Automatic guided transport vehicle

Abstract

The present invention discloses an automatic guided transport vehicle, comprising: a frame assembly, a travel power assembly, configured to drive a support mechanism to travel on a travel surface; a fork arm mechanism, supported on at least two support mechanisms; a lifting mechanism, a hoisting mechanism, wherein the lifting mechanism is arranged on the support mechanism and is configured to lift the fork arm mechanism supported on the support mechanism to a predetermined height under the drive of the lifting mechanism. The automatic guided transport vehicle of the present invention adopts a fork arm structure, and lifts the goods by means of a fork arm, and is combined with a universal pallet used in large quantities by different production units, so that materials of different specifications can be transferred to the pallet, and transported by the automatic guided transport vehicle, which effectively improves the versatility of the AGV.

Description

Technical Field

[0001] The present invention belongs to the field of AGV transportation, and more specifically, the present invention relates to an automatic guided vehicle. Background Art

[0002] AGV is the abbreviation of Automated Guided Vehicle, which means "automatic guided transport vehicle". It is equipped with an automatic guidance device, which enables it to travel along a specified guide path. It has safety protection and various transfer functions. As an automatic transport vehicle, AGV has been widely used in logistics systems such as smart warehousing.

[0003] In the current production process of using AGV for cargo handling, different workshops carry different materials and the material handling methods are also different. The adaptability of traditional AGV is limited and different AGVs or specific material racks need to be customized, which has poor versatility. Summary of the invention

[0004] An object of the present invention is to provide a new technical solution for an automated guided vehicle.

[0005] According to a first aspect of the present invention, there is provided an automated guided transport vehicle, comprising:

[0006] The frame assembly includes at least two support mechanisms arranged in parallel and extending in arm-like manner;

[0007] A walking power assembly is configured to drive the supporting mechanism to walk on the walking platform;

[0008] A fork arm mechanism, comprising at least two forks and a connecting arm connecting the forks together; the at least two forks are configured to be supported on at least two supporting mechanisms;

[0009] A lifting mechanism, a lifting mechanism, wherein the lifting mechanism is arranged on the supporting mechanism and is configured to lift the fork arm mechanism supported on the supporting mechanism to a predetermined height under the driving of the lifting mechanism.

[0010] Optionally, the support mechanism includes a support arm and at least one support assembly that supports at least part of the support arm on a walking surface; the support assembly includes a walking wheel bracket rotatably connected to the support arm, and a walking wheel mounted on the walking wheel bracket; the walking wheel bracket is configured to rotate relative to the support arm in a direction away from or close to the walking surface;

[0011] It also includes an elastic device arranged between the walking wheel bracket and the support arm, and the elastic device is configured to provide a pre-tightening force for the walking wheel bracket to rotate toward the walking platform.

[0012] Optionally, the support assembly is provided with one, which is located at the front end position of the support arm in the walking direction.

[0013] Optionally, two support assemblies are provided, which are respectively located at the front end and the rear end of the support arm in the walking direction.

[0014] Optionally, one end of the walking wheel bracket is rotatably connected to the support arm, and the walking wheel is arranged at the other end of the walking wheel bracket and is used to be supported on the walking platform.

[0015] Optionally, the elastic device includes a cylindrical elastic device shell, and a telescopic rod pre-tightened in the elastic device shell by a spring, and the telescopic rod is configured to telescopically move in the elastic device shell; one end of the telescopic rod extends from the elastic device shell and is rotatably connected to the walking wheel bracket, and the elastic device shell is rotatably connected to the support arm.

[0016] Optionally, a stop plate is also provided on the support arm to prevent the walking wheel bracket from excessively rotating away from the walking platform.

[0017] Optionally, the walking power assembly includes a motor, a reducer, and a steering gearbox arranged in sequence along the extension direction of the supporting mechanism; the motor is connected to the reducer; the reducer is connected to the input shaft of the steering gearbox; and a walking driving wheel for driving the supporting mechanism to walk is arranged on the output shaft of the steering gearbox;

[0018] The input shaft of the steering gearbox is located in the extension direction of the support mechanism, and the output shaft of the steering gearbox is perpendicular to the extension direction of the support mechanism; the steering gearbox is configured to transmit power on its input shaft to its output shaft.

[0019] Optionally, the steering gearbox includes a gearbox housing, the input shaft and the output shaft are rotatably connected in the gearbox housing via bearings respectively, and the input shaft and the output shaft are transmission-connected via a bevel gear set.

[0020] Optionally, the input shaft is mounted in the gearbox housing via a pair of angular contact bearings; or / and, the output shaft is mounted in the gearbox housing via a pair of angular contact bearings.

[0021] Optionally, the support mechanism includes two support arms arranged in parallel; the motor, reducer, and steering gear box are all installed on the side wall of one of the support arms; and the output shaft of the steering gear box is rotatably installed on the other support arm.

[0022] Optionally, the support mechanism is also provided with a front safety stop assembly at the front end position in its traveling direction; the front safety stop assembly includes a movable part and a sensor for cooperating with the movable part; the movable part and the sensor are configured such that when the movable part is moved by an external force and contacts the sensor, the sensor sends an electrical signal to stop walking.

[0023] Optionally, in the fork arm mechanism, the fork arm and the connecting arm are slidably matched together; the fork arm is configured to slide and displace a predetermined distance in the vertical direction of the connecting arm; and also includes a buffer device arranged in the sliding direction of the fork arm and used to resist the sliding of the fork arm.

[0024] Optionally, the fork arm and the connecting arm are matched together by means of a slider and a slide groove; the slider is arranged on the fork arm, and the slide groove is arranged on the connecting arm; or, the slide groove is arranged on the fork arm, and the slider is arranged on the connecting arm.

[0025] Optionally, there is a gap between the sliding block and the sliding groove for deflection between the fork arm and the connecting arm.

[0026] Optionally, the slider is a dovetail slider, and the slide groove is a dovetail groove.

[0027] Optionally, a pressure plate is provided on the connecting arm, and the pressure plate is located above the slide groove and the sliding block, and one end of the buffer device abuts against the pressure plate, and the other end abuts against the sliding block.

[0028] Optionally, the lifting mechanism includes a rocker arm rotatably connected to the support mechanism, and at least one lifting bracket rotatably connected to the support mechanism, and also includes a connecting rod and a pull rod for connecting to the lifting mechanism; the two ends of the lifting bracket and the rocker arm relative to the rotational connection position with the support mechanism are respectively recorded as the first end and the second end;

[0029] The connecting rod is rotatably connected to the rocker arm and the first end of at least one lifting bracket respectively; the pulling rod is rotatably connected to the second end of the rocker arm; the pulling rod is configured so that when the rocker arm is driven to rotate on the supporting mechanism, the connecting rod on the supporting mechanism pulls the lifting bracket to rotate on the supporting mechanism so that the second end of the lifting bracket lifts the fork arm mechanism.

[0030] Optionally, the second end of the lifting bracket is provided with a roller for contacting and cooperating with the fork arm.

