AGV trolley, method for passively forking matts and method for actively forking matts

Abstract

The invention relates to the technical field of AGVs, in particular to an AGV, a passive Chinese character'tian '-shaped support forking method and an active Chinese character'tian'-shaped support forking method, a lifting module enables lifting of a single fork arm assembly to only need a single driving source to provide effective power through the design of a driving shear fork unit and a driven shear fork unit, the structure is simplified, and the lifting efficiency is improved. The fork arm assembly is supported more stably, the shear forks in the lifting module are shorter, and the shear forks can stretch out and draw back from gaps between cross beams at the bottom of the matts, so that the effect of forking the matts is achieved; in the forking process, a shear fork of the lifting module is supported by the ground, supporting is more stable through the structure, additional balance weights do not need to be added to an AGV body, and the size and the weight are smaller; through the design of the portal assembly, the telescopic movement of the multiple fork arm top plate modules connected with the portal assembly is synchronous, the telescopic movement of the multiple fork arm assemblies can be achieved only through one power source, and the cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV trolleys, and more specifically, to an AGV trolley, a passive forking method for a AGV trolley, and an active forking method for a AGV trolley. Background Art

[0002] With the development of automated logistics and intelligent manufacturing, the application of automatic guided vehicles (AGV) in warehousing and logistics systems has become increasingly common. Especially in handling and warehousing operations, AGVs can greatly improve work efficiency. The design of traditional AGV bodies usually cannot perform flexible fork-picking operations, especially in scenarios where a pallet is required for handling, such as Figure 5 As shown, the insertion hole of the field support is narrow and is not suitable for the multi-stage fork-picking structure on the traditional AGV trolley; the crossbeam structure at the bottom of the field support makes it impossible for the upper and lower plates of the fork arm of the fork-picking structure in the traditional design to be opened as a whole. For example, an AGV forklift and a fork arm cargo handling method with patent publication number CN115973968A have the above problems; therefore, we propose an AGV trolley for field support for picking with reasonable structure, strong stability and high operational flexibility. Summary of the invention

[0003] In view of the deficiencies in the prior art, the purpose of the present invention is to provide an AGV trolley, a passive forking method for a field support and an active forking method for a field support, so as to solve the problems existing in the above-mentioned background technology.

[0004] The above technical purpose of the present invention is achieved through the following technical solutions: an AGV trolley, comprising: an AGV body; the AGV body is provided with: a fork arm assembly for forking a field-shaped support, a gantry assembly for driving the fork arm assembly to move in the X-axis direction and a moving assembly for driving the AGV body to move; the fork arm assembly comprises a fork arm top plate module for inserting and supporting the field-shaped support and a lifting module for driving the fork arm top plate module to lift in the Z-axis direction and be able to extend and retract from the gap of the field-shaped support; the fork arm top plate module is hinged to the lifting module; the gantry assembly comprises a gantry support module for driving the fork arm top plate module to move in the X-axis direction and a driving module for driving the gantry support module to move in the X-axis direction; the driving module is fixedly connected to the gantry support module; the output end of the driving module abuts against the AGV body; the fork arm top plate module is slidably connected to the gantry support module; the moving assembly is rotatably connected to the bottom of the AGV body.

[0005] Optionally, the gantry support module includes: a support frame and a connecting frame; the support frame is detachably connected to the AGV body; the support frame is provided with at least one guide cavity for the fork arm assembly to move up and down; a guide groove for limiting the fork arm top plate module is provided in the guide cavity; the fork arm top plate module is slidably connected to the guide groove; the connecting frame is detachably connected to the support frame; and the connecting frame is fixedly connected to the driving module.

[0006] Optionally, the fork arm top plate module includes: at least one connecting plate corresponding to the guide cavity and at least one top plate corresponding to the connecting plate; the connecting plate is slidably connected to the guide groove; the top plate is fixedly connected to the connecting plate; and the top plate is hinged to the lifting module.

[0007] Optionally, the lifting module includes: at least one active scissors-fork unit corresponding to the top plate, at least one driven scissors-fork unit corresponding to the active scissors-fork unit, and at least one first driving member corresponding to the active scissors-fork unit for driving the active scissors-fork unit to perform telescopic movement; the first driving member is fixedly connected to the top plate; the active scissors-fork unit is hinged to the top plate; the output end of the first driving member is hinged to the active scissors-fork unit; the driven scissors-fork unit is hinged to the top plate; and the driven scissors-fork unit is transmission connected to the active scissors-fork unit.

