AGV用移载装置来装卸货物，即接受和卸下载荷。
AGVs use transfer devices to load and unload goods, that is, to accept and unload loads.
常见的AGV装卸方式：被动装卸、主动装卸：
Common AGV loading and unloading methods: passive loading and unloading, active loading and unloading.
（一）、被动装卸方式的小车自己不具有完整的装卸功能，而是采用助卸方式，即配合装卸站或接收物料方的装卸装置自动装卸。
常见的助卸装置有滚柱式台面和升降式台面两种:
(a)、采用升降式台面的升降台下设有液压升降机构，高度可以自由调节。为了顺利移载，AGV必须精确停车才能与站台自动交换。
(b)、采用滚柱式台面的环境要求是站台必须带有动力传动辊道，AGV停靠在站台边，AGV上的辊道和站台上的辊道对接之后同步动作，实现货物移送。
1. The passive loading and unloading trolley does not have a complete loading and unloading function, but adopts the auxiliary unloading method, that is, it is automatically loaded and unloaded with the loading and unloading device of the loading and unloading station or the receiving party.
Common unloading devices include roller table and lift table:
a. There is a hydraulic lifting mechanism under the lifting table using the lifting table, and the height can be adjusted freely. In order to transfer the load smoothly, the AGV must stop precisely to automatically exchange with the platform.
b. The environmental requirement of using a roller table is that the platform must have a power transmission roller table, the AGV is parked on the side of the platform, and the roller table on the AGV and the roller table on the platform are connected and act synchronously to realize the transfer of goods.
AGV Roller Table and Lift Table
（1）、推挽式:AGV装卸货物通过自身的推挽机构与地面的无动力辊道站台实现。作业时，AGV停靠在站台侧边，通过推挽机构左、右侧向移动伸臂推拉完成装卸货物，货物在AGV辊道与地面站台辊道之间滚动，载荷转移巧妙，地面站台不需要连锁信号和动力传动，适合同高度站台之间的搬运场合。但对作业点的定位精度以及与移载系统关联的部分要求较高，特别对多辆车和多个站台的场合，要保证其可靠性难度较大。
推挽式常用于平面托盘的物料搬运，如果是欧式托盘或其它物体，要注意满足能滚动和可推挽的条件。
（2）、辊道式:AGV装卸货物是通过自身辊道与地面站台辊道对接之后实现。地面站台是带动力传动的辊道，AGV准确停靠在地面站台侧边，车上和站台上的辊道对接无误后同步传动完成移载。故要求滚动体规范，传动高度一致，传动速度吻合。可左、右双向装卸托盘货物，作业效率高，AGV安全性好。移载机构与原理简单，可靠性好，但站台需要有连锁信号和动力传动。适合于站台数少，车间或库区入、出口RS/AS之间往返作业。辊道式常用于可滚动的各式托盘或物体的移载场合，包入括大的纸箱、木箱、板材、集装箱等，特别适用于重载物料的搬运。
（3）、链式 :除了货物传动方式是链条或链板不同外，其余与辊道式类似。链式主要适用于不能滚动物体的移载场合。
（4）、带式 :除了货物传动方式是传送带不同外，其余与辊道式类似。带式主要适用于较轻较小物料的移载场合，如纸盒、纸箱、各式袋装品等。
(1) Push-pull type: AGV loading and unloading goods is realized through its own push-pull mechanism and an unpowered roller platform on the ground. During operation, the AGV is parked on the side of the platform, and the outrigger is pushed and pulled left and right by the push-pull mechanism to complete the loading and unloading of goods. The goods roll between the AGV roller table and the ground platform roller table, and the load transfer is ingenious. Signal and power transmission, suitable for handling occasions between platforms of the same height. However, the positioning accuracy of the operating point and the parts related to the transfer system are relatively high, especially in the case of multiple vehicles and multiple platforms, it is difficult to ensure its reliability.
The push-pull type is often used for material handling on flat pallets. If it is a European-style pallet or other objects, pay attention to meet the conditions of rolling and push-pull.
(2) Roller table type: AGV loading and unloading goods is realized after docking with its own roller table and the ground platform roller table. The ground platform is a roller table with power transmission. The AGV is accurately parked on the side of the ground platform. After the vehicle and the roller table on the platform are connected correctly, the synchronous transmission completes the transfer. Therefore, the rolling elements are required to be standardized, the transmission height is consistent, and the transmission speed is consistent. It can load and unload pallet goods in left and right directions, with high operation efficiency and good AGV safety. The transfer mechanism and principle are simple and reliable, but the platform needs to have chain signals and power transmission. It is suitable for the round-trip operation between the entry and exit RS/AS of the workshop or warehouse area with a small number of stations. The roller type is often used in the transfer of various kinds of pallets or objects that can be rolled, including large cartons, wooden boxes, plates, containers, etc. It is especially suitable for the handling of heavy-duty materials.
