A multi-pallet automatic transport vehicle

Abstract

The present invention discloses an automatic transport vehicle with multiple pallets, which belongs to the technical field of equipment in the logistics industry. The automatic transport vehicle with multiple pallets comprises an AGV mobile trolley, a lifting device is installed on the upper end of the AGV mobile trolley, an operating instrument is installed on the upper end of the lifting device, supporting components are installed on the bottom ends of the left and right sides of the lifting device, two symmetrically distributed connecting rods are inserted on the upper end of the lifting device, a limiting component one is provided between the bottom end of the connecting rod and the supporting component, a limiting component two meshing with the limiting component one is embedded and installed on the top end of the AGV mobile trolley, a roof box is installed on the upper end of the connecting rod, and a range obstacle detection component is provided on the upper end of the roof box. By changing the handling and steering mode of the existing automatic transport vehicle, when carrying the pallet, one side of the forklift arm can be turned to the other side of the pallet without repeatedly turning in the opposite direction, and then the pallet handling operation is realized, the operation is more convenient, and the steering area is further reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics industry equipment, and more specifically to a multi-pallet automatic transport vehicle. Background Art

[0002] ‌Multi-Pallet Automatic Transporter‌ is an automated device that can transport multiple pallets at the same time. It is mainly used in logistics and warehousing environments to improve handling efficiency. This type of equipment usually includes multiple pallet transfer machines and pallet sensing systems installed on a frame. Each pallet transfer machine is controlled by an independent drive device and transfers pallets according to the signal of the pallet sensing system, thereby realizing the function of transporting multiple pallets at the same time‌.

[0003] Multi-pallet automated transport vehicles are widely used in logistics and warehousing environments, especially in application scenarios where multiple pallets need to be efficiently transported. For example, in warehouses, logistics centers or production lines, this type of equipment can significantly improve logistics efficiency, reduce manual operations, and reduce labor intensity.

[0004] However, currently when multi-pallet automated transport vehicles move inside a warehouse or on a production line, Fig.11 As shown, due to the limit of the forklift arm installed on the front side of the existing transport vehicle, it needs to make multiple position adjustments in a narrow space or a certain area before it can drive out of the area. At the same time, when transporting the pallet, it is also necessary to make multiple turns to make one side of the forklift arm be located on the side of the pallet before the transport work can be carried out. It not only has certain restrictions on the area space to be transported, but also requires a certain amount of steering adjustment time. During this period, the obstacle avoidance radar installed inside it also needs to perform an obstacle detection work every time the position moves. The detection steps are relatively frequent, which increases energy consumption and reduces endurance. In addition, the frequent activation of the obstacle avoidance radar will also reduce its service life. For this reason, this scheme is a multi-pallet automatic transport vehicle. Summary of the invention

[0005] 1. Technical problems to be solved:

[0006] In view of the problems existing in the prior art, the purpose of the present invention is to provide a multi-pallet automatic transport vehicle. By changing the transport and steering method of the existing automatic transport vehicle, when transporting pallets, one side of the forklift arm can be turned to the other side of the pallet without repeatedly turning in the opposite direction, and then the pallet transport operation can be realized. The operation is more convenient and the turning area is further reduced.

[0007] 2. Technical solution:

[0008] To solve the above problems, the present invention adopts the following technical solutions.

[0009] A multi-pallet automatic transport vehicle comprises an AGV mobile cart, a lifting device is installed on the upper end of the AGV mobile cart, an operating instrument is installed on the upper end of the lifting device, supporting components are installed on the bottom ends of the left and right sides of the lifting device, two symmetrically distributed connecting rods are inserted into the upper end of the lifting device, a limit component 1 is provided between the bottom end of the connecting rod and the supporting component, a limit component 2 meshing with the limit component 1 is embedded and installed on the top end of the AGV mobile cart, a roof box is installed on the upper end of the connecting rod, and a range obstacle detection component is provided on the upper end of the roof box.

