of the positioning base plate 3, and a handwheel 9 is rotatably installed on the inner top of the hidden groove 8. The rotating shaft of the handwheel 9 longitudinally passes through the positioning base plate 3 and is fixedly connected to the rotating shaft of the second gear 38. A limit plate 15 is slidably installed in the plug block 7. The number of the limit plates 15 is two groups and they are symmetrically arranged. The corresponding side walls of the limit plates 15 are fixedly installed with extrusion springs 13, and the outer side walls of the limit plates 15 are fixedly installed with a latch 14. The latch 14 is slidably connected to the plug block 7, and the latch 14 is clamped with the stop block 12.

[0034] When the positioning base plate 3 on the support rack 1 needs to be replaced and repaired, the user turns the hand wheel 9. After the hand wheel 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 and the second mounting shaft 42 and the fourth gear 41 rotate, and the third gear 40 and the threaded rod 39 are driven to rotate, causing the connecting block 43 to drive the pressure plate 16 to move toward each other, squeezing the pin 14, causing the pin 14 to retract into the insert block 7, causing the insert block 7 to be separated from the positioning base plate 3, so that the positioning base plate 3 can be removed separately, so that the positioning base plate 3 can be repaired.

[0035] like Figure 6 、 Figure 2 and Figure 8As shown, 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. The bottom of the positioning base plate 3 is located at the placement pier 2 and is provided with an upper mounting groove 6. Several groups of laser emitters 5 arranged equidistantly are fixedly installed on the inner top of the upper mounting groove 6. A lower mounting groove 30 is provided on the top of the movable seat 17. Several groups of laser receivers 31 arranged equidistantly are installed on the inner bottom of the lower mounting groove 30. The laser receiver 31 matches the laser emitter 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 provided with a push plate 24. The push plate 24 is arranged in an inverted L-shaped structure, and the top of the push plate 24 is fitted with the bottom of the movable seat 17.

[0036] When the pallet 1 is placed on the placement pier 2, the third electric push rod 35 drives the push plate 24 to move horizontally, thereby pushing the pallet 1 on the placement pier 2, causing the laser emitter 5 on the positioning base plate 3 to move to directly above the laser receiver 31, until the laser emitter 5 and the laser receiver 31 are paired to complete the positioning and placement of the pallet 1.

[0037] like Figure 6 、 Figure 7 and Figure 8 As shown, the vehicle body centering mechanism includes a motor 27, a fixing plate 28, a threaded sleeve 29, a first slider 32, a first slide groove 34, a first slide rod 33, a three-section connecting rod 19 and an auxiliary wheel 20. The corresponding side walls of the two sets of fixing seats 23 are each provided with a first slide groove 34. The first slide rod 33 is fixedly installed on the inner walls of both sides of the first slide groove 34. The first slider 32 is sleeved on the first slide rod 33. The number of the first sliders 32 is two groups and they are sequentially located at the front and rear inner walls of the first slide groove 34. The outer sides of the two groups of first sliders 32 are sequentially connected to the three-section connecting rod The two ends of 19 are hingedly connected, an auxiliary wheel 20 is provided on the outside 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, and a threaded sleeve 29 is rotatably installed on one side wall of the fixing plate 28. A threaded screw is threadedly installed on the threaded sleeve 29, and the threaded screw passes through the fixing seat 23 horizontally and is fixedly connected to a section in the center of the three-section connecting rod 19. A motor 27 is fixedly installed on the other side of the fixing plate 28, and the output end of the motor 27 passes through the fixing plate 28 horizontally and is fixedly connected to the rotating shaft of the threaded sleeve 29.

[0038] When it is necessary to pair different models of AGV carts 4, the motor 27 drives the threaded sleeve 29 to rotate, causing the threaded screw to move laterally, thereby pushing the middle group of connecting rods in the three-section connecting rod 19 to move laterally, adjusting the spacing of the symmetrically arranged three-section connecting rod 19, thereby achieving the effect of meeting the model of the AGV cart 4.

[0039] like Figure 7As shown, the height adjustment mechanism includes a movable frame 25 and a second electric push rod 26. The movable frame 25 is slidably installed in 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 on 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.

