A forklift cantilever and automated guided vehicle

Abstract

This application provides a forklift cantilever and an automated guided vehicle. The forklift cantilever includes a link, a linear drive assembly, and a limiting member. The linear drive assembly has an electric drive unit and an output member. The electric drive unit includes a brake and is rotatably connected to the lower surface of the link. The first end of the output member is connected to the electric drive unit and is capable of telescopic movement. The brake brakes the output member when the electric drive unit is de-energized. The first end of the limiting member is rotatably connected to the second end of the output member, and the rotating part of the limiting member is rotatably connected to the link. When the output member extends, it can drive the limiting member to rotate around the first end of the link until the second end of the limiting member is in a limiting position, where the second end of the limiting member in the limiting position is higher than the upper surface of the link. When the output member retracts, it can drive the limiting member to rotate around the first end of the link until the second end of the limiting member is in an abdication position, where the second end of the limiting member in the abdication position is lower than the upper surface of the link.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a forklift cantilever and automated guided vehicle. Background Technology

[0002] An Automated Guided Vehicle (AGV) is a transport vehicle equipped with electromagnetic or optical automatic guidance devices, capable of traveling along a prescribed guide route, and possessing safety protection and various transfer functions.

[0003] Currently, cantilevered automated guided vehicles (AGVs) are commonly used to transport material rolls between the pick-up and drop-off points. This is typically achieved by inserting the cantilever arm of the AGV into the inner hole of the material roll. The main body of the cantilever arm is a connecting rod, which primarily serves to support the material roll. However, the material roll itself is heavy and prone to rolling, making it susceptible to swaying back and forth during transport, or even falling off the connecting rod. This can not only damage the material roll but also pose a safety hazard to the AGV operation. Therefore, a limiting mechanism is needed to secure the material roll.

[0004] Currently, the industry's limiting solutions for forklifting of material rolls have the following technical defects: First, the limiting solution uses a stop bar, which is manually controlled. This means that the stop bar needs to be installed manually after the material roll is picked up and removed before it is put down, which cannot meet the fully automated operation requirements of AGVs. Second, another type of solution uses an electromagnetic drive structure. This structure requires a power supply to continuously energize the magnet to keep it in the limiting state, which increases the energy consumption of the AGV. On the other hand, the strong magnetic field generated when the electromagnet is working will cause electromagnetic interference to the key electronic equipment around the AGV (such as laser navigation sensors, position detection sensors, control modules, etc.), affecting the stability of AGV operation. Utility Model Content

[0005] The purpose of this application is to provide a forklift cantilever and automated guided vehicle (AGV) to solve the problems in the prior art where manual operation of limit stops cannot meet the fully automated requirements of AGVs, and the electromagnetic interference generated by electromagnetic drives affects the stability of AGV operation. The specific technical solution is as follows:

[0006] An embodiment of the first aspect of this application provides a forklift cantilever, comprising: a connecting rod, a linear drive assembly, and a limiting member; the linear drive assembly has an electric drive unit and an output member, the electric drive unit including a brake, the electric drive unit being rotatably connected to the lower surface of the connecting rod, the first end of the output member being connected to the electric drive unit and capable of telescopic movement; the brake braking the output member when the electric drive unit is de-energized; the first end of the limiting member being rotatably connected to the second end of the output member, the rotating part of the limiting member being rotatably connected to the connecting rod, the rotating part being located between the first end and the second end of the limiting member; when the output member extends, it can drive the limiting member to rotate around the first end of the connecting rod until the second end of the limiting member is in a limiting position, the second end of the limiting member in the limiting position being higher than the upper surface of the connecting rod; when the output member retracts, it can drive the limiting member to rotate around the first end of the connecting rod until the second end of the limiting member is in an abdication position, the second end of the limiting member in the abdication position being lower than the upper surface of the connecting rod.

[0007] In some embodiments, the electric drive unit is a drive motor, the output component is an electric cylinder, and the drive motor is capable of driving the telescopic rod of the electric cylinder to extend and retract.