[0008] Optionally, the active scissors fork unit includes: two first inner scissors forks arranged opposite to each other and two first outer scissors forks arranged opposite to each other and corresponding to the two first inner scissors forks one by one; the two first inner scissors forks are respectively hinged to the corresponding first outer scissors forks; one end of the two first inner scissors forks are respectively hinged to the top plate; the other ends of the two first inner scissors forks are hinged to each other; one end of the two first outer scissors forks are respectively hinged to the output end of the first driving member; the other ends of the two first outer scissors forks are hinged to each other; the two first outer scissors forks are respectively transmission connected to the driven scissors fork unit.

[0009] Optionally, the driven scissors fork unit includes: two second inner scissors forks arranged opposite to each other, two second outer scissors forks arranged opposite to each other and corresponding one-to-one to the two second inner scissors forks, and transmission rods corresponding one-to-one to the two second outer scissors forks and the two first outer scissors forks; the two second inner scissors forks are respectively hinged to the corresponding second outer scissors forks; one end of the two second inner scissors forks are respectively hinged to the top plate; the other ends of the two second inner scissors forks are hinged to each other; one end of the two second outer scissors forks are respectively hinged to the top plate; the other ends of the two second outer scissors forks are hinged to each other; the two second outer scissors forks are respectively hinged to one end of the corresponding transmission rod; the other ends of the two transmission rods are respectively hinged to the corresponding first outer scissors forks.

[0010] Optionally, the driving module includes: a connecting seat, a driving wheel and a second driving member for driving the driving wheel; the connecting seat is detachably connected to the connecting frame; the second driving member is fixedly connected to the connecting seat; the driving wheel is rotatably connected to the connecting seat; the output end of the second driving member is fixedly connected to the driving wheel; and the driving wheel abuts against the AGV body.

[0011] Optionally, the moving component includes: a plurality of moving wheels and a third driving member for driving the plurality of moving wheels; the third driving member is fixedly connected to the AGV body; the plurality of moving wheels are respectively rotatably connected to the AGV body; and the output end of the third driving member is respectively transmission-connected to the plurality of moving wheels.

[0012] A method for passively picking up a Tianzi support by the AGV trolley is provided. The steps of picking up the Tianzi support by the AGV trolley are as follows: Step A: The mobile component drives the AGV body to move to the side of the pallet to be picked up; Step B: The driving module drives the gantry support module to move on the AGV body, thereby driving the fork arm assembly connected to the gantry support module to be inserted into the gantry support through the jack of the gantry support; Step C: The lifting module extends through the gap between the cross beams of the field support, and uses the ground or platform as a support point to telescopically lift the fork arm top plate module, so that the fork arm top plate module drives the field support to lift; Step D: The moving assembly drives the AGV body to move to the bottom of the lifted support; Step E: The lifting module retracts through the gap between the cross beams of the support, and the lifted support is placed on the AGV body.

[0013] A method for actively forking a field support by an AGV trolley, wherein the steps of forking the field support by the AGV trolley are as follows: Step A: The mobile component drives the AGV body to move to the side of the pallet to be picked up; Step B: The driving module drives the gantry support module to move on the AGV body, thereby driving the fork arm assembly connected to the gantry support module to be inserted into the gantry support through the jack of the gantry support; Step C: The lifting module extends through the gap between the cross beams of the field support, and uses the ground or platform as a support point to telescopically lift the fork arm top plate module, so that the fork arm top plate module drives the field support to lift; Step D: The driving module drives the gantry support module to move on the AGV body, thereby driving the fork arm top plate module connected to the gantry support module to drive the lifted field support to move to the AGV body; Step E: The lifting module retracts through the gap between the cross beams of the support, and the lifted support is placed on the AGV body.

[0014] In summary, the present invention has the following beneficial effects: 1. The lifting module is designed with active scissor units and driven scissor units, so that the lifting of a single fork arm assembly only requires a single driving source to provide effective power, which simplifies the structure. Not only does the support of the fork arm assembly become more stable, but the scissors in the lifting module are also shorter and can be extended and retracted from the gap between the crossbeams at the bottom of the field support to achieve the effect of forking the field support. During the forking process, the scissors of the lifting module are supported by the ground, and this part of the structure makes the support more stable. No additional counterweight is required on the AGV body, and the size and weight are smaller.

[0015] 2. Through the design of the gantry assembly, the telescopic movement of several fork arm top plate modules connected to the gantry assembly can be synchronized, and only one power source is needed to realize the telescopic movement of several fork arm assemblies, thereby reducing costs.

