A stacking AGV for automated warehouses

Abstract

This invention relates to the field of stacking AGV technology and discloses a stacking AGV for automated warehouses, including a vehicle body and a frame. A horizontally rotating platform is located at the center of the top of the vehicle body. The frame is fixedly mounted on the top of the platform. Two second telescopic forks are provided on the positioning pallet at the bottom of the frame. When the fork arm of the first telescopic fork moves away from the positioning pallet, the fork arm of the second telescopic fork simultaneously moves away from the moving pallet. Through the structural design of the second telescopic fork on the positioning pallet at the bottom of the frame, and the second telescopic fork being linked to the first telescopic fork, when the fork arm of the first telescopic fork moves away from the positioning pallet and lifts goods, the fork arm of the second telescopic fork simultaneously moves away from the moving pallet. This allows the first telescopic fork to handle heavier goods, while the goods on the second telescopic fork provide balance.

Description

Technical Field

[0001] This invention relates to the field of stacking AGV technology, specifically a stacking AGV for automated warehouses. Background Technology

[0002] Automated warehouses (AS / RS) are a new concept in logistics warehousing that achieves rationalization of warehouse heights and automation of storage and retrieval. By using high-rise racking for storage, land is saved, and warehouse space is fully utilized to increase storage capacity. Stacking AGVs are used for automatic storage and retrieval. These AGVs use telescopic forks to move goods by moving the forks. This mechanized and automated operation frees up manpower and reduces labor intensity.

[0003] However, when existing stacking AGVs are used to transport goods in automated warehouses, the center of gravity of the goods is further outward when the telescopic forks move to the outside of the vehicle to lift the goods. Therefore, stacking AGVs can only handle a relatively small amount of goods. When transporting heavy goods in automated warehouses, they are prone to tipping over. Adding counterweights would increase the overall weight of the stacking AGV and increase the driving energy consumption when the vehicle moves. Summary of the Invention

[0004] This invention provides a stacking AGV for automated warehouses, which has the advantage of facilitating stable handling of heavy goods and solves the technical problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a stacking AGV for an automated warehouse, comprising a vehicle body, a frame on one side of the top of the vehicle body, four positioning trays on the inner side of the frame, the four positioning trays being equidistantly distributed on the frame from bottom to top, two vertical rods on one side of the frame, each vertical rod having a longitudinally movable climbing block, a movable tray fixedly connected to the bottom of the two climbing blocks, two first telescopic forks fixedly connected to the top of the movable trays, a horizontally rotating carrier plate in the middle of the top of the vehicle body, a frame fixedly mounted on the top of the carrier plate, two second telescopic forks on the positioning tray at the bottom of the frame, the second telescopic forks being longitudinally staggered from the first telescopic forks, and when the front fork arm of the first telescopic fork moves away from the positioning tray, the front fork arm of the second telescopic fork simultaneously moves away from the movable tray.

[0006] Optionally, the bottom of the carrier plate is provided with four rollers, which are arranged in a circumferential array around the pivot at the center of the top of the vehicle body, and the rollers are movably connected to the top of the vehicle body.

[0007] Optionally, the top of the movable pallet is provided with two first hydraulic pipes, which are located on the outside of the two first telescopic forks respectively. A first intermediate oil pipe is movably fitted at the end of the first hydraulic pipe away from the positioning pallet, and a first piston shaft is movably fitted at the end of the first intermediate oil pipe away from the positioning pallet. A first vertical plate is fixedly connected at the end of the first piston shaft away from the first intermediate oil pipe. Two second hydraulic pipes are fixedly installed on the top of the positioning pallet at the bottom of the frame. A second intermediate oil pipe is movably fitted at the side of the second hydraulic pipe away from the first guide oil pipe, and a second piston shaft is movably fitted at the side of the second intermediate oil pipe away from the first guide oil pipe. A second vertical plate is fixedly connected at the side of the second piston shaft away from the first guide oil pipe. The first vertical plate moves away from the positioning pallet together with the front fork arm of the first telescopic fork, and the second vertical plate moves away from the movable pallet together with the front fork arm of the second telescopic fork.

[0008] Optionally, a limiting plate is fixedly connected to the fork arm of the first telescopic fork, and a bolt is fixedly connected to the side of the limiting plate away from the positioning plate. The bolt is hexagonal prism in shape and is movably sleeved with the first vertical plate.

