AGV trolley, active forking method and passive forking method

Abstract

The invention relates to the technical field of AGV trolleys, in particular to an AGV trolley, an active forking method and a passive forking method, through an upper hook and a lower hook arranged on an AGV trolley body, the lower hook is used under the condition that goods are not taken, the space occupied during fork stretching is reduced, and therefore the operation space is reduced during goods forking, and operation in a narrow space is facilitated; the upper hook is used after goods taking is completed, the upper hook does not need to be taken back to the lower hook again after the tray is taken, the upper hook is directly used, operation steps are reduced, and the forking efficiency is improved.

Description

Technical Field

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

[0002] It is more and more widely used in the logistics and warehousing industries, reducing labor costs and improving work efficiency, becoming an indispensable equipment in modern warehousing and production links; when the existing AGV car is moving wooden pallets, such as the instructions attached Figure 8 The wooden pallet in the lift is equipped with three crossbeams. However, when the fork arm of the traditional AGV lifts the wooden pallet, it cannot touch the last crossbeam due to the length limitation of the fork arm, which may cause the cargo to overturn during handling. In the existing improved AGV trolley, such as an AGV forklift with patent publication number CN220976484U, the extended fork arm upper cover is placed in the AGV body. After taking the pallet, this setting method needs to extend the fork again to separate the fork arm from the pallet, and then place the fork arm in the AGV body. The operation steps are cumbersome and the forking efficiency is low. On this basis, if the lower hook is simply improved to an upper hook, this setting method needs to occupy a large working space. It is difficult to fully extend it in a narrow terrain or narrow space, resulting in the inability to fork the pallet, which also has certain limitations. Therefore, we propose an improved AGV and its related fork-picking method to improve its flexibility and stability and achieve efficient cargo picking and placement. Summary of the invention

[0003] In view of the deficiencies in the prior art, the object of the present invention is to provide an AGV vehicle, an active forking method and a passive forking method to solve the problems existing in the above-mentioned background technology.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions: an AGV trolley, comprising: an AGV body and at least one fork arm assembly; the AGV body is provided with at least one fork arm receiving groove corresponding to the fork arm assembly; the AGV body is provided with at least one fork arm extension groove corresponding to the fork arm receiving groove; the fork arm receiving groove is communicated with the fork arm extension groove; the fork arm assembly can be received in the fork arm receiving groove; part of the fork arm assembly can be extended and received in the fork arm extension groove; upper hooks and lower hooks are arranged on both sides of the fork arm receiving groove from top to bottom in sequence; the two upper hooks are symmetrically arranged; the two lower hooks are symmetrically arranged; the fork arm assembly can be respectively hung with the upper hook or the lower hook; the fork arm assembly is provided with two avoidance openings for the lower hook or the upper hook to pass through; when the fork arm assembly is respectively hung with the two upper hooks, Part of the fork arm assembly is in contact with the AGV body, and the fork arm assembly and the AGV body are in a relatively static state; when the fork arm assembly is respectively connected with the two lower hooks, part of the fork arm assembly extends and is placed in the fork arm extension groove, and the fork arm assembly and the AGV body are in a relatively static state; when the fork arm assembly is separated from the two upper hooks and the two lower hooks, the fork arm assembly and the AGV body are in a relatively active state; there are also provided: a first moving assembly for driving the AGV body to move and a second moving assembly for driving the fork arm assembly to move in the X-axis direction; the first moving assembly is arranged at the bottom of the AGV body; the first moving assembly is rotationally connected to the AGV body; the second moving assembly is arranged at the bottom of the fork arm assembly; the second moving assembly is rotationally connected to the fork arm assembly.

[0005] Optionally, the fork arm assembly includes: a fork arm upper plate, a fork arm lower cover, an extension plate and a lifting module for driving the fork arm upper plate to lift; the lifting module is fixedly connected to the fork arm lower cover; the output end of the lifting module is hinged to the fork arm upper cover; two hanging grooves are arranged on the fork arm upper cover in a relative manner; the two hanging grooves can be respectively engaged with the corresponding upper hooks or lower hooks; two avoidance openings are arranged on the fork arm upper cover; the second moving assembly is rotatably connected to the fork arm lower cover; the extension plate is fixedly connected to the fork arm upper plate; the extension plate can abut against the AGV body; the extension plate can be placed in the fork arm extension groove; when the two upper hooks are respectively engaged with the corresponding hanging grooves, the extension plate is in an abutting state with the AGV body; when the two lower hooks are respectively engaged with the corresponding hanging grooves, the extension plate is placed in the fork arm extension groove.

[0006] Optionally, the lifting module includes a first active scissors fork, a second active scissors fork, a first driven scissors fork, a second driven scissors fork, a support rod and a first driving member for driving the support rod; the first driving member is fixedly connected to the fork arm lower cover; one end of the first active scissors fork and one end of the second active scissors fork are respectively slidably connected to the fork arm lower cover; the other end of the first active scissors fork and the other end of the second active scissors fork are respectively hinged to the fork arm upper plate; one end of the first driven scissors fork and one end of the second driven scissors fork are respectively slidably connected to the fork arm lower cover; the other end of the second driven scissors fork and the other end of the second driven scissors fork are respectively hinged to the fork arm upper plate; the first active scissors fork is hinged to the first driven scissors fork; the second active scissors fork is hinged to the second driven scissors fork; one end of the support rod is hinged to the output end of the driving member; the other end of the support rod is respectively hinged to the first active scissors fork and the second active scissors fork.

