A method for moving goods using an AGV forklift and a fork arm

Abstract

A method for transporting goods using an AGV forklift and its fork arm includes a frame and a fork arm. The frame has a chute with hooks on the chute wall. The fork arm includes a bottom cover, a top cover, and a lifting mechanism. The lifting mechanism is installed between the bottom cover and the top cover and drives the lifting of the top cover and the bottom cover. The bottom cover is equipped with a traveling device, and the fork arm moves into or out of the chute under the drive of the traveling device. The side wall of the top cover has a hook guide groove that cooperates with the hooks. This method solves the problems in the prior art where the fork arm cannot be detached from the frame, resulting in the minimum height of the fork arm being limited by the ground clearance of the frame, and the fork arm and frame experiencing significant friction leading to severe wear of the AGV. It also solves the problem in the prior art where the AGV requires a locking mechanism after the fork arm retracts into the vehicle body to prevent the fork arm from sliding out of the vehicle body, resulting in a complex AGV structure.

Description

Technical Field

[0001] This invention relates to the field of AGV vehicle technology, and in particular to an AGV forklift and a method for handling goods with a forklift arm. Background Technology

[0002] In existing production systems, AGVs are typically used for "goods-to-person" picking operations, which effectively improves warehouse efficiency, reduces labor costs, and lowers operational errors and accident rates. On production lines, AGVs provide a fast and efficient way to enable flexible operation and accurate control of production systems, and their application in flexible production systems is becoming increasingly widespread.

[0003] Existing AGV forklifts typically consist of a frame and fork arms. During the operation of the AGV, the fork arms need to be extended and retracted. Existing methods for extending and retracting fork arms involve installing retractable caster assemblies on the fork arms. By extending or retracting the casters, the fork arms can be brought into contact with or removed from the ground, thereby extending or retracting the forks.

[0004] In existing AGVs, the forks do not detach from the chassis during retraction and extension. Therefore, the minimum height of the forks when picking up pallets is limited by the chassis's ground clearance. Furthermore, there is significant friction between the forks and chassis during loading and unloading, resulting in severe wear. This makes the AGVs relatively unsuitable for operation. In addition, a locking mechanism is required after the forks retract into the chassis to prevent them from sliding out, making the structure complex. Summary of the Invention

[0005] To address the aforementioned shortcomings, the present invention aims to provide an AGV forklift and forklift handling method, wherein the forklift of the AGV forklift can detach from the chassis and independently enter under the pallet to handle the goods.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] An AGV forklift includes a frame and forks, wherein the frame is provided with a groove and the groove wall is provided with hooks;

[0008] The fork arm includes a bottom cover, a top cover, and a lifting mechanism. The lifting mechanism is installed between the bottom cover and the top cover and drives the lifting and lowering of the top cover and the bottom cover. The bottom cover is equipped with a traveling device, and the fork arm moves into or out of the slide groove under the drive of the traveling device. The side wall of the top cover is provided with a hook guide groove that cooperates with the hook.

[0009] When the fork arm is in its initial state, the fork arm is suspended from the frame through the engagement of the hook guide groove and the hook, and the lowest point of the traveling device is higher than the lowest point of the frame.

[0010] Furthermore, the side wall of the top cover is also provided with a clearance opening, which is arranged adjacent to the hook guide groove.

[0011] Furthermore, there are two slides, which are respectively located on both sides of the vehicle frame;

[0012] The chute has two hooks on each side wall, and the hooks are located at both ends of the chute wall.

[0013] The number of fork arms is two, and the two fork arms are respectively suspended in the two slides through the hook guide groove and the hook.

[0014] Furthermore, the lifting mechanism includes a scissor lift assembly, a lead screw assembly, and a push assembly;

[0015] The output end of the lead screw assembly is connected to the push assembly, and the push assembly is hinged to the scissor assembly;

[0016] The lead screw assembly drives the push assembly to move, causing the scissor lift assembly to rise and fall.