[0009] Optionally, a first piston is fixedly connected to the end of the first intermediate oil pipe away from the first vertical plate. The first piston is movably fitted inside the first hydraulic pipe, and the outer side of the first piston is sealed and fitted to the inner wall of the first hydraulic pipe. A second piston is movably fitted inside the first intermediate oil pipe, and the outer side of the second piston is sealed and fitted to the inner wall of the first intermediate oil pipe. The side of the second piston is fixedly connected to one end of the first piston shaft. Magnetic plates are fixedly connected to the opposite sides of the second piston and the first piston, and the opposite sides of the two magnetic plates are magnetically attracted to each other. A through hole is opened on the first intermediate oil pipe, and the through hole is close to the side of the first piston away from the magnetic plate. A first guide oil pipe is connected to the end of the first intermediate oil pipe away from the first piston, and the first guide oil pipe is located outside the first hydraulic pipe.

[0010] Optionally, the second hydraulic pipe has a first piston inside that has the same internal structure and function as the first hydraulic pipe, and the side of the first piston inside the second hydraulic pipe is fixedly connected to one end of the second intermediate oil pipe. The second intermediate oil pipe has a second piston inside that has the same internal structure and function as the first intermediate oil pipe, and the side of the second piston inside the second intermediate oil pipe is fixedly connected to one end of the second piston shaft. The side of the first hydraulic pipe away from the first vertical plate is connected to a second guide oil pipe, and the end of the second guide oil pipe away from the first hydraulic pipe is connected to the second intermediate oil pipe. The second intermediate oil pipe is located outside the second hydraulic pipe, and both the first hydraulic pipe and the second hydraulic pipe are filled with hydraulic oil.

[0011] Optionally, the bottom of the first hydraulic pipe is provided with a support block, the bottom of the support block is fixedly connected to the top of the movable pallet, and the installation method of the second hydraulic pipe on the bottommost positioning pallet inside the frame is the same as the installation method of the first hydraulic pipe on the movable pallet.

[0012] Optionally, limiting plates located on both sides of the first vertical plate are fixedly installed on the movable pallet, and the limiting plates limit the circumferential rotation of the first vertical plate on both sides of the first vertical plate.

[0013] This invention provides a stacking AGV for automated warehouses, which has the following advantages:

[0014] 1. This stacking AGV for automated warehouses features a second telescopic fork mounted on a positioning pallet at the bottom of the frame. The second telescopic fork is linked to the first telescopic fork. When the front fork arm of the first telescopic fork moves away from the positioning pallet and lifts goods, the front fork arm of the second telescopic fork simultaneously moves away from the moving pallet. This allows lighter goods to be placed on the second telescopic fork first, after which heavier goods can be moved using the first telescopic fork. The goods on the second telescopic fork balance the weight of the goods lifted by the first telescopic fork, thus enabling the front fork arm of the first telescopic fork to lift... When moving heavier goods, balancing is performed to prevent the stacking AGV from tipping over when the front fork of the first telescopic fork lifts a heavier load due to the center of gravity of the heavy load shifting outwards. Compared to existing stacking AGVs, this method can safely and smoothly transport heavier goods without changing the overall weight of the stacking AGV, thus improving its practicality. This avoids the problem of existing stacking AGVs requiring additional counterweights to transport heavier goods, which results in a larger overall weight and higher drive energy consumption during vehicle movement.

[0015] 2. This stacking AGV for automated warehouses features a horizontally rotating platform on the vehicle body, with a frame fixedly mounted on the platform. The frame and the moving pallet rotate synchronously relative to the vehicle body. Through the addition of two hydraulic pipes, they are linked. When goods are moved by the first telescopic fork's fork arm away from the positioning pallet, the second telescopic fork's fork arm moves to the other side under the hydraulic pressure, with the moving distance being approximately the same as that of the first telescopic fork. This allows for the placement of lighter goods on the second telescopic fork, while the first telescopic fork can be used to move heavier goods while maintaining overall vehicle balance. No additional drive equipment is needed to move the second telescopic fork's fork arm, saving costs, drive energy consumption, and frame space, thus improving the practical application effect of the stacking AGV. Attached Figure Description

[0016] Figure 1This is a schematic diagram of the structure of the present invention;

[0017] Figure 2 For the present invention Figure 1 The left view;

[0018] Figure 3 For the present invention Figure 1 A magnified schematic diagram of the structure at point A;

[0019] Figure 4 For the present invention Figure 2 A magnified schematic diagram of the structure at point B;

[0020] Figure 5 For the present invention Figure 1 A schematic diagram of the first hydraulic pipe section and its connection to the oil circuit;

[0021] Figure 6 For the present invention Figure 5 A magnified schematic diagram of the structure at point F;

[0022] Figure 7 For the present invention Figure 1 A magnified schematic diagram of the structure at point C;

[0023] Figure 8 For the present invention Figure 2 A magnified schematic diagram of the structure at point D.