[0008] In some embodiments, a photoelectric sensor is provided inside the cylinder body of the electric cylinder.

[0009] In some embodiments, the upper surface of the rod is covered with a drag-reducing pad.

[0010] In some embodiments, the electric drive unit of the linear drive assembly is hinged to the rod via a pin; and / or, the second end of the output member of the linear drive assembly is hinged to the first end of the limiting member via a pin; and / or, the limiting member is rotatably connected to the rod via a pivot.

[0011] In some embodiments, a fixing seat is also included, which is fixedly connected to the lower surface of the string rod, and the electric drive part of the linear drive assembly is hinged to the fixing seat by a pin.

[0012] In some embodiments, a fork carriage is also included, which is fixedly connected to the second end of the strut.

[0013] In some embodiments, the fork carriage is equipped with a roll sensor.

[0014] In some embodiments, the peripheral side of the limiting member is provided with an elastic buffer pad.

[0015] An embodiment of the second aspect of this application provides an automated guided vehicle, including the forklift cantilever described above.

[0016] The forklift cantilever provided in this embodiment allows the following: When the electric drive unit extends the output component, it drives the limiting component to rotate around the first end of the connecting rod, causing the second end of the limiting component to move to a limiting position. At this time, the limiting component protruding from the upper surface of the connecting rod can limit the material roll placed on the connecting rod, thereby preventing the material roll from sliding out from the first end of the connecting rod. When the electric drive unit retracts the output component, it drives the limiting component to rotate around the first end of the connecting rod, causing the second end of the limiting component to move to a clearance position. At this time, the limiting component can clear the material roll without affecting the insertion or removal of the material roll from the connecting rod. Simultaneously, the electric drive unit of the linear drive assembly includes a brake, which can brake the output component when the electric drive unit is de-energized. This brake can stably maintain the limiting component in the limiting position when power is off, eliminating the need for the electric drive unit to be constantly energized, thus reducing energy consumption and eliminating the need for manual operation of the limiting component. By using the output component of the linear drive assembly to rotate the limit component, the switching of the limit state can be automated, solving the problem that manual operation of limit bars in existing technologies cannot meet the fully automated requirements of AGVs. The electric drive unit does not generate a strong magnetic field and will not cause electromagnetic interference to key electronic equipment around the AGV (such as laser navigation sensors, position detection sensors, control modules, etc.), thus ensuring the stability of AGV operation.

[0017] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0019] Figure 1 Axonometric projection of the forklift cantilever provided in the embodiments of this application Figure 1 ;

[0020] Figure 2 Axonometric projection of the forklift cantilever provided in the embodiments of this application Figure 2 ;

[0021] Figure 3 This is a schematic diagram illustrating the cooperation between the forklift cantilever and the coil provided in an embodiment of this application. Figure 1 ;

[0022] Figure 4 This is a schematic diagram illustrating the cooperation between the forklift cantilever and the coil provided in an embodiment of this application. Figure 2 ;

[0023] Figure 5 This is a schematic diagram illustrating the cooperation between the forklift cantilever and the coil provided in an embodiment of this application. Figure 3 ;

[0024] Figure 6 for Figure 1 The image shows an isometric view of the linear drive assembly in the forklift cantilever.

[0025] Figure label:

[0026] 100; 101; 102; linear drive assembly; 200; electric drive unit; 210; output component; 220; telescopic rod; 300; 301; 302; drag reducing pad; 400; pin; 510; 520; fixed seat; 600; fork carriage; 700; 701; 702; roller; A coil. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0028] An embodiment of the first aspect of this application provides a forked cantilever, see [link to previous section]. Figure 1 and Figure 2 , Figure 1 Axonometric projection of the forklift cantilever provided in the embodiments of this application Figure 1 ; Figure 2 Axonometric projection of the forklift cantilever provided in the embodiments of this application Figure 2 ; Figure 1 The limiting component in the forklift shown is in the limiting position. Figure 2The limiting member in the forklift cantilever shown is in a clearance position. The forklift cantilever includes: a connecting rod 100, a linear drive assembly 200, and a limiting member 300. The linear drive assembly 200 has an electric drive unit 210 and an output member 220. The electric drive unit 210 includes a brake (not shown). The electric drive unit 210 is rotatably connected to the lower surface of the connecting rod 100. The first end of the output member 220 is connected to the electric drive unit 210, and the output member 220 is capable of telescopic movement. The brake brakes the output member 220 when the electric drive unit 210 is de-energized. The first end 301 of the limiting member is rotatably connected to the second end of the output member 220, limiting... The rotating part of the positioning member 300 is rotatably connected to the connecting rod 100. The rotating part is located between the first end 301 and the second end 302 of the limiting member. When the output member 220 extends, it can drive the limiting member 300 to rotate around the first end 101 of the connecting rod until the second end 302 of the limiting member is in the limiting position. The second end 302 of the limiting member in the limiting position is higher than the upper surface of the connecting rod 100. When the output member 220 retracts, it can drive the limiting member 300 to rotate around the first end 101 of the connecting rod until the second end 302 of the limiting member is in the avoidance position. The second end 302 of the limiting member in the avoidance position is lower than the upper surface of the connecting rod 100.

[0029] In this embodiment, as Figures 1 to 5 As shown, Figure 3 This is a schematic diagram illustrating the cooperation between the forklift cantilever and the coil provided in an embodiment of this application. Figure 1 ; Figure 4 This is a schematic diagram illustrating the cooperation between the forklift cantilever and the coil provided in an embodiment of this application. Figure 2 ; Figure 5 This is a schematic diagram illustrating the cooperation between the forklift cantilever and the coil provided in an embodiment of this application. Figure 3When the electric drive unit 210 drives the output member 220 to extend, it can drive the limiting member 300 to rotate around the first end 101 of the string rod, so that the second end 302 of the limiting member moves to the limiting position. At this time, the limiting member 300 protruding from the upper surface of the string rod 100 can limit the material roll A placed on the string rod 100, thereby preventing the material roll A from sliding out from the first end 101 of the string rod. When the electric drive unit 210 drives the output member 220 to retract, it can drive the limiting member 300 to rotate around the first end 101 of the string rod, so that the second end 302 of the limiting member moves to the avoidance position. At this time, the limiting member 300 can avoid the material roll A, without affecting the material roll A being put into or unputtled from the string rod 100. Meanwhile, the electric drive unit 210 of the linear drive assembly 200 includes a brake, which can brake the output member 220 when the electric drive unit 210 is de-energized. This ensures that the limit member 300 remains stably in its limit position during power failure. The electric drive unit 210 does not need to be continuously energized, reducing energy consumption, increasing range, and improving handling efficiency. The limit member 300 can be rotated by the output member 220 of the linear drive assembly 200 without manual operation, automating the switching of the limit member 300's limit state. This solves the problem that manual operation of limit bars in existing technologies cannot meet the fully automated requirements of AGVs. The electric drive unit 210 does not generate a strong magnetic field and will not cause electromagnetic interference to key electronic equipment (such as laser navigation sensors, position detection sensors, and control modules) around the automated guided vehicle, thus ensuring the stability of the automated guided vehicle's operation.

[0030] It should be noted that the limiting component 300 not only serves a limiting function but also a clamping function. For example, as... Figure 4 As shown, when the second end 302 of the limiting member protrudes from the upper surface of the stringing rod 100 but does not contact or abut against the material roll A, it limits the material roll A and prevents the material roll A from falling off the second end 102 of the stringing rod; Figure 5 As shown, when the electric drive unit 210 of the linear drive assembly 200 continues to drive the output member 220 to extend, the second end 302 of the limiting member continues to move toward the material roll A and applies pressure to the material roll A, which can press the material roll A, further improve the stability of the material roll A on the string rod 100, thereby improving the picking and placing accuracy of the material roll A.