[0017] Furthermore, the scissor lift assembly includes two sets of scissors, each set of scissors including an active scissor lift and a passive scissor lift;

[0018] The active and passive scissor branches of each group of scissor branches are hinged together in an "X" shape.

[0019] The pushing component is hinged to the two active scissor lifts.

[0020] Furthermore, the hinge point of the push assembly with the two active scissor tips is located above the hinge point of the active scissor tips and the passive scissor tips.

[0021] Furthermore, the lead screw assembly includes a lead screw, a moving block, and a motor;

[0022] The lead screw is driven by the motor, which drives the lead screw to rotate. The moving block is threaded onto the lead screw, and the rotation of the lead screw causes the moving block to move on the lead screw. The moving block is connected to the pushing assembly.

[0023] A method for forklift handling includes a method for actively handling goods with the forklift, wherein the steps for actively handling goods with the forklift are as follows:

[0024] S0. In the initial state, the fork arm is in the latched state, and the top cover is suspended on the hook;

[0025] S1. The bottom cover moves downward until the walking device touches the ground, and then the top cover moves upward until the top cover is located at the hook point;

[0026] S2. The fork arm moves forward until the top cover is at the first disengagement point;

[0027] S3. The top cover moves downward, the clearance avoids the hook, and the fork arm is in a latched state;

[0028] S4. The fork arm moves out of the groove and into the bottom of the tray;

[0029] S5. The top cover moves upward until the fork arm is at its highest position;

[0030] S6. After the fork arm moves into the slide groove, the top cover moves downward to place the tray on the frame;

[0031] S7. The top cover continues to descend until the top cover is suspended from the hook;

[0032] S8. The bottom cover rises until the fork arm is in the latched state, and the fork arm is suspended on the frame;

[0033] S9. The fork arm moves and moves with the frame, and the frame moves to the designated position for loading goods;

[0034] S10. The bottom cover moves downward until the walking device is on the ground, the top cover rises to the highest position, and the top cover lifts the tray on the frame;

[0035] S11. After the fork arm moves out of the slide groove, the top cover descends until the fork arm is in the latching state;

[0036] S12. The fork arm moves out of the bottom of the tray and into the groove until the top cover is at the second disengagement point;

[0037] S13. The top cover rises until the fork arm is in the middle position;

[0038] S14. The fork arm continues to move until the top cover is located at the hook point;

[0039] S15. The top cover descends until it is suspended from the hook;

[0040] S16. The bottom cover rises to the locked state and returns to the initial state.

[0041] Furthermore, the forklift handling method also includes a passive forklift handling method, which is as follows:

[0042] S0. In the initial state, the fork arm is in the latched state, and the top cover is suspended on the hook;

[0043] S1. The bottom cover moves downward until the walking device is on the ground, and then the top cover moves upward until the top cover is at the hook point;

[0044] S2. The fork arm moves forward until the top cover is at the first disengagement point;

[0045] S3. The top cover moves downward, the clearance avoids the hook, and the fork arm is in a latched state;

[0046] S4. The fork arm moves out of the groove and into the bottom of the tray;

[0047] S5. The top cover moves upward until the fork arm is at its highest position;

[0048] S6. The vehicle frame moves to the bottom of the tray, and the top cover descends until the tray is placed on the vehicle frame;

[0049] S7. The top cover continues to descend until it is suspended on the hook, and the bottom cover rises until the fork arm is in the latched state.

[0050] S8. The fork arm is suspended on the frame, and the fork arm moves with the frame, and the frame moves to the designated position for loading goods;

[0051] S9. The bottom cover moves downward until the walking device is on the ground, the top cover rises to the highest position, and the top cover lifts the tray on the frame;

[0052] S10, the vehicle frame is removed from under the tray;

[0053] S11. The top cover descends until the fork arm is in the latched state;

[0054] S12, the fork arm moves out from under the tray and into the groove until the top cover is at the second disengagement point;

[0055] S13. The top cover rises until the fork arm is in the middle position;

[0056] S14. The fork arm continues to move until the top cover is located at the hook point;

[0057] S15. The top cover descends until it is suspended from the hook;

[0058] S16. The bottom cover rises to the locked state and returns to the initial state.