[0007] Optionally, the second moving component includes: a fork arm driving wheel, a fork arm driven wheel and a second driving member for driving the fork arm driving wheel to rotate; the fork arm driving wheel is arranged on one end of the bottom of the fork arm lower cover, and the fork arm driving wheel is rotatably connected to the fork arm lower cover; the fork arm driven wheel is arranged on the other end of the bottom of the fork arm lower cover, and the fork arm driven wheel is rotatably connected to the fork arm lower cover; the second driving member is fixedly connected to the fork arm lower cover, and the output end of the second driving member is fixedly connected to the fork arm driving wheel.

[0008] Optionally, the first moving component includes: a plurality of driving wheels, a plurality of universal wheels and a third driving member for driving the driving wheels; the third driving member is arranged inside the AGV body, and the third driving member is fixedly connected to the AGV body; the plurality of driving wheels and the plurality of universal wheels are respectively rotatably connected to the bottom of the AGV body; the output end of the third driving member is respectively fixedly connected to the plurality of driving wheels.

[0009] Optionally, a plurality of guide bars for guiding the moving direction of the fork arm assembly are symmetrically arranged on two side walls on the inner side of the bottom of the fork arm receiving groove; the plurality of guide bars can respectively abut against the side edges of the fork arm assembly.

[0010] An active forking method of an AGV trolley based on the above AGV trolley includes the following steps of forking a pallet by the AGV trolley: Step A: The first moving component drives the AGV body to move to one side of the pallet that needs to be forked; Step B: The lifting module drives the fork arm upper plate and the fork arm lower cover to separate, at which time the fork arm upper plate and the lower hook are in a clamping state, the fork arm upper plate and the fork arm lower cover are placed in the fork arm receiving groove, the extension plate of the fork arm upper plate is placed in the fork arm extension groove, and the fork arm lower cover moves downward along the gravity direction with the fork arm upper plate as the support point until the second moving assembly on the fork arm lower cover contacts the ground; Step C: When the second moving assembly is in contact with the ground, the lifting module continues to drive, with the fork arm lower cover as the support point, the fork arm upper plate is separated from the lower hook and moves upward, and the second moving assembly is driven to drive the fork arm assembly to move until the avoidance opening on the fork arm upper plate and the lower hook are on the same plumb line; Step D: The lifting module drives the fork arm upper plate to descend. During the process of the fork arm upper plate descending, the lower hook on the AGV body will pass through the avoidance opening of the fork arm upper plate until the fork arm upper plate and the fork arm lower cover are buckled. At this time, the fork arm assembly and the AGV body are in a relatively active state; Step E: The second moving assembly drives the fork arm assembly to enter the bottom of the pallet, and the lifting module is driven to lift the fork arm upper plate with the fork arm lower cover as the support point, thereby lifting the pallet; Step F: After the fork arm assembly completes lifting the pallet, the second moving assembly drives the fork arm assembly lifting the pallet back into the fork arm receiving slot, and makes the hanging slot on the fork arm upper plate and the upper hook on the AGV body be on the same plumb line; Step G: The lifting module is driven to lower the fork arm upper plate with the fork arm lower cover as the support point until the hanging groove of the fork arm upper plate is engaged with the upper hook; Step H: When the hanging groove of the fork arm upper plate is engaged with the upper hook, the pallet has been placed on the AGV body, the extension plate on the fork arm upper plate is in contact with the AGV body, and the lifting module continues to drive, with the fork arm upper plate as the support point, and the fork arm lower cover is lifted until the second moving component of the fork arm lower cover is separated from the ground, completing the step of actively forking the pallet.

[0011] An active forking method of an AGV trolley based on the above AGV trolley includes the following steps of forking a pallet by the AGV trolley: Step A: The first moving component drives the AGV body to move to one side of the pallet that needs to be forked; Step B: The lifting module drives the fork arm upper plate and the fork arm lower cover to separate, at which time the fork arm upper plate and the lower hook are in a clamping state, the fork arm upper plate and the fork arm lower cover are placed in the fork arm receiving groove, the extension plate of the fork arm upper plate is placed in the fork arm extension groove, and the fork arm lower cover moves downward along the gravity direction with the fork arm upper plate as the support point until the second moving assembly on the fork arm lower cover contacts the ground; Step C: When the second moving assembly is in contact with the ground, the lifting module continues to drive, with the fork arm lower cover as the support point, the fork arm upper plate is separated from the hook and moves upward, and the second moving assembly is driven to drive the fork arm assembly to move until the avoidance opening on the fork arm upper plate and the lower hook are on the same plumb line; Step D: The lifting module drives the fork arm upper plate to descend. During the process of the fork arm upper plate descending, the lower hook on the AGV body will pass through the avoidance opening of the fork arm upper plate until the fork arm upper plate and the fork arm lower cover are buckled. At this time, the fork arm assembly and the AGV body are in a relatively active state; Step E: The second moving assembly drives the fork arm assembly to enter the bottom of the pallet, and the lifting module is driven to lift the fork arm upper plate with the fork arm lower cover as the support point, thereby lifting the pallet; Step F: After the fork arm assembly completes lifting the pallet, the first moving assembly drives the AGV body to move toward the fork arm assembly, so that the fork arm assembly lifting the pallet returns to the fork arm receiving slot, and the hanging slot on the fork arm upper plate and the upper hook on the AGV body are on the same plumb line; Step G: The lifting module is driven to lower the fork arm upper plate with the fork arm lower cover as the support point until the hanging groove of the fork arm upper plate is engaged with the upper hook; Step H: When the hanging groove of the fork arm upper plate is engaged with the upper hook, the pallet has been placed on the AGV body, the extension plate on the fork arm upper plate is in contact with the AGV body, and the lifting module continues to drive, with the fork arm upper plate as the support point, and the fork arm lower cover is lifted until the second moving component of the fork arm lower cover is separated from the ground, completing the step of passively forking the pallet.