[0024] In the diagram: 1. Vehicle body; 2. Carrier plate; 3. Frame; 4. Positioning pallet; 5. Vertical rod; 6. Climbing block; 7. Moving pallet; 8. First telescopic fork; 9. Second telescopic fork; 10. First hydraulic pipe; 11. First intermediate oil pipe; 12. First piston shaft; 13. First vertical plate; 14. Limiting plate; 15. Bolt; 16. Support block; 17. First guide oil pipe; 18. Second hydraulic pipe; 19. Second intermediate oil pipe; 20. Second piston shaft; 21. Second vertical plate; 22. Second guide oil pipe; 23. First piston; 24. Through hole; 25. Second piston; 26. Magnetic plate; 27. Limiting plate. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Please see Figures 1-2A stacking AGV for automated warehouses includes a vehicle body 1. A carrier plate 2 is movably connected to the top of the vehicle body 1 via a pivot. Four rollers are located at the bottom of the carrier plate 2, arranged in a circular array around the pivot at the center of the top of the vehicle body 1. The rollers are movably connected to the top of the vehicle body 1, allowing the carrier plate 2 to rotate stably. A motor for driving the horizontal rotation of the carrier plate 2 is located inside the vehicle body 1. (See also...) Figure 1 A frame 3 is fixedly connected to one side of the top of the carrier plate 2. Please refer to [link / reference]. Figure 2 The inner side of the frame 3 is provided with four positioning trays 4, which are arranged at equal intervals from bottom to top inside the frame 3. The top of the vehicle body 1 is fixedly connected to two vertical rods 5, which are close to the two sides of the frame 3 and are located on one side of the front of the positioning trays 4. Climbing blocks 6 are movably mounted on the two vertical rods 5, and the climbing blocks 6 move up and down along the vertical rods 5. The bottom of the two climbing blocks 6 is fixedly connected to a movable tray 7, and the top of the movable tray 7 is fixedly connected to two first telescopic forks 8. The bottommost positioning tray 4 on the frame 3 is fixedly installed with two second telescopic forks 9. The first telescopic forks 8 and the second telescopic forks 9 are staggered in the longitudinal direction, so that after the front fork arm on the first telescopic fork 8 lifts the goods, they can be placed on the front fork arm of the second telescopic fork 9.

[0027] Please see Figures 1-4 The top of the movable pallet 7 is provided with two first hydraulic pipes 10, which are located on the outer sides of the two first telescopic forks 8. A first intermediate oil pipe 11 is movably fitted onto the end of the first hydraulic pipe 10 away from the positioning pallet 4. A first piston shaft 12 is movably fitted onto the end of the first intermediate oil pipe 11 away from the positioning pallet 4. A first vertical plate 13 is fixedly connected to the end of the first piston shaft 12 away from the first intermediate oil pipe 11. A limiting plate 14 is fixedly connected to the front fork arm of the first telescopic fork 8. A bolt 15, which is hexagonal prism in shape, is fixedly connected to the side of the limiting plate 14 away from the positioning pallet 4. The bolt 15 is movably fitted with the first vertical plate 13. (See also...) Figure 5 and Figure 6A first piston 23 is fixedly connected to the end of the first intermediate oil pipe 11 away from the first vertical plate 13. The first piston 23 is movably fitted inside the first hydraulic pipe 10, and the outer side of the first piston 23 is sealed and fitted with the inner wall of the first hydraulic pipe 10. A second piston 25 is movably fitted inside the first intermediate oil pipe 11, and the outer side of the second piston 25 is sealed and fitted with the inner wall of the first intermediate oil pipe 11. The side of the second piston 25 is fixedly connected to one end of the first piston shaft 12. Magnetic plates 26 are fixedly connected to the opposite sides of the second piston 25 and the first piston 23, and the opposite sides of the two magnetic plates 26 are magnetically attracted to each other. A through hole 24 is opened on the first intermediate oil pipe 11, and the through hole 24 is close to the side of the first piston 23 away from the magnetic plate 26. A first guide oil pipe 17 is connected to the end of the first intermediate oil pipe 11 away from the first piston 23. The first guide oil pipe 17 is located outside the first hydraulic pipe 10.