[0031] Optionally, the lifting bracket includes a first plate and a second plate which are arranged in parallel and connected together; a first axis is arranged to pass through the first plate and the second plate and are rotatably connected to the supporting mechanism; a second axis is arranged to pass through the first plate and the second plate and are rotatably connected to the connecting rod at the first end of the lifting bracket; a third axis is arranged to pass through the first plate and the second plate at the second end of the lifting bracket, and the roller is arranged on the third axis.

[0032] Optionally, two jacking brackets are provided and are sequentially distributed in the extension direction of the supporting mechanism; the extension direction of the connecting rod is consistent with the extension direction of the supporting mechanism, and is rotatably connected to the two jacking brackets respectively.

[0033] Optionally, the positions where the two jacking brackets and the rocker arms are respectively connected to the connecting rod are located on the same horizontal line; the positions where the two jacking brackets and the rocker arms are respectively connected to the supporting mechanism are located on the same horizontal line; and the distance between the position where the jacking bracket is connected to the connecting rod and the position where the jacking bracket is connected to the supporting mechanism is equal to the distance between the position where the rocker arm is connected to the connecting rod and the position where the rocker arm is connected to the supporting mechanism.

[0034] Optionally, a stopper for preventing the connecting rod from continuing to move is also provided on the supporting mechanism.

[0035] Optionally, the lifting mechanism includes two lifting assemblies with consistent structures and symmetrical arrangement, the lifting assembly includes a mounting bracket and a lifting plate used to connect the lifting mechanism and slidingly fit on the mounting bracket; a lead screw controlled by a lifting motor is also provided on the mounting bracket; the lifting plate is engaged with the lead screw through a lead screw nut; the lifting plate is configured to reciprocate vertically relative to the mounting bracket under the drive of the lifting motor to raise or lower the lifting mechanism; and the two lifting assemblies share one lifting motor.

[0036] Optionally, an upper limit sensor for detecting the upper limit point of the lifting plate and a lower limit sensor for detecting the lower limit point of the lifting plate are further arranged on the mounting bracket.

[0037] An automated guided transport vehicle according to the present invention adopts a fork-arm structure, which lifts up the goods by means of the fork arm. Combined with the universal pallets widely used by different production units, materials of different specifications can be transferred to the pallets and transported by the automated guided transport vehicle, thereby effectively improving the versatility of the AGV.

[0038] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0040] Figure 1 It is a structural schematic diagram of the transport vehicle of the present invention.

[0041] Figure 2 yes Figure 1 Schematic diagram of the structure of the middle support arm, support assembly and power assembly.

[0042] Figure 3 yes Figure 1 Top view of the middle support arm, support assembly, power assembly, and lifting assembly.

[0043] Figure 4 yes Figure 3 Schematic diagram of the structure of the mid-front safety stop assembly.

[0044] Figure 5 yes Figure 3 Schematic diagram of the structure of the middle support assembly.

[0045] Figure 6 It is a schematic structural diagram of the elastic device of the present invention.

[0046] Figure 7 It is a cross-sectional view of the steering gear box of the present invention.

[0047] Figure 8 It is a front view of the support arm and the lifting mechanism of the present invention.

[0048] Fig. 9 It is a partial three-dimensional structural schematic diagram of the support arm and the lifting mechanism of the present invention.

[0049] Fig.10 yes Figure 8 Schematic diagram of the lifting mechanism when it is jacked up.

[0050] Fig.11 yes Fig. 9 Schematic diagram of the structure of the middle lifting bracket.

[0051] Fig.12 yes Fig.11 Front view of the middle lifting bracket.

[0052] Fig.13 It is a structural schematic diagram of the fork arm mechanism of the present invention.

[0053] Fig.14 yes Fig.13 A partial enlarged view of the 100 position.

[0054] Fig.15 It is a top view of the fork arm mechanism of the present invention.

[0055] Fig.16 yes Fig.15 A partial enlarged view of the 101 position.

[0056] Fig.17 It is a structural schematic diagram of the lifting mechanism of the present invention.

[0057] Fig.18 yes Fig.17 Schematic diagram of the structure of the lifting assembly. DETAILED DESCRIPTION

[0058] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0059] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0060] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0061] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0062] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0063] A first embodiment of the present invention provides an automated guided transport vehicle, comprising:

[0064] The frame assembly includes at least two support mechanisms arranged in parallel and extending in arm-like manner;

[0065] A walking power assembly is configured to drive the supporting mechanism to walk on the walking platform;

[0066] A fork arm mechanism, comprising at least two forks and a connecting arm connecting the forks together; the at least two forks are configured to be supported on at least two supporting mechanisms;

[0067] A lifting mechanism, a lifting mechanism, wherein the lifting mechanism is arranged on the supporting mechanism and is configured to lift the fork arm mechanism supported on the supporting mechanism to a predetermined height under the driving of the lifting mechanism.

[0068] According to the second embodiment of the present invention, according to the first embodiment of the present invention, the support mechanism includes a support arm and at least one support assembly that supports at least part of the support arm on a walking surface; the support assembly includes a walking wheel bracket rotatably connected to the support arm, and a walking wheel mounted on the walking wheel bracket; the walking wheel bracket is configured to rotate relative to the support arm in a direction away from or close to the walking surface;

[0069] It also includes an elastic device arranged between the walking wheel bracket and the support arm, and the elastic device is configured to provide a pre-tightening force for the walking wheel bracket to rotate toward the walking platform.

[0070] According to the third embodiment of the present invention, according to the first to second embodiments of the present invention, the support assembly is provided with one, which is located at the front end position of the support arm in the walking direction.

[0071] According to the fourth embodiment of the present invention, according to the first to third embodiments of the present invention, two support assemblies are provided, which are respectively located at the front end and the rear end of the support arm in the walking direction.

[0072] The fifth embodiment of the present invention is based on the first to fourth embodiments of the present invention, wherein one end of the walking wheel bracket is rotatably connected to the support arm, and the walking wheel is arranged at the other end of the walking wheel bracket and is used to be supported on the walking platform.

[0073] The sixth embodiment of the present invention is based on the first to fifth embodiments of the present invention, wherein the elastic device includes a cylindrical elastic device shell, and a telescopic rod pre-tightened in the elastic device shell by a spring, and the telescopic rod is configured to telescopically move in the elastic device shell; one end of the telescopic rod extends from the elastic device shell and is rotatably connected to the walking wheel bracket, and the elastic device shell is rotatably connected to the support arm.

[0074] The seventh embodiment of the present invention is based on the first to sixth embodiments of the present invention, and a stop plate is further provided on the support arm to prevent the walking wheel bracket from excessively rotating away from the walking platform.

[0075] The eighth embodiment of the present invention, according to the first to seventh embodiments of the present invention, the travel power assembly comprises a motor, a reducer, and a steering gear box arranged in sequence along the extension direction of the support mechanism; the motor is connected to the reducer; the reducer is connected to the input shaft of the steering gear box; a travel driving wheel for driving the support mechanism to travel is arranged on the output shaft of the steering gear box;

[0076] The input shaft of the steering gearbox is located in the extension direction of the support mechanism, and the output shaft of the steering gearbox is perpendicular to the extension direction of the support mechanism; the steering gearbox is configured to transmit power on its input shaft to its output shaft.