[0012] In summary, the present invention has the following beneficial effects: 1. Through the upper and lower hooks set on the AGV body, the lower hook is used when no goods are picked up, which reduces the space occupied when the fork is extended, thereby reducing the working space when forking goods, which is convenient for working in a small space; the upper hook is used after the goods are picked up. The upper hook can be used directly after the pallet is picked up without having to be retracted to the lower hook, which reduces the operation steps and improves the efficiency of forking.

[0013] 2. The AGV can use passive and active pallet picking methods to pick up wooden pallets to adapt to different working environments and improve scene adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the main structure of the present invention; Figure 2 It is a schematic diagram of the specific structure of the AGV body of the present invention; Figure 3 It is a bottom view schematic diagram of the specific structure of the AGV body of the present invention; Figure 4 is a schematic diagram of the specific structure of the fork arm assembly of the present invention; Figure 5 It is a schematic diagram of the specific position relationship of the no-load hooking state of the present invention; Figure 6 It is a schematic diagram of the specific position relationship of the separation state under no-load of the present invention; Figure 7 It is a schematic diagram of the specific position relationship of the tray taking of the present invention; Figure 8 It is a schematic diagram of the specific position relationship of the transport pallet of the present invention; Fig. 9 is a schematic cross-sectional view of the specific position relationship of the transport pallet of the present invention; Fig.10 It is a schematic diagram of the specific position relationship of the under-carrying hanging state of the present invention.

[0015] In the figure: 1. AGV body; 11. fork arm receiving slot; 12. fork arm extension slot; 2. fork arm assembly; 21. fork arm upper plate; 22. fork arm lower cover; 23. extension plate; 24. lifting module; 241. first active scissors fork; 242. second active scissors fork; 243. first driven scissors fork; 244. second driven scissors fork; 245. support rod; 246. first driving member; 25. hanging slot; 3. upper hook; 4. lower hook; 5. avoidance; 6. first moving assembly; 61. driving wheel; 62. universal wheel; 63. third driving member; 7. second moving assembly; 71. fork arm active wheel; 72. fork arm driven wheel; 73. second driving member; 8. guide bar; 9. tray. DETAILED DESCRIPTION

[0016] 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.

[0017] 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.

[0018] 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.

[0019] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0020] The present invention provides an AGV vehicle, an active forking method and a passive forking method, such as Figure 1As shown, an AGV trolley comprises: an AGV body 1 and at least one fork arm assembly 2; at least one fork arm receiving groove 11 corresponding to the fork arm assembly 2 is provided on the AGV body 1; at least one fork arm extension groove 12 corresponding to the fork arm receiving groove 11 is provided in the AGV body 1; the fork arm receiving groove 11 is communicated with the fork arm extension groove 12; the fork arm assembly 2 can be received in the fork arm receiving groove 11; part of the fork arm assembly 2 can be extended and received in the fork arm extension groove 12; upper hooks 3 and lower hooks 4 are arranged on both sides of the fork arm receiving groove 11 from top to bottom; the two upper hooks 3 are symmetrically arranged; the two lower hooks 4 are symmetrically arranged; the fork arm assembly 2 can be respectively hung with the upper hook 3 or the lower hook 4; the fork arm assembly 2 is provided with two avoidance openings 5 ​​for the lower hook 4 or the upper hook 3 to pass through; when the fork arm assembly 2 is respectively hung with the two upper hooks 3, the fork arm assembly 2 The part of the fork arm assembly 2 abuts against the AGV body 1, and the fork arm assembly 2 and the AGV body 1 are in a relatively static state; when the fork arm assembly 2 is respectively connected with the two lower hooks 4, part of the fork arm assembly 2 extends and is placed in the fork arm extension slot 12, and the fork arm assembly 2 and the AGV body 1 are in a relatively static state; when the fork arm assembly 2 is separated from the two upper hooks 3 and the two lower hooks 4, the fork arm assembly 2 and the AGV body 1 are in a relatively active state; it is also provided with: a first moving assembly 6 for driving the AGV body 1 to move and a second moving assembly 7 for driving the fork arm assembly 2 to move in the X-axis direction; the first moving assembly 6 is arranged at the bottom of the AGV body 1; the first moving assembly 6 is rotationally connected to the AGV body 1; the second moving assembly 7 is arranged at the bottom of the fork arm assembly 2; the second moving assembly 7 is rotationally connected to the fork arm assembly 2.