[0031] The limiting and clamping process of the forklift cantilever in this embodiment is described below:

[0032] Avoidance state (e.g., when picking up / unloading coil A): In the initial state, such as Figure 2 and Figure 3 As shown, the electric drive unit 210 drives the telescopic rod 221 of the output member 220 to retract, causing the limiting member 300 to move around the first end 101 of the connecting rod in the first direction (in Figure 2 and Figure 3 The device is rotated clockwise until the second end 302 of the limiting member is lower than the upper surface of the guide rod 100, i.e., in the clearance position. At this time, the upper surface of the guide rod 100 is unobstructed, and the material roll A can be smoothly inserted into or removed from the guide rod 100. It should be noted that in the clearance position, the limiting member 300 may or may not be parallel to the guide rod 100. This application does not limit the clearance position of the limiting member 300.

[0033] Limiting conditions (e.g., when handling roll A): such as Figure 4 and Figure 5 As shown, after the material roll A is picked up into place by the trolley rod 100, the electric drive unit 210 drives the telescopic rod 221 to extend. The telescopic rod 221 pushes the limiting member 300 around the first end 101 of the trolley rod in the opposite direction to the first direction (in the direction of the first direction). Figure 4 and Figure 5 (The rotation is counterclockwise). As the telescopic rod 221 continues to extend, the second end 302 of the limiting member gradually rises and approaches the end face of the material roll A until the second end 302 of the limiting member first contacts the end face of the material roll A, thereby pushing the material roll A along the string rod 100 to slide towards the automatic guide transport vehicle; when the material roll A is close to the side of the automatic guide transport vehicle, the current of the electric drive unit 210 reaches the preset maximum value, and it is considered that the limiting member 300 has limited and clamped the material roll A at this time, and the control system of the automatic guide transport vehicle controls the electric drive unit 210 to cut off the power. At this time, the brake of the electric drive unit 210 is activated, which brakes the telescopic rod 221, and the limiting member 300 is stably maintained in the limiting position, preventing the material roll A from falling off the first end 101 of the string rod or swaying back and forth.

[0034] Specifically, such as Figure 1 and Figure 2 As shown, the electric drive unit 210 is rotatably connected to the lower surface of the rod 100. Specifically, the position can be near the second end 102 of the rod on the lower surface of the rod 100, or it can be at the middle of the lower surface of the rod 100.

[0035] More specifically, the shape of the limiting member 300 can be L-shaped, straight, or triangular; this application does not limit the shape of the limiting member 300.

[0036] Furthermore, such as Figure 6 As shown, Figure 6 for Figure 1The diagram shows an isometric view of the linear drive assembly 200 in the forklift cantilever. The electric drive unit 210 is a drive motor, and the output unit 220 is an electric cylinder. The drive motor is connected to the electric cylinder, and the drive motor can drive the telescopic rod 221 of the electric cylinder to extend and retract. In this embodiment, the drive motor and the electric cylinder do not generate a strong magnetic field, and will not cause electromagnetic interference to key electronic equipment around the AGV (such as laser navigation sensors, position detection sensors, control modules, etc.), thereby ensuring the stability of the AGV operation.

[0037] The electric drive unit 210 is a servo motor with a brake. The brake is integrated into the tail of the motor and can adopt an electromagnetic brake structure. When the motor is de-energized, the brake pads are in contact with the motor output shaft to mechanically brake the output component 220, so as to avoid displacement of the output component 220 due to the gravity or vibration of the material roll A. When the motor is energized, the brake pads are moved away from the motor output shaft, so that the motor output shaft can operate normally, thereby enabling the output component 220 to move normally.

[0038] Specifically, the telescopic rod 221 of the electric cylinder is the movable part of the output component 220, capable of telescopic movement along the cylinder axis. In this embodiment, the forklift cantilever consists only of the connecting rod 100, the drive motor, the electric cylinder, and the limiting component 300, resulting in a simple structure and high reliability.

[0039] In one alternative embodiment, the electric drive unit 210 can be a servo drive motor, and the output unit 220 can be a ball screw type electric cylinder. The two can be fixedly connected by a flange (not shown). The output shaft of the motor and the ball screw inside the electric cylinder are coaxially connected by a coupling (not shown). The rotational motion of the motor is converted into the linear extension and retraction motion of the electric cylinder extension rod 221 through the ball screw.

