AGV transport vehicles and production handling systems

Abstract

This invention belongs to the field of material handling equipment technology, specifically relating to AGV (Automated Guided Vehicle) handling vehicles and production handling systems. The AGV handling vehicle includes: a vehicle body assembly; multiple fork-leg assemblies, each fork-leg assembly including a fork-leg mounting base and a fork-leg mechanism. The multiple fork-leg mounting bases are slidably connected to the vehicle body assembly in the lateral direction, and each fork-leg mechanism is flexibly connected to its corresponding fork-leg mounting base. A main support wheel mechanism is provided at the bottom of the fork-leg mechanism; a drive assembly for driving the fork-leg mounting base to slide laterally and driving the fork-leg mechanism to perform vertical lifting and lowering movements; and a vehicle controller, communicatively connected to the vehicle body assembly and the drive assembly. Through the technical solution of this invention, flexible connection of the fork-leg mechanisms is achieved, enabling automatic adjustment of the lateral spacing between the fork-leg mechanisms. Multiple fork-leg mechanisms can simultaneously touch the ground, exhibiting strong balance, stability, and reliability. It can carry workpieces of different sizes, which is beneficial for simplifying the structure, reducing weight, and facilitating lightweighting and miniaturization.

Description

Technical Field

[0001] This invention belongs to the field of material handling equipment technology, specifically relating to AGV handling vehicles and production handling systems. Background Technology

[0002] Currently, in industrial production, unmanned vehicles such as AGVs (Automated Guided Vehicles) are commonly used for transporting workpieces or materials. For example, forklift AGVs are a common type of transport vehicle, typically using oppositely positioned fork mechanisms to carry and lift workpieces, and transporting them as the vehicle moves. To meet the transport needs of workpieces of different sizes, some manufacturers offer forklift AGVs with variable fork distance (the lateral distance between the two fork mechanisms). However, the structure and connection methods of these forklift AGVs have some drawbacks. The rigid connection between the fork mechanism and the vehicle body results in insufficient flexibility in movement. During lifting, it is difficult to ensure that both fork mechanisms maintain simultaneous contact with the ground. Furthermore, to accommodate heavy workpieces, structural reinforcements are usually required to increase strength, leading to a complex overall structure, greater weight, and hindering lightweight and miniaturized design. Summary of the Invention

[0003] In view of this, in order to improve at least one of the above-mentioned problems existing in the prior art, the present invention provides an AGV transport vehicle and a production transport system.

[0004] The first aspect of the present invention provides an AGV (Automated Guided Vehicle) transport vehicle, comprising: a vehicle body assembly; multiple fork-leg assemblies, each fork-leg assembly including a fork-leg mounting seat and a fork-leg mechanism, the multiple fork-leg mounting seats being spaced apart laterally on the vehicle body assembly and slidably connected to the vehicle body assembly, each fork-leg mechanism extending along the front-rear direction of the vehicle body assembly and flexibly connected to a corresponding fork-leg mounting seat, the bottom of the fork-leg mechanism being provided with a main support wheel mechanism; a drive assembly, which is drively connected to the multiple fork-leg assemblies, for driving the fork-leg mounting seats to slide laterally and driving the fork-leg mechanisms to perform vertical lifting and lowering movements; and a vehicle controller, which is communicatively connected to the vehicle body assembly and the drive assembly to control the operation of the vehicle body assembly and the drive assembly.

[0005] The beneficial effects of the above-mentioned technical solution of the present invention are reflected in:

[0006] The connection method of the fork mechanism has been improved, realizing a flexible connection between the fork mechanisms. The lateral spacing between multiple fork mechanisms can be adjusted as needed, and multiple fork mechanisms can simultaneously touch the ground and maintain contact with the ground during the variable pitch lifting process. This can prevent height differences caused by assembly or deformation of different fork mechanisms, resulting in stronger balance and stability, smaller bending moment, higher reliability, and extended service life. It can carry workpieces of different sizes and models, and no additional structural reinforcement is required to carry heavy workpieces. This simplifies the structure, reduces weight, and facilitates the lightweighting and miniaturization of the overall structure, enabling small devices to transport large workpieces.

[0007] In one feasible implementation, the front side of the vehicle body assembly is provided with a transversely extending groove structure; there are two fork leg assemblies, each fork leg mounting base including: a mounting base body, on which a slide rail is provided, and the slide rail is slidably connected to the groove structure; a flexible connecting mechanism, rotatably connected to the corresponding mounting base body and fork leg mechanism, and the axis of rotation is set along the transverse direction of the vehicle body assembly; the drive assembly includes: a first drive mechanism, which is drivenly connected to the two mounting base bodies and adapted to drive the two mounting base bodies to move laterally, and the two mounting base bodies move in opposite directions; two second drive mechanisms, respectively disposed on the two mounting base bodies, each second drive mechanism being drivenly connected to the corresponding flexible connecting mechanism to drive the flexible connecting mechanism to rotate relative to the mounting base body in a vertical plane.

[0008] In one feasible implementation, the flexible connection mechanism includes: an upper connector, on which are provided a first connection point, a second connection point, and a third connection point connected in a triangular formation; the first connection point is rotatably connected to the corresponding mounting base body; the second connection point is rotatably connected to the upper part of the corresponding fork-leg mechanism; and the third connection point is located below the second connection point and is rotatably connected to the driving end of the corresponding second drive mechanism; a lower connector, located below the upper connector, on which are provided a fourth connection point, a fifth connection point, and a sixth connection point connected in a triangular formation; the fourth connection point is rotatably connected to the corresponding mounting base body; the fifth connection point is rotatably connected to the lower part of the corresponding fork-leg mechanism; and the sixth connection point is located above the fifth connection point; a main connecting rod, one end of which is rotatably connected to the sixth connection point, and the other end extends forward of the fork-leg mechanism and is rotatably connected to the corresponding main support wheel mechanism; wherein, the second drive mechanism includes a second telescopic cylinder communicatively connected to the vehicle controller; the upper connector is adapted to rotate around the first connection point in a vertical plane under the drive of the second telescopic cylinder; and the fork-leg mechanism is adapted to rise or fall under the interaction of the upper and lower connectors.

[0009] In one feasible implementation, the main support wheel mechanism includes: a support wheel connector, on which are a seventh connection point, an eighth connection point, and a ninth connection point connected in a triangular formation; the seventh connection point is rotatably connected to the fork leg mechanism; the eighth connection point is located below the seventh connection point and is rotatably connected to the front end of the main connecting rod; and a main support wheel body, rotatably connected to the ninth connection point, with the rolling direction of the main support wheel body arranged along the front-rear direction of the vehicle body assembly; wherein, the support wheel connector is adapted to rotate under the drive of the main connecting rod and the fork leg mechanism, so as to lower the main support wheel body when the fork leg mechanism rises, or to raise the main support wheel body when the fork leg mechanism falls.

[0010] In one feasible implementation, the fork leg assembly further includes a pitch-changing wheel mechanism, which includes: a pitch-changing wheel connector, on which a vertically arranged pitch-changing central shaft is provided, with arc-shaped grooves on both sides of the pitch-changing central shaft, and the two arc-shaped grooves are symmetrically arranged; a pitch-changing connecting shaft, which is intersected and rotatably connected to the pitch-changing central shaft, with pitch-changing wheels at both ends; wherein, the inner sidewall of the fork leg mechanism is provided with a pitch-changing bearing that rolls with the two arc-shaped grooves, and forms a movable connection with the pitch-changing connecting plate through the pitch-changing bearing; in the initial state, there is a height gap between the pitch-changing wheel and the ground, and the pitch-changing wheel is adapted to contact the ground after the main support wheel rises.

[0011] In one feasible implementation, the fork mechanism includes: a fork arm, which is a downward-facing groove-shaped structure and extends along the front-rear direction of the vehicle body assembly; a connecting ear plate, which is fixedly connected to one end of the fork arm facing the vehicle body assembly, with the upper part of the connecting ear plate inclined upward towards the side closer to the vehicle body assembly and rotatably connected to a second connection point, and the lower part of the connecting ear plate rotatably connected to a fifth connection point; wherein, the main connecting rod is located in the groove-shaped structure of the fork arm.