[0021] In the first embodiment, the fork arm assembly 2 can be hung on the AGV body 1 through the upper hook 3 on the AGV body 1 or the lower hook 4 on the AGV body 1, so that the AGV body 1 drives the fork arm assembly 2 to the working position, and the fork arm assembly 2 is hung on the AGV body 1 by the hanging fork. Under the premise of not increasing the size of the AGV body 1, a longer fork arm assembly 2 can be installed to adapt to the requirements of transporting the pallet 9; In standby mode, if Figure 5-6As shown, the fork arm assembly 2 is hung on the AGV body 1 through the lower hook 4. At this time, the fork arm assembly 2 is partially extended and placed in the fork arm extension slot 12. When the fork arm assembly 2 is hung on the lower hook 4, the fork arm assembly 2 can be conveniently separated from the AGV body 1 without occupying too much space; when there is no need to carry the pallet 9, the fork arm assembly 2 is hung on the AGV body 1 using the lower hook 4, which is convenient for the next fork extension operation and reduces the working space; In the state of transporting the pallet 9, as Figure 9-10 As shown, when the fork arm assembly 2 takes the pallet 9 and returns to the AGV body 1, the fork arm assembly 2 can be directly hung on the AGV body 1 through the upper hook 3, eliminating the step of re-storing the fork arm assembly 2 as a whole into the fork arm receiving groove 11 and the fork arm extension groove 12, thereby improving the efficiency of the AGV cart in forking the pallet 9.

[0022] Optionally, the lower hook 4 can use an elastic hook, which includes: a lock plate, a lock base, a lock tongue, a spring and a ball pin; the lock plate is arranged on the lock base, the lock plate and the lock base are integrally formed, the lock tongue is slidably connected to the lock base, an installation groove is provided on the lock base, the spring is arranged in the installation groove, one end of the ball pin is connected to the spring, and the other end is abutted against the lock tongue, and the lock tongue abuts against the hanging groove 25 of the fork arm assembly 2, thereby achieving the limit fixing of the position of the fork arm assembly 2 on the AGV body 1, when lifting, the spring is contracted by squeezing the lock tongue, and the lock tongue retracts so that the fork arm assembly 2 can move relative to the AGV body 1, thereby achieving the effect of unhooking, and after the fork arm assembly 2 is separated from the lock tongue, the spring is used to extend it again and reset it to the initial position.

[0023] Furthermore, the fork arm assembly 2 includes: a fork arm upper plate 21, a fork arm lower cover 22, an extension plate 23 and a lifting module 24 for driving the fork arm upper plate 21 to lift; the lifting module 24 is fixedly connected to the fork arm lower cover 22; the output end of the lifting module 24 is hinged to the fork arm upper cover; two hanging grooves 25 are arranged on the fork arm upper cover in a relative manner; the two hanging grooves 25 can be respectively connected with the corresponding upper hook 3 or lower hook 4; the two avoidance openings 5 ​​are arranged on the fork arm upper cover; the second moving assembly 7 and The fork arm lower cover 22 is rotatably connected; the extension plate 23 is fixedly connected to the fork arm upper plate 21; the extension plate 23 can be abutted against the AGV body 1; the extension plate 23 can be placed in the fork arm extension slot 12; when the two upper hooks 3 are respectively engaged with the corresponding hanging slots 25, the extension plate 23 is in abutment with the AGV body 1; when the two lower hooks 4 are respectively engaged with the corresponding hanging slots 25, the extension plate 23 is placed in the fork arm extension slot 12.

[0024] In the second embodiment, Figure 4 As shown, the fork arm upper plate 21 and the fork arm lower cover 22 are separated or brought close to each other by the lifting module 24, so as to realize the steps of hanging and separating the fork arm upper plate 21 and the AGV; Figure 5 and Fig.10 As shown, the hanging groove 25 on the fork arm upper plate 21 and the upper hook 3 or the lower hook 4 on the AGV body 1 are on the same plumb line. By lowering the fork arm upper plate 21, the hanging groove 25 on the fork arm upper plate 21 and the upper hook 3 or the lower hook 4 on the AGV body 1 are engaged with each other, thereby achieving the effect of hanging the fork arm assembly 2 on the AGV body 1; the second moving assembly 7 is arranged at the bottom of the fork arm lower cover 22. After the fork arm upper plate 21 is separated from the AGV body 1, the fork arm lower cover 22 is driven to move by the second moving assembly 7, thereby moving the fork arm assembly 2 to the bottom of the pallet 9 to perform the operation of forking the pallet 9; as shown Fig.10 As shown, an extension plate 23 is provided on the fork arm upper plate 21 to increase the area range of the forked pallet 9. At the same time, when the forked pallet 9 is placed on the AGV body 1, the contact point between the extension plate 23 and the AGV body 1 can be used as a second support point, cooperating with the first support point of the hook on the fork arm upper plate 21 and the AGV body 1 to achieve a more stable hanging effect.

