Forklift type AGV multi-stage bidirectional telescopic mechanism

Abstract

The application discloses a forklift type AGV multistage bidirectional telescopic mechanism, which comprises a carrier body, a lifting device, a first telescopic device and a second telescopic device arranged on the carrier body and cooperating with each other, and an opening and closing mechanism arranged on the first telescopic device. The first telescopic device comprises a supporting plate, a first displacement plate slidingly arranged on the supporting plate, and a second displacement plate slidingly arranged on the first displacement plate. A roller is rotatably arranged on the first displacement plate, and a telescopic belt penetrating through the first displacement plate on both sides is arranged on the roller. The two ends of the telescopic belt are connected with the second displacement plate and the supporting plate respectively. The telescopic belt is arranged in a plurality of groups, and the plurality of groups of telescopic belts have two opposite directions. The application has the advantages that the hooking and pulling device can realize multistage telescoping, the structural transmission problem in the long telescopic distance is solved, the hooking and pulling device can realize multistage bidirectional telescoping, the telescoping stroke of the hooking and pulling device is increased, and the practicability of the product is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of AGV hooking device, and particularly relates to a forklift type AGV multi-stage bidirectional telescopic mechanism. BACKGROUND

[0002] With the rapid development of the logistics industry, intelligent warehouses have emerged, and the main work of intelligent warehouses is completed by automated handling robots. In material storage warehouses, materials can be transferred by automatic guided vehicles, improving the transfer efficiency of materials.

[0003] Among the existing material handling vehicles on the market, the common way is to use hooking and clamping to transport goods, but most of them do not have multi-stage telescopic function, that is, the length of the hooking device on the handling vehicle is limited, such as the utility model disclosed in Chinese patent document with authorization announcement number CN212449141U. If the hooking device on the existing handling vehicle needs to transport goods placed on the other side, a reversing device needs to be designed to change the direction of the hooking unit, increasing the cost, such as the utility model disclosed in Chinese patent document with authorization announcement number CN215160765U. The device with telescopic bidirectional hooking function generally cannot be further telescoped as a whole, such as the invention patent disclosed in Chinese patent document with publication number CN106078778A. Most handling vehicle bodies adopt a frame type, although the overall vehicle body is relatively light, but it also limits the overall lifting height, and if the goods at a high position are transported, it may cause insufficient stability, such as the invention patent disclosed in Chinese patent document with publication number CN111056206A.

[0004] Based on the above shortcomings of the prior art, it is obviously necessary to design a material handling vehicle that can realize high-position lifting, has a multi-stage telescopic device and can be multi-stage bidirectional hooking through innovative design of corresponding logistics equipment. SUMMARY

[0005] Based on the above shortcomings of the prior art, the present application provides a forklift type AGV multi-stage bidirectional telescopic mechanism, which has a multi-stage telescopic hooking device, solves the problem of structure transmission for a long telescopic distance, and has a multi-stage bidirectional telescopic hooking device, which increases the stroke of the hooking and telescoping and enhances the practicality of the product.

[0006] To achieve the above purpose, the present application adopts the following technical solutions.

[0007] The utility model provides a fork truck type AGV multistage bidirectional telescopic mechanism, including the carrier body, the carrier body is equipped with cooperation and operation's lifting device, first telescopic device and second telescopic device, is equipped with opening and closing mechanism on first telescopic device, and first telescopic device includes support plate, and the first displacement board is slidably arranged on the support plate, and the second displacement board is slidably arranged on the first displacement board, and the first displacement board is equipped with the gyro wheel, and the gyro wheel is equipped with the telescopic belt through the both sides of first displacement board, and the both ends of telescopic belt are connected with second displacement board and support plate respectively, and telescopic belt is equipped with several groups, and several groups of telescopic belt have two opposite directions.

[0008] The material handling vehicle designed in the utility model, first telescopic device and second telescopic device form two-stage telescopic, solve the structure transmission problem in the longer telescopic distance, compared with the common carrier on the market, have the multi-stage telescopic hooking device, lengthen the range of the carrier that can be hooked, solve the structure transmission problem in the longer telescopic distance.

