External clamping numerical control machine tool

Abstract

The invention relates to the technical field of numerical control machine tools, and discloses an external clamping numerical control machine tool which comprises a machine tool body and further comprises a plurality of clamping systems, a conveying mechanism for sequentially conveying the multiple clamping systems into the machine tool body and an AGV forklift for transferring the clamping systems from the tail end of the conveying mechanism to the front end of the conveying mechanism. The conveying mechanism penetrates through the left side and the right side of the machine tool body, and a fixing frame for containing the clamping system is further arranged on the conveying mechanism. A jacking mechanism for lifting the clamping system is arranged in the machine tool body; the conveying mechanism is provided with a feeding area, a machining area and a discharging area. The feeding area is located at the front end of the conveying mechanism, the machining area is located in the machine tool body and corresponds to the jacking mechanism, and the discharging area is located at the tail end of the conveying mechanism. The invention aims to clamp a workpiece outside a machine tool, reduce the clamping difficulty and improve the clamping efficiency, thereby improving the overall processing efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of numerically controlled machine tools, and in particular relates to an externally clamped numerically controlled machine tool. Background Art

[0002] In the current mechanical processing and manufacturing industry, CNC machining centers are a commonly used processing equipment. Usually, the products to be processed are clamped on the CNC processing table manually. After processing, the processed products are taken away manually, and the blanks are replaced and re-clamped. The process of replacing the blanks often takes a lot of time, especially for some larger workpieces. During the replacement process, a crane such as a crane may be needed. The internal space of the machine tool is small, and the clamping operation inside the machine tool is very inflexible, which greatly reduces work efficiency.

[0003] In view of this, the inventors conducted in-depth research on the above-mentioned defects in the prior art, and thus came up with this case. Summary of the Invention

[0004] The purpose of the present invention is to provide a CNC machine tool with external clamping, which can clamp a workpiece outside the machine tool, reduce the difficulty of clamping, improve the clamping efficiency, and thus improve the overall processing efficiency.

[0005] In order to achieve the above technical objectives, the technical solutions adopted by the present invention are as follows:

[0006] A CNC machine tool with off-machine clamping comprises a machine tool body, a plurality of clamping systems, a transport mechanism for transporting the plurality of clamping systems into the machine tool body in sequence, and an AGV forklift for transferring the clamping systems from the end of the transport mechanism to the front end of the transport mechanism; the transport mechanism runs through the left and right sides of the machine tool body, and the transport mechanism is also provided with a fixed frame for placing the clamping system; a lifting mechanism for lifting the clamping system is provided in the machine tool body; a loading area, a processing area and a unloading area are provided on the transport mechanism; the loading area is located at the front end of the transport mechanism, the processing area is located in the machine tool body and corresponds to the lifting mechanism, and the unloading area is located at the end of the transport mechanism; the transport mechanism comprises a transport frame, a first transmission shaft rotatably mounted on the two inner side walls of the front end of the transport frame, and a second transmission shaft rotatably mounted on the two inner side walls of the end of the transport frame The two wheels respectively cooperate with each other to move the first and second wheels, and the two wheels respectively cooperate with each other to move the second and second wheels. A slide groove is formed on the two inner side walls of the transport frame for the fixed frame to slide, and a slider is formed on the bottom of the fixed frame to cooperate with the slide groove, and a through groove extending along the conveying direction of the transport mechanism is formed on the bottom of the slider to extend into the through groove, and a stop block is formed on the synchronous belt to cooperate with the stop block; two stops are formed on the bottom of each slider, and each drive block and each limit block are used in combination as a group, the drive block pushes the fixed frame to move, and the limit block limits the fixed frame.

[0007] Furthermore, the transport mechanism includes a drive motor and a transmission belt; a first pulley is fixedly mounted in the middle of the first transmission shaft; a second pulley is provided on the output shaft of the drive motor, and the transmission belt is sleeved over the first and second pulleys. The drive motor and transmission belt drive the first transmission shaft to rotate, thereby rotating the synchronous belt and driving the fixed frame to move on the transport frame.

[0008] Furthermore, a mounting groove extending along the conveying direction of the transport mechanism is formed on the top of the side wall of the chute, and a plurality of pulleys are installed in the mounting groove. The pulleys make the fixed frame move more smoothly and reduce the load on the synchronous belt.