[0025] Furthermore, the lifting module 24 includes a first active scissors fork 241, a second active scissors fork 242, a first driven scissors fork 243, a second driven scissors fork 244, a support rod 245 and a first driving member 246 for driving the support rod 245; the first driving member 246 is fixedly connected to the fork arm lower cover 22; one end of the first active scissors fork 241 and one end of the second active scissors fork 242 are respectively slidably connected to the fork arm lower cover 22; the other end of the first active scissors fork 241 and the other end of the second active scissors fork 242 are respectively hinged to the fork arm upper plate 21; One end of a driven scissors fork 243 and one end of a second driven scissors fork 244 are respectively slidably connected to the fork arm lower cover 22; the other end of the second driven scissors fork 244 and the other end of the second driven scissors fork 244 are respectively hinged to the fork arm upper plate 21; the first active scissors fork 241 is hinged to the first driven scissors fork 243; the second active scissors fork 242 is hinged to the second driven scissors fork 244; one end of the support rod 245 is hinged to the output end of the driving member; the other end of the support rod 245 is respectively hinged to the first active scissors fork 241 and the second active scissors fork 242.

[0026] In the third embodiment, Figure 4As shown, the support arm is driven to move by the first driving member 246, so that the support arm drives the first active scissors fork 241 and the second active scissors fork 242 hinged to the support plate, so that the first active scissors fork 241 and the second active scissors fork 242 are telescopically moved, and the first driven scissors fork 243 and the second driven scissors fork 244 provide auxiliary support effect, so that when the first active scissors fork 241 and the second active scissors fork 242 drive the fork arm upper plate 21 to lift, the auxiliary support effect is provided to enhance the overall support strength of the fork arm assembly 2.

[0027] Furthermore, the second moving component 7 includes: a fork arm driving wheel 71, a fork arm driven wheel 72 and a second driving member 73 for driving the fork arm driving wheel 71 to rotate; the fork arm driving wheel 71 is arranged on one end of the bottom of the fork arm lower cover 22, and the fork arm driving wheel 71 is rotatably connected to the fork arm lower cover 22; the fork arm driven wheel 72 is arranged on the other end of the bottom of the fork arm lower cover 22, and the fork arm driven wheel 72 is rotatably connected to the fork arm lower cover 22; the second driving member 73 is fixedly connected to the fork arm lower cover 22, and the output end of the second driving member 73 is fixedly connected to the fork arm driving wheel 71.

[0028] In the fourth embodiment, Figure 4 As shown, the fork arm active wheel 71 is driven by the second driving member 73 to drive the fork arm assembly 2 to move relative to the AGV body 1, and the fork arm driven wheel 72 plays an auxiliary role, making the overall movement smoother; the dual-wheel system provides more stable support and flexible operation, further enhancing the operability of the fork arm assembly 2, which can operate stably in a variety of environments and reduce unexpected errors in the forking process.

[0029] Furthermore, the first moving component 6 includes: a plurality of driving wheels 61, a plurality of universal wheels 62 and a third driving member 63 for driving the driving wheels 61; the third driving member 63 is arranged inside the AGV body 1, and the third driving member 63 is fixedly connected to the AGV body 1; the plurality of driving wheels 61 and the plurality of universal wheels 62 are respectively rotatably connected to the bottom of the AGV body 1; the output ends of the third driving member 63 are respectively fixedly connected to the plurality of driving wheels 61.

[0030] In Example 5, Figure 2-3 As shown, the third driving member 63 is used to drive the driving wheel 61 to drive the AGV body 1 to move, so that the AGV body 1 has the function of multi-directional movement. The multi-directional control gives the AGV car flexibility, can adapt to different operating scenarios, improves maneuverability, reduces the difficulty of operation in complex environments, and thus improves overall work efficiency.

[0031] Furthermore, a plurality of guide bars 8 for guiding the moving direction of the fork arm assembly 2 are symmetrically arranged on two side walls on the inner side of the bottom of the fork arm receiving groove 11; the plurality of guide bars 8 can respectively abut against the side edges of the fork arm assembly 2.

[0032] In embodiment seven, Figure 2 As shown, the guide bar 8 is provided to guide the moving direction of the fork arm assembly 2, thereby reducing operational errors, significantly improving the accuracy of the fork arm assembly 2 during operation, enhancing work safety and reliability, and helping the fork arm assembly 2 to accurately enter the fork arm receiving groove 11, thereby ensuring the consistency and stability of each operation.