[0040] When different AGVs 4 have different models and different heights, the height of the pallet rack 1 needs to be adjusted. 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.

[0041] like Figure 6 As shown, the anti-slip mechanism includes a fixed block 22, a movable block 21 and a first electric push rod 18. The front and rear side walls of the fixed seat 23 are fixedly mounted with the fixed block 22, the first electric push rod 18 is fixedly mounted on the fixed block 22, and the top of the first electric push rod 18 is fixedly mounted with the movable block 21, and the top of the movable block 21 is arranged in an inclined structure.

[0042] When the pallet 1 is placed, 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 blocking of the front and rear sides of the pallet 1.

[0043] Working principle:

[0044] First, the motor 27 is driven according to the width of the AGV 4 to rotate the threaded sleeve 29. At this time, the three-section connecting rod 19 moves toward each other, adjusting the spacing to adapt to the width of the AGV 4. At the same time, the first electric push rod 18 is driven to drive 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.

[0045] When the AGV trolley 4 transports the pallet 1 for placement, the AGV trolley 4 moves to the gap between the placement piers 2. At this time, the AGV trolley 4 releases the lifted top plate, causing the pallet 1 to fit the top of the placement pier 2, so that the pallet 1 is completely parked on the placement pier 2;

[0046] At this time, the third electric push rod 35 drives the two sets of push plates 24 to push the pallet 1 at the same time, so that the laser transmitter 5 on the pallet 1 is matched with the laser receiver 31 on the placement pier 2, and the positioning is completed.

[0047] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. An automatically positioned AGV pallet rack, comprising a placement pier (2), characterized in that: The number of the placing piers (2) is two groups and they are arranged in a symmetrical structure. A supporting rack (1) is placed on the top of the placing piers (2). A positioning base plate (3) is inserted at the bottom of the supporting rack (1). An adjusting and positioning mechanism is provided at the joint between the positioning base plate (3) and the placing piers (2). An AGV trolley (4) is placed at the interval between the two groups of placing piers (2). The corresponding side walls of the two groups of placing piers (2) are provided with a vehicle body centering mechanism. The top of the AGV trolley (4) is arranged to be in contact with the bottom of the supporting rack (1). A height adjustment mechanism for adjusting the placement height of the supporting rack (1) is provided on the placing piers (2). Anti-slip mechanisms for limiting the position of the supporting rack (1) are installed on the front and rear sides of the placing piers (2). The center of the positioning base plate (3) is provided with a socket, which is a rectangular structure. A plug block (7) matching the socket is fixedly installed at the center of the bottom of the support rack (1). The positioning base plate (3) is provided with movable grooves (11) on both sides of the socket. The movable grooves (11) are connected to the socket. The front and rear inner walls of the movable groove (11) are fixedly provided with return springs (10). The free end of the return spring (10) is fixedly provided with a stopper (12). The top of the stopper (12) is provided with an inclined structure. The stopper (12) is provided with an L-shaped structure. The front and rear inner walls of the movable groove (11) are provided with a return spring (10). The two groups of blocks (12) are symmetrically arranged, a connecting groove is provided at the bottom of the movable groove (11), threaded rods (39) are rotatably mounted on the inner walls of both sides of the connecting groove, a connecting block (43) is threadedly mounted on the threaded rod (39), a pressure plate (16) is fixedly mounted on the top of the connecting block (43), and the pressure plate (16) is arranged in an L-shaped structure. A second mounting shaft (42) is rotatably mounted on the outer side of the threaded rod (39) in the positioning base plate (3), a third gear (40) is fixedly mounted on one end of the threaded rod (39) located at the second mounting shaft (42), and the top and bottom ends of the second mounting shaft (42) are fixedly mounted in sequence. There are a fourth gear (41) and a fifth gear (44), the fourth gear (41) and the third gear (40) are meshed, a first mounting shaft (37) is rotatably mounted at the bottom end of the second mounting shaft (42) in the positioning base plate (3), a sixth gear (45) is fixedly mounted at both ends of the first mounting shaft (37), the sixth gear (45) is meshed with the fifth gear (44), a first gear (36) is fixedly mounted at the center of the first mounting shaft (37), a second gear (38) meshed with the first gear (36) is rotatably mounted at the bottom inner side of the positioning base plate (3), the positioning base plate (3 ) is provided with a hidden groove (8) at the bottom, a hand wheel (9) is rotatably installed on the inner top of the hidden groove (8), the rotating shaft of the hand wheel (9) longitudinally passes through the positioning base plate (3) and is fixedly connected to the rotating shaft of the second gear (38), a limiting plate (15) is slidably installed in the insert (7), the number of the limiting plates (15) is two groups and they are symmetrically arranged, the corresponding side walls of the limiting plates (15) are fixedly installed with an extrusion spring (13), the outer side wall of the limiting plate (15) is fixedly installed with a latch (14), the latch (14) is slidably connected to the insert (7), and the latch (14) is clamped with the stopper (12); The placing pier (2) comprises a movable seat (17) and a fixed seat (23), wherein the movable seat (17) is plugged into the fixed seat (23) and is slidably connected to the fixed seat (23); The anti-slip mechanism comprises a fixed block (22), a movable block (21) and a first electric push rod (18); the front and rear side walls of the fixed seat (23) are fixedly mounted with the fixed block (22); the first electric push rod (18) is fixedly mounted on the fixed block (22); the top of the first electric push rod (18) is fixedly mounted with the movable block (21); and the top of the movable block (21) is arranged in an inclined structure.