[0059] Furthermore, the fastening state refers to the state in which the bottom cover and the top cover are fastened together;

[0060] The intermediate position is when the bottom cover and the top cover are separated, and the hook guide groove of the fork arm is disengaged from the hook;

[0061] The highest position refers to the maximum height at which the bottom cover and the top cover are separated;

[0062] The first disengagement point is when the clearance opening of the top cover is located directly above the hook of the frame;

[0063] The second disengagement point is when the clearance opening of the top cover is located directly below the hook of the frame;

[0064] The hook point is the state in which the hook guide groove of the top cover is located directly above the hook of the frame.

[0065] The technical solution provided by this invention may include the following beneficial effects:

[0066] In this invention, by setting hook guide grooves on the top cover of the fork arm and setting hooks on the frame, the AGV can retract the fork arm during operation. The whole process is simple and convenient, the AGV is highly adaptable, and the overall structure of the AGV is simple. It solves the problems in the prior art where the fork arm cannot be separated from the frame, resulting in the minimum height of the fork arm being limited by the height of the frame off the ground, and the large friction between the fork arm and the frame causing severe wear of the AGV. It also solves the problem in the prior art where the AGV has a locking mechanism after the fork arm is retracted to prevent the fork arm from sliding out of the vehicle body, which leads to a complex structure of the AGV. Attached Figure Description

[0067] Figure 1 This is a schematic diagram of a structure of an embodiment of an AGV forklift and forklift handling method of the present invention;

[0068] Figure 2 yes Figure 1 The diagram shows the structure of the fork arm;

[0069] Figure 3 yes Figure 1 The diagram shown illustrates the structure of the fork arm in the middle position in the embodiment shown.

[0070] Figure 4 yes Figure 1 A schematic diagram of the mechanism by which the fork arm is suspended from the hook in the illustrated embodiment;

[0071] Wherein: 1-frame, 11-slide groove, 111-hook; 2-fork arm, 21-bottom cover, 211-first caster, 22-top cover, 221-hook guide groove, 222-avoidance opening, 23-lifting mechanism, 231-scissor fork assembly, 2311-active scissor fork, 2312-passive scissor fork, 232-lead screw assembly, 2321-lead screw, 2322-moving block, 2323-motor, 233-push assembly. Detailed Implementation

[0072] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0073] In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish and describe features, without any order or emphasis.

[0074] In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0075] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0076] The following is combined with Figures 1 to 4This invention describes an AGV forklift, including a frame 1 and fork arms 2. The frame 1 has a slide groove 11, and the slide groove 11 has hooks 111 on its wall. The fork arms 2 include a bottom cover 21, a top cover 22, and a lifting mechanism 23. The lifting mechanism 23 is installed between the bottom cover 21 and the top cover 22, and drives the top cover 22 and the bottom cover 21 to rise and fall. The bottom cover 21 is equipped with a traveling device 211, and the fork arms 2 move into or out of the slide groove 11 under the drive of the traveling device 211. The side wall of the top cover 22 has a hook guide groove 221 that cooperates with the hooks 111. When the fork arms 2 are in the initial state, the fork arms 2 are suspended from the frame 1 through the cooperation of the hook guide groove 221 and the hooks 111, and the lowest point of the traveling device 211 is higher than the lowest point of the frame.

[0077] In this invention, when the fork arm 2 is detached from the frame 1, in the initial state, the bottom cover 21 and the top cover 22 of the fork arm 2 are fastened together and the fork arm 2 is suspended on the frame 1 by the hook 111, that is, the walking device 211 is off the ground; then the lifting mechanism 23 drives the bottom cover 21 to descend, so that the walking device 211 of the fork arm 2 is on the ground, and the lifting mechanism 23 drives the top cover 22 to rise. At this time, the hook guide groove 221 separates from the hook 111, so that the fork arm 2 can be moved out of the slide groove 11. At this time, the fork arm 2 can be completely detached from the frame 1.