[0033] An active forking method of an AGV trolley based on the above AGV trolley includes the following steps of forking a pallet 9 by the AGV trolley: Step A: The first moving assembly 6 drives the AGV body 1 to move to the side of the pallet 9 that needs to be forked; Step B: the lifting module 24 drives the fork arm upper plate 21 and the fork arm lower cover 22 to separate, at which time the fork arm upper plate 21 and the lower hook 4 are in a clamping state, the fork arm upper plate 21 and the fork arm lower cover 22 are placed in the fork arm receiving groove 11, and the extension plate 23 of the fork arm upper plate 21 is placed in the fork arm extension groove 12, with the fork arm upper plate 21 as the support point, the fork arm lower cover 22 moves downward along the gravity direction until the second moving component 7 on the fork arm lower cover 22 abuts against the ground; Step C: When the second moving assembly 7 is in contact with the ground, the lifting module 24 continues to drive, with the fork arm lower cover 22 as the support point, the fork arm upper plate 21 separates from the lower hook 4 and moves upward, and the second moving assembly 7 is driven to drive the fork arm assembly 2 to move until the avoidance opening 5 on the fork arm upper plate 21 and the lower hook 4 are on the same plumb line; Figure 6 As shown, the avoidance opening 5 on the fork arm upper plate 21 and the lower hook 4 are on the same plumb line, so that the fork arm upper plate 21 is separated from the AGV body 1 when it descends; Step D: The lifting module 24 drives the fork arm upper plate 21 to descend. During the descending process of the fork arm upper plate 21, the lower hook 4 on the AGV body 1 passes through the avoidance opening 5 of the fork arm upper plate 21 until the fork arm upper plate 21 and the fork arm lower cover 22 are buckled. At this time, the fork arm assembly 2 and the AGV body 1 are in a relatively active state; Step E: The second moving assembly 7 drives the fork arm assembly 2 to enter the bottom of the pallet 9, and the lifting module is driven to lift the fork arm upper plate 21 with the fork arm lower cover 22 as the support point, thereby lifting the pallet 9; Step F: After the fork arm assembly 2 completes lifting the pallet 9, the second moving assembly 7 drives the fork arm assembly 2 lifting the pallet 9 back to the fork arm receiving groove 11, and makes the hanging groove 25 of the fork arm upper plate 21 and the upper hook 3 on the AGV body 1 on the same plumb line; Figure 9-10 As shown, the hanging groove 25 of the fork arm upper plate 21 and the upper hook 3 are on the same plumb line, so that the fork arm assembly 2 can be clamped on the AGV body 1 as a whole through the upper hook 3; Step G: The lifting module 24 is driven to lower the fork arm upper plate 21 with the fork arm lower cover 22 as a support point until the hanging groove 25 of the fork arm upper plate 21 is engaged with the upper hook 3; Step H: When the hanging groove 25 of the fork arm upper plate 21 is engaged with the upper hook 3, the pallet 9 has been placed on the AGV body 1, and the extension plate 23 on the fork arm upper plate 21 is in contact with the AGV body 1. The lifting module 24 continues to drive, with the fork arm upper plate 21 as the support point, and the fork arm lower cover 22 is lifted until the second moving component 7 of the fork arm lower cover 22 is separated from the ground, completing the step of actively forking the pallet 9.

[0034] An active forking method of an AGV trolley based on the above AGV trolley includes the following steps of forking a pallet 9 by the AGV trolley: Step A: The first moving assembly 6 drives the AGV body 1 to move to the side of the pallet 9 that needs to be forked; Step B: the lifting module 24 drives the fork arm upper plate 21 and the fork arm lower cover 22 to separate, at which time the fork arm upper plate 21 and the lower hook 4 are in a clamping state, the fork arm upper plate 21 and the fork arm lower cover 22 are placed in the fork arm receiving groove 11, and the extension plate 23 of the fork arm upper plate 21 is placed in the fork arm extension groove 12, with the fork arm upper plate 21 as the support point, the fork arm lower cover 22 moves downward along the gravity direction until the second moving component 7 on the fork arm lower cover 22 abuts against the ground; Step C: When the second moving assembly 7 is in contact with the ground, the lifting module 24 continues to drive, with the fork arm lower cover 22 as the support point, the fork arm upper plate 21 is separated from the hook and moves upward, and the second moving assembly 7 is driven to drive the fork arm assembly 2 to move until the avoidance opening 5 on the fork arm upper plate 21 and the lower hook 4 are on the same plumb line; Figure 6 As shown, the avoidance opening 5 on the fork arm upper plate 21 and the lower hook 4 are on the same plumb line, so that the fork arm upper plate 21 is separated from the AGV body 1 when it descends; Step D: The lifting module 24 drives the fork arm upper plate 21 to descend. During the descending process of the fork arm upper plate 21, the lower hook 4 on the AGV body 1 passes through the avoidance opening 5 of the fork arm upper plate 21 until the fork arm upper plate 21 and the fork arm lower cover 22 are buckled. At this time, the fork arm assembly 2 and the AGV body 1 are in a relatively active state; Step E: The second moving assembly 7 drives the fork arm assembly 2 to enter the bottom of the pallet 9, and the lifting module is driven to lift the fork arm upper plate 21 with the fork arm lower cover 22 as the support point, thereby lifting the pallet 9; Step F: After the fork arm assembly 2 completes lifting the pallet 9, the first moving assembly 6 drives the AGV body 1 to move toward the fork arm assembly 2, so that the fork arm assembly 2 lifting the pallet 9 returns to the fork arm receiving groove 11, and the hanging groove 25 of the fork arm upper plate 21 and the upper hook 3 on the AGV body 1 are on the same plumb line; Figure 9-10 As shown, the hanging groove 25 of the fork arm upper plate 21 and the upper hook 3 are on the same plumb line, so that the fork arm assembly 2 can be clamped on the AGV body 1 as a whole through the upper hook 3; Step G: The lifting module 24 is driven to lower the fork arm upper plate 21 with the fork arm lower cover 22 as a support point until the hanging groove 25 of the fork arm upper plate 21 is engaged with the upper hook 3; Step H: When the hanging groove 25 of the fork arm upper plate 21 is engaged with the upper hook 3, the pallet 9 has been placed on the AGV body 1, and the extension plate 23 on the fork arm upper plate 21 is in contact with the AGV body 1. The lifting module 24 continues to drive, with the fork arm upper plate 21 as the support point, and the fork arm lower cover 22 is lifted until the second moving component 7 of the fork arm lower cover 22 is separated from the ground, completing the step of passively forking the pallet 9.