[0009] For the goods on both sides of the hooking shelf, most of the carrier is designed with the hooking device with steering function to complete the handling of the goods on both sides in the same lane, increase the cost, and also make the overall structure inconvenient to maintain, the device is designed with the multi-stage bidirectional telescopic hooking device, increase the telescopic stroke, also realize the handling of the goods on both sides in the lane, simple structure, convenient maintenance, increase the telescopic stroke of hooking and enhance the practicability of the product, through the setting of lifting device, guarantee the convenience when handling high-position goods.

[0010] As preferred, the both ends of the outer side of second displacement board are respectively equipped with rudders, and the rudders rotate to control a lever perpendicular to second displacement board. The rudder controls the rotation of the lever, and the lever can pull back the goods when it is perpendicular to the second displacement board, completing the reliable hooking of the goods.

[0011] As preferred, the opening and closing mechanism includes a slidingly arranged transverse plate, the sliding direction of the transverse plate is perpendicular to the sliding direction of the first displacement plate, the support plate is vertically fixed on the transverse plate, and the transverse plate is equipped with an opening and closing driving assembly; the transverse plate and the support plate are provided with two groups of symmetrically arranged support plates. Two groups of support plates and transverse plates can move relative to each other or move away from each other, realize reliable clamping and loosening, stable control, and reliable action.

[0012] As preferred, the first level telescopic device comprises an upper base plate slidingly arranged on the second level telescopic device, the upper base plate is provided with a guide rail, the opening and closing driving assembly comprises an opening and closing motor and a synchronous pulley driven by the opening and closing motor, the synchronous pulley is provided with an annular synchronous belt, the guide rail is slidingly provided with a sliding block fixedly connected with the transverse moving plate, and the annular synchronous belt is divided into upper and lower sections relative to the synchronous pulley and is respectively provided with a connecting block connected with one of the two groups of transverse moving plates. The transverse moving block is slidingly arranged on the upper base plate through the cooperation of the sliding block and the guide rail. When the synchronous pulley rotates under the action of the opening and closing motor, the annular synchronous belt rotates together. Since the connecting blocks are respectively connected with the upper and lower sections of the annular synchronous belt, the two connecting blocks move relative to or away from each other when the annular synchronous belt rotates, thereby reliably realizing the opening and closing of the transverse moving plate, and the opening and closing structure is stable.

[0013] As preferred, the inner side of the support plate is provided with a guide groove, the two sides of the first displacement plate are respectively provided with a guide groove and a guide strip, the guide strip on the first displacement plate cooperates with the guide groove of the support plate, one side of the second displacement plate is provided with a guide strip, and the guide strip of the second displacement plate cooperates with the guide groove of the first displacement plate. The support plate, the first displacement plate and the second displacement plate are sequentially and slidingly connected, and multi-level telescoping is reliably realized.

[0014] As preferred, the second level telescopic device comprises a lower base plate, the lower base plate is provided with a fixed plate, the lower base plate is slidingly provided with a driving plate and a follower plate, the driving plate is provided with a synchronous belt assembly, one end of the synchronous belt in the synchronous belt assembly is fixed on the fixed plate, the other end of the synchronous belt in the synchronous belt assembly is fixed on the follower plate, and the pulley in the synchronous belt assembly is rotationally arranged on the driving plate. The arrangement of the driving plate, the fixed plate and the follower plate enables the second level telescopic device to also be bidirectionally telescopic, realizes multi-level bidirectional telescopic hooking and pulling, increases the telescopic stroke, and also realizes the carrying of goods on both sides of the roadway, and the structure is simple and convenient to maintain.

[0015] As preferred, the lower base plate is provided with a sprocket assembly, the sprocket assembly is provided with a chain, the chain is fixedly provided with a driving bracket, and the driving plate is fixedly connected with the driving bracket. The reliable sliding of the driving plate is realized through the sprocket assembly, and the stability of the telescoping of the second level telescopic device is ensured.