[0009] Furthermore, the clamping system includes a supporting base, a placement plate positioned above the supporting base, and a clamp assembly positioned on the placement plate. The inner sidewall of the fixed frame is formed with a placement step for mounting the supporting base. The clamp assembly includes two clamping plates slidably mounted on the placement plate, and a control screw that drives the two clamping plates toward or away from each other. The placement plate is formed with a movable groove for sliding the two clamping plates. A handwheel is provided at the outer end of the control screw. By placing a blank on the placement plate, the blank can be quickly clamped using the clamp assembly.

[0010] Furthermore, the lifting mechanism includes a lifting cylinder fixedly mounted on the bottom of the machine tool body and a fixing plate fixedly connected to the lifting cylinder. The bottom of the supporting base plate is formed with multiple limiting posts, and the top of the fixing plate is formed with sockets that mate with the limiting posts. When the lifting cylinder lifts the fixing plate upward, the limiting posts can be inserted into the sockets. This ensures that the entire clamping system is more stable during machining after the supporting plate is lifted.

[0011] Furthermore, a plurality of guide sleeves are fixedly provided on the inner bottom wall of the machine tool body, and a guide rod is formed on the bottom of the fixed plate to slide with the guide sleeves. The cooperation between the guide sleeves and the guide rods can make the fixed plate more stable when it is raised or lowered.

[0012] Furthermore, the clamping system also includes a rotating disk rotatably mounted on the supporting base, the placement plate fixedly mounted on the rotating disk, and the supporting base incorporating a servo motor that drives the rotating disk. A first data interface connected to the servo motor is provided at the bottom of the supporting base, and a second data interface connected to the control system of the machine tool body is provided at the top of the fixed plate. The first and second data interfaces are interconnected. During machining, the workpiece may need to rotate. By connecting the first and second data interfaces, the control system of the machine tool body can transmit data signals to the servo motor to control its rotation.

[0013] Furthermore, the transport frame is provided with limit plates on both sides thereof, which are located in the processing area and cooperate with the fixed frame. When the clamping system is lifted upward during processing, the limit plates can prevent the fixed frame from being lifted up and leaving the transport frame.

[0014] Furthermore, the fixed frame is provided with supporting blocks on both sides. The bottom of the supporting blocks is formed with a slot extending through the front and rear ends of the supporting blocks. The forks of the AGV forklift can be inserted into the slots. The top wall of the slots is formed with multiple protrusions. The top of the forks of the AGV forklift is formed with multiple grooves that mate with the protrusions. When transferring the clamping system, the fixed frame needs to be transferred together. The slots formed in the bottom of the supporting blocks provide greater safety when transferring the clamping system, and the fixed frame is less likely to fall off the AGV forklift's fork.

[0015] After adopting the above structure, the present invention relates to an external clamping CNC machine tool. Compared with the prior art, this case sets up multiple clamping systems independent of the outside of the machine tool body, and a transportation mechanism running through the left and right sides of the machine tool body transports multiple clamping systems into the machine tool body in turn to process the workpieces on the clamping systems. In this way, the processed workpiece can be quickly transported to the unloading area outside the machine tool body. At the same time, the next clamping system brings the workpiece into the machine tool body for further processing, and the clamping system transported to the unloading area can unload the workpiece, and then use the AGV forklift to move the clamping system together with the fixed frame to the loading area, and clamp the blank to the clamping system in the loading area. In the whole process, the disassembly and fixation of the blank are carried out outside the machine tool body, which can be more convenient to operate, and during the clamping process, the machine tool body is in a processing state, thereby improving the overall processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention can be further illustrated by the non-limiting examples given in the accompanying drawings;

[0017] Figure 1 It is a structural schematic diagram of the present invention;

[0018] Figure 2 It is a structural schematic diagram of another angle of the present invention;

[0019] Figure 3 Schematic diagram of the structure of the clamping system of the present invention;

[0020] Figure 4 It is a structural schematic diagram of the bottom of the clamping system in the present invention;

[0021] Figure 5 It is a structural schematic diagram of the conveying mechanism in the present invention;

[0022] Figure 6 Schematic diagram of the structure of the synchronous belt in the present invention;

[0023] Figure 7 It is a structural schematic diagram of the fixing frame in the present invention;

[0024] Figure 8This is a structural diagram of another angle of the fixed frame in the present invention;

[0025] Figure 9 It is a structural schematic diagram of the jacking mechanism in the present invention;

[0026] Figure 10 for Figure 2 Schematic diagram of the local enlarged structure at A in the middle;

[0027] Figure 11 for Figure 5 Schematic diagram of the local enlarged structure at B in the middle;

[0028] Figure 12 for Figure 5 Schematic diagram of the local enlarged structure at C in the middle;

[0029] Figure 13 It is a structural schematic diagram of the AGV forklift in the present invention.