[0078] When the fork arm 2 is retracted to the frame 1, the fork arm 2 can be moved into the slide groove 11 through the walking device 211. The bottom cover 21 and the top cover 22 of the fork arm 2 are in a separated state. When the fork arm 2 is fully inserted into the slide groove 11, the top cover 22 of the fork arm 2 descends until the hook guide groove 221 of the top cover 22 is suspended on the hook 111. The lifting mechanism 23 drives the bottom cover 21 to rise until the bottom cover 21 and the top cover 22 are fastened together. At this time, the fork arm 2 is suspended on the frame 1.

[0079] It is worth noting that when the hook guide groove 221 of the top cover 22 is suspended on the hook 111 and the top cover 22 and the bottom cover 21 are fastened together, the lowest point of the walking device 211 is higher than the lowest point of the frame 1, so that the fork arm 2 can be suspended on the frame 1 and the fork arm 2 moves with the movement of the frame 1; preferably, the walking device 211 is a walking wheel.

[0080] In this invention, by setting a hook guide groove 221 on the top cover 22 of the fork arm 2 and setting a hook 111 on the frame 1, the AGV vehicle can retract the fork arm 2 during operation. The whole process is simple and convenient, the AGV vehicle is highly adaptable, and the overall structure of the AGV vehicle is simple. This solves the problem in the prior art that the fork arm 2 cannot be separated from the frame 1, which causes the minimum height of the fork arm 2 to be limited by the ground height of the frame 1, and the fork arm 2 and the frame 1 to have large friction, resulting in severe wear of the AGV vehicle. It also solves the problem in the prior art that the AGV vehicle has a locking mechanism after the fork arm 2 is retracted to prevent the fork arm 2 from sliding out of the vehicle body, which leads to a complex structure of the AGV vehicle.

[0081] Furthermore, the side wall of the top cover 22 is also provided with a clearance opening 222, which is arranged adjacent to the hook guide groove 221.

[0082] Since AGV vehicles are usually moved in front of the goods in advance during use, when the lifting mechanism 23 drives the top cover 22 to rise and separate the hook guide groove 221 from the hook 111, the top cover 22 is too high to reach under the pallet containing the goods. Therefore, a clearance opening 222 is provided on the side wall of the top cover 22 so that before the fork arm 2 leaves the frame 1 and enters under the pallet, the top cover 22 can be lowered again through the clearance opening 222 and can be fastened to the bottom cover 21. After being fastened, it moves out of the slide groove and thus smoothly enters under the pallet, further improving the adaptability of the AGV vehicle.

[0083] Specifically, when the lifting mechanism 23 drives the top cover 22 to rise and separate the hook guide groove 221 from the hook 111, the walking device 211 moves so that the clearance opening 222 is above the hook 111. Then, the lifting mechanism 23 drives the top cover 22 to fall, and the clearance opening 222 of the top cover 22 can avoid the hook 111, so that the top cover 22 and the bottom cover 21 can be fastened. At this time, the fork arm 2 is below the hook 111, and the walking device 211 can drive the fork arm 2 to detach from the frame 1 and enter under the pallet. The whole process is simple and quick.

[0084] Furthermore, there are two slides 11, which are located on both sides of the frame 1. Each side wall of the slide 11 is provided with two hooks 111, which are located at both ends of the slide wall.

[0085] To further improve the adaptability of the AGV, there are two chutes 11 and two corresponding forks 2, which improves the stability of the forks 2 during the handling of goods. In addition, each chute 11 is equipped with four hooks 111. The four hooks 111 allow the forks 2 to be securely suspended in the chutes 11 and move with the frame 1. It is worth noting that the bottom of the frame 1 is equipped with wheels, which drive the frame 1 to move.