[0010] A further improvement is that: the limiting component 1 includes a connecting sleeve fixedly connected to the top side of the supporting component connecting end, a bearing sleeve 1 is movably connected between the inner walls of the connecting sleeve, a bottom plate is fixedly connected to the bottom side of the supporting component connecting end, a limiting hole is provided at the upper end of the bottom plate, a limiting gear is fixedly connected to the lower end of the bottom plate, a connecting shaft body is fixedly connected between the inner walls of the bearing sleeve 1, the top end of the connecting shaft body is fixedly connected to the bottom end of the connecting rod, a plurality of evenly distributed positioning sleeves are fixedly connected to the side ends of the connecting shaft body, the positioning sleeve is located between the bearing sleeve 1 and the inner wall of the bottom plate, a limiting shaft 1 is inserted between the inner walls of the positioning sleeve, and one end of the limiting shaft 1 passes through between the inner walls of the limiting hole.

[0011] A further improvement is that the second limit component includes receiving grooves opened at the top of both sides of the AGV mobile cart, and a limit platform is movably connected between the inner walls of the receiving grooves. The bottom end of the limit platform is fixedly connected with a bracket, and the upper end of the bracket is fixedly connected with a plurality of limit shafts 2 that are mutually engaged with the first limit component, and the upper end of the limit platform is provided with limit teeth that are mutually engaged with the first limit component, and the center end of the bottom side of the bracket is installed with a motor 2.

[0012] A further improvement is that the supporting assembly includes a forklift arm 1 installed on the bottom side of the connecting rod, a forklift arm 2 is movably connected between the inner walls of the forklift arm 1, and electric push rods are installed on the left and right side ends of the forklift arm 1 and the forklift arm 2.

[0013] A further improvement is that a limiting cylinder is embedded in the upper end of the roof box, a limiting groove is provided at the upper end of the limiting cylinder, the range obstacle detection component is slidably connected to the limiting groove, and a motor is installed inside the roof box.

[0014] A further improvement is that the range obstacle detection component includes a transmission sleeve slidably connected between the inner walls of the limit groove, a transmission shaft is threadedly connected between the inner walls of the transmission sleeve, the bottom end of the transmission shaft is rotatably connected to the bottom wall of the limit cylinder, a follow-up adjustment component is installed between the transmission sleeve and the top of the transmission shaft, the outer end of the follow-up adjustment component is fixedly connected to a connecting piece, and a plurality of evenly distributed obstacle detectors are installed on the edge end of the connecting piece.

[0015] A further improvement is that the follower adjustment component includes a pedestal fixedly connected to the upper end of the transmission sleeve, the top end of the transmission shaft is fixedly connected to a top seat, the upper end of the pedestal is rotatably connected to a plurality of evenly distributed connecting rods one, the bottom side edge end of the top seat is rotatably connected to a plurality of evenly distributed connecting rods two, the inner wall end of the connecting rod two is rotatably connected to one end of the connecting rod one, and the connecting piece is fixedly connected to the outer surface of the connecting rod two.

[0016] A further improvement is that the transmission shaft includes a column, a threaded column, and a second bearing sleeve. The column is fixedly connected to the top seat, the threaded column penetrates into the interior of the roof box, and the bottom end is fixedly connected to the output end of motor one, and the column and the threaded column are movably connected through the second bearing sleeve.

[0017] A further improvement is that the telescopic program setting of the supporting component and the range detection adjustment program setting of the range obstacle detection component are set to the same PLC program segment to execute the operation.

[0018] 3. Beneficial effects:

[0019] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0020] The present invention is reasonably designed. By changing the handling and steering mode of the existing automatic transport vehicle, when transporting a pallet, the forklift arm can be turned to the side of the pallet without repeatedly turning in the opposite direction, thereby realizing the pallet handling operation.

[0021] When the present invention is in use, it uses the visual navigation module of the AGV mobile trolley to prompt the AGV mobile trolley to move to the pallet. At this time, the personnel can sink the supporting component according to the direction of the pallet and the regional environment, so that the limiting component 1 and the limiting component 2 connected to the supporting component are interlocked with each other. At this time, the supporting component can be unstuck and can achieve 180-degree free rotation movement, so that the vertical plane of the supporting component can be rotated according to the actual pallet placement position, wherein the supporting component on one side rotates clockwise and the supporting component on the other side rotates counterclockwise, so as to switch it from the front side of the AGV mobile trolley to the rear side, which is beneficial to the handling of the pallet, so that the automatic transport vehicle does not need to perform multiple direction changes in a limited area to position the forklift arm at the bottom side of the pallet for handling;