[0028] Please see Figure 1 , Figure 2 , Figure 7 and Figure 8 Two second hydraulic pipes 18 are fixedly installed on the top of the positioning plate 4 at the bottom of the frame 3. The side of the second hydraulic pipe 18 facing the moving plate 7 is connected to the other end of the first oil guide pipe 17. Please continue reading. Figure 5 A second intermediate oil pipe 19 is movably sleeved on the side of the second hydraulic pipe 18 away from the first guide oil pipe 17. A second piston shaft 20 is movably sleeved on the side of the second intermediate oil pipe 19 away from the first guide oil pipe 17. A second vertical plate 21 is fixedly connected to the side of the second piston shaft 20 away from the first guide oil pipe 17. Please refer to [link / reference]. Figure 3 and Figure 8 A limiting plate 14 is fixedly connected to the front fork arm of the second telescopic fork 9. The limiting plate 14 on the front fork arm of the second telescopic fork 9 is fixedly connected to the second vertical plate 21. That is, when the front fork arm of the first telescopic fork 8 moves away from the positioning plate 4, it drives the limiting plate 14 to move, thereby driving the first vertical plate 13 and the first piston shaft 12 to move. Similarly, when the front fork arm of the second telescopic fork 9 moves away from the moving plate 7, it drives the second vertical plate 21 and the second piston shaft 20 to move in the same direction. Please continue reading. Figures 5-6 The second hydraulic pipe 18 has a first piston 23 inside, which has the same internal structure and function as the first hydraulic pipe 10. The side of the first piston 23 is fixedly connected to one end of the second intermediate oil pipe 19. The second intermediate oil pipe 19 has a second piston 25 inside, which has the same internal structure and function as the first intermediate oil pipe 11. The side of the second piston 25 is fixedly connected to one end of the second piston shaft 20. The side of the first hydraulic pipe 10 away from the first vertical plate 13 is connected to a second guide oil pipe 22. The end of the second guide oil pipe 22 away from the first hydraulic pipe 10 is connected to the second intermediate oil pipe 19. The second intermediate oil pipe 19 is located outside the second hydraulic pipe 18. Both the first hydraulic pipe 10 and the second hydraulic pipe 18 are filled with hydraulic oil.

[0029] When the front fork arm of the first telescopic fork 8 on the moving pallet 7 moves to one side and lifts the goods, the front fork arm of the second telescopic fork 9 moves to the other side at the same time. This allows the goods lifted by the second telescopic fork 9 to counteract the goods lifted by the first telescopic fork 8. The synchronized reverse movement of the first telescopic fork 8 and the second telescopic fork 9 ensures that the vehicle body 1 remains balanced. Compared with existing stacking AGVs, this method can maintain the stacking AGV in a balanced state for a longer period during the handling and transfer of goods. It also reduces the problem of the center of gravity of the stacking AGV's front fork arm lifting the goods being outward, which can easily lead to tilting and goods slipping.

[0030] Please see Figure 3 and Figure 4 The bottom of the first hydraulic pipe 10 is provided with a support block 16. The bottom of the support block 16 is fixedly connected to the top of the movable pallet 7. The first hydraulic pipe 10 is stably installed on the movable pallet 7 through the support block 16. The second hydraulic pipe 18 is installed on the lowermost positioning pallet 4 inside the frame 3 in the same way as the first hydraulic pipe 10 on the movable pallet 7.

[0031] Please see Figure 4 The movable pallet 7 is fixedly installed with limiting plates 27 located on both sides of the first vertical plate 13. The limiting plates 27 limit the circumferential rotation of the first vertical plate 13 on both sides of the first vertical plate 13 to prevent the first vertical plate 13 from rotating after the plug 15 is disengaged from the first vertical plate 13, which would cause the subsequent plug 15 to get stuck on the first vertical plate 13.

[0032] When using this stacking AGV for automated warehouses, firstly, the vehicle body 1 moves to the shelf in the warehouse where the goods need to be transferred. Then, the carrier plate 2 rotates so that the first telescopic fork 8 is aligned with the goods. Through the longitudinal movement of the climbing block 6, the front fork arm of the first telescopic fork 8 is positioned just below the goods. Then, the front fork arm of the first telescopic fork 8 is controlled to move towards the goods until it is fully inserted under the goods. Then, the climbing block 6 drives the moving pallet 7 and the first telescopic fork 8 to move upward as a whole, thereby lifting the goods. The front fork arm of the fork lifts the goods and moves them above the carrier plate 2. Then, the climbing block 6 continues to control the moving pallet 7 to move longitudinally until the goods move to the bottom positioning pallet 4. The front fork arm of the first telescopic fork 8 drives the goods to move in the opposite direction to the top of the second telescopic fork 9 and places the goods on the second telescopic fork 9. Finally, the goods are placed on the other three positioning pallets 4 in sequence according to the above steps.