[0012] In one feasible implementation, the first drive mechanism includes: a sprocket mechanism disposed on the side of the vehicle body assembly facing the fork mechanism and arranged laterally; two fixing blocks respectively connected to the upper and lower ends of the chain of the sprocket mechanism, and each fixing block connected to one of the mounting base bodies to enable the two mounting base bodies to move synchronously in opposite directions; and a variable-pitch drive motor, which is drivenly connected to the sprocket mechanism and communicatively connected to the vehicle controller to drive the sprocket mechanism to operate; or a first telescopic cylinder, with both ends respectively connected to the two mounting base bodies and communicatively connected to the vehicle controller, the first telescopic cylinder being adapted to drive the two mounting base bodies to move in opposite directions.

[0013] In one feasible implementation, the fork assembly further includes: multiple gripper mechanisms slidably connected to the inner side of the fork mechanism and spaced apart in the front-rear direction of the fork mechanism, each gripper mechanism having a rotatable gripper structure suitable for carrying workpieces.

[0014] In one feasible implementation, the vehicle body assembly includes: a vehicle body base; a drive wheel mechanism rotatably disposed at the bottom of the vehicle body base; a drive motor disposed on the vehicle body base and drivenly connected to the drive wheel mechanism to drive the drive wheel mechanism; a steering drive motor disposed on the vehicle body base and drivenly connected to the drive wheel mechanism to steer the drive wheel mechanism relative to the vehicle body base; and a vehicle body cover detachably disposed on the vehicle body base; wherein, the vehicle controller is communicatively connected to the drive motor and the steering drive motor.

[0015] The second aspect of the present invention provides a production handling system, comprising: an AGV handling vehicle as described in any of the first aspects above; and a main controller, which is communicatively connected to the vehicle controller of the AGV handling vehicle to control the AGV handling vehicle to perform handling operations on workpieces. Attached Figure Description

[0016] Figure 1 The figure shown is a three-dimensional schematic diagram of an AGV transport vehicle provided in an embodiment of the present invention.

[0017] Figure 2 The image shown is a three-dimensional schematic diagram of an AGV transport vehicle provided in one embodiment of the present invention from another perspective.

[0018] Figure 3 The diagram shown is a schematic block diagram of an AGV transport vehicle provided in one embodiment of the present invention.

[0019] Figure 4 The figure shown is a three-dimensional schematic diagram of a vehicle body base provided in an embodiment of the present invention.

[0020] Figure 5 The figure shown is a three-dimensional schematic diagram of a partial structure of an AGV transport vehicle provided in an embodiment of the present invention.

[0021] Figure 6 The diagram shown is an exploded view of an AGV transport vehicle provided in one embodiment of the present invention.

[0022] Figure 7 The diagram shown is a force analysis schematic (initial state) of an AGV transport vehicle provided in an embodiment of the present invention.

[0023] Figure 8 The diagram shown is a force analysis diagram of an AGV transport vehicle provided in an embodiment of the present invention (state after the forklift mechanism has descended).

[0024] Figure 9 The diagram shown is a force analysis diagram of an AGV transport vehicle provided in an embodiment of the present invention (state after the forklift mechanism is raised).

[0025] Figure 10 The diagram shown is a schematic diagram of an AGV transport vehicle provided in an embodiment of the present invention from two different perspectives (the gripper structure is tilted).

[0026] Figure 11 The diagram shown is a schematic diagram of an AGV transport vehicle provided in an embodiment of the present invention from two different perspectives (the state in which the distance between the gripper structures is increased).

[0027] Figure 12 The diagram shown is a schematic diagram of an AGV transport vehicle provided in an embodiment of the present invention from two different perspectives (the gripper structure is set horizontally).

[0028] Figure 13 The diagram shows a comparison of two AGV transport vehicles provided in one embodiment of the present invention (each carrying workpieces of different sizes and the workpieces are placed horizontally).

[0029] Figure 14 As shown Figure 12 A comparative diagram from another perspective.

[0030] Figure 15 The diagram shows a comparison of two AGV transport vehicles provided in one embodiment of the present invention (each carrying workpieces of different sizes and the workpieces are placed vertically).

[0031] Figure 16 As shown Figure 15 A comparative diagram from another perspective.

[0032] Figure 17 The diagram shown is a schematic diagram of an AGV transport vehicle provided in an embodiment of the present invention from two different perspectives (the gripper structure is horizontally set and carries the pallet).

[0033] Figure 18 The diagram shown is a schematic block diagram of a production handling system provided in one embodiment of the present invention.

[0034] in, Figure 3 and Figure 18 The dashed lines in the diagram represent communication connections. Figure 5 The dashed lines in the diagram indicate the connection positions between components. Detailed Implementation

[0035] In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, top, bottom, etc.) in the embodiments of this application are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the figures). If the specific posture changes, the directional indication will also change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. Additionally, the reference to "embodiment" herein means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] Application Overview

[0038] In industrial production, with the widespread adoption of automated equipment, unmanned vehicles such as AGVs are increasingly used for handling workpieces or materials, with forklift AGVs being one of the most common types. Forklift AGVs typically have a fork mechanism 22 for carrying and lifting workpieces, using the vehicle's movement to move the workpieces. However, the fork mechanism 22 of traditional forklift AGVs can only achieve lifting, with a relatively fixed fork spacing, resulting in a relatively limited range of workpiece sizes that can be handled. In actual production, however, the types and sizes of workpieces involved are numerous and vary significantly, making it difficult for a single type of forklift AGV to handle all types of workpieces.

[0039] To meet the handling needs of workpieces of different sizes and models, some manufacturers currently offer forklift AGVs with variable fork pitch. By setting up a forklift mechanism 22, the fork pitch can be changed by lateral movement to adapt to different workpiece sizes and models. However, the structure and connection method of the above-mentioned forklift AGVs have some defects. Among them, the connection between the forklift mechanism 22 and the vehicle body is still rigid, and the movement is not flexible enough during pitch change operation. Affected by factors such as assembly deviation and deformation under pressure, it is difficult for both forklift mechanisms 22 to keep in contact with the ground at the same time during lifting, resulting in poor balance and stability. Moreover, in order to adapt to heavy workpieces, it is usually necessary to add structural reinforcement to improve strength, and sometimes additional pitch change drive equipment is required. The overall structure of the device is relatively complex, the weight is large, which is not conducive to achieving lightweight and miniaturized design, and also increases the overall cost.

[0040] The following provides some embodiments of the AGV transport vehicle and production transport system in the technical solution of the present invention.

[0041] In one embodiment of the first aspect of the present invention, an AGV transport vehicle 100 is provided, such as... Figure 1 , Figure 2 and Figure 3 As shown, the AGV transport vehicle 100 includes a body assembly 1, multiple fork-leg assemblies 2, a drive assembly 3, and a vehicle controller 4. The body assembly 1 serves as the mounting base, supporting other components and enabling movement. The fork-leg assemblies 2 include fork-leg mounting seats 21 and fork-leg mechanisms 22. The fork-leg mounting seats 21 of the multiple fork-leg assemblies 2 are spaced apart laterally on the body assembly 1, and each fork-leg mounting seat 21 is slidably connected to the body assembly 1 so as to slide relative to the body assembly 1 laterally. The multiple fork-leg mechanisms 22 are also spaced apart laterally, and each fork-leg mechanism 22 is flexibly connected to the corresponding fork-leg mounting seat 21. The bottom of the fork-leg mechanism 22 is provided with a main support wheel mechanism 23.

[0042] The drive assembly 3 is communicatively connected to the vehicle controller 4 and drively connected to multiple fork-leg assemblies 2. It operates according to the control commands of the vehicle controller 4, driving multiple fork-leg mounting seats 21 to slide laterally and driving the fork-leg mechanisms 22 to perform vertical lifting and lowering movements, thereby realizing the transport and lateral pitch-changing operations of the fork-leg mechanisms 22. When the vehicle body assembly 1 is moving, the fork-leg mechanisms 22 are supported and followed by the main support wheel mechanism 23. When the fork-leg mechanisms 22 are lifted and lowered under the drive of the drive assembly 3, a flexible connection method can be used to ensure that each fork-leg mechanism 22 remains in contact with the ground.