2. The automatic positioning AGV pallet rack according to claim 1, characterized in that: The adjustment and positioning mechanism comprises 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). The bottom of the positioning base plate (3) is provided with an upper mounting groove (6) at the placement pier (2). Several groups of laser emitters (5) arranged at equal intervals are fixedly installed on the inner top of the upper mounting groove (6). The top of the movable seat (17) is provided with a lower mounting groove (30). Several groups of laser receivers (31) arranged at equal intervals are installed on the inner bottom of the lower mounting groove (30). The laser receivers (31) match the laser emitters (5). The movable seat (17) is embedded with a third electric push rod (35). The telescopic end of the third electric push rod (35) is fixedly provided with a push plate (24). The push plate (24) is provided in an inverted L-shaped structure. The upper part of the push plate (24) is fitted with the bottom of the movable seat (17).

3. The automatic positioning AGV pallet rack according to claim 1, characterized in that: The vehicle body centering mechanism comprises a motor (27), a fixing plate (28), a threaded sleeve (29), a first slider (32), a first slide groove (34), a first slide bar (33), a three-section connecting rod (19) and an auxiliary wheel (20). The corresponding side walls of the two sets of fixing seats (23) are provided with first slide grooves (34). The first slide bars (33) are fixedly installed on the inner walls of both sides of the first slide groove (34). The first slider (32) is sleeved on the first slide bar (33). The number of the first sliders (32) is two and they are sequentially located at the front and rear inner walls of the first slide groove (34). The outer sides of the two sets of first sliders (32) are sequentially connected to the three-section connecting rod (19). The two ends of the connecting rod (19) are hingedly connected, and an auxiliary wheel (20) is provided on the outside 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), and a threaded sleeve (29) is rotatably installed on one side wall of the fixing plate (28). A threaded screw is threadedly installed on the threaded sleeve (29), and the threaded screw passes through the fixing seat (23) horizontally and is fixedly connected to a section in the center of the three-section connecting rod (19). A motor (27) is fixedly installed on the other side of the fixing plate (28), and the output end of the motor (27) passes through the fixing plate (28) horizontally and is fixedly connected to the rotating shaft of the threaded sleeve (29).

4. The automatic positioning AGV pallet rack according to claim 1, characterized in that: The height adjustment mechanism comprises a movable frame (25) and a second electric push rod (26); the movable frame (25) is slidably mounted 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 mounted on the inner bottom of the fixed seat (23); and the telescopic end of the second electric push rod (26) is fixedly connected to the bottom of the movable frame (25).

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