[0077] The ninth embodiment of the present invention is based on the first to eighth embodiments of the present invention, wherein the steering gearbox comprises a gearbox housing, wherein the input shaft and the output shaft are rotatably connected in the gearbox housing via bearings respectively, and the input shaft and the output shaft are transmission-connected via a bevel gear set.

[0078] The tenth embodiment of the present invention is based on the first to ninth embodiments of the present invention, wherein the input shaft is installed in the gearbox housing via a pair of angular contact bearings; or / and, the output shaft is installed in the gearbox housing via a pair of angular contact bearings.

[0079] The eleventh embodiment of the present invention is based on the first to tenth embodiments of the present invention, wherein the support mechanism comprises two support arms arranged in parallel; the motor, reducer and steering gear box are all mounted on the side wall of one of the support arms; and the output shaft of the steering gear box is rotatably mounted on the other support arm.

[0080] The twelfth embodiment of the present invention is based on the first to eleventh embodiments of the present invention, and a front safety stop assembly is further provided at the front end position of the support mechanism in its traveling direction; the front safety stop assembly includes a movable part, and a sensor for cooperating with the movable part; the movable part and the sensor are configured as follows: when the movable part is moved by an external force and contacts the sensor, the sensor sends an electrical signal to stop walking.

[0081] The 13th embodiment of the present invention is based on the 1st to 12th embodiments of the present invention. In the fork arm mechanism, the fork arm and the connecting arm are slidably matched together; the fork arm is configured to slide and displace a predetermined distance in the vertical direction of the connecting arm; and it also includes a buffer device arranged in the sliding direction of the fork arm and used to resist the sliding of the fork arm.

[0082] The 14th embodiment of the present invention is based on the 1st to 13th embodiments of the present invention, and the fork arm and the connecting arm are matched together by means of a slider and a slide groove; the slider is arranged on the fork arm, and the slide groove is arranged on the connecting arm; or, the slide groove is arranged on the fork arm, and the slider is arranged on the connecting arm.

[0083] According to the fifteenth embodiment of the present invention, according to the first to fourteenth embodiments of the present invention, there is a gap between the slider and the slide groove for allowing the fork arm and the connecting arm to deflect.

[0084] According to the sixteenth embodiment of the present invention, according to the first to fifteenth embodiments of the present invention, the slider is a dovetail slider, and the slide groove is a dovetail groove.

[0085] The 17th embodiment of the present invention is based on the 1st to 16th embodiments of the present invention, a pressure plate is provided on the connecting arm, the pressure plate is located above the slide groove and the slider, one end of the buffer device abuts against the pressure plate, and the other end abuts against the slider.

[0086] According to the 18th embodiment of the present invention, according to the 1st to 17th embodiments of the present invention, the lifting mechanism includes a rocker arm rotatably connected to the support mechanism, and at least one lifting bracket rotatably connected to the support mechanism, and also includes a connecting rod and a pull rod for connecting to the lifting mechanism; the two ends of the lifting bracket and the rocker arm relative to the rotational connection position with the support mechanism are respectively recorded as the first end and the second end;

[0087] The connecting rod is rotatably connected to the rocker arm and the first end of at least one lifting bracket respectively; the pulling rod is rotatably connected to the second end of the rocker arm; the pulling rod is configured so that when the rocker arm is driven to rotate on the supporting mechanism, the connecting rod on the supporting mechanism pulls the lifting bracket to rotate on the supporting mechanism so that the second end of the lifting bracket lifts the fork arm mechanism.

[0088] The 19th embodiment of the present invention is based on the 1st to 18th embodiments of the present invention, and the second end of the jacking bracket is provided with a roller for contacting and cooperating with the fork arm.

[0089] The 20th embodiment of the present invention is based on the 1st to 19th embodiments of the present invention, the jacking bracket includes a first plate and a second plate arranged in parallel and connected together; a first axis is arranged to pass through the first plate and the second plate and are rotatably connected to the supporting mechanism; a second axis is arranged to pass through the first plate and the second plate and are rotatably connected to the connecting rod at the first end of the jacking bracket; a third axis is arranged to pass through the first plate and the second plate at the second end of the jacking bracket, and the roller is arranged on the third axis.

[0090] The 21st embodiment of the present invention, according to the 1st to 20th embodiments of the present invention, is provided with two jacking brackets, which are distributed in sequence in the extension direction of the supporting mechanism; the extension direction of the connecting rod is consistent with the extension direction of the supporting mechanism, and is rotatably connected to the two jacking brackets respectively.

[0091] The 22nd embodiment of the present invention is based on the 1st to 21st embodiments of the present invention, wherein the positions at which the two jacking brackets and the rocker arms are respectively connected to the connecting rod are located on the same horizontal line; the positions at which the two jacking brackets and the rocker arms are respectively connected to the supporting mechanism are located on the same horizontal line; and the distance between the position at which the jacking bracket is connected to the connecting rod and the position at which the jacking bracket is connected to the supporting mechanism is equal to the distance between the position at which the rocker arm is connected to the connecting rod and the position at which the rocker arm is connected to the supporting mechanism.

[0092] The 23rd embodiment of the present invention is based on the 1st to 22nd embodiments of the present invention, and a stopper for preventing the connecting rod from continuing to move is further provided on the supporting mechanism.

[0093] The 24th embodiment of the present invention is based on the 1st to 23rd embodiments of the present invention, wherein the lifting mechanism includes two lifting assemblies with consistent structures and symmetrical arrangement, the lifting assembly includes a mounting bracket, and also includes a lifting plate used to connect the lifting mechanism and slidingly fit on the mounting bracket; a lead screw controlled by the lifting motor is also provided on the mounting bracket; the lifting plate is matched with the lead screw through a lead screw nut; the lifting plate is configured to reciprocate vertically relative to the mounting bracket under the drive of the lifting motor to raise or lower the lifting mechanism; the two sets of lifting assemblies share one lifting motor.

[0094] According to the 25th embodiment of the present invention, according to the first to 24th embodiments of the present invention, an upper limit sensor for detecting the upper stop point of the lifting plate and a lower limit sensor for detecting the lower stop point of the lifting plate are further provided on the mounting bracket.

[0095] Automated guided vehicles (AGVs) can be used in the field of intelligent warehousing, and they can transport goods to a predetermined location according to a designed route. Automated guided vehicles can use a variety of navigation methods known to those skilled in the art, such as QR code navigation and ribbon navigation. Laser safety obstacle avoidance can also be set to provide obstacle avoidance information for the AGV when it is driving automatically. An automatic charging unit can also be set: the contacts are in contact with the charging pile to form a charging circuit to realize automatic charging of the AGV. This is common knowledge among those skilled in the art and will not be described in detail here.