[0016] 3. The AGV has two different forking methods, passive forking method and active forking method, which are suitable for most usage scenarios and further improve the scene adaptability of the AGV. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the main structure of the invention; Figure 2 It is a bottom-up schematic diagram of the main structure of the invention; Figure 3 It is a schematic diagram of the specific structure and installation of the door frame assembly of the invention; Figure 4 It is a schematic diagram of the specific structure and installation of the fork arm assembly of the invention; Figure 5 is a schematic diagram of one embodiment of the invention; Figure 6 is a schematic diagram of a second embodiment of the invention; Figure 7 It is a schematic diagram of the invented fork to take the field support and attach it to the vehicle body.

[0018] In the figure: 1. AGV body; 2. fork arm assembly; 3. fork arm top plate module; 31. connecting plate; 32. top plate; 4. lifting module; 41. active scissors unit; 411. first inner scissors; 412. first outer scissors; 42. driven scissors unit; 421. second inner scissors; 422. second outer scissors; 423. transmission rod; 43. first driving member; 5. gantry assembly; 6. gantry support module; 61. support frame; 62. connecting frame; 63. guide cavity; 64. guide groove; 7. driving module; 71. connecting seat; 72. driving wheel; 73. second driving member; 8. moving assembly; 81. moving wheel; 82. third driving member; 9. supporting wheel; 10. supporting plate; 11. field support. DETAILED DESCRIPTION

[0019] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings. Several embodiments of the present invention are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein.

[0020] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. The terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0021] In the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, the first feature being "above", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions are for illustrative purposes only, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0022] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0023] The present invention provides an AGV vehicle, such as Figure 1 As shown, it includes: an AGV body 1; the AGV body 1 is provided with: a fork arm assembly 2 for forking a field support 11, a door frame assembly 5 for driving the fork arm assembly 2 to move in the X-axis direction, and a moving assembly 8 for driving the AGV body 1 to move; the fork arm assembly 2 includes a fork arm top plate module 3 for inserting and supporting the field support 11 and a lifting module 4 for driving the fork arm top plate module 3 to lift in the Z-axis direction and be able to extend and retract from the gap of the field support 11; the fork arm top plate module 3 It is hinged with the lifting module 4; the gantry assembly 5 includes a gantry support module 6 for driving the fork arm top plate module 3 to move in the X-axis direction and a driving module 7 for driving the gantry support module 6 to move in the X-axis direction; the driving module 7 is fixedly connected to the gantry support module 6; the output end of the driving module 7 is in contact with the AGV body 1; the fork arm top plate module 3 is slidably connected to the gantry support module 6; the moving assembly 8 is rotatably connected to the bottom of the AGV body 1.

[0024] Specifically, the references to the X-axis and the Z-axis are based on the AGV body 1 .

[0025] Specifically, the driving module 7 drives the gantry support module 6 to move in the X-axis direction, so that the gantry support module 6 drives the fork arm top plate module 3 to move in the X-axis direction, achieving the telescopic effect, so as to extend from the jack of the field support 11 and fork the field support 11; one end of the lifting module 4 is hinged to the fork arm top plate module 3, and the other end can be extended from the gap between the crossbeams of the field support 11, so as to use the ground or platform as the support point, thereby lifting the fork arm top plate module 3, so that the fork arm top plate module 3 drives the forked field support 11 to be lifted, and the effect of lifting the field support 11 is achieved; the moving component 8 makes the AGV body 1 close to the fork arm component 2 after the fork arm component 2 forks the field support 11, so as to achieve the technical effect of placing the forked field support 11 on the AGV body 1. This forking method is more stable and convenient, ensures the stability during the forking process, and is not prone to accidents.

[0026] Optionally, the AGV body 1 is also provided with a receiving cavity for receiving the fork arm assembly 2, and the fork arm assembly 2 can be received in the receiving cavity, so that the appearance of the AGV body 1 is more beautiful and more sophisticated, suitable for working conditions in narrow environments, and further improving the scene adaptability of the AGV body 1.

[0027] Furthermore, the gantry support module 6 includes: a support frame 61 and a connecting frame 62; the support frame 61 is detachably connected to the AGV body 1; the support frame 61 is provided with at least one guide cavity 63 for the fork arm assembly 2 to move up and down; a guide groove 64 for limiting the fork arm top plate module 3 is provided in the guide cavity 63; the fork arm top plate module 3 is slidably connected to the guide groove 64; the connecting frame 62 is detachably connected to the support frame 61; the connecting frame 62 is fixedly connected to the driving module 7.