[0030] The main component symbols are as follows: machine tool body 1, clamping system 2, bearing base plate 21, limiting column 211, first data interface 212, placement plate 22, movable slot 221, clamp assembly 23, clamping plate 231, control screw 232, handwheel 2321, rotating disk 24, transportation mechanism 3, loading area 31, processing area 32, unloading area 33, transportation frame 34, slide 341, through slot 342, installation slot 343, pulley 344, limiting plate 345, first transmission shaft 35, first synchronous wheel 35 1. First pulley 352, second transmission shaft 36, second synchronous pulley 361, synchronous belt 37, drive block 371, limit block 372, drive motor 38, second pulley 381, conveyor belt 39, AGV forklift 4, groove 41 fixing frame 5, slider 51, block 511, placement step 52, bearing block 53, plug-in slot 531, protrusion 532, lifting mechanism 6, lifting cylinder 61, fixing plate 62, plug-in hole 621, guide rod 622, second data interface 623, guide sleeve 7. DETAILED DESCRIPTION

[0031] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that in the drawings or descriptions, similar or identical parts are numbered the same. Implementations not shown or described in the drawings are forms known to those of ordinary skill in the art. In addition, directional terms mentioned in the embodiments, such as "upper," "lower," "top," "bottom," "left," "right," "front," and "back," are merely references to the directions in the drawings and are not intended to limit the scope of protection of the present invention.

[0032] like Figures 1 to 13As shown, the present invention relates to an external clamping CNC machine tool, comprising a machine tool body 1, and also comprising a plurality of clamping systems 2 that can be independently located outside the machine tool body 1, a transport mechanism 3 that transports the plurality of clamping systems 2 to the machine tool body 1 in sequence, and an AGV forklift 4 that transfers the clamping system 2 from the end of the transport mechanism 3 to the front end of the transport mechanism 3; the transport mechanism 3 runs through the left and right sides of the machine tool body 1, and the transport mechanism 3 is also provided with a fixing frame 5 for placing the clamping system 2; a lifting mechanism 6 for fixing the clamping system 2 is provided in the machine tool body 1; the transport mechanism 3 is provided with a loading area 31, a processing area 32 and a unloading area 33; the loading area 3 1 is located at the front end of the transport mechanism 3, the processing area 32 is located in the machine tool body 1 and corresponds to the jacking mechanism 6, the unloading area 33 is located at the end of the transport mechanism 3, and the loading area 31 and the unloading area 33 are both outside the machine tool body 1. When the clamping system 2 is transported to the processing area 32, the clamping system 2 is lifted up by the jacking mechanism 6 to form a support to facilitate the processing of the workpiece; the transport mechanism 3 includes a transport frame 34, a first transmission shaft 35 rotatably mounted on the two inner side walls of the front end of the transport frame 34, a second transmission shaft 36 rotatably mounted on the two inner side walls of the end of the transport frame 34, and two parallel transmission shafts 35 and 36 are mounted on the first transmission shaft 35 and the second transmission shaft. The synchronous belt 37 on 36; the first synchronous wheels 351 respectively cooperating with the two synchronous belts 37 are fixedly installed on both sides of the first transmission shaft 35, and the second synchronous wheels 361 respectively cooperating with the two synchronous belts 37 are fixedly installed on both sides of the second transmission shaft 36; the two inner side walls of the transport frame 34 are formed with a slide groove 341 for the fixed frame 5 to slide, and the bottom of the fixed frame 5 is formed with a slider 51 cooperating with the slide groove 341, and the bottom wall of the slide groove 341 is formed with a through groove 342 extending along the conveying direction of the transport mechanism 3, and the bottom of the slider 51 is formed with a stopper 511 extending into the through groove 342, and the synchronous belt 37 is formed with a plurality of stoppers 51 1, the driving blocks 371 and the limiting blocks 372 are arranged alternately; two blocks 511 are formed at the bottom of each slider 51, and each driving block 371 and each limiting block 372 are used in conjunction with each other as a group. The driving block 371 pushes the fixed frame 5 to move, and the limiting blocks 372 limit the fixed frame 5; specifically, the driving blocks 371 in each group are located behind the limiting blocks 372, and the driving blocks 371 in each group are located on the rear side of the block 511 close to the head end of the transport mechanism 3, and the limiting blocks 372 in each group are located in front of the block 511 close to the end end of the transport mechanism 3. In addition, a workpiece conveyor line can be set at the end of the conveying mechanism, and a blank conveyor line can be set at the head end of the conveying mechanism. After the processed workpiece is disassembled in the unloading area 33, it is directly hoisted onto the workpiece conveyor line for transportation. When the blank is clamped in the loading area 31, the blank transported from the blank conveyor line can be directly hoisted onto the clamping system 2.