[0043] The AGV transport vehicle 100 in this embodiment improves the connection method of the fork mechanism 22, realizing a flexible connection of the fork mechanism 22. It can adjust the lateral spacing between multiple fork mechanisms 22 as needed, and multiple fork mechanisms 22 can simultaneously touch the ground and maintain contact with the ground during the variable pitch lifting process. This can prevent height differences between different fork mechanisms 22 due to assembly or deformation, resulting in stronger balance and stability, smaller bending moment, higher reliability, and extended service life. It can carry workpieces of different sizes and models, and no additional structural reinforcement is required to carry heavy workpieces. This simplifies the structure, reduces weight, and facilitates the lightweighting and miniaturization of the overall structure, enabling small devices to transport large workpieces.

[0044] It should be noted that the number of forklift assemblies 2 in the AGV transport vehicle 100 in this embodiment can be set according to actual needs, for example... Figure 1 The two fork-leg components 2 shown can also be set to more than two other quantities.

[0045] In a further embodiment of the present invention, such as Figure 4 , Figure 5 and Figure 6 As shown, the AGV transport vehicle 100 has two fork-leg assemblies 2. Each fork-leg assembly 2 has a fork-leg mounting seat 21 and a fork-leg mechanism 22. Each fork-leg mounting seat 21 includes a mounting seat body 211 and a flexible connection mechanism 212. The vehicle body assembly 1 has a sliding groove structure 111, which is located on the front side of the vehicle body assembly 1 and extends laterally. Correspondingly, the mounting seat body 211 has a slide rail 2112, which is located on the side of the mounting seat body 211 facing the vehicle body assembly 1 and forms a sliding connection with the sliding groove structure 111. Through the sliding engagement between the slide rail 2112 and the sliding groove structure 111, the mounting seat body 211 can slide laterally relative to the vehicle body assembly 1, thereby adjusting the lateral distance between the two fork-leg assemblies 2 and realizing the variable-pitch operation of the fork-leg assemblies 2. The flexible connection mechanism 212 is rotatably connected to the corresponding mounting base body 211 and the fork mechanism 22, and the rotation axis is set along the transverse direction of the vehicle body assembly 1, so that the flexible connection mechanism 212 can rotate relative to the fork mounting base 21 in the vertical plane, thereby driving the fork mechanism 22 to move up and down in the vertical direction.

[0046] The drive assembly 3 includes a first drive mechanism 31 and a second drive mechanism 32. The first drive mechanism 31 is drivenly connected to the two mounting base bodies 211 to provide power to the mounting base bodies 211 and drive the two mounting base bodies 211 to move laterally in opposite directions to adjust the distance between the two fork leg assemblies 2. There are two second drive mechanisms 32, which are respectively disposed on the two mounting base bodies 211. Each second drive mechanism 32 is drivenly connected to a corresponding flexible connecting mechanism 212 to provide power to the flexible connecting mechanism 212 and drive the flexible connecting mechanism 212 to rotate relative to the fork leg mounting base 21.

[0047] In this embodiment, each fork leg assembly 2 is provided with an independent second drive mechanism 32, thereby realizing independent lifting and lowering drive of the two fork leg mechanisms 22. Even if there is a certain height difference between the two fork leg mechanisms 22 due to assembly or deformation, the height of the two fork leg mechanisms 22 can be adjusted separately to eliminate the height difference, so that the two fork leg mechanisms 22 can land on the ground at the same time and maintain contact with the ground at the same time, resulting in stronger balance and stability when carrying workpieces.

[0048] In a further embodiment of the present invention, such as Figure 5 and Figure 6 As shown, the flexible connection mechanism 212 includes an upper connector 2121, a lower connector 2125, and a main connecting rod 2130.

[0049] The upper connector 2121 is provided with a first connection point 2122, a second connection point 2123, and a third connection point 2124, and the line connecting the first connection point 2122, the second connection point 2123, and the third connection point 2124 forms a triangle. The first connection point 2122 of the upper connector 2121 is rotatably connected to the corresponding mounting base body 211, the second connection point 2123 is rotatably connected to the upper part of the corresponding fork mechanism 22, and the third connection point 2124 is rotatably connected to the driving end of the corresponding second drive mechanism 32, and the third connection point 2124 is located below the second connection point 2123. The second drive mechanism 32 specifically includes a second telescopic cylinder 321. Through the telescopic movement of the piston rod of the second telescopic cylinder 321, the upper connector 2121 is driven to rotate around the first connection point 2122, thereby causing the fork mechanism 22 to produce corresponding actions.

[0050] The lower connector 2125 is provided with a fourth connection point 2126, a fifth connection point 2127 and a sixth connection point 2128, and the line connecting the fourth connection point 2126, the fifth connection point 2127 and the sixth connection point 2128 forms a triangle; the fourth connection point 2126 of the lower connector 2125 is rotatably connected to the corresponding mounting base body 211, the fifth connection point 2127 is rotatably connected to the lower part of the corresponding fork mechanism 22, the sixth connection point 2128 is located above the fifth connection point 2127 and is rotatably connected to one end of the main connecting rod 2130; the other end of the main connecting rod 2130 extends forward of the fork mechanism 22 and is rotatably connected to the main support wheel mechanism 23.

[0051] like Figure 6 and Figure 7 In the example, the fork-leg mounting base 21, upper connector 2121, lower connector 2125, and fork-leg mechanism 22 form a four-bar linkage. When the upper connector 2121 rotates around the first connection point 2122 in the vertical plane under the drive of the second telescopic cylinder 321, the fork-leg mechanism 22 can rise or fall under the action of the upper connector 2121 and the lower connector 2125, while maintaining a near-horizontal state during the lifting and lowering process. Specifically, when the piston rod of the second telescopic cylinder 321 retracts, as... Figure 8 In the state shown, the upper connecting member 2121 rotates counterclockwise around the first connecting point 2122, causing the fork mechanism 22 to move downwards. Simultaneously, the lower connecting member 2125 rotates counterclockwise around the fourth connecting point 2126, driving the main connecting rod 2130 forward and causing the main support wheel mechanism 23 to rotate accordingly. When the piston rod of the second telescopic cylinder 321 extends, as... Figure 9 As shown in the diagram, the upper connector 2121 rotates clockwise around the first connection point 2122, and the fork mechanism 22 moves upward in tandem. At the same time, the lower connector 2125 rotates clockwise around the fourth connection point 2126, causing the main connecting rod 2130 to move sequentially, which in turn drives the main support wheel mechanism 23 to rotate accordingly.

[0052] Specifically, the upper connector 2121 and the lower connector 2125 can be adopted as follows: Figure 6 The triangular plate-like structure shown can be configured as a double-layer structure to facilitate hinged assembly, depending on the actual assembly requirements.

[0053] Furthermore, such as Figure 5 and Figure 6As shown, the main support wheel mechanism 23 includes a support wheel connector 231 and a main support wheel body 232. The support wheel connector 231 is provided with a seventh connection point 2311, an eighth connection point 2312, and a ninth connection point 2313, and the line connecting the seventh connection point 2311, the eighth connection point 2312, and the ninth connection point 2313 forms a triangle. The seventh connection point 2311 of the support wheel connector 231 is rotatably connected to the fork leg mechanism 22, the eighth connection point 2312 is rotatably connected to the front end of the main connecting rod 2130, and the eighth connection point 2312 is located below the seventh connection point 2311. The ninth connection point 2313 of the support wheel connector 231 is rotatably connected to the main support wheel body 232, so that the main support wheel body 232 can roll in the front and rear directions of the vehicle body assembly 1, so that it can follow the movement of the fork leg assembly 2 when it moves with the vehicle body assembly 1, and at the same time provide support for the front part of the fork leg assembly 2, so that the fork leg mechanism 22 forms a form similar to a simply supported beam. Specifically, the support wheel connector 231 can also be adopted as follows: Figure 6 The diagram shows a structure similar to a triangle.