[0035] The present invention provides an AGV trolley, an active forking method and a passive forking method. By means of an upper hook 3 and a lower hook 4 arranged on an AGV body 1, the lower hook 4 is used when no goods are picked up, thereby reducing the space occupied when the fork is extended, thereby reducing the working space when forking goods, and facilitating operations in a small space. The upper hook 3 is used after the goods are picked up. The upper hook 3 can be used directly after the pallet 9 is picked up without being retracted to the lower hook 4, thereby reducing the operating steps and improving the forking efficiency. The AGV trolley can use the passive forking pallet 9 method and the active forking pallet 9 method to fork the wooden pallet 9 to adapt to different working environments and improve scene adaptability.

[0036] 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: An AGV body and at least one fork arm assembly; The AGV body is provided with at least one fork arm receiving groove corresponding to the fork arm assembly; the AGV body is provided with at least one fork arm extension groove corresponding to the fork arm receiving groove; the fork arm receiving groove is communicated with the fork arm extension groove; the fork arm assembly can be received in the fork arm receiving groove; a part of the fork arm assembly can be extended and received in the fork arm extension groove; An upper hook and a lower hook are sequentially arranged on both sides of the fork arm receiving groove from top to bottom; the two upper hooks are symmetrically arranged; the two lower hooks are symmetrically arranged; the fork arm assembly can be respectively connected to the upper hook or the lower hook; The fork arm assembly is provided with two avoidance openings through which the lower hook or the upper hook can pass; When the fork arm assembly is respectively connected to the two upper hooks, part of the fork arm assembly abuts against the AGV body, and the fork arm assembly and the AGV body are in a relatively static state; When the fork arm assembly is respectively connected to the two lower hooks, a portion of the fork arm assembly is extended and placed in the fork arm extension slot, and the fork arm assembly and the AGV body are in a relatively static state; When the fork arm assembly is separated from the two upper hooks and the two lower hooks, the fork arm assembly and the AGV body are in a relatively active state; Also provided are: a first moving assembly for driving the AGV body to move and a second moving assembly for driving the fork arm assembly to move in the X-axis direction; The first moving assembly is disposed at the bottom of the AGV body; the first moving assembly is rotatably connected to the AGV body; The second moving component is arranged at the bottom of the fork arm component; the second moving component is rotatably connected to the fork arm component.

2. The AGV according to claim 1, characterized in that: The fork arm assembly includes: a fork arm upper plate, a fork arm lower cover, an extension plate and a lifting module for driving the fork arm upper plate to lift; The lifting module is fixedly connected to the fork arm lower cover; the output end of the lifting module is hinged to the fork arm upper cover; The fork arm upper cover is provided with two hanging grooves opposite to each other; the two hanging grooves can be respectively engaged with the corresponding upper hook or lower hook; the two avoidance openings are provided on the fork arm upper cover; The second moving assembly is rotatably connected to the fork arm lower cover; the extension plate is fixedly connected to the fork arm upper plate; the extension plate can abut against the AGV body; the extension plate can be placed in the fork arm extension slot; When the two upper hooks are respectively engaged with the corresponding hanging grooves, the extension plate is in contact with the AGV body; When the two lower hooks are respectively engaged with the corresponding hanging grooves, the extension plate is received in the fork arm extension groove.

3. The AGV according to claim 2, characterized in that: The lifting module comprises a first active scissors fork, a second active scissors fork, a first driven scissors fork, a second driven scissors fork, a support rod and a first driving member for driving the support rod; the first driving member is fixedly connected to the fork arm lower cover; One end of the first active scissor fork and one end of the second active scissor fork are respectively slidably connected to the fork arm lower cover; the other end of the first active scissor fork and the other end of the second active scissor fork are respectively hinged to the fork arm upper plate; One end of the first driven scissor fork and one end of the second driven scissor fork are respectively slidably connected to the fork arm lower cover; the other end of the second driven scissor fork and the other end of the second driven scissor fork are respectively hinged to the fork arm upper plate; The first active scissors fork is hinged to the first driven scissors fork; the second active scissors fork is hinged to the second driven scissors fork; One end of the support rod is hinged to the output end of the driving member; the other end of the support rod is hinged to the first active scissors fork and the second active scissors fork respectively.

4. The AGV according to claim 2, characterized in that: The second moving assembly comprises: a fork arm driving wheel, a fork arm driven wheel and a second driving member for driving the fork arm driving wheel to rotate; The fork arm driving wheel is arranged on one end of the bottom of the fork arm lower cover, and the fork arm driving wheel is rotatably connected with the fork arm lower cover; The fork arm driven wheel is arranged on the other end of the bottom of the fork arm lower cover, and the fork arm driven wheel is rotatably connected with the fork arm lower cover; The second driving member is fixedly connected to the fork arm lower cover, and the output end of the second driving member is fixedly connected to the fork arm driving wheel.