[0086] The lifting mechanism 23 includes a scissor lift assembly 231, a lead screw assembly 232, and a push assembly 233. The output end of the lead screw assembly 232 is connected to the push assembly 233, and the push assembly 233 is hinged to the scissor lift assembly 231. The lead screw assembly 232 drives the push assembly 233 to move, causing the scissor lift assembly 231 to rise and fall. The lifting of the top cover 22 and the bottom cover 21 is achieved through the lifting mechanism 23. Specifically, the top of the scissor lift assembly 231 is connected to the top cover 22, and the bottom of the scissor lift assembly 231 is connected to the bottom cover 21. The lead screw assembly 232 drives the push assembly 233 to move. Since the push assembly 233 is hinged to the scissor lift assembly 231, the movement of the push assembly 233 causes the scissor lift assembly 231 to rise and fall, thereby causing the top cover 22 and the bottom cover 21 to rise and fall.

[0087] The scissor lift assembly 231 includes two sets of scissor lifts, each set including an active scissor lift 2311 and a passive scissor lift 2312; the active scissor lift 2311 and the passive scissor lift 2312 of each set are hinged in an "X" shape; the push assembly 233 is hinged to the two active scissor lifts 2311; when the push assembly 233 moves, it drives the hinge point between the active scissor lift 2311 and the push assembly 233 to rotate, thereby driving the hinge point between the active scissor lift 2311 and the passive scissor lift 2312 to rotate relative to each other, thus realizing the lifting and lowering of the scissor lift assembly 231.

[0088] It is worth noting that the hinge point of the push assembly 233 with the two active scissor forks 2311 is located above the hinge point of the active scissor forks 2311 and the passive scissor forks 2312, which increases the lifting force of the lifting mechanism 23 on the top cover 22 and the bottom cover 21.

[0089] The lead screw assembly 232 includes a lead screw 2321, a moving block 2322, and a motor 2323. The lead screw 2321 is driven to rotate by the motor 2323. The moving block 2322 is threaded onto the lead screw 2321. The rotation of the lead screw causes the moving block to move on the lead screw. The moving block 2322 is connected to the push assembly 233.

[0090] Specifically, the lead screw 2321 is driven and connected to the motor 2323. The motor 2323 drives the lead screw 2321 to rotate, so that the moving block 2322 can move on the lead screw 2321 as the lead screw 2321 rotates. At the same time, the push component 233 is connected to the moving block 2322. When the moving block 2322 moves, it drives the push component 233 to swing, thereby causing the hinge point between the active scissor fork 2311 and the push component 233 to rotate, which in turn drives the hinge point between the active scissor fork 2311 and the passive scissor fork 2312 to rotate, thus realizing the lifting and lowering of the scissor fork component 231.

[0091] It is worth noting that when the top cover 22 is suspended on the hook guide groove 221 and the caster of the bottom cover 21 is off the ground, the swing of the push assembly 233 causes the bottom cover 21 to move downward. When the caster of the bottom cover 21 is on the ground, the bottom cover 21 is supported by the ground, which causes the swing of the push assembly 233 to move the top cover 22 upward, thereby realizing the installation and detachment of the fork arm 2 from the frame 1.

[0092] The present invention also provides a method for forklift handling, including a method for the forklift 2 to actively handle goods, wherein the steps for the forklift 2 to actively handle goods are as follows:

[0093] S0. In the initial state, the fork arm 2 is in the latched state, and the top cover 22 is suspended on the hook 111;

[0094] S1. The bottom cover 21 moves downward until the walking device 211 touches the ground, and then the top cover 22 moves upward until the top cover 22 is located at the hook point.

[0095] S2, the fork arm 2 moves forward until the top cover 22 is at the first disengagement point;

[0096] S3, the top cover 22 moves downward, the clearance 222 avoids the hook 111, so that the fork arm 2 is in the latched state;

[0097] S4, the fork arm 2 moves out of the slide 11 and into the bottom of the pallet;

[0098] S5. The top cover 22 moves upward until the fork arm 2 is at its highest position;

[0099] S6. After the fork arm 2 moves into the slide 11, the top cover 22 moves downward to place the pallet on the frame 1.

[0100] S7. The top cover 22 continues to descend until the top cover 22 is suspended by the hook 111;

[0101] S8. The bottom cover 21 rises until the fork arm 2 is in the locked state, and the fork arm 2 is suspended on the frame 1.