[0022] In the present invention, when the supporting assembly is located at the bottom side of the pallet and rises to carry out the transport work, the first limiting assembly is disengaged from the inside of the second limiting assembly, and the turning direction of the supporting assembly is limited again, so that when the pallet is subsequently transported, the supporting assembly cannot turn in any direction, thereby ensuring the stability of the pallet during transportation;

[0023] In the present invention, the length of the supporting component can be adjusted to any length according to the use requirements, and the application range is wider;

[0024] In the present invention, since the telescopic program setting of the supporting component and the range detection adjustment program setting of the range obstacle detection component are set to the same PLC program segment to execute the operation, when the length of the supporting component changes, the height of the range obstacle detection component and the range of obstacle detection in the ground area are also changed accordingly, so that when the supporting component is adjusted to a certain position, the range of obstacle detection in the ground area by the range obstacle detection component can be just located at the edge end of the supporting component, thereby ensuring the safety of the displacement area of ​​the supporting component when the subsequent AGV mobile car is carrying the pallet or after the transportation is completed. If there is an obstacle, the supporting component will not turn and move, and the range obstacle detection component will sound an alarm to prompt. If it is detected that there is no obstacle in the rotation area, the supporting component can turn.

[0025] Compared with the prior art, when the present invention is in use, the automatic transport vehicle can change the transport direction of the pallet by simply rotating the supporting assembly to both sides when transporting the pallet, thereby realizing the position exchange in a fixed direction, without the need to change the direction of the automatic transport vehicle multiple times in the prior art to make the forklift arm be located on the bottom side of the pallet, and at the same time, the obstacle detection only requires one detection, without the need for the prior art step of requiring detection every time the direction is changed, thereby reducing energy consumption, thereby improving the overall endurance, and enhancing the service life of its detection parts.

[0026] It should be noted that the structures not introduced in the present invention are the same as the prior art or can be implemented by using the prior art, and are not described in detail here because they do not involve the design points and improvement directions of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 It is a schematic diagram of the structure of the supporting assembly of the present invention when it is lifted;

[0029] Figure 3 It is a schematic diagram of the structure of the supporting assembly of the present invention after turning;

[0030] Figure 4 It is a schematic diagram of the explosion structure of the limiting component 1 and the limiting component 2 of the present invention;

[0031] Figure 5 It is a structural schematic diagram of the supporting assembly of the present invention;

[0032] Figure 6It is a structural schematic diagram of the obstacle detection component signal detection within the scope of the present invention;

[0033] Figure 7-9 It is a structural schematic diagram of an obstacle detection component within the scope of the present invention;

[0034] Fig.10 It is a structural schematic diagram of the AGV mobile vehicle of the present invention;

[0035] Fig.11 It is the roadmap for the current AGV mobile vehicle turning.

[0036] Description of the numbers in the figure:

[0037] 1. AGV mobile car; 2. Lifting device; 3. Operating instrument;

[0038] 4. Carrying assembly; 41. Forklift arm 1; 42. Forklift arm 2; 43. Electric push rod;

[0039] 5. Connecting rod; 6. Roof box; 61. Limiting cylinder; 62. Limiting groove;

[0040] 7. Range obstacle detection component; 71. Transmission shaft; 711. Column; 712. Threaded column; 713. Bearing sleeve II;

[0041] 72. Transmission sleeve; 73. Base; 74. Top seat; 75. Connecting rod 1; 76. Connecting rod 2; 77. Connecting piece; 78. Obstacle detector;

[0042] 8. Limiting assembly 1; 81. Connecting sleeve; 82. Bearing sleeve 1; 83. Bottom plate; 84. Limiting hole; 85. Limiting gear; 86. Connecting shaft; 87. Positioning sleeve; 88. Limiting shaft 1;

[0043] 9. Limiting assembly 2; 91. Receiving slot; 92. Limiting platform; 93. Bracket; 94. Limiting shaft 2; 95. Limiting gear; 96. Motor 2. DETAILED DESCRIPTION

[0044] To facilitate understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0045] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "page", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0046] In addition, the terms "first" and "second" are used for descriptive purposes only and should not 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. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0047] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", "provided with", "provided on" 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 an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Example