[0040] In actual operation, the control system of the automated guided vehicle sends pulse signals to the servo motor to control the motor to rotate forward or backward: when the motor rotates forward, the ball screw rotates, driving the telescopic rod 221 to extend outward along the cylinder body of the electric cylinder, causing the limit member 300 to rotate to the limit position; when the motor rotates backward, the ball screw rotates, driving the telescopic rod 221 to retract inward along the cylinder body of the electric cylinder, causing the limit member 300 to rotate to the avoidance position.

[0041] In addition, the servo motor has a built-in brake that is a power-off holding brake type. After power is cut off, the ball screw can be locked immediately to prevent the telescopic rod 221 from being displaced due to external forces (such as the inertia of the material roll), ensuring the positional stability of the limit component 300. It does not require continuous power to maintain the state, thus reducing the energy consumption of the automatic guided transport vehicle.

[0042] Furthermore, to accurately control and detect the extension and retraction stroke of the electric cylinder telescopic rod 221, a photoelectric sensor (not shown) is installed inside the cylinder body. Specifically, two photoelectric sensors can be installed inside the cylinder body along the movement direction of the telescopic rod 221, corresponding to the end point of the stroke at the limit position and the end point of the stroke at the avoidance position, respectively.

[0043] The working principle and function of photoelectric sensors are as follows:

[0044] The telescopic rod 221 is equipped with a light shield at its tail. When the telescopic rod 221 extends to the stroke corresponding to the limit position, the light shield blocks the photoelectric sensor at the limit position. The sensor sends a position signal to the control system, and the control system can determine whether to stop the motor based on the peak value of the motor current.

[0045] When the telescopic rod 221 retracts to the travel position corresponding to the avoidance position, the light shield blocks the photoelectric sensor at the avoidance position, the sensor sends a reset signal, and the control system controls the motor to stop, ensuring that the limit piece 300 is completely lower than the upper surface of the rod 100, so as not to affect the loading and unloading of the material roll.

[0046] By using photoelectric sensors to detect the stroke, the limit components can be automatically and precisely controlled at 300 positions without manual calibration, making them compatible with the fully automated operation process of automated guided vehicles.

[0047] It should be noted that the number of photoelectric sensors can be one or three; this application does not limit the number of photoelectric sensors. In some other embodiments, photoelectric sensors may not be provided.

[0048] For example, when there is only one photoelectric sensor, it can be a limit position photoelectric sensor. When the telescopic rod 221 extends to push the limit member to the limit position, the light shield on the telescopic rod 221 blocks the limit position photoelectric sensor. At this time, when the telescopic rod 221 retracts, the light shield leaves the photoelectric sensor after a preset time, and the limit member is already in the avoidance position. Alternatively, the photoelectric sensor can be an avoidance position photoelectric sensor. When the telescopic rod 221 retracts to drive the limit member to the avoidance position, the light shield on the telescopic rod 221 blocks the avoidance position photoelectric sensor. At this time, when the motor current is at a preset maximum value, the limit member is already in the avoidance position.

[0049] For example, when there are three photoelectric sensors, the three sensors are the avoidance position photoelectric sensor, the limit position photoelectric sensor and the clamping position photoelectric sensor, respectively. When the light shield on the telescopic rod 221 triggers the avoidance position photoelectric sensor, the limit position photoelectric sensor and the clamping position photoelectric sensor respectively, the limit member is located in the avoidance position, the limit position and the clamping position respectively.

[0050] Furthermore, such as Figure 1 and Figure 2 As shown, the upper surface of the rod 100 is covered with a friction-reducing pad 400 to reduce the friction of the material roll A on the rod 100, thereby reducing the resistance when the limiting member 300 pushes the material roll, reducing the load on the servo motor, and shortening the time for limiting and pressing the material roll A.