5. The AGV according to claim 1, characterized in that: The first moving assembly includes: a plurality of driving wheels, a plurality of universal wheels and a third driving member for driving the driving wheels; The third driving member is disposed inside the AGV body, and the third driving member is fixedly connected to the AGV body; The plurality of driving wheels and the plurality of universal wheels are rotatably connected to the bottom of the AGV body respectively; and the output end of the third driving member is fixedly connected to the plurality of driving wheels respectively.

6. The AGV according to claim 1, characterized in that: A plurality of guide bars for guiding the moving direction of the fork arm assembly are symmetrically arranged on the two side walls on the inner side of the bottom of the fork arm receiving groove; the plurality of guide bars can respectively abut against the side edges of the fork arm assembly.

7. An active forking method for an AGV vehicle according to any one of claims 1 to 6, characterized in that: The steps for the AGV to fork the pallet are as follows: Step A: The first moving component drives the AGV body to move to one side of the pallet that needs to be forked; Step B: The lifting module drives the fork arm upper plate and the fork arm lower cover to separate, at which time the fork arm upper plate and the lower hook are in a clamping state, the fork arm upper plate and the fork arm lower cover are placed in the fork arm receiving groove, the extension plate of the fork arm upper plate is placed in the fork arm extension groove, and the fork arm lower cover moves downward along the gravity direction with the fork arm upper plate as the support point until the second moving assembly on the fork arm lower cover contacts the ground; Step C: When the second moving assembly is in contact with the ground, the lifting module continues to drive, with the fork arm lower cover as the support point, the fork arm upper plate is separated from the lower hook and moves upward, and the second moving assembly is driven to drive the fork arm assembly to move until the avoidance opening on the fork arm upper plate and the lower hook are on the same plumb line; Step D: The lifting module drives the fork arm upper plate to descend. During the process of the fork arm upper plate descending, the lower hook on the AGV body will pass through the avoidance opening of the fork arm upper plate until the fork arm upper plate and the fork arm lower cover are buckled. At this time, the fork arm assembly and the AGV body are in a relatively active state; Step E: The second moving assembly drives the fork arm assembly to enter the bottom of the pallet, and the lifting module is driven to lift the fork arm upper plate with the fork arm lower cover as the support point, thereby lifting the pallet; Step F: After the fork arm assembly completes lifting the pallet, the second moving assembly drives the fork arm assembly lifting the pallet back into the fork arm receiving slot, and makes the hanging slot on the fork arm upper plate and the upper hook on the AGV body be on the same plumb line; Step G: The lifting module is driven to lower the fork arm upper plate with the fork arm lower cover as the support point until the hanging groove of the fork arm upper plate is engaged with the upper hook; Step H: When the hanging groove of the fork arm upper plate is engaged with the upper hook, the pallet has been placed on the AGV body, the extension plate on the fork arm upper plate is in contact with the AGV body, and the lifting module continues to drive, with the fork arm upper plate as the support point, and the fork arm lower cover is lifted until the second moving component of the fork arm lower cover is separated from the ground, completing the step of actively forking the pallet.

8. A passive forking method for an AGV vehicle according to any one of claims 1 to 6, characterized in that: The steps for the AGV to fork the pallet are as follows: Step A: The first moving component drives the AGV body to move to one side of the pallet that needs to be forked; Step B: The lifting module drives the fork arm upper plate and the fork arm lower cover to separate, at which time the fork arm upper plate and the lower hook are in a clamping state, the fork arm upper plate and the fork arm lower cover are placed in the fork arm receiving groove, the extension plate of the fork arm upper plate is placed in the fork arm extension groove, and the fork arm lower cover moves downward along the gravity direction with the fork arm upper plate as the support point until the second moving assembly on the fork arm lower cover contacts the ground; Step C: When the second moving assembly is in contact with the ground, the lifting module continues to drive, with the fork arm lower cover as the support point, the fork arm upper plate is separated from the hook and moves upward, and the second moving assembly is driven to drive the fork arm assembly to move until the avoidance opening on the fork arm upper plate and the lower hook are on the same plumb line; Step D: The lifting module drives the fork arm upper plate to descend. During the process of the fork arm upper plate descending, the lower hook on the AGV body will pass through the avoidance opening of the fork arm upper plate until the fork arm upper plate and the fork arm lower cover are buckled. At this time, the fork arm assembly and the AGV body are in a relatively active state; Step E: The second moving assembly drives the fork arm assembly to enter the bottom of the pallet, and the lifting module is driven to lift the fork arm upper plate with the fork arm lower cover as the support point, thereby lifting the pallet; Step F: After the fork arm assembly completes lifting the pallet, the first moving assembly drives the AGV body to move toward the fork arm assembly, so that the fork arm assembly lifting the pallet returns to the fork arm receiving slot, and the hanging slot on the fork arm upper plate and the upper hook on the AGV body are on the same plumb line; Step G: The lifting module is driven to lower the fork arm upper plate with the fork arm lower cover as the support point until the hanging groove of the fork arm upper plate is engaged with the upper hook; Step H: When the hanging groove of the fork arm upper plate is engaged with the upper hook, the pallet has been placed on the AGV body, the extension plate on the fork arm upper plate is in contact with the AGV body, and the lifting module continues to drive, with the fork arm upper plate as the support point, and the fork arm lower cover is lifted until the second moving component of the fork arm lower cover is separated from the ground, completing the step of passively forking the pallet.

Images