[0096] An automated guided transport vehicle provided by the present invention adopts a fork-arm structure, which lifts up the goods by means of the fork arm. Combined with the universal pallets widely used by different production units, materials of different specifications can be transferred to the pallets and transported by the automated guided transport vehicle, thereby effectively improving the versatility of the AGV.

[0097] The automatic guided transport vehicle of the present invention comprises a frame assembly, a travel power assembly, a fork arm mechanism, a lifting mechanism, a hoisting mechanism, an electrical box 2 installed on a base 4, and the like.

[0098] The frame assembly of the present invention is used to support the entire automated guided transport vehicle, and includes at least two support mechanisms arranged in parallel and extending in an arm-like manner. For example, in a specific embodiment of the present invention, the automated guided transport vehicle adopts a two-fork fork mechanism, in which case, the frame assembly may be provided with two support mechanisms.

[0099] Correspondingly, the fork arm mechanism of the present invention comprises two forks and a connecting arm connecting the forks together; the shapes of the two forks are consistent with the extended shapes of the two supporting mechanisms, so that the two forks can be supported on the two supporting mechanisms respectively.

[0100] The travel power assembly is arranged on the support mechanism, so that the travel power assembly can be configured to drive the support mechanism to walk on a walking surface (such as the ground). The lifting mechanism of the present invention is arranged on the support mechanism, and is configured to lift the fork arm mechanism supported on the support mechanism to a predetermined height under the drive of the lifting mechanism, so as to realize the fork lifting of the goods.

[0101] refer to Figure 2 In the frame assembly of the present invention, a support mechanism with walking elasticity can be used. The support mechanism includes a support arm 5 and at least one support assembly 6 that supports at least part of the support arm 5 on the walking platform. The support assembly 6 of the present invention can be supported in the middle area of ​​the support arm 5, or can be supported at the end position of the support arm 5.

[0102] For example, when the support assembly 6 of the present invention is provided with one, the support assembly 6 can be located at the front end position of the support arm 5 in the walking direction. Figure 2 The viewing direction is, for example, the left side is the traveling direction of the support arm, then the support assembly 6 can be arranged at the left end position of the support arm 5 to provide support for the left end position of the support arm 5.

[0103] In another embodiment of the present invention, two support assemblies 6 may be provided, which may be respectively recorded as a first support assembly and a second support assembly, and the two support assemblies are respectively located at the front end position and the rear end position of the support arm 5 in the walking direction. Figure 2 In the figure, the first support assembly is located at the left end of the support arm 5, and is used to support the position of the left end of the support arm 5; the second support assembly is located at the right end of the support arm 5, and is used to support the position of the right end of the support arm 5.

[0104] The structures of the first support assembly and the second support assembly can be the same, both including a walking wheel bracket 61 rotatably connected to the support arm 5, and a walking wheel 62 installed on the walking wheel bracket 61, and the walking wheel bracket 61 is configured to rotate relative to the support arm 5 in a direction away from or close to the walking platform.

[0105] refer to Figure 2 , Figure 5 The running wheel 62 may be a universal wheel, which is mounted on one end of the running wheel bracket 61 , and the other end of the running wheel bracket 61 is rotatably connected to the support arm 5 .

[0106] The support arm 5 of the present invention can be in the shape of a flat plate, and the end of the walking wheel bracket 61 is rotatably connected to the support arm 5 through a rotating shaft. In a specific embodiment of the present invention, two support arms 5 are provided, which are respectively denoted as a first support arm 50 and a second support arm 51. Figure 3The first support arm 50 and the second support arm 51 are arranged in parallel. A connecting plate 60 is provided between the two support arms 51, and the two support arms 51 can be connected and fixed together through the connecting plate 60.

[0107] refer to Figure 5 The walking wheel bracket 61 is rotatably connected to the connecting plate 60 via the rotating shaft 66, so that the walking wheel bracket 61 can rotate relative to the connecting plate 60. The extending direction of the rotating shaft 66 is perpendicular to the extending direction of the support arm 5, so that the walking wheel bracket 61 can be configured to rotate relative to the support arm 5 in a direction away from or close to the walking platform.

[0108] An elastic device 63 is further provided between the walking wheel bracket 61 and the support arm 5 , and the elastic device 63 is configured to provide a pre-tightening force for the walking wheel bracket 61 to rotate in the direction of the walking platform.

[0109] The support arm 5 is supported on the ground, for example, by a driving wheel provided on the support arm 5, and the driving wheel can drive the support arm 5 to move on the ground. For example, when two support assemblies are provided, the driving wheel can be provided in the middle of the support arm 5 to drive the support arm 5 to move forward.

[0110] The running wheel bracket 61 disposed at the front end of the support arm 5 always maintains a force to deflect toward the ground under the preload force of the elastic device 63, so that the running wheel bracket 61 is used as a part of the support mechanism and is only in contact with the ground. When an external force acts on the running wheel bracket 61, the running wheel bracket 61 will overcome the preload force of the elastic device to deflect in a direction away from the ground, or deflect in a direction toward the ground. Such external factors may be caused by the unevenness of the ground, or may be caused by the turning, which will not be listed here one by one.

[0111] The support arm and support assembly constitute the load-bearing structure of the AGV, bearing the weight of the forklift AGV and the total load of the forked goods. When the AGV runs on an uneven road surface, the elastic support assembly at the front and rear ends can be adjusted according to the actual conditions of the road surface to ensure that the front and rear universal wheels can land reliably and adjust in real time according to the operating conditions, avoiding the adverse effects of the universal wheels hanging in the air and untimely steering on the operation of the AGV. In addition, due to the elastic support of the support assembly, the whole machine reduces the impact during operation, thereby reducing the operating noise and improving the operating stability. The synchronous operation support and stability design of the AGV is solved, and the problem of installing the buffer support in a narrow space is solved.

[0112] The elastic device 63 of the present invention can be a spring or other elastic structures known to those skilled in the art. Figure 6The elastic device 63 includes a cylindrical elastic device housing 631, and a telescopic rod 633 preloaded in the elastic device housing 631 by a spring 632, and the telescopic rod 633 can drive the spring 632 to perform telescopic movement in the elastic device housing 631. One end of the telescopic rod 633 extends out from the elastic device housing 631 and is connected to a first connector 630, and the first connector 630 can be rotatably connected to the walking wheel bracket 61 through a shaft 64. A second connector 634 is formed at one end of the elastic device housing 631 opposite to the first connector 630, and the second connector 634 is rotatably connected to the connecting plate 60 through another shaft 65.

[0113] When the walking wheel bracket 61 rotates relative to the connecting plate 60, the walking wheel bracket 61 drives the telescopic rod 633 to squeeze or stretch the spring 632 to perform telescopic movement in the elastic device housing 631, thereby realizing the walking elastic support of the support mechanism.

[0114] For those skilled in the art, it is necessary to limit the rotation range of the support assembly relative to the support arm, and this limitation can be achieved through the performance of the elastic device itself. For example, the stretching and compression strength of the elastic device is large enough to limit the deflection angle of the walking wheel bracket 61. It can also be achieved by limiting the telescopic stroke of the telescopic rod 633, for example, a limit structure can be set between the telescopic rod 633 and the elastic device housing 631.