[0016] As preferred, the lifting device comprises a lifting frame body and a support seat fixed with the lower base plate, and the side plate of the lifting frame body is provided with a roller assembly; the lifting device further comprises a slidingly matched outer gantry and an inner gantry, and the outer gantry and the inner gantry are arranged between each other; the lifting frame body is slidingly matched with the inner gantry, the inner gantry is connected with a lifting oil cylinder, the inner gantry is rotationally provided with a sprocket, the sprocket is provided with a lifting chain, and the two ends of the lifting chain are respectively fixedly connected with the outer gantry and the lifting frame body. The carrying vehicle on the market may appear dumping and side turning phenomenon if carrying high-position goods due to the vehicle body structure, and the lifting height is limited. The lifting device of the multi-level gantry combination is adopted by improving the vehicle body, and the carrying of goods at a higher position can be adapted.

[0017] As preferred, the carrier body comprises a frame body, the upper portion of the frame body is provided with a navigation laser; the front portion of the frame body is provided with a safety laser on each side. The navigation laser guides the movement of the carrier body, so that the carrier body can reach the designated position and carry the container to the corresponding work station; the safety laser on each side of the front portion emits a signal when a person or object approaches, so that the carrier body stops moving.

[0018] As preferred, the periphery of the frame body is provided with an anti-collision touch edge switch; two emergency stop switches are installed on the upper portion of the carrier body. The carrier body can stop moving immediately when it collides with an obstacle; the worker can press the emergency stop switch immediately when an emergency occurs, so as to prevent accidents; the above devices ensure the safety of the carrier during the working process.

[0019] The present application has the following advantages: the hooking and pulling device can be multi-stage telescopic, which solves the problem of structure transmission in a long telescopic distance; the hooking and pulling device can be multi-stage telescopic in two directions, which increases the stroke of the hooking and pulling and enhances the practicability of the product; the stability of carrying high-position goods is ensured by improving the carrier body and the lifting device. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a schematic diagram of the whole vehicle of the present application.

[0021] Figure 2 It is a structure schematic diagram of the opening and closing mechanism in the present application.

[0022] Figure 3 It is a structure schematic diagram of the first telescopic device in the present application.

[0023] Figure 4 It is a state schematic diagram of the container when the first telescopic device is hooked and pulled in the present application.

[0024] Figure 5 It is a structure schematic diagram of the second telescopic device in the present application.

[0025] Figure 6 It is a structure schematic diagram of the lifting device in the present application.

[0026] Figure 7 It is a structure schematic diagram of the carrier body of the present application.

[0027] In the figure: primary telescopic device 1, secondary telescopic device 2, lifting device 3, carrier body 4, upper bottom plate 111, primary telescopic motor 112, pinion gear 113, gear wheel 114, bearing seat 115, spline shaft 116, No. 1 pulley 117, No. 1 synchronous belt 118, No. 2 pulley 119, No. 1 displacement block 1110, first displacement plate 1111, roller 1112, telescopic belt 1113, fixed block 1114, guide groove 1115, guide strip 1116, second displacement plate 1117, opening and closing motor 121, No. 1 optical shaft 122, first connecting block 123, second connecting block 124, guide rail fixing seat 125, guide rail 126, sliding block 127, transverse displacement plate 128, fixed support 129, support plate 1210, steering engine 1211, lever 1212, cargo box 1213, lower bottom plate 21, secondary telescopic motor 22, gear assembly 23, No. 2 optical shaft 24, sprocket assembly 25, driving support 26, driving plate 27, fixed plate 28, follower plate 29, synchronous belt assembly 210, slide rail 211, slide groove 212, inner door frame 31, outer door frame 32, lifting oil cylinder 33, lifting frame body 34, roller assembly 35, support seat 36, inner door frame upper cross beam 37, outer door frame upper cross beam 38, lifting chain 39, sprocket 310, vehicle frame whole 41, safety laser 42, navigation laser 43, emergency stop switch 44, anti-collision touch edge switch 45. DETAILED DESCRIPTION

[0028] The application will be further described below in combination with the drawings and specific examples.

[0029] Example 1,

[0030] As Figures 1 to 6 shown in the figure, a forklift type AGV multi-stage bidirectional telescopic mechanism includes a carrier body 4, the carrier body 4 is provided with a lifting device 3, a primary telescopic device 1 and a secondary telescopic device 2 cooperating with operation, the primary telescopic device 1 is provided with an opening and closing mechanism.