[0028] Specifically, the support frame 61 is detachably connected to the AGV body 1, so that the support frame 61 can be moved on the AGV body 1 under the drive module 7; through the guide cavity 63 on the support frame 61, the fork arm top plate module 3 connected to the support frame 61 can be moved in the Y-axis direction, and a guide groove 64 is provided to limit the fork arm assembly 2 during the movement to prevent the fork arm assembly 2 from exceeding the maximum stroke during the movement; the connecting frame 62 is connected to the drive module 7 to achieve the effect of the drive module 7 driving the support frame 61 to move; the detachable design of the gantry support module 6 reduces maintenance costs and improves flexibility. At the same time, through the cooperation of the guide cavity 63 and the guide groove 64, the stability of the fork arm top plate module 3 is greatly improved, and the errors in the forking process are reduced.

[0029] Furthermore, the fork arm top plate module 3 includes: at least one connecting plate 31 corresponding to the guide cavity 63 and at least one top plate 32 corresponding to the connecting plate 31; the connecting plate 31 is slidably connected to the guide groove 64; the top plate 32 is fixedly connected to the connecting plate 31; and the top plate 32 is hinged to the lifting module 4.

[0030] Specifically, through the sliding connection between the connecting plate 31 and the guide groove 64 on the support frame 61, the top plate 32 and the support frame 61 can be driven to move synchronously in the X-axis direction. At the same time, the limiting guiding function of the guide groove 64 in the Z-axis direction ensures that the lifting module 4 will not exceed the maximum stroke during the process of lifting the top plate 32, thereby ensuring safety, realizing stable up and down movement of the top plate 32, and effectively improving the reliability and adaptability of forking.

[0031] Furthermore, the lifting module 4 includes: at least one active scissors-fork unit 41 corresponding to the top plate 32, at least one driven scissors-fork unit 42 corresponding to the active scissors-fork unit 41, and at least one first driving member 43 corresponding to the active scissors-fork unit 41 for driving the active scissors-fork unit 41 to perform telescopic movement; the first driving member 43 is fixedly connected to the top plate 32; the active scissors-fork unit 41 is hinged to the top plate 32; the output end of the first driving member 43 is hinged to the active scissors-fork unit 41; the driven scissors-fork unit 42 is hinged to the top plate 32; the driven scissors-fork unit 42 is transmission-connected to the active scissors-fork unit 41.

[0032] Specifically, Figure 4 As shown, the active scissors-fork unit 41 is driven to be extended and retracted by the first driving member 43, and the driven scissors-fork unit 42 which is transmission-connected to the active scissors-fork unit 41 can make the active scissors-fork unit 41 and the driven scissors-fork unit 42 synchronously extended and retracted. Only a single power source is required, and there is no need to install power sources on the active scissors-fork unit 41 and the driven scissors-fork unit 42 respectively, thereby reducing the weight and size, so that the scissors of the active scissors-fork unit 41 and the driven scissors-fork unit 42 can be extended from the gap between the cross beams of the field support 11, further improving the scene adaptability; the configuration of the active scissors-fork unit 41 and the driven scissors-fork unit 42 of the lifting module 4 can realize effective lifting action, so that the fork arm assembly 2 can realize accurate forking under various conditions, reducing the complexity of the forking action.

[0033] Furthermore, the active scissors fork unit 41 includes: two first inner scissors forks 411 that are opposite to each other and two first outer scissors forks 412 that are opposite to each other and correspond one to one with the two first inner scissors forks 411; the two first inner scissors forks 411 are respectively hinged to the corresponding first outer scissors forks 412; one end of the two first inner scissors forks 411 are respectively hinged to the top plate 32; the other ends of the two first inner scissors forks 411 are hinged to each other; one end of the two first outer scissors forks 412 are respectively hinged to the output end of the first driving member 43; the other ends of the two first outer scissors forks 412 are hinged to each other; the two first outer scissors forks 412 are respectively transmission connected to the driven scissors fork unit 42.

[0034] Specifically, Figure 4 As shown, the first inner scissors fork 411 and the first outer scissors fork 412 are driven respectively by the first driving member 43 to realize the telescopic movement of the overall active scissors fork unit 41, providing greater torque and stability, ensuring the smoothness and safety of the forking action, and reducing the risk of material falling.