[0115] Alternatively, a stop plate (not shown) may be provided on the support arm 5. The stop plate may prevent the running wheel bracket 61 from excessively rotating in a direction away from the running platform. That is, when the running wheel bracket 61 rotates in a direction away from the running platform to a predetermined angle, it may contact and cooperate with the stop plate, which will not be described in detail here.

[0116] The walking power assembly of the present invention refers to Figure 3 , Figure 7 , including a motor 81, a reducer 82, and a steering gear box 83 arranged in sequence along the extension direction of the support mechanism; the motor 81 is connected to the reducer 82, and the reducer 82 is connected to the input shaft of the steering gear box 83; a walking driving wheel 835 is provided on the output shaft of the steering gear box 83 for driving the support mechanism to walk.

[0117] The driving wheel 835 can be arranged at any position of the support mechanism, and a plurality of driving wheels 835 can also be arranged. Figure 2 , Figure 3 , Figure 7 The walking driving wheel 835 is arranged between the two supporting assemblies, for example, it can be arranged in the middle area of ​​the supporting mechanism.

[0118] Specifically, the motor 81, the reducer 82, and the steering gear box 83 are sequentially mounted on the inner wall of the second support arm 51, and the motor 81 is connected to the reducer 82, so that the torque output by the motor 81 can be amplified by the reducer 82. The reducer 82 can be connected to the input shaft of the steering gear box 83 through the universal coupling 84, so that the torque amplified by the reducer 82 can be transmitted to the steering gear box 83 through the universal coupling 84.

[0119] In a preferred embodiment of the present invention, the side wall of the reducer 82 is fixed to the side wall of the second support arm 51; and further includes a reinforcing plate 80 located between the two support arms and connected to the two support arms respectively, Figure 2 The end face of the reducer 82 is fixed on the reinforcing plate 80. The reinforcing plate 80 is arranged at a position close to the reducer 82, and the end face of the reducer 82 is fixed on the reinforcing plate 80, which can improve the connection strength of the two support arms at this position and avoid the problems of distortion and deformation of the two support arms due to the low-speed and high-torque output.

[0120] The input shaft of the steering gear box 83 is located in the extension direction of the support arm 5, and the output shaft of the steering gear box 83 is perpendicular to the extension direction of the support arm 5, so that the input shaft and the output shaft of the steering gear box 83 are perpendicular to each other. The internal structure of the steering gear box 83 is configured to transmit the power on its input shaft to its output shaft.

[0121] refer to Figure 7 The steering gearbox 83 includes a gearbox housing 830, and an input shaft 831 and an output shaft 836 are rotatably connected in the gearbox housing 830 through bearings. The bearings can be paired angular contact bearings 832 and 834, so that they can withstand larger axial forces.

[0122] The input shaft 831 and the output shaft 836 are connected by a bevel gear set to achieve power transmission between the input shaft 831 and the output shaft 836. The bevel gear set is preferably a 45° bevel gear set. Figure 7 The bevel gear set includes a first bevel gear 833 disposed on the input shaft 831 and a second bevel gear 838 disposed on the output shaft 836; the first bevel gear 833 is meshed with the second bevel gear 838.

[0123] A walking driving wheel 835 for contacting the ground is arranged on the output shaft 836. When the torque output by the motor is transmitted to the walking driving wheel 835, the two support arms can be driven to walk on the ground.

[0124] In a preferred embodiment of the present invention, the free end of the output shaft 836 can be mounted on the first support arm 50 through a bearing 837. Figure 3 , Figure 7Such a structure enables the steering gear box 83 to form two-side supports, which improves the carrying capacity of the walking power assembly, balances the forces on the two supporting arms, and improves the overall stability; it solves the problem of narrow installation space and large load-bearing capacity of the fork-arm AGV.

[0125] The AGV of the present invention may also be provided with a front safety stop assembly 3, referring to Figure 1 , Figure 3 , Figure 4 The front safety stop assembly 3 is arranged at the front end position of the travel direction of the support arm 5. The support arm 5 travels on the ground driven by the travel power assembly. When the front safety stop assembly 3 deviates from the route and encounters an obstacle, a stop signal can be sent to the travel power assembly to stop the travel power assembly.

[0126] refer to Figure 4 The front safety stop assembly 3 includes a movable part 31 and a sensor 32 for cooperating with the movable part 31. The sensor 32 can be arranged at the front end of the support arm 5 or the front end of the support assembly. Preferably, a fixed plate 30 is arranged to be installed at the front end of the support arm 5 or the front end of the support assembly, and the sensor 32 is installed between the fixed plate 30 and the movable part 31. The movable part 31 can be a spring sheet, and when the support arm 5 moves and the movable part 31 hits an obstacle, it is deformed, thereby triggering the sensor 32 to send a stop signal.

[0127] In a preferred embodiment of the present invention, the movable part 31 is slidably fitted on the fixed plate 30. Guide members 33 are provided on both sides of the fixed plate 30, and the movable part 31 is slidably fitted on the guide members 33 through springs 34. When the movable part 31 hits an obstacle, it slides along the guide members 33 toward the fixed plate 30, thereby triggering the sensor 32. In order to prevent the movable part 31 from crushing the sensor 32, a stopper column 35 can also be provided on the fixed plate 30, and the stopper column 35 is used to contact the movable part 31 to limit the displacement of the movable part 31 toward the fixed plate 30.

[0128] In the fork arm mechanism of the present invention, reference is made to Figure 1 , Fig.13 , Fig.14 The two fork arms 1 are connected together by a connecting arm 11, and each fork arm 1 is supported on a supporting mechanism, specifically, supported on a supporting arm 5. The fork arm 1 may include a top plate covering the supporting arm, and side plates extending downward from both side edges of the top plate. The two side plates and the top plate enclose a groove covering the supporting arm 5.

[0129] The fork arm mechanism of the present invention can be provided with a guide sleeve 12 on the connecting arm 11, and two guide sleeves 12 can be provided. During assembly, the guide sleeve 12 is slidably assembled on the frame assembly, so that the fork arm mechanism can be lifted or lowered under the action of the guide mechanism.

[0130] In a preferred embodiment of the present invention, the fork arm mechanism may adopt a floating structure, so that when being assembled or lifted up, the two forks can maintain balance through their own floating structure.

[0131] refer to Fig.13 , Fig.14 The two fork arms 1 are slidably matched with the connecting arm 11 in the vertical direction, so that the fork arms 1 can be configured to slide and displace a predetermined distance in the vertical direction of the connecting arm 11 .

[0132] refer to Fig.15 , Fig.16 The fork arm 1 can be guided and matched with the connecting arm 11 by means of a slider and a slide groove. For example, the slider can be set on the fork arm 1, and the slide groove can be set on the connecting arm 11, and the two can be guided and matched together. Alternatively, the slider can be set on the connecting arm 11, and the slide groove can be set on the fork arm 1, and the two can also be guided and matched.