[0102] S9, the fork arm 2 moves with the frame 1, and the frame 1 moves to the designated position for loading goods;

[0103] S10, the bottom cover 21 moves downward until the walking device 211 is on the ground, the top cover 22 rises to the highest position, and the top cover 22 lifts the tray on the frame 1;

[0104] S11. After the fork arm 2 moves out of the slide groove 11, the top cover 22 descends until the fork arm 2 is in the latching state.

[0105] S12, the fork arm 2 moves out of the bottom of the pallet and into the slide 11 until the top cover 22 is at the second disengagement point;

[0106] S13, the top cover 22 rises until the fork arm 2 is in the middle position;

[0107] S14, the fork arm 2 continues to move until the top cover 22 is located at the hook point;

[0108] S15, the top cover 22 descends until the top cover 22 is suspended from the hook 111;

[0109] S16, the bottom cover 21 rises to the locked state and returns to the initial state.

[0110] In this invention, goods are typically placed on a pallet during the transfer process. The fork arm 2 actively drills under the insertion hole of the pallet, lifts the goods, and moves them into the slide 11. Then, the fork arm 2 is suspended on the frame 1 and moves with the frame 1 to the designated loading position. After the goods are lifted by the fork arm 2, they are transferred out of the frame 1. The fork arm 2 actively retracts from under the pallet, moves into the slide 11, and is resuspended on the frame 1, thus realizing the handling of goods.

[0111] Furthermore, the forklift handling method also includes a passive handling method using the forklift 2, the steps of which are as follows:

[0112] S0. In the initial state, the fork arm 2 is in the latched state, and the top cover 22 is suspended on the hook 111;

[0113] S1. The bottom cover 21 moves downward until the walking device 211 is on the ground, and then the top cover 22 moves upward until the top cover 22 is at the hook point.

[0114] S2, the fork arm 2 moves forward until the top cover 22 is at the first disengagement point;

[0115] S3, the top cover 22 moves downward, the clearance 222 avoids the hook 111, so that the fork arm 2 is in the latched state;

[0116] S4, the fork arm 2 moves out of the slide 11 and into the bottom of the pallet;

[0117] S5. The top cover 22 moves upward until the fork arm 2 is at its highest position;

[0118] S6. The frame 1 moves to the bottom of the pallet, and the top cover 22 descends until the pallet is placed on the frame 1;

[0119] S7. The top cover 22 continues to descend until it is suspended on the hook 111, and the bottom cover 21 rises until the fork arm 2 is in the latched state.

[0120] S8. The fork arm 2 is suspended on the frame 1. The fork arm 2 moves with the frame 1 and the frame 1 moves to the designated position for loading goods.

[0121] S9. The bottom cover 21 moves downward until the walking device 211 is on the ground, and the top cover 22 rises to the highest position, lifting the pallet on the frame 1.

[0122] S10, the frame 1 is removed from under the tray;

[0123] S11, the top cover 22 descends until the fork arm 2 is in the latched state;

[0124] S12, the fork arm 2 moves out from under the pallet and into the chute 11 until the top cover 22 is at the second disengagement point;

[0125] S13, the top cover 22 rises until the fork arm 2 is in the middle position;

[0126] S14, the fork arm 2 continues to move until the top cover 22 is located at the hook point;

[0127] S15, the top cover 22 descends until the top cover 22 is suspended from the hook 111;

[0128] S16, the bottom cover 21 rises to the locked state and returns to the initial state.

[0129] Because the fork arm 2 needs to go under the pallet slots to lift the goods, the space under the pallet is limited, thus restricting the fork arm 2's ability to actively move goods. Furthermore, as the weight of the goods increases, the stability of the fork arm 2 in moving goods decreases. Therefore, when moving goods using the fork arm 2, it is also possible to move the goods by having the frame 1 actively go under or out of the goods without moving the fork arm 2 after lifting them.