[0035] Furthermore, the driven scissors fork unit 42 includes: two second inner scissors forks 421 that are oppositely arranged, two second outer scissors forks 422 that are oppositely arranged and correspond one-to-one with the two second inner scissors forks 421, and a transmission rod 423 that corresponds one-to-one with the two second outer scissors forks 422 and the two first outer scissors forks 412; the two second inner scissors forks 421 are respectively hinged to the corresponding second outer scissors forks 422; one end of the two second inner scissors forks 421 are respectively hinged to the top plate 32; the other ends of the two second inner scissors forks 421 are hinged to each other; one end of the two second outer scissors forks 422 are respectively hinged to the top plate 32; the other ends of the two second outer scissors forks 422 are hinged to each other; the two second outer scissors forks 422 are respectively hinged to one end of the corresponding transmission rod 423; the other ends of the two transmission rods 423 are respectively hinged to the corresponding first outer scissors forks 412.

[0036] Specifically, Figure 4 As shown, the first external scissors fork 412 and the second external scissors fork 422 are connected by transmission through the transmission rod 423, so that when the first external scissors fork 412 is telescopically moved through the first driving member 43, the second external scissors fork 422 is simultaneously driven to telescopically move. The transmission design enhances the power transmission efficiency of the system, ensuring that the scissors fork system can cooperate smoothly during the forking and moving process, thereby improving the overall operation fluency.

[0037] Furthermore, the driving module 7 includes: a connecting seat 71, a driving wheel 72 and a second driving member 73 for driving the driving wheel 72; the connecting seat 71 is detachably connected to the connecting frame 62; the second driving member 73 is fixedly connected to the connecting seat 71; the driving wheel 72 is rotatably connected to the connecting seat 71; the output end of the second driving member 73 is fixedly connected to the driving wheel 72; and the driving wheel 72 abuts against the AGV body 1.

[0038] Specifically, the connecting seat 71 is connected to the connecting frame 62, so that when the driving wheel 72 is in contact with the AGV body 1, the second driving member 73 drives the driving wheel 72 to rotate, thereby driving the gantry assembly 5 to move in the X-axis direction.

[0039] In other embodiments, Figure 3 As shown, a spring is provided at the connection between the connecting frame 62 and the connecting seat 71, and the spring is in a normally compressed state so that the connecting seat 71 is subjected to a vertical downward elastic force, making the contact between the driving wheel 72 and the AGV body 1 more stable, thereby avoiding idling.

[0040] In other embodiments, the driving module 7 can select a gear rack transmission method, or a synchronous belt drive method to realize the movement of the gantry support module 6 in the X-axis direction; the selection of a variety of different driving methods further increases the scene adaptability of the AGV vehicle.

[0041] Optionally, support wheels 9 are respectively provided at the interconnection between the two first outer scissors forks 412 , the interconnection between the two first inner scissors forks 411 , the interconnection between the two second outer scissors forks 422 , and the connection between the two second inner scissors forks 421 .

[0042] In the first embodiment, Figure 4 As shown, the interconnection between the two first outer scissors forks 412, the interconnection between the two first inner scissors forks 411, the interconnection between the two second outer scissors forks 422 and the connection between the two second inner scissors forks 421 are respectively provided with support wheels 9, which reduce the wear of the contact between the lifting module 4 and the ground, make the forking action smoother, and avoid the occurrence of unstable support; when the AGV trolley performs active forking of the field support 11, better support force is provided.

[0043] Optionally, support plates 10 are respectively provided at the interconnection between the two first outer scissors forks 412 , the interconnection between the two first inner scissors forks 411 , the interconnection between the two second outer scissors forks 422 , and the connection between the two second inner scissors forks 421 .

[0044] In the second embodiment, Figure 6As shown, support plates 10 are respectively provided at the interconnection between the two first outer scissors forks 412, the interconnection between the two first inner scissors forks 411, the interconnection between the two second outer scissors forks 422 and the connection between the two second inner scissors forks 421. The support using the support plates 10 is more stable, strengthens the stability of the scissors connection, provides additional support during load operation, ensures the safety of materials during forklift transportation; and provides better support when the AGV trolley performs passive forking of the field support 11.

[0045] Furthermore, the moving component 8 includes: a plurality of moving wheels 81 and a third driving member 82 for driving the plurality of moving wheels 81; the third driving member 82 is fixedly connected to the AGV body 1; the plurality of moving wheels 81 are respectively rotationally connected to the AGV body 1; and the output ends of the third driving member 82 are respectively transmission-connected to the plurality of moving wheels 81.

[0046] Specifically, the efficient design of the mobile component 8 enables the AGV to respond quickly to instructions and achieve flexible movement, thereby improving operating efficiency and adaptability to meet the ever-changing logistics needs; at the same time, Figure 1-2 As shown, the position setting of the moving wheel 81 is more in line with the requirements for carrying the field support 11.