[0054] like Figure 6 , Figure 7 and Figure 9 In the example, when the fork mechanism 22 moves up and down, the main support wheel mechanism 23 rotates around the seventh connection point 2311 under the drive of the lower connector 2125 and the main connecting rod 2130 to adjust the height difference between the main support wheel body 232 and the fork mechanism 22. In non-lateral adjustment states (e.g., when traveling, the fork mechanism 22 is lifting or lowering a workpiece), the main support wheel can always maintain contact with the ground to provide support for the front of the fork mechanism 22, so that the fork mechanism 22 can be further kept in a near-horizontal state.

[0055] Furthermore, such as Figure 5 and Figure 6As shown, each fork leg assembly 2 also includes a pitch wheel mechanism 24, which rolls with the ground during the lateral movement of the fork leg mechanism 22, providing support and follow-up for the fork leg mechanism 22. The pitch wheel mechanism 24 specifically includes a pitch wheel connector 241, a pitch connecting shaft 242, and a pitch wheel 243; the pitch wheel connector 241 is provided with a vertically arranged pitch center shaft 2411, and each side of the pitch center shaft 2411 is provided with an arc-shaped groove 2412, the center of curvature of the arc-shaped groove 2412 is located at the top, and the two arc-shaped grooves 2412 are mirror-symmetrically arranged with respect to the pitch center shaft 2411; the pitch connecting shaft 242 is arranged intersecting the pitch center shaft 2411, and the pitch connecting shaft 242 is rotatably connected to the pitch center shaft 2411, and both ends of the pitch connecting shaft 242 are provided with rotatable pitch wheels 243. The inner wall of the fork-leg mechanism 22 is provided with a pitch bearing 2211 corresponding to the arc-shaped groove 2412. The pitch bearing 2211 passes into the arc-shaped groove 2412 and forms a rolling fit with the arc-shaped groove 2412, so that the pitch wheel connector 241 can move relative to the fork-leg mechanism 22 in the extension direction of the arc-shaped groove 2412, thereby causing the pitch wheel mechanism 24 to swing as a whole. At the same time, the pitch wheel 243 can swing relative to the pitch connecting plate under the drive of the pitch connecting shaft 242. Through the above arrangement, the double swing of the pitch wheel mechanism 24 can be realized, so that when the pitch wheel mechanism 24 contacts the ground, both pitch wheels 243 can touch the ground at the same time and maintain contact at the same time, thereby preventing the pitch wheel mechanism 24 from tilting due to deviations caused by assembly or deformation, which is beneficial to further improve the balance and stability of the fork-leg mechanism 22 during pitch change.

[0056] It should be noted that, depending on the specific application requirements, the variable pitch pulley connector 241 can be adopted as follows: Figure 6 The double-layer plate structure shown in the figure is conducive to further balancing the force; a corresponding connecting block structure can also be set between the two pitch connecting plates. The pitch center shaft 2411 and the pitch connecting shaft 242 are both passed through the connecting hole structure so that the pitch center shaft 2411 and the pitch connecting shaft 242 form a rotating connection.

[0057] like Figure 6 as well as Figures 7 to 9 As shown, in the initial state, the main support wheel is in contact with the ground, there is a height gap between the variable pitch wheel mechanism 24 and the ground, and the variable pitch wheel 243 is in a suspended state, as... Figure 7 The state shown indicates that the AGV transport vehicle 100 can move normally. When it is necessary to adjust the lateral spacing between the fork mechanisms 22, the piston rod of the second telescopic cylinder 321 retracts, causing the fork mechanism 22 to descend. At the same time, the main support wheel body 232 rises under the drive of the main connecting rod 2130 and the support wheel connector 231, causing the variable pitch wheel 243 to contact the ground and the main support wheel to be in a suspended state, such as... Figure 8As shown in the diagram, the fork assembly 2 can move laterally under the drive of the first drive mechanism 31 to adjust the distance between the fork mechanisms 22. The variable pitch wheel 243 serves as a support wheel during the variable pitch adjustment, providing support and following. After the variable pitch adjustment operation is completed, the piston rod of the second telescopic cylinder 321 extends, allowing the fork mechanism 22 to return to its initial state. When the AGV transport vehicle 100 needs to lift a workpiece, the piston rod of the second telescopic cylinder 321 extends, causing the fork mechanism 22 to rise further, lifting the workpiece carried on the fork mechanism 22. Simultaneously, the main support wheel body 232 moves downward under the action of the main connecting rod 2130 and the support wheel connector 231 to maintain contact with the ground. Figure 9 As shown in the diagram, the vehicle moves under the drive of the vehicle body assembly 1 to realize the handling operation of the workpiece.

[0058] In a further embodiment of the present invention, such as Figure 5 and Figure 6 As shown, the fork mechanism 22 specifically includes a fork arm 221 and a connecting ear plate 222. The fork arm 221 has a groove-shaped structure that extends along the front-rear direction of the vehicle body assembly 1 and has its opening facing downwards. The main connecting rod 2130 is disposed within the groove-shaped structure of the fork arm 221, forming an internal structure. The connecting ear plate 222 is disposed at the end of the fork arm 221 facing the vehicle body assembly 1 and is fixedly connected to the fork arm 221. The upper part of the connecting ear plate 222 is inclined upwards towards the side closer to the vehicle body assembly 1, so as to be close to the fork mounting seat 21, and forms a rotatable connection with the second connection point 2123 of the upper connecting member 2121. The lower part of the connecting ear plate 222 is rotatably connected to the fifth connection point 2127 of the lower connecting member 2125. Through the above arrangement, the upper and lower parts of the fork mechanism 22 are simultaneously flexibly connected to the fork mounting seat 21, forming a four-bar linkage mechanism, which allows the fork mechanism 22 to move almost in a translational motion during the lifting and lowering process, so as to maintain a near-horizontal state.

[0059] Depending on the actual assembly requirements, the connecting ear plate 222 can be specifically adopted as follows: Figure 6 The double-layered plate-like structure shown in the figure.

[0060] In a further embodiment of the present invention, such as Figures 4 to 6As shown, the first drive mechanism 31 includes a sprocket mechanism 311, a fixing block 312, and a first telescopic cylinder 314. The sprocket mechanism 311 is located on the side of the vehicle body assembly 1 facing the fork-leg mechanism 22. The sprocket mechanism 311 is arranged laterally along the vehicle body assembly 1 and includes two sprockets 3112 and a chain wound around the two sprockets 3112. The portion of the chain above the sprockets 3112 is the upper chain section 3110, and the portion of the chain below the sprockets 3112 is the lower chain section 3111. A fixing block 312 is connected to both the upper chain section 3110 and the lower chain section 3111, and each fixing block 312 is connected to one of the mounting base bodies 211, for example... Figure 6 In the example, the fixing block 312 located on the upper segment 3110 of the chain is connected to the mounting body 211 on the left, and the fixing block 312 located on the lower segment 3111 of the chain is connected to the mounting body 211 on the right.

[0061] The first telescopic cylinder 314 is arranged laterally along the vehicle body assembly 1, and its two ends are respectively connected to two mounting base bodies 211. The first telescopic cylinder 314 is communicatively connected to the vehicle controller 4 to perform telescopic movements according to the control commands of the vehicle controller 4. When the piston rod of the first telescopic cylinder 314 extends, it drives the two mounting base bodies 211 to slide backwards to the lateral sides of the vehicle body assembly 1, thereby increasing the lateral distance between the two fork mechanisms 22. When the piston rod of the first telescopic cylinder 314 retracts, it drives the two mounting base bodies 211 to slide towards each other along the lateral inner side of the vehicle body assembly 1, thereby decreasing the lateral distance between the two fork mechanisms 22. Among them, the sprocket mechanism 311 synchronizes the two mounting base bodies 211 through two fixed blocks 312, so that the sliding distance of the two mounting base bodies 211 is consistent. That is, when the two fork leg mechanisms 22 are adjusted laterally, the adjustment amount of the two fork leg mechanisms 22 is consistent, so as to prevent the center of gravity of the overall structure from shifting, so that the force can be balanced when carrying the workpiece, which helps to prevent the phenomenon of tilting due to uneven lateral force.