[0033] Preferably, the transport mechanism 3 further includes a drive motor 38 and a conveyor belt 39. A first pulley 352 is fixedly mounted in the middle of the first transmission shaft 35. A second pulley 381 is provided on the output shaft of the drive motor 38, and the conveyor belt 39 is sleeved over the first pulley 352 and the second pulley 381. The drive motor 38 can be fixed to the ground with bolts. The drive motor 38 and the conveyor belt 39 drive the first transmission shaft 35 to rotate, thereby rotating the synchronous belt 37 and driving the fixed frame 5 to move on the transport rack 34.

[0034] Preferably, a mounting groove 343 extending along the conveying direction of the conveying mechanism 3 is formed on the top of the side wall of the chute 341. A plurality of pulleys 344 are installed in the mounting groove 343. The bottom of the mounting frame can contact the pulleys 344. Through the pulleys 344, the fixed frame 5 moves more smoothly and the load on the synchronous belt 37 is reduced.

[0035] Preferably, the clamping system 2 includes a supporting base plate 21, a placement plate 22 positioned above the supporting base plate 21, and a clamp assembly 23 positioned on the placement plate 22. A placement step 52 for mounting the supporting base plate 21 is formed on the inner sidewall of the fixed frame 5. The clamp assembly 23 includes two clamping plates 231 slidably mounted on the placement plate 22, and a control screw 232 for driving the two clamping plates 231 toward or away from each other. The placement plate 22 is formed with a movable groove 221 for sliding the two clamping plates 231. Specifically, the movable groove 221 is a T-shaped groove. The bottom of the clamping plate 231 is formed with a movable block that cooperates with the movable groove 221, and the movable block is formed with a threaded hole that cooperates with the screw. A handwheel 2321 is provided at the outer end of the control screw 232. The handwheel 2321 facilitates the rotation of the control screw 232. The blank is placed on the placement plate 22, and the control screw 232 is rotated to move the two clamping plates 231 toward each other, thereby quickly clamping the blank.

[0036] Preferably, the lifting mechanism 6 includes a lifting cylinder 61 fixedly mounted on the bottom of the machine tool body 1 and a fixing plate 62 fixedly connected to the lifting cylinder 61; a plurality of limiting posts 211 are formed at the bottom of the supporting base plate 21, and a top of the fixing plate 62 is formed with a plug hole 621 that cooperates with the limiting posts 211. The lifting cylinder 61 can be a hydraulic cylinder or a pneumatic cylinder. When the lifting cylinder 61 lifts the fixing plate 62 upward, the limiting posts 211 can be inserted into the plug hole 621. In this way, after the supporting plate is lifted, the entire clamping system 2 can be made more stable during processing.

[0037] Preferably, a plurality of guide sleeves 7 are fixedly provided on the inner bottom wall of the machine tool body 1, and a guide rod 622 is formed at the bottom of the fixed plate 62 to slide with the guide sleeve 7. Through the cooperation between the guide sleeve 7 and the guide rod 622, the fixed plate 62 can be made more stable during lifting.