[0048] See also Figure 1-Figure 11 A multi-pallet automatic transport vehicle comprises an AGV mobile cart 1, a lifting device 2 is installed at the upper end of the AGV mobile cart 1, an operating instrument 3 is installed at the upper end of the lifting device 2, a supporting component 4 is installed at the bottom ends of the left and right sides of the lifting device 2, two symmetrically distributed connecting rods 5 are inserted at the upper end of the lifting device 2, a limit component 1 8 is provided between the bottom end of the connecting rod 5 and the supporting component 4, a limit component 2 9 meshing with the limit component 1 8 is embedded at the top end of the AGV mobile cart 1, a roof box 6 is installed at the upper end of the connecting rod 5, and a range obstacle detection component 7 is provided at the upper end of the roof box 6.

[0049] More specifically, the telescopic program setting of the supporting component 4 and the range detection adjustment program setting of the range obstacle detection component 7 are set to the same PLC program segment to execute the operation.

[0050] During the use of this solution, in order to avoid the inconvenience of turning caused by terrain restrictions in the existing multi-pallet automatic transport vehicle when transporting pallets, and the phenomenon that the obstacle avoidance radar increases energy consumption and weakens endurance due to repeated operation during obstacle avoidance work, in this embodiment, by changing the transport and steering mode of the existing automatic transport vehicle, when transporting pallets, the forklift arm can be turned to the side of the pallet without repeatedly turning in the opposite direction, and then the pallet transport operation is realized;

[0051] When in use, the visual navigation module of the AGV mobile trolley 1 is used to prompt the AGV mobile trolley 1 to move to the pallet. At this time, the personnel can sink the supporting component 4 according to the direction of the pallet and the regional environment, so that the limit component 1 8 and the limit component 2 9 connected to the supporting component 4 are interlocked. At this time, the supporting component 4 can be unstuck and can achieve 180-degree free rotation. Therefore, the vertical surface of the supporting component 4 can be rotated according to the actual pallet placement position, wherein the supporting component 4 on one side rotates clockwise and the supporting component 4 on the other side rotates counterclockwise, thereby switching it from the front side of the AGV mobile trolley 1 to the rear side to facilitate the handling of the pallet, so that the automatic transport vehicle does not need to perform multiple direction changes in a limited area to position the forklift arm at the bottom side of the pallet for handling;

[0052] In this embodiment, when the supporting assembly 4 is located at the bottom side of the pallet and rises to carry the pallet, the first limiting assembly 8 is disengaged from the second limiting assembly 9, and the turning direction of the supporting assembly 4 is limited again, so that when the pallet is subsequently carried, the supporting assembly 4 cannot turn in any direction, thereby ensuring the stability of the pallet during the carrying process;

[0053] In this embodiment, the length of the supporting component 4 can be adjusted to any length according to the use requirements, and has a wider application range;

[0054] In this embodiment, since the telescopic program setting of the supporting component 4 and the range detection adjustment program setting of the range obstacle detection component 7 are set to the same PLC program segment to execute operations, when the length of the supporting component 4 changes, the height of the range obstacle detection component 7 and the range of obstacle detection in the ground area are also changed accordingly, so that when the supporting component 4 is adjusted to a certain position, the range of obstacle detection in the ground area by the range obstacle detection component 7 can be just located at the edge end of the supporting component 4, thereby ensuring the safety of the displacement area of ​​the supporting component 4 when the subsequent AGV mobile car 1 is carrying the pallet or after the transportation is completed. If there is an obstacle, the supporting component 4 will not turn and move, and the range obstacle detection component 7 will sound an alarm to prompt. If it is detected that there is no obstacle in the rotation area, the supporting component 4 can turn.

[0055] Compared with the prior art, when the present invention is in use, the automatic transport vehicle can change the transport direction of the pallet by simply rotating the supporting assembly 4 to both sides when transporting the pallet, thereby realizing the position exchange in a fixed direction, without the need to change the direction of the automatic transport vehicle multiple times in the prior art to enable the forklift arm to be located on the bottom side of the pallet. At the same time, the obstacle detection only requires one detection, without the need for the prior art step of requiring detection every time the direction is changed, thereby reducing energy consumption, thereby improving the overall endurance, and enhancing the service life of its detection components.