[0031] The carrier body 4 includes a vehicle frame whole 41, the vehicle frame whole 41 is provided with a navigation laser 43 above, guiding the vehicle body to travel, so that the vehicle body can reach the designated position and carry the cargo box 1213 to the corresponding work station; the vehicle frame whole 41 is provided with a safety laser 42 on each side in front, when someone or something approaches, the safety laser 42 sends a signal to make the vehicle body stop moving; the vehicle frame whole 41 is further provided with an anti-collision touch edge switch 45 around, when the vehicle body collides with an obstacle, it can immediately stop moving; the vehicle frame whole 41 is further provided with two emergency stop switches 44 on the two sides above, when an emergency occurs, the worker can immediately press the emergency stop switch 44 to prevent accidents; the above devices all ensure the safety of the carrier during the working process.

[0032] The secondary telescopic device 2 comprises a lower bottom plate 21 arranged at the bottom. The lifting device 3 comprises a lifting frame body 34 and a support seat 36 fixed with the lower bottom plate 21, and the support seat 36 is made of three rectangular tubes. The three rectangular tubes are fixed through the lifting frame body 34. The lifting frame body 34 is provided with a roller assembly 35 on the side plate. The lifting device 3 further comprises a slidingly fitted outer gantry 32 and an inner gantry 31. The roller assembly 35 is tangent to the channel steel of the inner gantry 31. The inner gantry is fixedly connected with the inner gantry 31 through the upper beam 37 of the inner gantry. The outer gantry is fixedly connected with the outer gantry 32 through the upper beam 38 of the outer gantry. The outer gantry 32 is provided with side rollers on the inner side and hinged shafts on the outer side. The outer gantry 32 is connected with the vehicle frame 41 as a whole through the hinged shafts. The outer gantry 32 and the inner gantry 31 are connected with each other. The lifting frame body 34 is slidingly fitted with the inner gantry 31. The inner gantry 31 is connected with the lifting oil cylinder 33. The inner gantry 31 is provided with a chain wheel 310. The lifting chain 39 is arranged on the chain wheel 310. The two ends of the lifting chain 39 are fixedly connected with the outer gantry 32 and the lifting frame body 34 respectively. The lifting chain 39 passes through the chain wheel 310 arranged on the upper beam 37 of the inner gantry. The lifting chain 39 comprises two chains arranged symmetrically. The top of the lifting oil cylinder 33 is connected with the upper beam 37 of the inner gantry. The two lifting oil cylinders 33 are arranged symmetrically. The inner gantry 31 can be lifted by the lifting oil cylinder 33. The inner gantry 31 is lifted along the rollers on the inner side of the outer gantry 32. The lifting frame body 34 is lifted along the channel steel of the inner gantry 31 under the action of the chain. The hooking device on the lifting frame body 34 can be lifted along the gantry.

[0033] The lower bottom plate 21 is provided with a fixed plate 28. The driving plate 27 and the follower plate 29 are slidingly arranged on the lower bottom plate 21. The driving plate 27 is provided with a synchronous belt assembly 210. One end of the synchronous belt in the synchronous belt assembly 210 is fixed on the fixed plate 28. The other end of the synchronous belt in the synchronous belt assembly 210 is fixed on the follower plate 29. The pulley in the synchronous belt assembly 210 is rotatably arranged on the driving plate 27. The secondary telescopic device 2 comprises a secondary telescopic motor 22 fixed above the lower bottom plate 21. The secondary telescopic motor 22 is connected with the second optical shaft 24 through a gear assembly 23. The two ends of the second optical shaft 24 are rotatably arranged on the bearing support. Two second optical shafts 24 are arranged on the two sides of the lower bottom plate 21 respectively. The lower bottom plate 21 is provided with a chain wheel assembly 25. The chain wheel assembly 25 is provided with a chain. The two second optical shafts 24 are connected through the chain wheel assembly 25. The two chain wheels 310 of the chain wheel assembly 25 are fixed on the two second optical shafts 24 respectively. The two chain wheel assemblies 25 are arranged symmetrically on the two ends of the second optical shaft 24. The chain is fixedly arranged on the driving support 26. The driving plate 27 is fixedly connected with the driving support 26. The upper side of the lower bottom plate 21 is provided with a sliding groove 212. The driving plate 27 and the follower plate 29 are slidingly connected with the sliding groove 212 through the sliding rails 211 connected below. The two plates can slide forward and backward along the sliding groove 212. The upper side of the follower plate 29 is fixedly connected with the upper bottom plate 111 through screws.