[0038] Preferably, the clamping system 2 also includes a rotating disk 24 rotatably mounted on the supporting base plate 21, the placement plate 22 is fixedly mounted on the rotating disk 24, and the supporting base plate 21 is equipped with a servo motor for driving the rotating disk to rotate; the bottom of the supporting base plate is provided with a first data interface 212 connected to the servo motor; the top of the fixed plate 62 is provided with a second data interface 623 connected to the control system of the machine tool body 1, and the first data interface 212 and the second data interface 623 are plugged into and connected to each other. During processing, the workpiece may need to rotate. By connecting the first data interface 212 and the second data interface 623, the control system of the machine tool body 1 can transmit the data signal to the servo motor to control the rotation of the servo motor. When the fixed plate 62 moves upward, the second data interface 623 can be inserted into the first data interface 212.

[0039] Preferably, both sides of the transport frame 34 are provided with limit plates 345 located in the processing area 32; the limit plates 345 cooperate with the fixed frame 5. When the clamping system 2 is lifted up during processing, the limit plates 345 can prevent the fixed frame 5 from being lifted up and leaving the transport frame 34.

[0040] Preferably, supporting blocks 53 are further provided on both sides of the fixed frame 5. The bottom of the supporting block 53 is formed with a plug-in slot 531 that passes through the front and rear ends of the supporting block 53. The fork of the AGV forklift 4 can be inserted into the plug-in slot 531. A plurality of protrusions 532 are formed on the top wall of the plug-in slot 531. The top of the fork of the AGV forklift 4 is formed with a plurality of grooves 41 that cooperate with the protrusions 532. When transferring the clamping system 2, the fixed frame 5 needs to be transferred together. By forming the plug-in slot 531 at the bottom of the supporting block 53, the fork of the AGV forklift 4 can be inserted into the plug-in slot 531 when transferring the clamping system 2. The cooperation between the protrusion 532 and the groove 41 can make the transfer safer and the fixed frame 5 is not easy to fall off from the fork of the AGV forklift 4.

[0041] The method of using the present invention is as follows: first, multiple clamping systems 2 are clamped in sequence in the loading area 31 for blanks. Each time a blank is clamped, the conveying mechanism transports it forward one workstation until the clamping system 2 starts to enter the processing area 32 for processing. The processed workpiece is continued to be conveyed forward to the unloading area 33 under the action of the conveying mechanism. At the same time, the next clamping system 2 brings the blank into the machine tool body 1 for further processing, and the clamping system 2 transported to the unloading area 33 can unload the workpiece, and then use the AGV forklift 4 to move the clamping system 2 together with the fixed frame 5 to the loading area 31, and clamp the blank to the clamping system 2 in the loading area 31. The operator can use the machine tool body 1 to disassemble the workpiece and install the blank during the processing period.

[0042] The above describes in detail the CNC machine tool with off-board clamping provided by the present invention. The description of the specific embodiments is intended only to facilitate understanding of the method and core concepts of the present invention. It should be noted that those skilled in the art may make various improvements and modifications to the present invention without departing from the principles of the present invention, and such improvements and modifications fall within the scope of protection of the claims of the present invention.

Claims

1. An externally clamped CNC machine tool, comprising a machine tool body (1), characterized in that: The machine tool also includes a plurality of clamping systems (2), a transport mechanism (3) for transporting the plurality of clamping systems (2) into the machine tool body (1) in sequence, and an AGV forklift (4) for transferring the clamping system (2) from the end of the transport mechanism (3) to the front end of the transport mechanism (3); the transport mechanism (3) runs through the left and right sides of the machine tool body (1), and the transport mechanism (3) is also provided with a fixing frame (5) for placing the clamping system (2); the machine tool body (1) is provided with a lifting mechanism (6) for fixing the clamping system (2); the transport mechanism (3) is provided with a loading area (31), a processing area ( The conveying mechanism (3) is a machine tool having a conveying frame (34), a first transmission shaft (35) rotatably mounted on two inner side walls of the front end of the conveying frame (34), a second transmission shaft (36) rotatably mounted on two inner side walls of the end of the conveying frame (34), and two parallel transmission shafts (35) sleeved on the first transmission shaft (35) and the second transmission shaft (36). (36) on the synchronous belt (37); first synchronous wheels (351) respectively cooperating with the two synchronous belts (37) are fixedly installed on both sides of the first transmission shaft (35), and second synchronous wheels (361) respectively cooperating with the two synchronous belts (37) are fixedly installed on both sides of the second transmission shaft (36); sliding grooves (341) for sliding the fixed frame (5) are formed on the two inner side walls of the transport frame (34), and a slider (51) cooperating with the sliding groove (341) is formed at the bottom of the fixed frame (5), and a sliding groove (51) is formed on the bottom wall of the sliding groove (341) along the transport frame (5); The mechanism (3) has a through slot (342) extending in the conveying direction, the bottom of the slider (51) is formed with a stopper (511) extending into the through slot (342), and the synchronous belt (37) is formed with a plurality of drive blocks (371) and limit blocks (372) cooperating with the stopper (51); two stoppers (511) are formed at the bottom of each slider (51), each drive block (371) and each limit block (372) are used in combination as a group, the drive block (371) pushes the fixed frame (5) to move, and the limit block (372) limits the fixed frame (5).