[0047] A method for passively forking the field support 11 based on the above-mentioned AGV trolley, the steps of forking the field support 11 by the AGV trolley are as follows: Step A: The moving assembly 8 drives the AGV body 1 to move to the side of the fork 11 to be picked up; Step B: The driving module 7 drives the gantry support module 6 to move on the AGV body 1, thereby driving the fork arm assembly 2 connected to the gantry support module 6 to be inserted into the field support 11 through the insertion hole of the field support 11; Step C: The lifting module 4 extends through the gap between the crossbeams of the field support 11, and uses the ground or platform as a support point to telescopically lift the fork arm top plate module 3, so that the fork arm top plate module 3 drives the field support 11 to lift; Step D: The moving assembly 8 drives the AGV body 1 to move to the bottom of the lifted support 11; Step E: The lifting module 4 retracts through the gap between the cross beams of the crossbeam 11 to place the lifted crossbeam 11 onto the AGV body 1 .

[0048] A method for actively forking a field support 11 by an AGV trolley, wherein the steps of forking the field support 11 by the AGV trolley are as follows: Step A: The moving assembly 8 drives the AGV body 1 to move to the side of the fork 11 to be picked up; Step B: The driving module 7 drives the gantry support module 6 to move on the AGV body 1, thereby driving the fork arm assembly 2 connected to the gantry support module 6 to be inserted into the field support 11 through the insertion hole of the field support 11; Step C: The lifting module 4 extends through the gap between the crossbeams of the field support 11, and uses the ground or platform as a support point to telescopically lift the fork arm top plate module 3, so that the fork arm top plate module 3 drives the field support 11 to lift; Step D: The driving module 7 drives the gantry support module 6 to move on the AGV body 1, thereby driving the fork arm top plate module 3 connected to the gantry support module 6 to drive the lifted field support 11 to move to the AGV body 1; Step E: The lifting module 4 retracts through the gap between the cross beams of the crossbeam 11 to place the lifted crossbeam 11 onto the AGV body 1 .

[0049] Optionally, in the above implementation method, the type of pallet picked up by fork is not limited to the field-shaped pallet 11, and an ordinary pallet may also be picked up by fork.

[0050] In a specific embodiment, taking the passive forking of the field support 11 as an example, the specific process is: the third driving member 82 drives the moving wheel 81 to move the AGV body 1 to the side of the field support 11 to be forked, and the second driving member 73 drives the driving wheel 72 to rotate, and the connecting plate 31 drives the support frame 61 to move, and at the same time, the fork arm assembly 2 connected to the support frame 61 is inserted into the jack of the field support 11; after the fork arm assembly 2 is fully inserted into the interior of the field support 11, the first driving member 43 drives the active scissors fork unit 41 to extend, and the driven scissors fork unit 42 connected to the active scissors fork unit 41 is extended synchronously, and the active scissors fork unit 41 and the driven scissors fork unit 42 extend from the gap between the crossbeams of the field support 11, and when one end of the active scissors fork unit 41 and the driven scissors fork unit 42 are respectively supported against the ground, the drive extension continues, so that the active scissors fork unit 41 and the driven scissors fork unit 42 are supported against the ground. One end of the forked field support 11 is used as a support point to lift the top plate 32, thereby achieving the effect of lifting the forked field support 11; after lifting to a certain height, the first driving member 43 stops driving and remains in the current state, and drives the moving wheel 81 through the third driving member 82 to move the AGV body 1 to the bottom of the forked field support 11, and then stops the third driving member 82 to stop driving, and the first driving member 43 drives the active scissors fork unit 41 to retract, and the driven scissors fork unit 42 connected to the active scissors fork unit 41 retracts synchronously, and the active scissors fork unit 41 and the driven scissors fork unit 42 retract from the gap between the crossbeams of the field support 11. During the retraction process, the forked field support 11 will first abut against the AGV body 1, thereby achieving the effect of forking the field support 11 onto the AGV body 1. After continuing to retract for a distance, one end of the active scissors fork unit 41 and the driven scissors fork unit 42 are no longer respectively abutted and supported against the ground until they are fully retracted to the initial state, such as Figure 7 As shown, the process of forking the field support 11 onto the AGV body 1 is completed; The process of placing the field support 11: the third driving member 82 drives the moving wheel 81 to move the AGV body 1 to the position where the field support 11 on the AGV body 1 needs to be placed; the first driving member 43 drives the active scissors-fork unit 41 to extend, and the driven scissors-fork unit 42 connected to the active scissors-fork unit 41 extends synchronously, and the active scissors-fork unit 41 and the driven scissors-fork unit 42 extend from the gap between the crossbeams of the field support 11, and when one end of the active scissors-fork unit 41 and the driven scissors-fork unit 42 are respectively supported against the ground, the driving extension is continued, so that the active scissors-fork unit 41 and the driven scissors-fork unit 42 use the end supported against the ground as the support point to lift the top plate 32, thereby achieving the effect of lifting the field support 11; after the lifting of the field support 11 is completed, the third driving member 82 is used to drive the moving wheel 81 to move the AGV body 1 to the position where the field support 11 needs to be placed; the first driving member 43 drives the active scissors-fork unit 41 to extend, and the driven scissors-fork unit 42 connected to the active scissors-fork unit 41 extends synchronously, and the active scissors-fork unit 41 and the driven scissors-fork unit 42 extend from the gap between the crossbeams of the field support 11, and when one end of the active scissors-fork unit 41 and the driven scissors-fork unit 42 are respectively supported against the ground, the driving extension is continued, so that the active scissors The driving member 82 drives the moving wheel 81 to move the AGV body 1 to the side, and the first driving member 43 drives the active scissors-fork unit 41 to retract, and the driven scissors-fork unit 42 connected to the active scissors-fork unit 41 retracts synchronously, and the active scissors-fork unit 41 and the driven scissors-fork unit 42 retract from the gap between the crossbeams of the field support 11. During the retraction process, until the field support 11 is in firm contact with the ground, one end of the active scissors-fork unit 41 and the driven scissors-fork unit 42 no longer abut against the ground for support respectively; until the fork arm assembly 2 is in the initial state, the placement of the field support 11 is completed, and the driving wheel 72 is driven to rotate by the second driving member 73, and the support frame 61 is driven to move through the connecting plate 31, so as to reset the fork arm assembly 2 to the initial position on the AGV body 1, and complete the unloading process.