[0056] See also Figure 1-Figure 4 The limiting component 8 includes a connecting sleeve 81 fixedly connected to the top side of the connecting end of the supporting component 4, a bearing sleeve 82 is movably connected between the inner walls of the connecting sleeve 81, a bottom plate 83 is fixedly connected to the bottom side of the connecting end of the supporting component 4, a limiting hole 84 is provided at the upper end of the bottom plate 83, and a limiting gear 85 is fixedly connected to the lower end of the bottom plate 83, a connecting shaft 86 is fixedly connected between the inner walls of the bearing sleeve 82, the top end of the connecting shaft 86 is fixedly connected to the bottom end of the connecting rod 5, and a plurality of evenly distributed positioning sleeves 87 are fixedly connected to the side ends of the connecting shaft 86, the positioning sleeve 87 is located between the inner walls of the bearing sleeve 82 and the bottom plate 83, a limiting shaft 88 is inserted between the inner walls of the positioning sleeve 87, and one end of the limiting shaft 88 passes through the inner walls of the limiting hole 84.

[0057] More specifically: the limit component 9 includes a receiving groove 91 opened at the top of both sides of the AGV mobile cart 1, and a limit platform 92 is movably connected between the inner walls of the receiving groove 91, and the bottom end of the limit platform 92 is fixedly connected with a bracket 93, and the upper end of the bracket 93 is fixedly connected with a plurality of limit shafts 94 that are mutually engaged with the limit component 8. The upper end of the limit platform 92 is provided with a limit tooth 95 that is mutually engaged with the limit component 8, and the center end of the bottom side of the bracket 93 is installed with a motor 96.

[0058] During the use of this solution, when the personnel need to adjust the steering of the supporting assembly 4 according to the use requirements, the personnel first move the supporting assembly 4 down to the bottom through the lifting operation of the connecting rod 5, so that the limit gear 85 can be engaged between the limit teeth 95. At this time, due to the correspondence between the limit shaft 2 94, the limit hole 84, and the limit shaft 1 88, when the limit gear 85 moves down, its limit shaft 2 94 can push the limit shaft 1 88 located inside the limit hole 84 upward, and its limit shaft 2 94 penetrates into the limit hole 84 to limit it, and then drives the motor 2 96, so that at this time the supporting assembly 4 and the connecting sleeve 81 can rotate on the outside of the bearing sleeve 1 82 until the supporting assembly 4 stops after rotating 180°;

[0059] Subsequently, the personnel lifts the supporting assembly 4 upwards, causing the limit gear 85 to disengage from the limit tooth 95 again. At this time, the limit shaft 2 94 slides out of the limit hole 84, and the limit shaft 1 88 is again inserted into the limit hole 84 under gravity operation, thereby completing the fixation of the position of the supporting assembly 4 and avoiding shaking and turning during pallet transportation.

[0060] See also Figure 1-Figure 5 The supporting assembly 4 includes a forklift arm 1 41 installed on the bottom side of the connecting rod 5, and a forklift arm 2 42 is movably connected between the inner walls of the forklift arm 1 41. Electric push rods 43 are installed on the left and right side ends of the forklift arm 1 41 and the forklift arm 2 42.

[0061] During use of the present solution, when the personnel need to adjust the transport size of the supporting assembly 4, they can start the electric push rod 43 to extend and retract under the control of the PLC program, thereby driving the forklift arm 2 42 on the other side to extend from the inside of the forklift arm 1 41, so that the overall size can be expanded, thereby facilitating the transport of pallets of other sizes.

[0062] See also Figure 1 and Figure 7-Figure 9 A limiting cylinder 61 is embedded and installed at the upper end of the roof box 6, and a limiting groove 62 is provided at the upper end of the limiting cylinder 61. The range obstacle detection component 7 is slidably connected with the limiting groove 62, and a motor 1 is installed inside the roof box 6.

[0063] More specifically: the range obstacle detection component 7 includes a transmission sleeve 72 slidably connected between the inner walls of the limit groove 62, a transmission shaft 71 is threadedly connected between the inner walls of the transmission sleeve 72, the bottom end of the transmission shaft 71 is rotatably connected to the bottom wall of the limit cylinder 61, a follow-up adjustment component is installed between the transmission sleeve 72 and the top of the transmission shaft 71, the outer end of the follow-up adjustment component is fixedly connected to a connecting piece 77, and the edge end of the connecting piece 77 is installed with a plurality of evenly distributed obstacle detectors 78.