[0062] It should be noted that this embodiment is only a preferred implementation of the first drive mechanism 31. In practical applications, other specific implementations may also be adopted.

[0063] For example, in another specific implementation, a variable pitch drive motor (e.g., a servo motor) can be used in the first drive mechanism 31 instead of the first telescopic cylinder 314. That is, the variable pitch drive motor is connected to any one of the sprockets 3112 of the sprocket mechanism 311, so that the torque output by the variable pitch drive motor drives the sprocket mechanism 311 to operate, and then the fixed block 312 drives the mounting body 211 to slide laterally, which can also realize the function of lateral pitch adjustment.

[0064] In a further embodiment of the present invention, such as Figure 10 , Figure 11 and Figure 12 As shown, the fork assembly 2 also includes multiple gripper mechanisms 25. These gripper mechanisms 25 are disposed inside the fork assembly 22 and are slidably connected to it, allowing them to slide along the extension direction (front-back direction) of the fork assembly 22. Specifically, each gripper mechanism 25 includes a gripper connecting plate 251 and a gripper structure 252. The gripper connecting plate 251 is slidably connected to the fork assembly 22, and the gripper structure 252 is rotatably connected to the gripper connecting plate 251. The gripper structure 252 is used to support the workpiece. The gripper structure 252 can slide relative to the fork assembly 22 under the influence of the gripper connecting plate 251, and can also be flipped relative to the gripper connecting plate 251 to adapt to workpieces of different shapes.

[0065] For example, such as Figure 10 and Figure 11 In the example, each fork mechanism 22 can be equipped with two gripper mechanisms 25. When a cylindrical workpiece is carried by the gripper structure 252 and the axial direction of the cylindrical workpiece is arranged laterally along the vehicle body assembly 1, the gripper structure 252 contacts the outer surface of the workpiece. The two gripper mechanisms 25 can slide to both sides of the workpiece, and the gripper structure 252 can be rotated by a corresponding angle to carry the workpiece. When carrying a small workpiece 601, the distance between the two gripper mechanisms 25 can be adjusted accordingly, such as... Figure 10 In the state of carrying small workpiece 601, as follows Figure 13 as well as Figure 14 The left-hand position; when carrying a large workpiece 602, the distance between the two gripper mechanisms 25 can be adjusted accordingly, such as... Figure 11 In the state of bearing the large workpiece 602, such as Figure 13 as well as Figure 14 The right-hand side of the text.

[0066] like Figure 12 , Figure 15 and Figure 16 In the example, when carrying a cylindrical workpiece with its axis vertically aligned, there are two carrying methods: the workpiece can be carried directly by the top surface of the fork mechanism 22, or it can be carried by the gripper mechanism 25. For example, when carrying a small workpiece 601, the gripper structure 252 can be slid to the corresponding position and flipped to a horizontal state, as shown. Figure 12 The state shown is such that the gripper structure 252 contacts the end face of the small workpiece 601, and after carrying the small workpiece 601, it is as follows: Figure 15 and Figure 16 The left side of the image. When carrying a large workpiece 602, the top surfaces of the two fork-leg mechanisms 22 can directly contact the end face of the large workpiece 602. After carrying the large workpiece 602, as shown... Figure 15 and Figure 16 The right-hand side of the text.

[0067] In addition, the gripper mechanism 25 can also support workpieces of other shapes or auxiliary devices. For example Figure 12 and Figure 17 For example, when the gripper structure 252 is flipped to a horizontal position, it can also support the pallet 603. After supporting the pallet 603, as... Figure 17 The state shown in the diagram allows the workpiece to be carried by the tray 603, increasing the contact area with the workpiece and improving its stability, especially when carrying multiple stacked workpieces or materials. It should be noted that the gripper mechanism 25 in this embodiment can also be equipped with a corresponding drive mechanism to drive the gripper connecting plate 251 to slide and the gripper structure 252 to flip.

[0068] In a further embodiment of the present invention, such as Figure 6 As shown, the vehicle body assembly 1 includes a vehicle body base 11, a drive wheel mechanism 12, a drive motor 13, a steering drive motor 14, and a vehicle body cover 15. The vehicle body base 11 serves as the base of the vehicle body assembly 1. The drive wheel mechanism 12 is located at the bottom of the vehicle body base 11 and is rotatably connected to it. The drive wheel mechanism 12 can contact the ground and roll, driving the vehicle body base 11 to move, thus enabling the vehicle body assembly 1 to travel. The drive wheel mechanism 12 can also rotate relative to the vehicle body base 11 to the left and right, thus achieving steering. Both the drive motor 13 and the steering drive motor 14 are mounted on the vehicle body base 11 and are communicatively connected to the vehicle controller 4 to operate according to the control commands of the vehicle controller 4. The drive motor 13 is drive-connected to the drive wheel mechanism 12 to output power to the drive wheel mechanism 12, causing the drive wheel mechanism 12 to rotate relative to the ground, thus achieving travel. The steering drive motor 14 is drive-connected to the drive wheel mechanism 12 to output power to the drive wheel mechanism 12, causing the drive wheels to steer. The vehicle body cover 15 is installed on the vehicle body base 11 for protection. At the same time, the vehicle body cover 15 and the vehicle body base 11 are detachably connected so that they can be disassembled and assembled when performing internal maintenance operations.

[0069] The vehicle body shell 15 can be a one-piece structure, or it can be a structure such as... Figure 6 The split structure shown in the figure, namely the front part of the body shell 15 is provided with a split front baffle 151, is for easy assembly. The drive wheel mechanism 12, the travel drive motor 13 and the steering drive motor 14 can also be an integrated assembly.

[0070] The following is a specific embodiment of the AGV transport vehicle 100 of the present invention:

[0071] like Figures 1 to 6As shown, the AGV transport vehicle 100 includes a vehicle body assembly 1, multiple fork leg assemblies 2, a drive assembly 3, and a vehicle controller 4.

[0072] like Figures 4 to 6 As shown, the vehicle body assembly 1 includes a vehicle body base 11, a drive wheel mechanism 12, a drive motor 13, a steering motor 14, and a vehicle body cover 15. The drive wheel mechanism 12, the drive motor 13, and the steering motor 14 are an integrated assembly mounted on the vehicle body base 11. The drive wheel mechanism 12 is located at the bottom of the vehicle body base 11 and is rotatably connected to it. Both the drive motor 13 and the steering motor 14 are communicatively connected to the vehicle controller 4. The drive wheel mechanism 12 can roll relative to the ground under the drive of the drive motor 13, thus driving the vehicle body base 11. The drive wheel mechanism 12 can also rotate to the left and right sides relative to the vehicle body base 11 under the drive of the steering motor 14 to achieve steering. The vehicle body cover 15 is detachably mounted on the vehicle body base 11 for protection. The front of the vehicle body cover 15 includes two separate front baffles 151 for easy assembly. The front side of the vehicle body base 11 is provided with multiple sliding groove structures 111, such as Figure 4 In the example, four sliding groove structures 111 are provided at the two ends in the horizontal direction. Two sliding groove structures 111 are provided at the upper part of the vehicle body base 11 and two sliding groove structures 111 are provided at the lower part of the vehicle body base 11. Each sliding groove structure 111 extends horizontally along the vehicle body base 11.

[0073] like Figure 1 and Figure 2 As shown, there are two fork leg assemblies 2, spaced apart laterally on the vehicle body assembly 1, and each fork leg assembly 2 extends towards the front of the vehicle body assembly 1. Figure 5 and Figure 6 As shown, each fork leg assembly 2 includes a fork leg mounting base 21, a fork leg mechanism 22, a main support wheel mechanism 23, a variable pitch wheel mechanism 24, and a gripper mechanism 25. The fork leg mounting base 21 includes a mounting base body 211 and a flexible connection mechanism 212. The mounting base body 211 has multiple slide rails 2112 on the side facing the vehicle body assembly 1. The slide rails 2112 are all arranged laterally and are slidably connected to the corresponding slide groove structure 111.