[0133] When the AGV is being assembled, for example, when the lifting mechanism is being assembled, if the support points of the two fork arms are not aligned due to assembly errors or process errors, the relative positions of the two fork arms can be adaptively adjusted by sliding the fork arms on the connecting arm 11, thereby ensuring that the two fork arms can contact and cooperate with support points of different heights to avoid uneven force.

[0134] Preferably, there is a gap between the slider and the slide slot for the fork arm 1 and the connecting arm 11 to deflect. The gap between the slider and the slide slot allows the fork arm 1 to deflect to a certain extent relative to the connecting arm 11, ensuring that the slider has room to move in the forking direction and the vertical direction of the forking. For example, when a fork arm is lifted up by two fulcrums of uneven heights in a lifting mechanism, the fork arm 1 can be adaptively adjusted through the deflection between the fork arm 1 and the connecting arm 11, ensuring that the fork arm can contact each lifting point. In addition, the connecting arm 11 is located at the tail end of the fork arm 1, which allows the front end of the fork arm 1 to have the effect of amplifying the deflection, so that the fork arm has a larger deflection floating capacity, ensuring reliable contact with the lifting mechanism.

[0135] In a specific embodiment of the present invention, the slider is a dovetail slider 15, and the slide groove is a dovetail groove 16. Fig.15 , Fig.16The connecting arm 11 is located at the tail end of the two fork arms 1, and the two fork arms 1 are slidably matched on the opposite sides of the connecting arm 11. The dovetail slider 15 is arranged on the inner side walls of the two fork arms, and the two dovetail grooves 16 are arranged on the side walls of the opposite sides of the connecting arm 11, and the two are slidably matched together. The height of the dovetail groove 16 can be greater than the height of the dovetail slider 15, so that the dovetail slider 15 can slide a predetermined distance in the dovetail groove 16.

[0136] The fork arm mechanism of the present invention further comprises a buffer device 14 which is arranged in the sliding direction of the fork arm 1 and is used to resist the sliding of the fork arm 1 .

[0137] refer to Fig.14 A pressure plate 13 is provided on the connecting arm 11, and the pressure plate 13 can be fixed on the connecting arm 11 by screws, etc. The pressure plate 13 is located above the dovetail slider 15 and the dovetail groove 16. One end of the buffer device 14 abuts against the bottom of the pressure plate 13, and the other end abuts against the dovetail slider 15. When the fork arm 1 needs to move upward relative to the connecting arm 11, or when the fork arm 1 deflects relative to the connecting arm 11, the buffer device 14 needs to be squeezed to deform. In this way, the impact of the fork arm 1 during the floating process can be buffered, reducing noise and impact.

[0138] The buffer device 14 can be a buffer structure known to those skilled in the art, such as a spring. The buffer device 14 can be provided with one or more. A pressing plate and a buffer device can be provided at the upper end of the connecting arm 11, or at the lower end of the connecting arm 11, which will not be described in detail here.

[0139] The lifting mechanism 7 of the present invention is arranged on the supporting mechanism, and is used to lift the fork arm 1 on the supporting mechanism, thereby realizing the fork arm 1 forking the goods.

[0140] refer to Figure 8 , Fig. 9 , Fig.10 The lifting mechanism 7 includes a rocker arm 73 rotatably connected to the support arm 5, and at least one lifting bracket rotatably connected to the support arm 5, and also includes a connecting rod 74 and a pull rod 75 for connecting to the lifting mechanism 9. The lifting mechanism 9 drives the pull rod 75 to move, so that the rocker arm 73 connected to the pull rod 75 rotates on the support arm 5. During the rotation of the rocker arm 73, the lifting bracket rotates on the support arm 5 through the connecting rod 74, so that one end of the lifting bracket is lifted up, so as to lift the fork arm 1 on the support arm 5 by a predetermined distance.

[0141] The jacking bracket of the present invention may be provided with one, two or more jacking brackets. Now, taking the provision of two jacking brackets as an example, the lifting mechanism 7 of the present invention is described in detail.

[0142] The two lifting brackets are respectively denoted as the first lifting bracket 70 and the second lifting bracket 71, and the structures of the two lifting brackets can be the same. When the ends of the two lifting brackets are lifted up, they are respectively in contact with the fork arm 1 to jointly lift the fork arm 1. The first lifting bracket 70, the second lifting bracket 71, and the rocker arm 73 are sequentially arranged in the extension direction of the support arm 5.

[0143] Specifically, the two ends of the lifting bracket and the rocker arm 73 relative to the rotational connection position with the support arm 5 are respectively recorded as the first end and the second end, that is, with the rotational connection position of the lifting bracket and the rocker arm 73 and the support arm 5 as the boundary, one end is recorded as the first end and the other end is recorded as the second end.

[0144] The extension direction of the connecting rod 74 is consistent with the extension direction of the support arm 5, and the connecting rod 74 is rotatably connected to the first ends of the rocker arm 73 and the two lifting brackets. The pull rod 75 is rotatably connected to the second end of the rocker arm 73. The pull rod 75 can be configured so that when the rocker arm 73 is driven to rotate on the support arm 5, the connecting rod 74 on the support arm 5 pulls the lifting bracket to rotate on the support arm 5, so that the second end of the lifting bracket lifts the fork arm 1.

[0145] Preferably, a roller is provided at the second end of the lifting bracket, through which the roller can be rollingly matched with the fork arm 1 to facilitate lifting the fork arm 1.

[0146] refer to Fig. 9 , Fig.11 , Fig.12 The lifting bracket is preferably in a parallelogram structure, which includes a first plate 701 and a second plate 702 arranged in parallel and connected together. The first plate 701 and the second plate 702 can be connected together by a sleeve, or by other structures known to those skilled in the art such as bolts, and a predetermined interval is maintained between the first plate 701 and the second plate 702.

[0147] The lifting bracket can be connected to the support arm 5 through the first shaft 704. After the first shaft 704 passes through the first plate 701 and the second plate 702, its two ends are connected to the two support arms 5 located on both sides thereof. Figure 3 The two ends of the first shaft 704 are respectively connected to the first support arm 50 and the second support arm 51, so that the lifting bracket can rotate around the first shaft 704 as the axis.

[0148] At the first end of the lifting bracket, a second shaft 705 is provided to pass through the first plate 701 and the second plate 702, and is rotatably connected with the connecting rod 74 through the second shaft 705. At the second end of the lifting bracket, a third shaft 703 is provided to pass through the first plate 701 and the second plate 702, and two rollers 700 are provided, which are rotatably connected to the two ends of the third shaft 703 passing through the first plate 701 and the second plate 702. The two rollers 700 are separated by the first plate 701 and the second plate 702, so that the force on the fork arm 1 is relatively uniform, so as to smoothly lift the fork arm 1.

[0149] The structure of the rocker arm 73 can be similar to that of the jacking bracket, and the installation method is similar to that of the jacking bracket. For example, the rocker arm 73 can be rotatably connected to the support arm 5 through a first axis, rotatably connected to the connecting rod 74 through a second axis, and rotatably connected to the pull rod 75 through a third axis.