[0064] More specifically: the follower adjustment component includes a base 73 fixedly connected to the upper end of the transmission sleeve 72, the top end of the transmission shaft 71 is fixedly connected to a top seat 74, the upper end of the base 73 is rotatably connected to a plurality of evenly distributed connecting rods 1 75, the bottom side edge end of the top seat 74 is rotatably connected to a plurality of evenly distributed connecting rods 2 76, the inner wall end of the connecting rod 2 76 is rotatably connected to one end of the connecting rod 1 75, and the connecting piece 77 is fixedly connected to the outer surface of the connecting rod 2 76.

[0065] More specifically: the transmission shaft 71 includes a column 711, a threaded column 712, and a second bearing sleeve 713. The column 711 is fixedly connected to the top seat 74. The threaded column 712 penetrates into the interior of the roof box 6, and the bottom end is fixedly connected to the output end of the motor 1. The column 711 and the threaded column 712 are movably connected through the second bearing sleeve 713.

[0066] During the use of this solution, when the personnel drive the supporting assembly 4 to extend and retract under the control of the PLC program, the motor installed inside the roof box 6 works synchronously, thereby driving the transmission shaft 71 to rotate, and the transmission sleeve 72 is limited by the limit groove 62, and the transmission sleeve 72 converts the rotational motion of the transmission shaft 71 into linear motion, thereby realizing the up and down displacement work;

[0067] When the transmission sleeve 72 moves upward, its base 73 contacts the connecting rod 1 75 and is limited by the top connecting rod 2 76. The two are turned outward synchronously, so that the position of the obstacle detector 78 originally installed at the edge of the connecting rod 2 76 changes at the same time. The change is as follows: the diameter of the obstacle detector 78 is continuously expanded by the continuous upward movement of the transmission sleeve 72; vice versa, as the transmission sleeve 72 moves downward, the detection area of ​​the obstacle detector 78 is also reduced.

[0068] As a result, when the diameter of the supporting component 4 is extended, the detection diameter of the obstacle detector 78 is also expanded, so that the detection range of the obstacle detector 78 is always maintained at the end of the supporting component 4, ensuring the safety of the supporting component 4 when turning.

[0069] Compared with the prior art, Figure 1 , Figure 6 and Fig.11 As shown, Fig.11 The steering driving route when the forklift arm of the existing transporter is changed is relatively slow, and during the change, the area to be turned is also limited. The smaller the area, the more the program calculates, the more steering operations, and the longer the steering time. At the same time, the number of times the obstacle avoidance radar is activated also increases, thereby increasing energy consumption and reducing endurance. In some existing transporters, the transporter may not be able to change position in a narrow area, resulting in the phenomenon of being unable to move.

[0070] Figure 1 , Figure 6 The present invention is a method for replacing the forklift arm of the transport truck. Compared with the existing turning area, the replacement work of the forklift arm is smaller and the turning is more convenient. At the same time, the obstacle avoidance radar adopts a full-coverage one-time detection work when the forklift arm turns, thereby reducing its energy consumption and improving the endurance compared with the existing transport truck.