2. The externally clamped CNC machine tool according to claim 1, characterized in that: The transport mechanism (3) also includes a drive motor (38) and a transmission belt (39); a first pulley (352) is fixedly mounted on the middle of the first transmission shaft (35); a second pulley (381) is arranged on the output shaft of the drive motor (38), and the transmission belt is sleeved on the first pulley (352) and the second pulley (381).

3. The externally clamped CNC machine tool according to claim 2, characterized in that: A mounting groove (343) extending along the conveying direction of the conveying mechanism (3) is formed on the top of the side wall of the slide groove (341), and a plurality of pulleys (344) are installed in the mounting groove (343).

4. The externally clamped CNC machine tool according to claim 1, characterized in that: The clamping system (2) comprises a bearing base plate (21), a placement plate (22) located above the bearing base plate (21), and a clamp assembly (23) located on the placement plate (22); a placement step (52) for mounting the bearing base plate (21) is formed on the inner side wall of the fixed frame (5); the clamp assembly (23) comprises two clamping plates (231) slidably mounted on the placement plate (22) and a control screw (232) for driving the two clamping plates (231) to move closer to or away from each other; a movable groove (221) for sliding the two clamping plates (231) is formed on the placement plate (22); and a hand wheel (2321) is provided at the outer end of the control screw (232).

5. The externally clamped CNC machine tool according to claim 4, characterized in that: The lifting mechanism (6) comprises a lifting cylinder (61) fixedly mounted on the bottom of the machine tool body (1) and a fixing plate (62) fixedly connected to the lifting cylinder (61); a plurality of limiting columns (211) are formed at the bottom of the bearing base plate (21), and a plug-in hole (621) matching with the limiting columns (211) is formed at the top of the fixing plate (62).

6. The externally clamped CNC machine tool according to claim 5, characterized in that: A plurality of guide sleeves (7) are fixedly provided on the inner bottom wall of the machine tool body (1), and a guide rod (622) which is slidably matched with the guide sleeve (7) is formed at the bottom of the fixing plate (62).

7. The externally clamped CNC machine tool according to claim 5, characterized in that: The clamping system (2) also includes a rotating disk (24) rotatably mounted on the supporting base plate (21), the placement plate (22) is fixedly mounted on the rotating disk, and the supporting base plate (21) is equipped with a servo motor for driving the rotating disk to rotate; a first data interface (212) connected to the servo motor is provided at the bottom of the supporting base plate (21); a second data interface (623) connected to the control system of the machine tool body (1) is provided at the top of the fixed plate (62), and the first data interface (212) and the second data interface (623) are plugged and connected to each other.

8. The externally clamped CNC machine tool according to claim 5, characterized in that: Limiting plates (345) located in the processing area (32) are also provided on both sides of the transport frame (34); the limiting plates (345) cooperate with the fixing frame (5).

9. The externally clamped CNC machine tool according to claim 1, characterized in that: The fixing frame (5) is also provided with a bearing block (53) on both sides, and a plug-in slot (531) penetrating the front and rear ends of the bearing block (53) is formed at the bottom of the bearing block (53); the fork of the AGV forklift (4) can be inserted into the plug-in slot (531); a plurality of protrusions (532) are formed on the top wall of the plug-in slot (531); and a plurality of grooves (41) cooperating with the protrusions (532) are formed on the top of the fork of the AGV forklift (4).

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