[0051] An AGV trolley and a method for forking a field support 11 of the present invention, the lifting module 4 is designed with an active scissor unit 41 and a driven scissor unit 42, so that the lifting of a single fork arm assembly 2 only requires a single driving source to provide effective power, thereby simplifying the structure, not only making the support of the fork arm assembly 2 more stable, but also making the length of the scissors in the lifting module 4 shorter, which can be extended and retracted from the gap between the cross beams at the bottom of the field support 11, thereby achieving the effect of forking the field support 11; during the forking process, the scissors of the lifting module 4 are supported by the ground, and this part of the structure makes the support more stable, and no additional counterweight is required on the AGV body 1, and the size and weight are smaller; through the design of the gantry assembly 5, the telescopic movement of several fork arm top plate modules 3 connected to the gantry assembly 5 is synchronized, and only one power source is needed to realize the telescopic movement of several fork arm assemblies 2, thereby reducing the cost; the AGV trolley has two different forking methods, a passive forking method and an active forking method, which are suitable for most usage scenarios, thereby further improving the scenario adaptability of the AGV trolley.

[0052] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. An AGV vehicle, characterized in that: include: AGV body; the AGV body is provided with: a fork arm assembly for forking a field support, a gantry assembly for driving the fork arm assembly to move in the X-axis direction, and a moving assembly for driving the AGV body to move; The fork arm assembly includes a fork arm top plate module for inserting and supporting the crossbar and a lifting module for driving the fork arm top plate module to be lifted in the Z-axis direction and retractable from the gap of the crossbar; the fork arm top plate module is hinged to the lifting module; The gantry assembly includes a gantry support module for driving the fork arm top plate module to move in the X-axis direction and a driving module for driving the gantry support module to move in the X-axis direction; the driving module is fixedly connected to the gantry support module; the output end of the driving module abuts against the AGV body; the fork arm top plate module is slidably connected to the gantry support module; The moving assembly is rotatably connected to the bottom of the AGV body.

2. The AGV according to claim 1, characterized in that: The gantry support module comprises: a support frame and a connecting frame; The support frame is detachably connected to the AGV body; The support frame is provided with at least one guide cavity for the fork arm assembly to move up and down; a guide groove for limiting the fork arm top plate module is provided in the guide cavity; the fork arm top plate module is slidably connected to the guide groove; The connecting frame is detachably connected to the supporting frame; and the connecting frame is fixedly connected to the driving module.