[0034] The first telescopic device 1 comprises a support plate 1210 fixed on the transverse plate 128 through an angular fixing support 129. A first displacement plate 1111 is slidably arranged on the support plate 1210, and a second displacement plate 1117 is slidably arranged on the first displacement plate 1111. A rotating roller 1112 is arranged on the first displacement plate 1111, and a telescopic belt 1113 penetrating through both sides of the first displacement plate 1111 is arranged on the roller 1112. The two ends of the telescopic belt 1113 are connected to the second displacement plate 1117 and the support plate 1210 through fixing blocks 1114 respectively. The telescopic belt 1113 is provided with two groups, and the two groups of telescopic belts 1113 have two opposite directions. The stretching direction of the telescopic belt 1113 is consistent with the elongation direction of the first displacement plate 1111 and the second displacement plate 1117.

[0035] The inner side of the support plate 1210 is provided with a guide groove 1115, and the two sides of the first displacement plate 1111 are respectively provided with a guide groove 1115 and a guide strip 1116. The guide strip 1116 on the first displacement plate 1111 cooperates with the guide groove 1115 of the support plate 1210. One side of the second displacement plate 1117 is provided with a guide strip 1116, and the guide strip 1116 of the second displacement plate 1117 cooperates with the guide groove 1115 of the first displacement plate 1111. A first telescopic motor 112 is installed on the upper bottom plate 111, and the output shaft of the first telescopic motor 112 is connected with a small gear 113. The spline shaft 116 is rotatably arranged on the upper bottom plate 111 through two opposite bearing seats 115. The opening and closing action of the opening and closing mechanism is parallel to the axis of the spline shaft.

[0036] The two ends of the outer side of the second displacement plate 1117 are respectively provided with a rudder 1211, and the rudder 1211 rotates to control a lever 1212 which can be perpendicular to the second displacement plate 1117.

[0037] The opening and closing mechanism comprises a slidingly arranged horizontal moving plate 128, the sliding direction of the horizontal moving plate 128 is perpendicular to the sliding direction of the first displacement plate 1111, the support plate 1210 is vertically fixed on the horizontal moving plate 128, and the horizontal moving plate 128 is provided with an opening and closing driving assembly; the horizontal moving plate 128 and the support plate 1210 are provided with two groups of symmetrically arranged. The first-stage telescopic device 1 comprises an upper bottom plate 111 which is slidingly arranged on the second-stage telescopic device 2, the upper bottom plate 111 is provided with a guide rail 126, the opening and closing driving assembly comprises an opening and closing motor 121 and a synchronous pulley driven by the opening and closing motor 121, the synchronous pulley is provided with an annular synchronous belt, the guide rail 126 is slidingly provided with a sliding block 127 which is fixedly connected with the horizontal moving plate 128, the horizontal moving plate 128 is provided with two symmetrically arranged horizontal moving plates 128 on the guide rail 126, and the two horizontal moving plates 128 are respectively connected with four sliding blocks 127 below. The guide rail 126 is fixedly installed on a guide rail fixing seat 125. The annular synchronous belt is divided into upper and lower sections relative to the synchronous pulley, and the upper and lower sections are respectively provided with a connecting block connecting one of the two horizontal moving plates 128, and the two connecting blocks are respectively a first connecting block 123 and a second connecting block 124. The upper bottom plate 111 is provided with a No. 1 optical shaft 122 through two fixed bearing supports, the opening and closing motor 121 is connected with the No. 1 optical shaft 122 through a gear set, and one of the synchronous pulleys is arranged on the No. 1 optical shaft 122. The opening and closing motor 121 drives the No. 1 optical shaft 122 to rotate, so as to drive the synchronous pulley and the annular synchronous belt to rotate together.