[0074] like Figures 4 to 6As shown, the first drive mechanism 31 of the drive assembly 3 includes a sprocket mechanism 311, a fixing block 312, and a first telescopic cylinder 314. The sprocket mechanism 311 is located on the front side of the vehicle body base 11 and is arranged laterally along the vehicle body assembly 1. The sprocket mechanism 311 includes two sprockets 3112 and a chain wound around the two sprockets 3112. A fixing block 312 is connected to both the upper section 3110 and the lower section 3111 of the chain. The fixing block 312 located on the upper section 3110 of the chain is connected to the mounting base body 211 on the left, and the fixing block 312 located on the lower section 3111 of the chain is connected to the mounting base body 211 on the right. The first telescopic cylinder 314 is arranged laterally along the vehicle body assembly 1, and both ends of the first telescopic cylinder 314 are connected to the two mounting base bodies 211 respectively. The first telescopic cylinder 314 is communicatively connected to the vehicle controller 4 to perform telescopic movement according to the control commands of the vehicle controller 4. When the piston rod of the first telescopic cylinder 314 extends, it drives the two mounting base bodies 211 to slide backwards on opposite sides of the vehicle body assembly 1, thereby increasing the lateral distance between the two fork mechanisms 22. When the piston rod of the first telescopic cylinder 314 retracts, it drives the two mounting base bodies 211 to slide towards each other along the lateral inner side of the vehicle body assembly 1, thereby decreasing the lateral distance between the two fork mechanisms 22. The sprocket mechanism 311 synchronizes the two mounting base bodies 211 through two fixing blocks 312, ensuring that the sliding distance of the two mounting base bodies 211 remains consistent.

[0075] like Figure 5 and Figure 6 As shown, the flexible connection mechanism 212 includes an upper connector 2121, a lower connector 2125, and a main connecting rod 2130. Both the upper connector 2121 and the lower connector 2125 are double-layered structures. The upper connector 2121 has a first connection point 2122, a second connection point 2123, and a third connection point 2124 connected in a triangular formation. The lower connector 2125 is located below the upper connector 2121 and has a fourth connection point 2126, a fifth connection point 2127, and a sixth connection point 2128 connected in a triangular formation. The second drive mechanism 32 of the drive assembly 3 specifically includes a second telescopic cylinder 321, which is mounted on the mounting base body 211 and its bottom end is rotatably connected to the mounting base body 211.

[0076] like Figure 5 and Figure 6 As shown, the fork mechanism 22 specifically includes a fork arm 221 and a connecting ear plate 222. The fork arm 221 is a slot-shaped structure with an opening facing forward and extends towards the front of the vehicle body assembly 1; the connecting ear plate 222 is disposed at the end of the fork arm 221 facing the vehicle body assembly 1 and is fixedly connected to the fork arm 221; the upper part of the connecting ear plate 222 is inclined upward towards the side closer to the vehicle body assembly 1.

[0077] The first connection point 2122 of the upper connector 2121 is rotatably connected to the corresponding mounting base body 211, the second connection point 2123 is rotatably connected to the upper part of the corresponding connecting ear plate 222, and the third connection point 2124 is located below the second connection point 2123 and is rotatably connected to the top end of the corresponding second telescopic cylinder 321. The fourth connection point 2126 of the lower connector 2125 is rotatably connected to the corresponding mounting base body 211, the fifth connection point 2127 is rotatably connected to the lower part of the corresponding connecting ear plate 222, and the sixth connection point 2128 is located above the fifth connection point 2127 and is rotatably connected to one end of the main connecting rod 2130. The main connecting rod 2130 is integrally inserted into the groove structure of the fork arm 221 and extends forward toward the fork mechanism 22. All the aforementioned rotatable connections are hinged, specifically achieved using pins.

[0078] like Figure 5 and Figure 6 As shown, the main support wheel mechanism 23 is located near the front end of the fork arm 221. The main support wheel mechanism 23 includes a support wheel connector 231 and a main support wheel body 232. The support wheel connector 231 adopts a double-layer structure similar to a triangular plate. The support wheel connector 231 has a seventh connection point 2311, an eighth connection point 2312, and a ninth connection point 2313 connected in a triangular shape. The top of the support wheel connector 231 extends into the groove structure of the fork arm 221. The seventh connection point 2311 of the support wheel connector 231 is rotatably connected to the fork arm 221. The eighth connection point 2312 is located below the seventh connection point 2311 and is rotatably connected to the front end of the main connecting rod 2130. The ninth connection point 2313 of the support wheel connector 231 is rotatably connected to the main support wheel body 232. All of the aforementioned rotatable connections are hinged, specifically achieved through a pin.

[0079] like Figure 5 and Figure 6As shown, the variable pitch wheel mechanism 24 is disposed within the groove-shaped structure of the fork arm 221 and is located in the middle of the fork arm 221 in the front-rear direction. The variable pitch wheel mechanism 24 specifically includes a variable pitch wheel connector 241, a variable pitch connecting shaft 242, and a variable pitch wheel 243. The variable pitch wheel connector 241 specifically adopts a double-layer plate structure. A vertically arranged variable pitch central shaft 2411 is provided on the variable pitch central shaft 2411. An arc-shaped groove 2412 is provided on each side of the variable pitch central shaft 2411. The curvature center of the arc-shaped groove 2412 is located at the top, and the two arc-shaped grooves 2412 are mirror-symmetrically arranged with respect to the variable pitch central shaft 2411. The variable pitch connecting shaft 242 is arranged intersecting with the variable pitch central shaft 2411 and is rotatably connected to the variable pitch central shaft 2411 through a connecting block structure. Rotatable variable pitch wheels 243 are provided at both ends of the variable pitch connecting shaft 242. Correspondingly, the inner wall of the groove structure of the fork arm 221 is provided with a variable pitch bearing 2211 corresponding to the arc groove 2412. The variable pitch bearing 2211 passes into the arc groove 2412 and forms a rolling fit with the arc groove 2412. After assembly, the variable pitch center shaft 2411 is arranged laterally along the vehicle body assembly 1. The variable pitch wheel connector 241 can move relative to the fork mechanism 22 in the extension direction of the arc groove 2412, thereby causing the variable pitch wheel mechanism 24 to swing as a whole. At the same time, the variable pitch wheel 243 can swing relative to the variable pitch connecting plate under the drive of the variable pitch connecting shaft 242, so that the variable pitch wheel mechanism 24 can achieve double swing.

[0080] like Figure 6 and Figure 7 In the example, the fork-leg mounting base 21, upper connector 2121, lower connector 2125, and fork-leg mechanism 22 form a four-bar linkage, as shown in the example. Figure 7 The GILK mechanism forms a similar four-bar linkage. When the upper connecting member 2121 rotates in the vertical plane around the first connecting point 2122 (point L) under the drive of the second telescopic cylinder 321, the fork mechanism 22 can rise or fall under the action of the upper connecting member 2121 and the lower connecting member 2125. In the initial state, the main support wheel is in contact with the ground, there is a height gap between the variable pitch wheel mechanism 24 and the ground, and the variable pitch wheel 243 is in a suspended state, such as... Figure 7 The state shown in the image.

[0081] Specifically, when it is necessary to adjust the lateral distance between the two fork mechanisms 22, the piston rod of the second telescopic cylinder 321 retracts, as... Figure 7In the state shown, the upper connecting member 2121 rotates counterclockwise around the first connecting point 2122 (point L), causing the fork mechanism 22 to descend. Simultaneously, the lower connecting member 2125 rotates counterclockwise around the fourth connecting point 2126 (point I), driving the main connecting rod 2130 forward and causing the main support wheel mechanism 23 to rotate clockwise around the seventh connecting point 2311 (point C). When the fork mechanism 22 descends to the point where the variable pitch wheel mechanism 24 contacts the ground and the main support wheel mechanism 23 is suspended in the air, as... Figure 8 In the state shown, the two fork-leg assemblies 2 can be driven laterally by the first drive mechanism 31 to adjust the lateral spacing. After the lateral spacing adjustment is completed, the piston rod of the second telescopic cylinder 321 extends, driving the upper connecting piece 2121 to rotate clockwise around the first connection point 2122 (point L), causing the fork-leg mechanism 22 to drive the variable pitch wheel mechanism 24 to rise. At the same time, the lower connecting piece 2125 rotates clockwise around the fourth connection point 2126 (point I), driving the main connecting rod 2130 to move backward, driving the main support wheel mechanism 23 to rotate counterclockwise around the seventh connection point 2311 (point C), returning to the initial state, that is, the main support wheel mechanism 23 is in contact with the ground and the variable pitch wheel mechanism 24 is suspended in the air, as shown. Figure 7 The status shown indicates that the AGV transport vehicle 100 can operate normally at this time.