[0033] After placing goods on the second telescopic fork 9, when the front fork arm of the first telescopic fork 8 moves again to handle a heavier load, the top of the front fork arm of the first telescopic fork 8 should be positioned just below the bottom of the load. (See [link to relevant documentation]). Figure 1 and Figure 3 When the first telescopic fork 8 moves to the left, the limiting plate 14 on the first telescopic fork 8 causes the first vertical plate 13 to move to the left. Please refer to [link / reference]. Figures 5-6 At this time, under the magnetic attraction of the two magnetic plates 26, the first piston shaft 12 drives the first intermediate oil pipe 11 and the first piston 23 to move to the left relative to the first hydraulic pipe 10. The hydraulic oil in the first hydraulic pipe 10 is pressed into the second hydraulic pipe 18 through the first guide oil pipe 17, thereby pushing the first piston 23 in the second hydraulic pipe 18 to move to the other side, and thus driving the front fork arm of the second telescopic fork 9 to move away from the moving pallet 7. The moving distance of the front fork arm on the first telescopic fork 8 and the front fork arm on the second telescopic fork 9 is always the same, thereby utilizing the second extension The forks on the retractable fork 9 lift the goods and move them to the other side. When the forks on the first telescopic fork 8 lift heavier goods, the system balances the load, ensuring the stacking AGV doesn't tip over due to the center of gravity shifting outwards when the first telescopic fork 8 lifts heavier goods. This allows the stacking AGV to first move lighter goods to the second telescopic fork 9 before handling heavier goods. Compared to existing stacking AGVs, this system maintains the same overall weight while ensuring safety. The system allows for smoother handling of heavier goods, thus improving the practicality of the stacking AGV. It avoids the problem of existing stacking AGVs requiring additional counterweights to handle heavier loads, resulting in a larger overall weight and higher energy consumption during vehicle movement. Furthermore, the design incorporates a horizontally rotating carrier plate 2 on the vehicle body 1, with a frame 3 fixedly mounted on the carrier plate 2. The frame 3 and the moving pallet 7 rotate synchronously relative to the vehicle body 1. This, coupled with two hydraulic pipes, allows for linkage via the front fork of the first telescopic fork 8. When the arm moves goods away from the side of the positioning pallet 4, the front fork arm of the second telescopic fork 9 moves to the other side under the oil pressure of the hydraulic pipe, and the moving distance is moderate and the same as the moving distance of the first telescopic fork 8. When a lighter goods are placed on the second telescopic fork 9, the first telescopic fork 8 can be used to move heavier goods and maintain the overall balance of the vehicle body 1. There is no need to set up an additional drive device to drive the front fork arm of the second telescopic fork 9 to move, which saves costs, drive energy consumption and space of the frame 3, and improves the actual application effect of the stacking AGV.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A stacking AGV for an automated warehouse, comprising a vehicle body (1), a frame (3) on one side of the top of the vehicle body (1), four positioning pallets (4) on the inner side of the frame (3), the four positioning pallets (4) being equidistantly distributed on the frame (3) from bottom to top, two vertical rods (5) on one side of the frame (3), longitudinally movable climbing blocks (6) being provided on the two vertical rods (5), movable pallets (7) being fixedly connected to the bottom of the two climbing blocks (6), and two first telescopic forks (8) being fixedly connected to the top of the movable pallets (7), characterized in that: The vehicle body (1) has a horizontally rotating carrier plate (2) at the top center. The frame (3) is fixedly installed on the top of the carrier plate (2). The positioning tray (4) at the bottom of the frame (3) is provided with two second telescopic forks (9). The second telescopic forks (9) and the first telescopic forks (8) are staggered in the longitudinal direction. When the front fork arm of the first telescopic fork (8) moves away from the positioning tray (4), the front fork arm on the second telescopic fork (9) moves away from the moving tray (7) at the same time. The top of the movable pallet (7) is provided with two first hydraulic pipes (10), which are located on the outside of the two first telescopic forks (8). The end of the first hydraulic pipe (10) away from the positioning pallet (4) is movably fitted with a first intermediate oil pipe (11), and the end of the first intermediate oil pipe (11) away from the positioning pallet (4) is movably fitted with a first piston shaft (12). The end of the first piston shaft (12) away from the first intermediate oil pipe (11) is fixedly connected to a first vertical plate (13). The top of the lowest positioning pallet (4) of the frame (3) is fixedly installed with two second hydraulic pipes (18), and the end of the first intermediate oil pipe (11) away from the first vertical plate (13) is fixedly connected to a first piston. (23) The first intermediate oil pipe (11) is connected to the first guide oil pipe (17) at one end away from the first piston (23). The second hydraulic pipe (18) is movably sleeved with the second intermediate oil pipe (19) on the side away from the first guide oil pipe (17). The second intermediate oil pipe (19) is movably sleeved with the second piston shaft (20) on the side away from the first guide oil pipe (17). The second piston shaft (20) is fixedly connected with the second vertical plate (21) on the side away from the first guide oil pipe (17). The first vertical plate (13) moves away from the positioning pallet (4) along with the front fork arm of the first telescopic fork (8). The second vertical plate (21) moves away from the moving pallet (7) along with the front fork arm of the second telescopic fork (9).