[0130] Furthermore, the latching state is the state where the bottom cover 21 and the top cover 22 are latched together; the middle position is the state where the bottom cover 21 and the top cover 22 are separated and the hook guide groove 221 of the fork arm 2 is disengaged from the hook 111; the highest position is the state where the bottom cover 21 and the top cover 22 are separated to the maximum height; the first disengagement point is the state where the clearance opening 222 of the top cover 22 is located directly above the hook 111 of the frame 1; the second disengagement point is the state where the clearance opening 222 of the top cover 22 is located directly below the hook 111 of the frame 1; the hooking point is the state where the hook guide groove 221 of the top cover 22 is located directly above the hook 111 of the frame 1.

[0131] Specifically, in the engaged state, the bottom cover 21 and top cover 22 are engaged. When the traveling mechanism 211 of the bottom cover 21 is on the ground, the fork arm 2 can be moved out of the frame 1 from below the hook 111 along the slide 11. When the traveling mechanism 211 of the bottom cover 21 is separated from the ground, the fork arm 2 can be suspended on the hook 111 and move with the frame 1. In the middle position, the bottom cover 21 and top cover 22 are separated, the fork arm 2 is disengaged from the hook 111 and the top cover 22 is above the hook 111, allowing the top cover 22 to be transferred from the hook point to the first disengagement point. In the highest position, the bottom cover 21 and top cover 22 are at their maximum separation height, and the top cover 22 lifts the pallet to the highest position, facilitating pallet transfer.

[0132] Specifically, the clearance opening 222 of the top cover 22 located at the first unhooking point is directly above the hook 111, which facilitates the top cover 22 to descend and pass through the clearance opening 222 to fasten with the bottom cover 21; the clearance opening 222 of the top cover 22 located at the second unhooking point is directly below the hook 111, which facilitates the top cover 22 to rise and pass through the clearance opening 222 to be above the hook 111; the hook guide groove 221 of the top cover 22 located at the hooking point is directly above the hook 111, which facilitates the top cover 22 to descend and be suspended on the hook 111.

[0133] Other configurations and operations of an AGV forklift and forklift handling method according to an embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0134] In the description of this specification, references to terms such as "embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0135] Although embodiments of the invention have been shown and described, those skilled in the art will understand 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 claims and their equivalents.

Claims

1. An AGV forklift, characterized in that: The device includes a frame and forks. The frame has two grooves located on both sides of the frame. Each side wall of the groove has two hooks located at both ends of the groove wall. The fork arm includes a bottom cover, a top cover, and a lifting mechanism. The lifting mechanism is installed between the bottom cover and the top cover, and drives the lifting of the top cover and the bottom cover. The bottom cover is equipped with a walking device, and the fork arm moves into or out of the slide groove under the drive of the walking device; the side wall of the top cover is provided with a hook guide groove that cooperates with the hook; the side wall of the top cover is also provided with a clearance opening, which is arranged adjacent to the hook guide groove. The number of forks is two, and the two forks are respectively suspended in the two slides by the hook guide groove and the hook; When the fork arm is in its initial state, the fork arm is suspended from the frame through the engagement of the hook guide groove and the hook, and the lowest point of the traveling device is higher than the lowest point of the frame.

2. The AGV forklift according to claim 1, characterized in that: The lifting mechanism includes a scissor lift assembly, a lead screw assembly, and a push assembly; The output end of the lead screw assembly is connected to the push assembly, and the push assembly is hinged to the scissor assembly; The lead screw assembly drives the push assembly to move, causing the scissor lift assembly to rise and fall.

3. The AGV forklift according to claim 2, characterized in that: The scissor lift assembly includes two sets of scissors, each set of scissors including an active scissor lift and a passive scissor lift; The active and passive scissors of each group of scissors are hinged together in an "X" shape. The pushing component is hinged to the two active scissor lifts.

4. The AGV forklift according to claim 3, characterized in that: The hinge point of the push assembly with the two active scissor tips is located above the hinge point of the active scissor tips and the passive scissor tips.