3. The AGV according to claim 2, characterized in that: The fork arm top plate module comprises: at least one connecting plate corresponding to the guide cavity and at least one top plate corresponding to the connecting plate; The connecting plate is slidably connected to the guide groove; the top plate is fixedly connected to the connecting plate; and the top plate is hinged to the lifting module.

4. The AGV according to claim 3, characterized in that: The lifting module comprises: at least one active scissor unit corresponding to the top plate, at least one driven scissor unit corresponding to the active scissor unit, and at least one first driving member corresponding to the active scissor unit for driving the active scissor unit to telescopically move; The first driving member is fixedly connected to the top plate; the active scissor unit is hinged to the top plate; the output end of the first driving member is hinged to the active scissor unit; The driven scissor-fork unit is hinged to the top plate; the driven scissor-fork unit is transmission-connected to the active scissor-fork unit.

5. The AGV according to claim 4, characterized in that: The active scissor fork unit comprises: two first inner scissor forks which are arranged opposite to each other and two first outer scissor forks which are arranged opposite to each other and correspond to the two first inner scissor forks one by one; The two first inner scissors are respectively hinged to the corresponding first outer scissors; One end of the two first inner scissors are respectively hinged to the top plate; the other ends of the two first inner scissors are hinged to each other; One end of the two first external scissors is respectively hinged to the output end of the first driving member; the other ends of the two first external scissors are hinged to each other; and the two first external scissors are respectively transmission-connected to the driven scissors unit.

6. The AGV according to claim 5, characterized in that: The driven scissor fork unit comprises: two second inner scissor forks arranged opposite to each other, two second outer scissor forks arranged opposite to each other and corresponding to the two second inner scissor forks on a one-to-one basis, and transmission rods corresponding to the two second outer scissor forks and the two first outer scissor forks on a one-to-one basis; The two second inner scissors are respectively hinged to the corresponding second outer scissors; One end of the two second inner scissors is hinged to the top plate respectively; the other ends of the two second inner scissors are hinged to each other; One end of the two second outer scissors is hinged to the top plate respectively; the other ends of the two second outer scissors are hinged to each other; The two second external scissors are respectively hinged to one end of the corresponding transmission rod; the other ends of the two transmission rods are respectively hinged to the corresponding first external scissors.

7. The AGV according to claim 2, characterized in that: The driving module comprises: a connecting seat, a driving wheel and a second driving member for driving the driving wheel; The connecting seat is detachably connected to the connecting frame; the second driving member is fixedly connected to the connecting seat; the driving wheel is rotatably connected to the connecting seat; the output end of the second driving member is fixedly connected to the driving wheel; The driving wheel is in contact with the AGV body.

8. The AGV according to claim 1, characterized in that: The moving assembly comprises: a plurality of moving wheels and a third driving member for driving the plurality of moving wheels; The third driving member is fixedly connected to the AGV body; the plurality of moving wheels are rotationally connected to the AGV body respectively; and the output end of the third driving member is transmission-connected to the plurality of moving wheels respectively.

9. A method for passively forking a AGV according to any one of claims 1 to 8, characterized in that: The steps for the AGV to fork the field tray are as follows: Step A: The mobile component drives the AGV body to move to the side of the pallet to be picked up; Step B: The driving module drives the gantry support module to move on the AGV body, thereby driving the fork arm assembly connected to the gantry support module to be inserted into the gantry support through the jack of the gantry support; Step C: The lifting module extends through the gap between the cross beams of the field support, and uses the ground or platform as a support point to telescopically lift the fork arm top plate module, so that the fork arm top plate module drives the field support to lift; Step D: The moving assembly drives the AGV body to move to the bottom of the lifted support; Step E: The lifting module retracts through the gap between the cross beams of the support, and the lifted support is placed on the AGV body to complete the pickup.

10. A method for actively forking a AGV according to any one of claims 1 to 8, characterized in that: The steps for the AGV to fork the field tray are as follows: Step A: The mobile component drives the AGV body to move to the side of the pallet to be picked up; Step B: The driving module drives the gantry support module to move on the AGV body, thereby driving the fork arm assembly connected to the gantry support module to be inserted into the gantry support through the jack of the gantry support; Step C: The lifting module extends through the gap between the cross beams of the field support, and uses the ground or platform as a support point to telescopically lift the fork arm top plate module, so that the fork arm top plate module drives the field support to lift; Step D: The driving module drives the gantry support module to move on the AGV body, thereby driving the fork arm top plate module connected to the gantry support module to drive the lifted field support to move to the AGV body; Step E: The lifting module retracts through the gap between the cross beams of the support, and the lifted support is placed on the AGV body to complete the pickup.

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