[0082] like Figure 7 and Figure 9 As shown, when the workpiece needs to be lifted, the piston rod of the second telescopic cylinder 321 continues to extend, causing the fork mechanism 22 to rise further, lifting the workpiece supported on the fork mechanism 22 upwards. Simultaneously, the main support wheel body 232 continues to move downwards under the action of the main connecting rod 2130 and the support wheel connector 231 to maintain contact with the ground. Figure 8 As shown in the diagram, the vehicle moves under the drive of the vehicle body assembly 1 to realize the handling operation of the workpiece.

[0083] like Figures 10 to 12 As shown, each fork-leg mechanism 22 has two gripper mechanisms 25 on its inner side for supporting workpieces. The gripper mechanism 25 includes a gripper connecting plate 251 and a gripper structure 252. The two gripper connecting plates 251 on the same fork-leg mechanism 22 are slidably connected to the fork-leg arm 221 and can slide in the front-back direction. The gripper structure 252 is rotatably connected to the gripper connecting plate 251. The gripper structure 252 can slide relative to the fork-leg arm 221 under the action of the gripper connecting plate 251. The gripper structure 252 can also be flipped relative to the gripper connecting plate 251, so as to adapt to workpieces of different shapes.

[0084] When handling workpieces, the AGV handling vehicle 100 can perform the following actions according to the procedure:

[0085] Step 1: The AGV transport vehicle 100 travels empty; at this time, the lateral distance between the two forklift mechanisms 22 can be adjusted to the minimum distance state to reduce the width of the passage occupied during travel.

[0086] Step 2: When the AGV transport vehicle 100 is in front of the loading station, the second telescopic cylinder 321 retracts to its minimum limit position, suspending the main support wheel mechanism 23 in the air, while simultaneously grounding the variable pitch wheel mechanism 24. Figure 8 The state shown in the image.

[0087] Step 3: The first telescopic cylinder 314 extends, driving the two fork mechanisms 22 to move laterally, increasing the lateral distance between the two fork mechanisms 22 to match the width of the workpiece. Then, the second telescopic cylinder 321 extends a short distance, causing the fork mechanisms 22 to rise until the main support wheel mechanism 23 is on the ground and the variable pitch wheel mechanism 24 is suspended in the air. Figure 7 The state shown in the image.

[0088] Step 4: The drive wheel mechanism 12 continues to move forward a short distance, allowing the AGV transport vehicle 100 to enter the loading station as a whole. The second telescopic cylinder 321 retracts, causing the forklift mechanism 22 to return to the state where the main support wheel mechanism 23 is suspended and the variable pitch wheel mechanism 24 is on the ground. Figure 8 The state shown in the image.

[0089] Step 5: The first telescopic cylinder 314 retracts, driving the two fork mechanisms 22 to move laterally, so that the lateral distance between the two fork mechanisms 22 is reduced to the position where the gripper structure 252 extends under the workpiece.

[0090] Step 6: The second telescopic cylinder 321 extends to its maximum limit position, driving the fork mechanism 22 to raise the variable pitch wheel mechanism 24. The gripper structure 252 lifts the workpiece off the ground, while the main support wheel mechanism 23 descends and touches the ground. Figure 9 The state shown in the image.

[0091] Step 7: Drive the wheel mechanism 12 to drive the AGV transport vehicle 100 to the unloading station.

[0092] Step 8: Unload the workpiece. The specific actions of the unloading operation are the reverse of the loading operation, and will not be described in detail here.

[0093] In practical applications, adjustments can be made according to the shape and size of the workpiece, including adjusting the lateral spacing of the fork mechanism 22, adjusting the height of the fork mechanism 22, adjusting the position of the gripper mechanism 25, and adjusting the angle of the gripper structure 252, to adapt to the workpiece. The following are some specific examples:

[0094] Figure 13 and Figure 14 The diagram shows a comparison of the AGV transport vehicle 100 transporting small workpiece 601 (left side of the figure) and large workpiece 602 (right side of the figure). Both small workpiece 601 and large workpiece 602 are horizontally placed cylindrical workpieces, which are supported by the gripper structure 252.

[0095] Figure 15 and Figure 16 This diagram shows another state comparison of the AGV transport vehicle 100 transporting small workpiece 601 (left state in the figure) and large workpiece 602 (right state in the figure). In this diagram, both small workpiece 601 and large workpiece 602 are vertically placed cylindrical workpieces. Small workpiece 601 is carried by gripper structure 252, while large workpiece 602 is carried directly by the top surface of fork mechanism 22.

[0096] Figure 17 A schematic diagram of the AGV transport vehicle 100 transporting pallet 603 is shown. The gripper structure 252 is flipped to a horizontal state, and the pallet 603 is supported on the gripper structure 252, so that the workpiece can be carried by the pallet 603.

[0097] The AGV transport vehicle 100 in this embodiment improves the connection method of the fork mechanism 22. It achieves flexible connection of the fork mechanism 22 through a four-bar linkage, which can automatically adjust the lateral spacing between multiple fork mechanisms 22 as needed. Moreover, each fork mechanism 22 is driven independently, and the fork mechanism 22 can always maintain a near-horizontal state during the variable pitch lifting process. Furthermore, multiple fork mechanisms 22 can touch the ground simultaneously, which can effectively prevent height differences caused by assembly or deformation of different fork mechanisms 22. It has stronger balance and stability, and most of the force is pressure or tension, with smaller bending moment, which is conducive to extending service life. It can adapt to workpieces of different sizes and models. When carrying heavy workpieces, no additional structural reinforcement is required, which helps to simplify the overall structure, reduce weight, and achieve lightweight and miniaturized design.

[0098] In an embodiment of the second aspect of the invention, a production handling system 500 is also provided. For example... Figure 1 and Figure 16 As shown, the production handling system 500 includes the AGV handling vehicle 100 and the main controller 51 in any embodiment of the first aspect described above. The main controller 51 is communicatively connected to the vehicle controller 4 of the AGV handling vehicle 100 to send corresponding control commands to the vehicle controller 4, causing the AGV handling vehicle 100 to perform corresponding actions to handle workpieces. The number of AGV handling vehicles 100 can be one or more, depending on actual usage needs. When there are multiple AGV handling vehicles, they can work collaboratively according to the control commands of the main controller to achieve continuous and efficient production handling operations.

[0099] Furthermore, the main controller 51 can be a background control device or a handheld remote control device. The main controller 51 can receive relevant data information of the workpiece (model, size, position, etc.). For example, it can be connected to the production operation system to obtain relevant data information, and then control the AGV transport vehicle 100 to adjust to the posture that matches the workpiece according to the relevant data information of the workpiece in order to transport the workpiece.

[0100] Furthermore, the main controller 51 can establish a wireless communication connection with the vehicle controller 4 of the AGV transport vehicle 100 to realize control operations through wireless communication signals.

[0101] The basic principles of the present invention have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in the present invention are merely examples and not limitations, and should not be considered as essential features of each embodiment of the present invention. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of the present invention to the specific details described above.

[0102] The block diagrams of devices, apparatuses, devices, and systems involved in this invention are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it. It should also be noted that in the apparatuses and devices of this invention, the components can be disassembled and / or reassembled. These disassemblies and / or reassemblies should be considered equivalents of the invention. The above description has been given for purposes of illustration and description. The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the invention. Therefore, the invention is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features of the invention herein.