2. The stacking AGV for automated warehouses according to claim 1, characterized in that: The bottom of the carrier plate (2) is provided with four rollers, which are arranged in a circular array around the pivot at the top center of the vehicle body (1). The rollers are movably connected to the top of the vehicle body (1).

3. A stacking AGV for automated warehouses according to claim 1, characterized in that: A limiting plate (14) is fixedly connected to the fork arm of the first telescopic fork (8). A plug (15) is fixedly connected to the side of the limiting plate (14) away from the positioning tray (4). The plug (15) is hexagonal prism in shape and is movably connected to the first vertical plate (13).

4. A stacking AGV for automated warehouses according to claim 1, characterized in that: The first piston (23) is movably fitted inside the first hydraulic pipe (10), and the outer side of the first piston (23) is sealed and fitted with the inner wall of the first hydraulic pipe (10). The second piston (25) is movably fitted inside the first intermediate oil pipe (11), and the outer side of the second piston (25) is sealed and fitted with the inner wall of the first intermediate oil pipe (11). The side of the second piston (25) is fixedly connected to one end of the first piston shaft (12). Magnetic plates (26) are fixedly connected to the opposite sides of the second piston (25) and the first piston (23). The opposite sides of the two magnetic plates (26) are magnetically attracted. A through hole (24) is opened on the first intermediate oil pipe (11). The through hole (24) is close to the side of the first piston (23) away from the magnetic plate (26). The first oil guide pipe (17) is located outside the first hydraulic pipe (10).

5. A stacking AGV for automated warehouses according to claim 4, characterized in that: The second hydraulic pipe (18) is equipped with a first piston (23) that has the same internal structure and function as the first hydraulic pipe (10). The side of the first piston (23) inside the second hydraulic pipe (18) is fixedly connected to one end of the second intermediate oil pipe (19). The second intermediate oil pipe (19) is equipped with a second piston (25) that has the same internal structure and function as the first intermediate oil pipe (11). The side of the second piston (25) inside the second intermediate oil pipe (19) is fixedly connected to one end of the second piston shaft (20). The side of the first hydraulic pipe (10) away from the first vertical plate (13) is connected to a second guide pipe (22). The end of the second guide pipe (22) away from the first hydraulic pipe (10) is connected to the second intermediate oil pipe (19). The second intermediate oil pipe (19) is located outside the second hydraulic pipe (18). Both the first hydraulic pipe (10) and the second hydraulic pipe (18) are filled with hydraulic oil.

6. A stacking AGV for automated warehouses according to claim 1, characterized in that: The bottom of the first hydraulic pipe (10) is provided with a support block (16), and the bottom of the support block (16) is fixedly connected to the top of the movable pallet (7). The installation method of the second hydraulic pipe (18) on the lowest positioning pallet (4) inside the frame (3) is the same as the installation method of the first hydraulic pipe (10) on the movable pallet (7).

7. A stacking AGV for automated warehouses according to claim 1, characterized in that: The movable pallet (7) is fixedly installed with limiting plates (27) located on both sides of the first vertical plate (13). The limiting plates (27) limit the circumferential rotation of the first vertical plate (13) on both sides of the first vertical plate (13).

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