5. The AGV forklift according to claim 2, characterized in that: The lead screw assembly includes a lead screw, a moving block, and a motor; The lead screw is driven by the motor, which drives the lead screw to rotate. The moving block is threaded onto the lead screw, and the rotation of the lead screw causes the moving block to move on the lead screw. The moving block is connected to the pushing assembly.

6. A method for forklift loading, characterized in that: Using the AGV forklift according to any one of claims 1-5, a method for actively transporting goods with the forklift arm is provided, wherein the steps of actively transporting goods with the forklift arm are as follows: S0. In the initial state, the fork arm is in the latched state, and the top cover is suspended on the hook; S1. The bottom cover moves downward until the walking device touches the ground, and then the top cover moves upward until the top cover is located at the hook point; S2. The fork arm moves forward until the top cover is at the first disengagement point; S3. The top cover moves downward, the clearance avoids the hook, and the fork arm is in a latched state; S4. The fork arm moves out of the groove and into the bottom of the tray; S5. The top cover moves upward until the fork arm is at its highest position; S6. After the fork arm moves into the slide groove, the top cover moves downward to place the tray on the frame; S7. The top cover continues to descend until the top cover is suspended from the hook; S8. The bottom cover rises until the fork arm is in the latched state, and the fork arm is suspended on the frame; S9. The fork arm moves and moves with the frame, and the frame moves to the designated position for loading goods; S10. The bottom cover moves downward until the walking device is on the ground, the top cover rises to the highest position, and the top cover lifts the tray on the frame; S11. After the fork arm moves out of the slide groove, the top cover descends until the fork arm is in the latching state; S12. The fork arm moves out of the bottom of the tray and into the groove until the top cover is at the second disengagement point; S13. The top cover rises until the fork arm is in the middle position; S14. The fork arm continues to move until the top cover is located at the hook point; S15. The top cover descends until it is suspended from the hook; S16. The bottom cover rises to the locked state and returns to the initial state.

7. The forklift handling method according to claim 6, characterized in that: It also includes a method for passively moving goods using a forklift, the method of which is as follows: S0. In the initial state, the fork arm is in the latched state, and the top cover is suspended on the hook; S1. The bottom cover moves downward until the walking device is on the ground, and then the top cover moves upward until the top cover is at the hook point; S2. The fork arm moves forward until the top cover is at the first disengagement point; S3. The top cover moves downward, the clearance avoids the hook, and the fork arm is in a latched state; S4. The fork arm moves out of the groove and into the bottom of the tray; S5. The top cover moves upward until the fork arm is at its highest position; S6. The vehicle frame moves to the bottom of the tray, and the top cover descends until the tray is placed on the vehicle frame; S7. The top cover continues to descend until it is suspended on the hook, and the bottom cover rises until the fork arm is in the latched state. S8. The fork arm is suspended on the frame, and the fork arm moves with the frame, and the frame moves to the designated position for loading goods; S9. The bottom cover moves downward until the walking device is on the ground, the top cover rises to the highest position, and the top cover lifts the tray on the frame; S10, the vehicle frame is removed from under the tray; S11. The top cover descends until the fork arm is in the latched state; S12, the fork arm moves out from under the tray and into the groove until the top cover is at the second disengagement point; S13. The top cover rises until the fork arm is in the middle position; S14. The fork arm continues to move until the top cover is located at the hook point; S15. The top cover descends until it is suspended from the hook; S16. The bottom cover rises to the locked state and returns to the initial state.

8. The forklift handling method according to claim 7, characterized in that: The fastening state refers to the state in which the bottom cover and the top cover are fastened together; The intermediate position is when the bottom cover and the top cover are separated, and the hook guide groove of the fork arm is disengaged from the hook; The highest position refers to the maximum height at which the bottom cover and the top cover are separated; The first disengagement point is when the clearance opening of the top cover is located directly above the hook of the frame; The second disengagement point is when the clearance opening of the top cover is located diagonally below the hook of the frame; The hook point is the hook guide groove of the top cover located directly above the hook of the frame.

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