(3) Chain type: Except that the transmission mode of goods is different by chain or chain plate, the rest is similar to the roller type. The chain type is mainly suitable for transfer occasions where objects cannot be rolled.
(4) Belt type: Except that the conveying mode of the goods is different from the conveyor belt, the rest are similar to the roller type. The belt type is mainly suitable for the transfer of lighter and smaller materials, such as cartons, cartons, various bags, etc.
（二）、主动装卸方式是指自动小车自己具有装卸功能。常见的主动装卸方式有单面推拉式、双面推拉式、叉车式[图(a)]和机器人式[图(b)]四种。
2. Active loading and unloading means that the automatic trolley itself has the loading and unloading function. Common active loading and unloading methods include single-sided push-pull, double-sided push-pull, forklift [Figure (a)] and robotic [Figure (b)].
AGV Active Transfer Method
（1）、牵引式: AGV作为牵引动力，通过拖挂带轮的箱体或容器完成对物料的运送。适合用挂斗和拖车运送物料的场合，如行包运送、化学品运送、废料收集等。
（2）、驮举式: AGV通过驮举来移载物料，一般移载机构位于AGV车体上方，作业时AGV停在货物正下方，通过升降机构驮起或降下实现货物的移载，动作简单，作业效率高，安全性好。适合多种货物形式和笨重物体两地之间往返搬运，也可作为柔性装配线、加工线使用。常用于车身、车架、集装箱、大型机件等物体搬运。
（3）、叉式 :叉式AGV与人工叉车在式样上基本类似，有侧叉式、正向叉式、落地叉式、三向叉式等多种车型。叉式AGV基本采用托盘堆放货物进行作业，目前正随着物流产业标准托盘的逐步推广而迅速发展。
侧叉式：从车的左右两侧移载货物，因叉起过程重心需由车体来平衡，故车体较笨重，移载重量有限，且能耗高、不经济。
（4）、正向叉式：从车体正前方叉起货物，能适应多种托盘从地面到常规高度范围货架的作业场合。特点是货叉下方没有支腿，叉车体作业时完全在货架或站台之外，对环境无特别的条件要求。但由于平衡的需要，车体较笨重，货叉突出，安全性有限。
（5）、落地叉式：货叉在车体后方，能上下升降，落下时在两条支腿之上，叉间距与标准欧式托盘下的两个空档吻合，正好能进入其中叉起托盘货物。因此，移载过程须倒车才能完成，对于双面托盘，不能直接放到地面，须放在有一定高度（一般≥100mm），能保证货叉及下方的两个支腿同时进入即可。该车型适合在高低差较大的站台或货架（牛腿式）之间装卸货物，特别是对驶入式巷道、多层货架（牛腿式）的密集性存储搬运独具优势。缺点是货叉下方有支腿，倒车过程安全性有局限。常用于各种库区到车间的物料自动存储及搬运，如辅料、原料、成品等的自动化物流系统。
（6）、三向叉式：这种AGV的货叉能分别向左、向右、向正前方三个方向进行托盘货物的自动装卸。适应多种标准托盘，适合巷道内多层货架或高低差较大的存储装卸场合。缺点是车型笨重宽大，行驶区域占用较多空间，作业场地有效利用率低，且AGV结构复杂，成本很高。
（7）、拣选式 :是在传统人工拣选车的基础上改造成的自动导引拣选车。作业时，人只要站在AGV拣选台上，当接到拣选指令后，AGV会按照最优的次序自动行驶，逐一地准确停位在目标位置，升降拣选台到适合人拣选的高度，人就可以按照车载终端的信息提示，进行拣选，然后确认该项完成，接着AGV会前往下一目标点，继续下一项拣选，依次进行。常用于低层平库中巷道货架的多品种小件货物场合，如药品、图书、档案、备件等的拣选。
（8）、龙门式： AGV外形类似龙门结构，能全方位行驶，移载过程是通过左右侧向伸缩移动货叉和升降来完成装卸货物。作业灵活性强，行驶安全性好。对地面站台要求简单，但自身移载机构复杂，适合狭窄区域或苛刻路径。多用于生产车间，如食品加工的原料运送。
（9）、机器人式： AGV上装备机械手，可根据指令自动行驶，准确停位，自动完成抓举、装配、装卸、堆码、拆垛等一系列作业功能，是一个智能移动式工业机器人。但结构、控制复杂，成本较高。常用于条件特殊、要求高，或某些无人的场合，如辅料自动搭配、危险品自动抓取等。
(1) Traction type: AGV is used as traction power to complete the transportation of materials by towing a box or container with pulleys. It is suitable for occasions where buckets and trailers are used to transport materials, such as luggage transport, chemical transport, waste collection, etc.