[0038] One end of the spline shaft is provided with a large gear 114 meshing with the pinion 113, the spline shaft is symmetrically provided with two No. 1 pulleys 117, the horizontal moving plate 128 is rotatably provided with a No. 2 pulley 119, the No. 1 pulley 117 and the No. 2 pulley 119 are connected through a No. 1 synchronous belt 118, the No. 1 synchronous belt 118 is fixedly provided with a No. 1 displacement block 1110, and the No. 1 displacement block 1110 is fixedly connected with the first displacement plate 1111. The first-stage telescopic motor 112 drives the spline shaft through a gear pair, and when the spline shaft rotates, the No. 1 synchronous belt 118 rotates together, so that the No. 1 displacement block 1110 on the No. 1 synchronous belt 118 slides, and the sliding drive of the first displacement plate 1111 is realized.

[0039] The first-stage telescopic motor 112 rotates forward to drive the No. 1 synchronous belt 118 to rotate, and the first displacement plate 1111 connected therewith moves along the guide groove 1115 fixedly arranged on the support plate 1210 through the guide strip 1116 to perform first-stage elongation, at the same time, one of the two telescopic belts 1113 plays a role of stretching to pull the second displacement plate 1117 to perform second-stage elongation, the second displacement plate 1117 and the first displacement plate 1111 move in the same direction, and the other telescopic belt 1113 is in a relaxed state. If the first-stage telescopic motor 112 reversely rotates, the first displacement plate 1111 and the second displacement plate 1117 perform elongation in the other direction, at this time, the states of the two telescopic belts 1113 are the same as before, and the purpose of bidirectional transmission is realized.

Claims

1. A forklift-type AGV multi-stage bidirectional telescopic mechanism, characterized in that: The transport vehicle body is provided with a lifting device, a primary telescopic device and a secondary telescopic device for coordinated operation. The primary telescopic device is provided with an opening and closing mechanism. The primary telescopic device includes a support plate, a first displacement plate is slidably provided on the support plate, a second displacement plate is slidably provided on the first displacement plate, a roller is rotatably provided on the first displacement plate, a telescopic belt is provided on the roller and passes through both sides of the first displacement plate. The two ends of the telescopic belt are respectively connected to the second displacement plate and the support plate. The telescopic belt is provided in a plurality of groups, and the plurality of groups of telescopic belts have two opposite directions. The two-stage telescopic device includes a lower base plate, a fixed plate is provided on the lower base plate, a driving plate and a follower plate are slidably provided on the lower base plate, a synchronous belt assembly is provided on the driving plate, one end of the synchronous belt in the synchronous belt assembly is fixed to the fixed plate, the other end of the synchronous belt in the synchronous belt assembly is fixed to the follower plate, and a pulley in the synchronous belt assembly is rotatably provided on the driving plate; The first-level telescopic device includes an upper base plate slidably arranged on the second-level telescopic device, a first-level telescopic motor is installed on the upper base plate, and the second-level telescopic device includes a second-level telescopic motor fixed above the lower base plate. The telescopic movements of the first-level telescopic device and the second-level telescopic device are independent of each other.

2. The forklift-type AGV multi-stage bidirectional telescopic mechanism according to claim 1 is characterized in that: Two ends of the outer side of the second displacement plate are respectively provided with steering gears, which rotate to control a lever that can be perpendicular to the second displacement plate.

3. The forklift-type AGV multi-stage bidirectional telescopic mechanism according to claim 1 is characterized in that: The opening and closing mechanism includes a sliding transverse plate, the sliding direction of the transverse plate is perpendicular to the sliding direction of the first displacement plate, the support plate is vertically fixed on the transverse plate, and the transverse plate is equipped with an opening and closing drive assembly; the transverse plate and the support plate are provided with two symmetrically arranged groups, and the first-level telescopic device also includes a spline shaft, the spline shaft is symmetrically sleeved with two No. 1 pulleys, a No. 2 pulley is rotatably provided on the transverse plate, the No. 1 pulley and the No. 2 pulley are connected by a No. 1 synchronous belt, a No. 1 displacement block is fixed on the No. 1 synchronous belt, and the No. 1 displacement block is fixedly connected to the first displacement plate, and the first-level telescopic motor drives the spline shaft through a gear pair.