[0150] refer to Figure 8 When the pull rod 75 is lifted by the lifting mechanism, the rocker arm 73 is driven counterclockwise. Driven by the connecting rod 74, the first lifting bracket 70 and the second lifting bracket 71 are rotated counterclockwise relative to the support arm 5, so that the second ends of the two lifting brackets rise to lift the fork arm 1. Fig.10 .

[0151] In a preferred embodiment of the present invention, the positions where the two lifting brackets and the rocker arms 73 are connected to the connecting rod 74 are located on the same horizontal line. The positions where the two lifting brackets and the rocker arms 73 are connected to the support arm 5 are located on the same horizontal line; and the distance between the position where the lifting bracket is connected to the connecting rod 74 and the position where the lifting bracket is connected to the support arm 5 is equal to the distance between the position where the rocker arm 73 is connected to the connecting rod 74 and the position where the rocker arm 73 is connected to the support arm 5.

[0152] refer to Figure 8 , the positions where the two lifting brackets, the rocker arm 73 and the connecting rod 74 are connected are connection point D, connection point E and connection point F, and connection point D, connection point E and connection point F are located on the same horizontal line. The positions where the two lifting brackets, the rocker arm 73 and the support arm 5 are connected are connection point A, connection point B and connection point C, and connection point A, connection point B and connection point C are located on the same horizontal line. The distance between the position where the lifting bracket is connected to the connecting rod 74 and the position where the lifting bracket is connected to the support arm 5 is the distance from connection point D to connection point A and the distance from connection point E to connection point B; the distance between the position where the rocker arm 73 and the connecting rod 74 are connected to the position where the rocker arm 73 and the support arm 5 are connected is the distance from connection point F to connection point C. The distance from connection point D to connection point A and the distance from connection point E to connection point B are equal to the distance from connection point F to connection point C.

[0153] Such a structural design enables the movement of the two lifting brackets and the rocker arm 73 to be synchronous and identical under the drive of the pull rod 75 .

[0154] In addition, the lifting mechanism of the present invention can achieve lifting of a height of more than 50 mm in a narrow space with a height of 60 mm.

[0155] In order to limit the lifting distance of the fork arm 1, a displacement sensor can be provided for detection to control the power of the lifting mechanism. In a preferred embodiment of the present invention, a stopper (not shown in the figure) for preventing the connecting rod 74 from continuing to move is provided on the support arm 5. When the connecting rod 74 moves to contact and cooperate with the stopper, the connecting rod 74 can be prevented from continuing to move, thereby playing a role of limiting, which will not be described in detail here.

[0156] refer to Fig.17 , Fig.18 The lifting mechanism 9 of the present invention includes two lifting assemblies with straight structures and symmetrical arrangement, which are respectively denoted as a first lifting assembly 90 and a second lifting assembly 91. The first lifting assembly 90 and the second lifting assembly 91 share a lifting motor 92.

[0157] Specifically, the lifting assembly includes a mounting bracket 900, which can be mounted on the base 4, and a lifting plate 901 for connecting the pull rod in the lifting mechanism. The lifting plate 901 can be in the form of a horizontally arranged plate, and can be slidably matched on the mounting bracket 900 in the vertical direction through a guide column 902. The guide column 902 is vertically fixed on the mounting bracket 900, and four guide columns 902 can be provided. The lifting plate 901 is preferably slidably matched with the four guide columns 902 through linear bearings.

[0158] A mounting shaft 905 is provided at the position of the lifting plate 901 for connecting the pull rod 75, and the pull rod 75 is rotationally connected to the mounting shaft 905. When the lifting plate 901 drives the pull rod 75 to rise, the problems of obstruction and interference can be eliminated through the rotational connection between the two.

[0159] A lead screw 903 controlled by the lifting motor 92 is also provided on the mounting bracket 900, and the lifting plate 901 is matched with the lead screw 903 through a lead screw nut. When the lifting motor 92 drives the lead screw 903 to rotate, the lifting plate 901 is driven to rise or fall under the action of the lead screw nut.

[0160] A pulley 904 is provided at the lower end of the lead screw 903 , and the lifting motor 92 is connected to the pulley 904 through a belt 93 .

[0161] In a preferred embodiment of the present invention, the lead screw 903 can be arranged at an outer position of the mounting bracket 900. For example, the upper end of the lead screw 903 is mounted on the mounting bracket 900, and the lower end thereof is mounted through a mounting portion fixed to the base 4. One end of the lifting plate 901 is slidably matched with the mounting bracket 900 through four guide posts 902, and the other end of the lifting plate 901 extends to the outer side of the mounting bracket 900 and is matched with the lead screw 903 through a lead screw nut.

[0162] refer to Fig.17 The two lifting assemblies are symmetrically arranged, the lead screws of the two lifting assemblies are arranged oppositely, and the lifting motor 92 is connected to the pulleys 904 in the two lifting assemblies through the same belt 93. Thus, the consistency of the lifting actions of the two lifting assemblies can be ensured.

[0163] Preferably, an upper limit sensor 906 for detecting the upper stop point of the lifting plate 901 and a lower limit sensor 907 for detecting the lower stop point of the lifting plate 901 are also provided on the mounting bracket 900. When the lifting plate moves to trigger the upper limit sensor 906 and the lower limit sensor 907, the limit sensor sends a stop signal to the lifting motor, thereby ensuring the reliability of control.

[0164] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. An automated guided transport vehicle, characterized in that: include: A frame assembly, which is used to support the entire automatic guided transport vehicle and includes at least two supporting mechanisms arranged in parallel and extending in an arm-like manner; A walking power assembly is configured to drive the supporting mechanism to walk on the walking platform; A fork arm mechanism, comprising at least two forks and a connecting arm connecting the forks together; the at least two forks are configured to be supported on at least two supporting mechanisms; the fork arm and the connecting arm are slidably matched together, the fork arm is configured to slide and displace a predetermined distance in the vertical direction of the connecting arm, and the fork arm can deflect relative to the connecting arm; A lifting mechanism, a lifting mechanism, wherein the lifting mechanism is arranged on the supporting mechanism and is configured to lift the fork arm mechanism supported on the supporting mechanism to a predetermined height under the drive of the lifting mechanism; The lifting mechanism includes a rocker arm and at least one lifting bracket which are respectively rotatably connected to the support mechanism, and also includes a connecting rod and a pulling rod used to connect with the lifting mechanism. The pulling rod is configured so that when the rocker arm is driven to rotate on the support mechanism, the connecting rod pulls the lifting bracket to rotate on the support mechanism so that the lifting bracket lifts the fork arm mechanism.

2. The automated guided vehicle according to claim 1, characterized in that: The support mechanism includes a support arm and at least one support assembly that supports at least part of the support arm on a walking surface; the support assembly includes a walking wheel bracket rotatably connected to the support arm, and a walking wheel mounted on the walking wheel bracket; the walking wheel bracket is configured to rotate relative to the support arm in a direction away from or close to the walking surface; It also includes an elastic device arranged between the walking wheel bracket and the support arm, and the elastic device is configured to provide a pre-tightening force for the walking wheel bracket to rotate toward the walking platform.