[0051] Specifically, the drag-reducing pad 400 can be made of a polymer material with a low coefficient of friction and high wear resistance, and adopts an arc-shaped bonding structure.

[0052] Furthermore, such as Figure 1 and Figure 2 As shown, to ensure the flexibility of movement of the linear drive assembly 200 and the limiting member 300, the electric drive part 210 of the linear drive assembly 200 and the connecting rod 100 are hinged by a pin 510; and / or, the second end of the output member 220 of the linear drive assembly 200 and the first end 301 of the limiting member are hinged by a pin 510; and / or, the limiting member 300 is rotatably connected to the connecting rod 100 by a rotating shaft 520.

[0053] It should be noted that there are two ways to install the rotating shaft 520: First, the rotating shaft 520 is rotatably connected to the first end 101 of the string rod, and the limiting member 300 is fixedly connected to the rotating shaft 520; Second, the rotating shaft 520 is fixedly connected to the first end 101 of the string rod, and the limiting member 300 is rotatably connected to the rotating shaft 520. Specifically, the limiting member 300 is provided with a mounting hole, through which the rotating shaft 520 can pass.

[0054] Furthermore, such as Figure 1 and Figure 2 As shown, the forklift cantilever also includes a fixed base 600, which is fixedly connected to the lower surface of the connecting rod 100. The electric drive unit 210 of the linear drive assembly 200 is hinged to the fixed base 600 via a pin 510. By providing the fixed base 600, the connection strength between the linear drive assembly 200 and the connecting rod 100 can be increased.

[0055] Based on all the above embodiments, such as Figure 1 and Figure 2 As shown, to connect the forklift cantilever to the automated guided vehicle (AGV) body and provide a lateral positioning reference for coil A, the forklift cantilever also includes a fork carriage 700, which is fixedly connected to the second end 102 of the connecting rod. Specifically, the fork carriage 700 includes a transverse support arm 701 and a longitudinal support arm 702. The longitudinal support arm 702 may also be equipped with rollers 710, which cooperate with the vehicle body to reduce the sliding resistance between the forklift cantilever and the vehicle body in the vertical direction.

[0056] Furthermore, a coil sensor (not shown) is provided on the fork carriage 700. The coil sensor can detect whether the coil A is already on the connecting rod 100. When the coil A is detected to be on the connecting rod 100, the coil sensor sends a signal to the control system, and the control system controls the electric drive unit 210 to drive it, further improving the automation of limiting the coil A. Optionally, the coil sensor is an infrared sensor or a photoelectric sensor. The infrared sensor or photoelectric sensor is fixed to the lateral support arm 701 of the fork carriage 700 by a bracket, and the sensing direction is towards the axis of the connecting rod 100.

[0057] Based on all the above embodiments, the peripheral side of the limiting member 300 is provided with an elastic buffer pad (not shown). By providing the elastic buffer pad, the surface of the material roll can be protected, while buffering the impact force when the limiting member 300 rotates.

[0058] It should be noted that the fixed seat, fork carriage, drag-reducing pad and elastic buffer pad mentioned above can be installed simultaneously, in combination, or individually.

[0059] An embodiment of the second aspect of this application provides an automated guided vehicle, including the forklift cantilever described above.