[0103] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An AGV (Automated Guided Vehicle) transport vehicle, characterized in that, include: Vehicle body components (1); Multiple fork-leg assemblies (2), each of the fork-leg assemblies (2) includes a fork-leg mounting seat (21) and a fork-leg mechanism (22). The multiple fork-leg mounting seats (21) are spaced apart in the lateral direction of the vehicle body assembly (1) and are slidably connected to the vehicle body assembly (1). Each fork-leg mechanism (22) extends along the front-rear direction of the vehicle body assembly (1) and is flexibly connected to the corresponding fork-leg mounting seat (21). The bottom of the fork-leg mechanism (22) is provided with a main support wheel mechanism (23). The drive assembly (3) is connected to the plurality of fork leg assemblies (2) for driving the fork leg mounting base (21) to slide laterally and driving the fork leg mechanism (22) to perform vertical lifting and lowering movements; The vehicle controller (4) is communicatively connected to the vehicle body assembly (1) and the drive assembly (3) to control the operation of the vehicle body assembly (1) and the drive assembly (3); The front side of the vehicle body assembly (1) is provided with a laterally extending groove structure (111); The number of the fork-leg assemblies (2) is two, and each fork-leg mounting base (21) includes: Mounting base body (211), the mounting base body (211) is provided with slide rail (2112), and the slide rail (2112) is slidably connected to the slide groove structure (111); The flexible connection mechanism (212) is rotatably connected to the corresponding mounting base body (211) and the fork leg mechanism (22), and the rotation axis is arranged along the transverse direction of the vehicle body assembly (1); The driving component (3) includes: The first drive mechanism (31) is connected to the two mounting base bodies (211) in a transmission connection and is adapted to drive the two mounting base bodies (211) to move laterally, and the two mounting base bodies (211) move in opposite directions. Two second drive mechanisms (32) are respectively disposed on the two mounting base bodies (211). Each second drive mechanism (32) is connected to the corresponding flexible connection mechanism (212) to drive the flexible connection mechanism (212) to rotate relative to the mounting base body (211) in the vertical plane. The flexible connection mechanism (212) includes: The upper connector (2121) is provided with a first connection point (2122), a second connection point (2123) and a third connection point (2124) connected in a triangle. The first connection point (2122) is rotatably connected to the corresponding mounting base body (211). The second connection point (2123) is rotatably connected to the upper part of the corresponding fork leg mechanism (22). The third connection point (2124) is located below the second connection point (2123) and is rotatably connected to the driving end of the corresponding second driving mechanism (32). The lower connector (2125) is located below the upper connector (2121). The lower connector (2125) is provided with a fourth connection point (2126), a fifth connection point (2127) and a sixth connection point (2128) connected in a triangle. The fourth connection point (2126) is rotatably connected to the corresponding mounting base body (211). The fifth connection point (2127) is rotatably connected to the lower part of the corresponding fork leg mechanism (22). The sixth connection point (2128) is located above the fifth connection point (2127). The main connecting rod (2130) has one end rotatably connected to the sixth connection point (2128) and the other end extends forward of the fork mechanism (22) and is rotatably connected to the corresponding main support wheel mechanism (23).

2. The AGV transport vehicle according to claim 1, characterized in that, The second drive mechanism (32) includes a second telescopic cylinder (321) communicatively connected to the vehicle controller (4), the upper connector (2121) is adapted to rotate in a vertical plane about the first connection point (2122) under the drive of the second telescopic cylinder (321), and the fork mechanism (22) is adapted to rise or fall under the interaction of the upper connector (2121) and the lower connector (2125).

3. The AGV transport vehicle according to claim 2, characterized in that, The main support wheel mechanism (23) includes: The support wheel connector (231) is provided with a seventh connection point (2311), an eighth connection point (2312) and a ninth connection point (2313) connected in a triangle. The seventh connection point (2311) is rotatably connected to the fork leg mechanism (22). The eighth connection point (2312) is located below the seventh connection point (2311) and is rotatably connected to the front end of the main connecting rod (2130). The main support wheel body (232) is rotatably connected to the ninth connection point (2313), and the rolling direction of the main support wheel body (232) is set along the front and rear direction of the vehicle body assembly (1); The support wheel connector (231) is adapted to rotate under the drive of the main connecting rod (2130) and the fork mechanism (22) so as to lower the main support wheel body (232) when the fork mechanism (22) rises, or to raise the main support wheel body (232) when the fork mechanism (22) falls.

4. The AGV transport vehicle according to claim 3, characterized in that, The fork-leg assembly (2) further includes a pitch-changing wheel mechanism (24), which includes: A variable pitch wheel connector (241) is provided with a vertically arranged variable pitch center shaft (2411), and both sides of the variable pitch center shaft (2411) are provided with arc grooves (2412), and the two arc grooves (2412) are symmetrically arranged. A variable pitch connecting shaft (242) is intersected and rotatably connected to the variable pitch central shaft (2411), and both ends of the variable pitch connecting shaft (242) are provided with variable pitch wheels (243); The inner wall of the fork mechanism (22) is provided with a variable pitch bearing (2211) that rolls with the two arc grooves (2412), and the variable pitch bearing (2211) forms a movable connection with the variable pitch connecting plate; in the initial state, there is a height gap between the variable pitch wheel (243) and the ground, and the variable pitch wheel (243) is adapted to contact the ground after the main support wheel body (232) rises.

5. The AGV transport vehicle according to claim 2, characterized in that, The fork-leg mechanism (22) includes: The fork arm (221) is a groove-shaped structure with the opening facing downward and extends along the front-rear direction of the vehicle body assembly (1); A connecting ear plate (222) is fixedly connected to one end of the fork arm (221) facing the vehicle body assembly (1). The upper part of the connecting ear plate (222) is inclined upward towards the side close to the vehicle body assembly (1) and is rotatably connected to the second connecting point (2123). The lower part of the connecting ear plate (222) is rotatably connected to the fifth connecting point (2127). The main connecting rod (2130) is located in the groove structure of the fork arm (221).

6. The AGV transport vehicle according to claim 1, characterized in that, The first drive mechanism (31) includes: A sprocket mechanism (311) is provided on the side of the vehicle body assembly (1) facing the fork mechanism (22) and is arranged laterally; Two fixed blocks (312) are respectively connected to the upper section and lower end of the chain of the sprocket mechanism (311), and each fixed block (312) is connected to one of the mounting base bodies (211) so that the two mounting base bodies (211) move synchronously in opposite directions; as well as A variable-pitch drive motor is connected to the sprocket mechanism (311) for transmission and to the vehicle controller (4) for communication, so as to drive the sprocket mechanism (311) to operate; or The first telescopic cylinder (314) is connected at both ends to the two mounting base bodies (211) respectively and is communicatively connected to the vehicle controller (4). The first telescopic cylinder (314) is adapted to drive the two mounting base bodies (211) to move in opposite directions.

7. The AGV transport vehicle according to claim 1, characterized in that, The fork leg assembly (2) further includes: a plurality of gripper mechanisms (25) slidably connected to the inner side of the fork leg mechanism (22) and spaced apart in the front-rear direction of the fork leg mechanism (22). Each gripper mechanism (25) is provided with a rotatable gripper structure (252) and the gripper structure (252) is suitable for carrying workpieces.

8. The AGV transport vehicle according to any one of claims 1 to 7, characterized in that, The vehicle body component (1) includes: Vehicle body base (11); drive wheel mechanism (12), rotatably disposed at the bottom of the vehicle body base (11); A drive motor (13) is mounted on the vehicle body base (11) and is connected to the drive wheel mechanism (12) for driving. A steering drive motor (14) is mounted on the vehicle body base (11) and is connected to the drive wheel mechanism (12) for driving the drive wheel mechanism (12) to turn relative to the vehicle body base (11). The vehicle body cover (15) is detachably mounted on the vehicle body base (11); The vehicle controller (4) is communicatively connected to the driving motor (13) and the steering motor (14).

9. A production handling system, characterized in that, include: AGV transport vehicle as described in any one of claims 1 to 8; The main controller (51) is communicatively connected to the vehicle controller (4) of the AGV transport vehicle to control the AGV transport vehicle to perform transport operations on the workpiece.

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