3. The automatic guided transport vehicle according to claim 2, characterized in that: The support assembly is provided with one, which is located at the front end of the support arm in the walking direction.

4. The automatic guided transport vehicle according to claim 2, characterized in that: The support assemblies are provided with two, which are respectively located at the front end and the rear end of the support arm in the walking direction.

5. The automatic guided transport vehicle according to claim 2, characterized in that: One end of the walking wheel bracket is rotatably connected to the support arm, and the walking wheel is arranged at the other end of the walking wheel bracket and is used to be supported on the walking platform.

6. The automated guided transport vehicle according to claim 5, characterized in that: The elastic device includes a cylindrical elastic device shell, and a telescopic rod pre-tightened in the elastic device shell by a spring, and the telescopic rod is configured to telescopically move in the elastic device shell; one end of the telescopic rod extends from the elastic device shell and is rotatably connected to the walking wheel bracket, and the elastic device shell is rotatably connected to the support arm.

7. The automated guided vehicle according to claim 2, characterized in that: A stop plate is also provided on the support arm to prevent the walking wheel bracket from excessively rotating in a direction away from the walking platform.

8. The automated guided vehicle according to claim 1, characterized in that: The walking power assembly includes a motor, a reducer, and a steering gear box arranged in sequence along the extension direction of the supporting mechanism; the motor is connected to the reducer; the reducer is connected to the input shaft of the steering gear box; a walking driving wheel for driving the supporting mechanism to walk is arranged on the output shaft of the steering gear box; The input shaft of the steering gearbox is located in the extension direction of the support mechanism, and the output shaft of the steering gearbox is perpendicular to the extension direction of the support mechanism; the steering gearbox is configured to transmit power on its input shaft to its output shaft.

9. The automated guided vehicle according to claim 8, characterized in that: The steering gearbox comprises a gearbox housing, the input shaft and the output shaft are rotatably connected in the gearbox housing via bearings respectively, and the input shaft and the output shaft are transmission-connected via a bevel gear set.

10. The automated guided vehicle according to claim 9, characterized in that: The input shaft is installed in the gearbox housing through a pair of angular contact bearings; or / and, the output shaft is installed in the gearbox housing through a pair of angular contact bearings.

11. The automated guided vehicle according to claim 8, characterized in that: The support mechanism comprises two support arms arranged in parallel; the motor, the reducer and the steering gear box are all mounted on the side wall of one of the support arms; and the output shaft of the steering gear box is rotatably mounted on the other support arm.

12. The automated guided vehicle according to claim 1, characterized in that: The support mechanism is also provided with a front safety stop assembly at the front end position in the direction of travel; the front safety stop assembly includes a movable part and a sensor for cooperating with the movable part; the movable part and the sensor are configured such that when the movable part is moved by an external force and contacts the sensor, the sensor sends an electrical signal to stop walking.

13. The automated guided vehicle according to claim 1, characterized in that: The utility model also comprises a buffer device which is arranged in the sliding direction of the fork arm and is used for resisting the sliding of the fork arm.

14. The automated guided vehicle according to claim 13, characterized in that: The fork arm and the connecting arm are matched together by means of a slider and a slide groove; the slider is arranged on the fork arm, and the slide groove is arranged on the connecting arm; or, the slide groove is arranged on the fork arm, and the slider is arranged on the connecting arm.

15. The automated guided vehicle according to claim 14, characterized in that: There is a gap between the sliding block and the sliding groove for the fork arm and the connecting arm to deflect.

16. The automated guided vehicle according to claim 14, characterized in that: The slider is a dovetail slider, and the slide groove is a dovetail groove.

17. The automated guided vehicle according to claim 14, characterized in that: A pressure plate is arranged on the connecting arm, and the pressure plate is located above the slide groove and the sliding block. One end of the buffer device abuts against the pressure plate, and the other end abuts against the sliding block.

18. The automated guided vehicle according to claim 1, characterized in that: The two ends of the lifting bracket and the rocker arm relative to the rotational connection position with the support mechanism are respectively recorded as the first end and the second end; the connecting rod is respectively rotationally connected to the rocker arm and the first end of at least one lifting bracket; the pull rod is rotationally connected to the second end of the rocker arm; The pull rod is configured such that when the rocker arm is driven to rotate on the support mechanism, the connecting rod on the support mechanism pulls the lifting bracket to rotate on the support mechanism so that the second end of the lifting bracket lifts the fork arm mechanism.

19. The automated guided vehicle according to claim 18, characterized in that: The second end of the lifting bracket is provided with a roller for contacting and cooperating with the fork arm.

20. The automated guided vehicle according to claim 19, characterized in that: The lifting bracket includes a first plate and a second plate which are arranged in parallel and connected together; a first axis which passes through the first plate and the second plate and is rotatably connected to a supporting mechanism; a second axis which passes through the first plate and the second plate and is rotatably connected to a connecting rod at a position located at the first end of the lifting bracket; a third axis which passes through the first plate and the second plate at a position located at the second end of the lifting bracket, and the roller is arranged on the third axis.

21. The automated guided vehicle according to claim 18, characterized in that: The jacking brackets are provided with two and are sequentially distributed in the extension direction of the supporting mechanism; the extension direction of the connecting rod is consistent with the extension direction of the supporting mechanism, and the connecting rod is rotatably connected to the two jacking brackets respectively.

22. The automated guided vehicle according to claim 21, characterized in that: The positions where the two jacking brackets and the rocker arm are respectively connected to the connecting rod are located on the same horizontal line; the positions where the two jacking brackets and the rocker arm are respectively connected to the supporting mechanism are located on the same horizontal line; and the distance between the position where the jacking bracket is connected to the connecting rod and the position where the jacking bracket is connected to the supporting mechanism is equal to the distance between the position where the rocker arm is connected to the connecting rod and the position where the rocker arm is connected to the supporting mechanism.

23. The automated guided vehicle according to claim 18, characterized in that: A stopper for preventing the connecting rod from continuing to move is also arranged on the supporting mechanism.

24. The automated guided vehicle according to claim 1, characterized in that: The lifting mechanism includes two lifting assemblies with consistent structures and symmetrical arrangement, the lifting assembly includes a mounting bracket and a lifting plate used to connect the lifting mechanism and slideably fit on the mounting bracket; a lead screw controlled by a lifting motor is also provided on the mounting bracket; the lifting plate is matched with the lead screw through a lead screw nut; the lifting plate is configured to reciprocate vertically relative to the mounting bracket under the drive of the lifting motor to raise or lower the lifting mechanism; the two lifting assemblies share one lifting motor.

25. The automated guided transport vehicle according to claim 24, characterized in that: An upper limit sensor for detecting the upper limit point of the lifting plate and a lower limit sensor for detecting the lower limit point of the lifting plate are also arranged on the mounting bracket.

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