[0060] In this embodiment, as Figures 1 to 5As shown, when the electric drive unit 210 drives the output member 220 to extend, it can drive the limiting member 300 to rotate around the first end 101 of the string rod, so that the second end 302 of the limiting member moves to the limiting position. At this time, the limiting member 300 protruding from the upper surface of the string rod 100 can limit the material roll A placed on the string rod 100, thereby preventing the material roll A from sliding out from the first end 101 of the string rod. When the electric drive unit 210 drives the output member 220 to retract, it can drive the limiting member 300 to rotate around the first end 101 of the string rod, so that the second end 302 of the limiting member moves to the avoidance position. At this time, the limiting member 300 can avoid the material roll A, without affecting the material roll A being put into or unputtled from the string rod 100. Meanwhile, the electric drive unit 210 of the linear drive assembly 200 includes a brake, which can brake the output member 220 when the electric drive unit 210 is de-energized. This ensures that the limit member 300 remains stably in its limit position during power failure. The electric drive unit 210 does not need to be continuously energized, reducing energy consumption, increasing range, and improving handling efficiency. The limit member 300 can be rotated by the output member 220 of the linear drive assembly 200 without manual operation, automating the switching of the limit member 300's limit state. This solves the problem that manual operation of limit bars in existing technologies cannot meet the fully automated requirements of AGVs. The electric drive unit 210 does not generate a strong magnetic field and will not cause electromagnetic interference to key electronic equipment (such as laser navigation sensors, position detection sensors, control modules, etc.) around the automated guided vehicle, thus ensuring the stability of the automated guided vehicle's operation. It should be noted that automated guided vehicles typically include a vehicle body, and the second end 102 of the connecting rod is usually connected to the vehicle body.

[0061] It should be noted that when the automated guided vehicle moves to the unloading point of the material roll, the laser navigation sensor of the automated guided vehicle transmits the arrival signal of the automated guided vehicle to the control system. The control system sends an electrical signal to the electric drive unit 210, so that the electric drive unit 210 controls the output component to retract, so that the limit component is in the avoidance device, so as to unload the material roll, thereby further improving the automation of the unloading process.

[0062] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A forked cantilever, characterized in that, include: String rod (100); A linear drive assembly (200) has an electric drive unit (210) and an output member (220). The electric drive unit (210) includes a brake and is rotatably connected to the lower surface of the connecting rod (100). A first end of the output member (220) is connected to the electric drive unit (210) and is capable of telescopic movement. The brake brakes the output member (220) when the electric drive unit (210) is de-energized. A limiting member (300) has its first end (301) rotatably connected to the second end of the output member (220), and its rotating part is rotatably connected to the string rod (100). The rotating part is located between the first end (301) and the second end of the limiting member. When the output member (220) extends, it can drive the limiting member (300) to rotate around the first end (101) of the string rod until the second end (302) of the limiting member is in the limiting position, and the second end (302) of the limiting member in the limiting position is higher than the upper surface of the string rod (100). When the output component (220) retracts, it can drive the limiting component (300) to rotate around the first end (101) of the string rod until the second end (302) of the limiting component is in the avoidance position, and the second end (302) of the limiting component in the avoidance position is lower than the upper surface of the string rod (100).

2. The forklift cantilever according to claim 1, characterized in that, The electric drive unit (210) is a drive motor, and the output unit (220) is an electric cylinder. The drive motor can drive the telescopic rod (221) of the electric cylinder to extend and retract.

3. The forklift cantilever according to claim 2, characterized in that, The electric cylinder is equipped with a photoelectric sensor inside the cylinder body.

4. The forklift cantilever according to claim 1, characterized in that, The upper surface of the rod (100) is covered with a drag-reducing pad (400).

5. The forklift cantilever according to claim 1, characterized in that, The electric drive unit (210) of the linear drive assembly (200) is hinged to the rod (100) via a pin (510); and / or The second end of the output component (220) of the linear drive assembly (200) is hinged to the first end (301) of the limiting component via a pin (510); and / or The limiting member (300) is rotatably connected to the string rod (100) via a rotating shaft (520).

6. The forklift cantilever according to claim 1, characterized in that, It also includes a fixing seat (600), which is fixedly connected to the lower surface of the string rod (100), and the electric drive part (210) of the linear drive assembly (200) is hinged to the fixing seat (600) by a pin (510).

7. The forklift cantilever according to any one of claims 1-6, characterized in that, It also includes a fork carriage (700), which is fixedly connected to the second end (102) of the truss rod.

8. The forklift cantilever according to claim 7, characterized in that, The fork carriage (700) is equipped with a coil sensor.

9. The forklift cantilever according to any one of claims 1-6, characterized in that, The limiting member (300) is provided with an elastic buffer pad on its periphery.

10. An automated guided vehicle, characterized in that, Includes the forklift cantilever as described in any one of claims 1-9.

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