[0071] The above-described embodiments only express a certain implementation mode of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A multi-pallet automated transport vehicle, comprising an AGV mobile vehicle (1), characterized in that: The upper end of the AGV mobile trolley (1) is equipped with a lifting device (2), the upper end of the lifting device (2) is equipped with an operating instrument (3), the lower ends of the left and right sides of the lifting device (2) are equipped with supporting components (4), the upper end of the lifting device (2) is provided with two symmetrically distributed connecting rods (5), a limiting component 1 (8) is provided between the lower end of the connecting rod (5) and the supporting component (4), the top end of the AGV mobile trolley (1) is embedded with a limiting component 2 (9) meshing with the limiting component 1 (8), the upper end of the connecting rod (5) is equipped with a roof box (6), and the upper end of the roof box (6) is provided with a range obstacle detection component (7); The limiting component 1 (8) comprises a connecting sleeve (81) fixedly connected to the top side of the connecting end of the supporting component (4), a bearing sleeve 1 (82) is movably connected between the inner walls of the connecting sleeve (81), a bottom plate (83) is fixedly connected to the bottom side of the connecting end of the supporting component (4), a limiting hole (84) is provided at the upper end of the bottom plate (83), a limiting gear (85) is fixedly connected to the lower end of the bottom plate (83), and the inner walls of the bearing sleeve 1 (82) are fixedly connected to the inner walls of the bearing sleeve 1 (82). A connecting shaft (86) is provided, the top end of the connecting shaft (86) is fixedly connected to the bottom end of the connecting rod (5), the side end of the connecting shaft (86) is fixedly connected to a plurality of evenly distributed positioning sleeves (87), the positioning sleeves (87) are located between the inner wall of the bearing sleeve (82) and the bottom plate (83), a limiting shaft (88) is inserted between the inner walls of the positioning sleeve (87), and one end of the limiting shaft (88) passes through the inner walls of the limiting hole (84); The second limiting component (9) comprises receiving grooves (91) provided at the top ends of both sides of the AGV mobile vehicle (1); a limiting platform (92) is movably connected between the inner walls of the receiving grooves (91); a bracket (93) is fixedly connected to the bottom end of the limiting platform (92); a plurality of second limiting shafts (94) mutually engaged with the first limiting component (8) are fixedly connected to the top end of the bracket (93); a limiting tooth (95) mutually engaged with the first limiting component (8) is provided at the top end of the limiting platform (92); and a second motor (96) is installed at the center end of the bottom side of the bracket (93).

2. The multi-pallet automatic transport vehicle according to claim 1, characterized in that: The supporting assembly (4) comprises a forklift arm 1 (41) mounted on the bottom side of the connecting rod (5), a forklift arm 2 (42) being movably connected between the inner walls of the forklift arm 1 (41), and an electric push rod (43) being mounted on the left and right side ends of the forklift arm 1 (41) and the forklift arm 2 (42).

3. The multi-pallet automatic transport vehicle according to claim 1, characterized in that: A limiting cylinder (61) is embedded and installed at the upper end of the roof box (6), a limiting groove (62) is provided at the upper end of the limiting cylinder (61), the range obstacle detection component (7) is slidably connected to the limiting groove (62), and a motor is installed inside the roof box (6).

4. The multi-pallet automatic transport vehicle according to claim 3, characterized in that: The range obstacle detection component (7) comprises a transmission sleeve (72) slidably connected between the inner walls of the limit groove (62), a transmission shaft (71) is threadedly connected between the inner walls of the transmission sleeve (72), the bottom end of the transmission shaft (71) is rotatably connected to the bottom wall of the limit cylinder (61), a follow-up adjustment component is installed between the transmission sleeve (72) and the top end of the transmission shaft (71), a connecting piece (77) is fixedly connected to the outer end of the follow-up adjustment component, and a plurality of evenly distributed obstacle detectors (78) are installed at the edge end of the connecting piece (77).

5. The multi-pallet automatic transport vehicle according to claim 4, characterized in that: The follower adjustment component comprises a pedestal (73) fixedly connected to the upper end of the transmission sleeve (72), a top seat (74) fixedly connected to the top end of the transmission shaft (71), a plurality of evenly distributed connecting rods (75) rotatably connected to the upper end of the pedestal (73), a plurality of evenly distributed connecting rods (76) rotatably connected to the bottom edge end of the top seat (74), an inner wall end of the connecting rod (76) rotatably connected to one end of the connecting rod (75), and a connecting piece (77) fixedly connected to the outer surface of the connecting rod (76).

6. The multi-pallet automatic transport vehicle according to claim 5, characterized in that: The transmission shaft (71) comprises a column (711), a threaded column (712), and a second bearing sleeve (713); the column (711) is fixedly connected to the top seat (74); the threaded column (712) penetrates into the interior of the roof box (6) and has a bottom end fixedly connected to an output end of a first motor; the column (711) and the threaded column (712) are movably connected via the second bearing sleeve (713).

7. The multi-pallet automatic transport vehicle according to claim 1, characterized in that: The telescopic program setting of the supporting component (4) and the range detection adjustment program setting of the range obstacle detection component (7) are executed in the same PLC program segment.

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