4. The forklift-type AGV multi-stage bidirectional telescopic mechanism according to claim 3 is characterized in that: The first-level telescopic device includes an upper base plate slidably arranged on the second-level telescopic device, a guide rail is provided on the upper base plate, an opening and closing drive assembly includes an opening and closing motor and a synchronous pulley driven by the opening and closing motor, an annular synchronous belt is provided on the synchronous pulley, a slider fixedly connected to the transverse plate is slidably provided on the guide rail, the transverse plate is provided with two symmetrically arranged blocks on the guide rail, the upper and lower sections of the annular synchronous belt relative to the synchronous pulley are respectively provided with connecting blocks connecting one of the two transverse plates, an optical axis No. 1 is provided on the upper base plate through two fixed bearing supports, the opening and closing motor is connected to the optical axis No. 1 through a gear set, and one of the synchronous pulleys is provided on the optical axis No.

1.

5. A forklift-type AGV multi-stage bidirectional telescopic mechanism according to claim 1 or 3, characterized in that: A guide groove is provided on the inner side of the support plate, and a guide groove and a guide bar are respectively provided on both sides of the first displacement plate. The guide bar on the first displacement plate cooperates with the guide groove of the support plate. A guide bar is provided on one side of the second displacement plate, and the guide bar of the second displacement plate cooperates with the guide groove of the first displacement plate.

6. The forklift-type AGV multi-stage bidirectional telescopic mechanism according to claim 1, characterized in that: A slide groove is provided above the lower base plate, and the driving plate and the follower plate are slidably connected to the slide groove through the slide rail connected below them. The upper base plate is detachably connected above the follower plate. The secondary telescopic motor is connected to the No. 2 optical axis through a gear assembly. The two ends of the No. 2 optical axis are rotatably set on the bearing supports, and two No. 2 optical axes are installed on both sides of the lower base plate.

7. The forklift-type AGV multi-stage bidirectional telescopic mechanism according to claim 6, characterized in that: A sprocket assembly is provided on the lower base plate, a chain is provided on the sprocket assembly, a drive bracket is fixed on the chain, the drive plate is fixedly connected to the drive bracket, the two No. 2 optical axes are connected through the sprocket assembly, the two sprockets of the sprocket assembly are respectively fixed on the two No. 2 optical axes, and the two sprocket assemblies are symmetrically arranged at both ends of the No. 2 optical axis along the center.

8. A forklift-type AGV multi-stage bidirectional telescopic mechanism according to claim 6 or 7, characterized in that: The lifting device includes a lifting frame body and a support seat fixed to the lower base plate, and a roller assembly is provided on the side plate of the lifting frame body; the lifting device also includes an outer door frame and an inner door frame that slide together, and between the outer door frame and the inner door frame; the lifting frame body slides together with the inner door frame, and a lifting cylinder is connected to the inner door frame, and a sprocket is rotatably provided on the inner door frame, and a lifting chain is provided on the sprocket, and two ends of the lifting chain are respectively fixedly connected to the outer door frame and the lifting frame body, and the roller assembly is tangent to the channel steel of the inner door frame, and the inner door frame upper beam is fixedly connected to the inner door frame, and the outer door frame upper beam is fixedly connected to the outer door frame, and side rollers are installed on the inner side of the outer door frame, and a hinge shaft is installed on the outside. The outer door frame is connected to the frame as a whole through the hinge shaft, and the lifting chain passes through the sprocket provided on the inner door frame upper beam, and the top of the lifting cylinder is connected to the inner door frame upper beam.

9. The forklift-type AGV multi-stage bidirectional telescopic mechanism according to claim 1, characterized in that: The transport vehicle body comprises an integral frame, a navigation laser is provided above the integral frame, and safety lasers are provided on both sides of the front of the integral frame.

10. The forklift-type AGV multi-stage bidirectional telescopic mechanism according to claim 9, characterized in that: Anti-collision edge switches are provided around the entire frame; two emergency stop switches are also installed on both sides above the vehicle body.

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