(2) Piggyback type: AGV transfers materials by piggybacking. Generally, the transfer mechanism is located above the AGV body. During operation, the AGV stops directly under the goods, and the lifting mechanism is used to carry or lower the goods to realize the transfer of goods. Action Simple, efficient and safe. It is suitable for the round-trip transportation of various forms of goods and heavy objects, and can also be used as a flexible assembly line and processing line. It is often used for handling objects such as body, frame, container, and large machine parts.
(3) Fork type: Fork type AGV is basically similar in style to manual forklift, there are side fork type, forward fork type, floor fork type, three-way fork type and other models. Fork AGV basically uses pallets to stack goods for operation, and is currently developing rapidly with the gradual promotion of standard pallets in the logistics industry.
Side fork type: The goods are transferred from the left and right sides of the car. Because the center of gravity needs to be balanced by the car body during the forklifting process, the car body is relatively heavy, the transfer weight is limited, and the energy consumption is high and uneconomical.
(4) Forward fork type: Fork goods from the front of the car body, which can adapt to the operation occasions of various pallets from the ground to the conventional height range of shelves. The characteristic is that there is no outrigger under the fork, and the forklift body is completely outside the shelf or platform during operation, and there are no special requirements for the environment. However, due to the need for balance, the body is relatively heavy, the forks are protruding, and the safety is limited.
(5) Floor fork type: the fork is at the rear of the car body and can be lifted up and down. When it falls, it is above the two outriggers. The fork spacing is consistent with the two neutral positions under the standard European pallet, and it can just enter into it and lift the pallet. goods. Therefore, the transfer process can only be completed by reversing. For the double-sided pallet, it cannot be placed directly on the ground, but must be placed at a certain height (generally ≥100mm) to ensure that the fork and the two legs below can enter at the same time. This model is suitable for loading and unloading goods between platforms or shelves (corbel type) with large height difference, especially for the intensive storage and handling of drive-in aisles and multi-layer shelves (corbel type). The disadvantage is that there are outriggers under the fork, and the safety of the reversing process is limited. It is often used for automatic storage and handling of materials from various warehouse areas to workshops, such as automatic logistics systems for auxiliary materials, raw materials, and finished products.
(6) Three-way fork type: The forks of this AGV can automatically load and unload pallet goods in three directions: left, right, and straight ahead. Adapt to a variety of standard pallets, suitable for multi-layer shelves in roadways or storage and loading occasions with large height differences. The disadvantage is that the model is bulky and wide, the driving area takes up a lot of space, the effective utilization rate of the work site is low, and the AGV has a complex structure and high cost.
(7) Picking type: It is an automatic guided picking vehicle transformed on the basis of the traditional manual picking vehicle. When working, people only need to stand on the AGV picking table. After receiving the picking instruction, the AGV will automatically drive in the optimal order, stop at the target position accurately one by one, and lift the picking table to a height suitable for people to choose. You can follow the information prompts of the on-board terminal to pick, and then confirm the completion of the item, and then the AGV will go to the next target point, continue to pick the next item, and proceed in turn. It is often used in multi-variety small goods occasions in the aisle shelves in low-level flat warehouses, such as the selection of medicines, books, files, spare parts, etc.
(8) Gantry type: The AGV is similar in shape to the gantry structure, and can travel in all directions. The loading and unloading process is to complete the loading and unloading of goods by moving the forks and lifting and lowering laterally on the left and right sides. The operation flexibility is strong, and the driving safety is good. The requirements for the ground station are simple, but the transfer mechanism is complex, suitable for narrow areas or harsh paths. It is mostly used in the production workshop, such as the delivery of raw materials for food processing.
(9) Robot type: The AGV is equipped with a manipulator, which can automatically drive according to the instructions, stop accurately, and automatically complete a series of operation functions such as snatch, assembly, loading and unloading, stacking, and depalletizing. It is an intelligent mobile industrial robot. However, the structure and control are complex and the cost is high. It is often used in special conditions, high requirements, or some unmanned occasions, such as automatic matching of accessories, automatic grabbing of dangerous goods, etc.
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RJS AGV Transfer Device
