AGV, active fork taking method and passive fork taking method

Abstract

The present application relates to the technical field of AGV, in particular to an AGV, an active fork taking method and a passive fork taking method, wherein the upper hook and the lower hook are arranged on the AGV body, the lower hook is used when the goods are not taken, the space occupied when the fork is extended is reduced, so that the operation space is reduced when the goods are forked and taken, and the operation in the narrow space is facilitated; the upper hook is used after the goods are taken, the upper hook can be used directly after the tray is taken without being retracted to the lower hook, the operation steps are reduced, and the fork taking efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of AGV (Automated Guided Vehicle) technology, and more specifically, to an AGV, an active forking method, and a passive forking method. Background Technology

[0002] With increasingly widespread applications in the logistics and warehousing industries, AGVs reduce labor costs and improve work efficiency, becoming indispensable equipment in modern warehousing and production processes. Existing AGVs, when handling wooden pallets, for example, [refer to the instruction manual]. Figure 8 The wooden pallet in the picture has three crossbeams. However, the forks of the traditional AGV cannot reach the last crossbeam when lifting the wooden pallet due to the length limitation of the forks, which poses a risk of tipping over during cargo handling.

[0003] In existing improved AGV vehicles, such as the AGV forklift with patent publication number CN220976484U, the extended fork arm is housed inside the AGV vehicle body. After the pallet is picked up, the fork arm needs to be extended again to separate from the pallet before being housed inside the AGV vehicle body. The operation is cumbersome and the picking efficiency is low. Even if the lower hook is changed to an upper hook, this setting requires a large working space and is difficult to fully extend in narrow terrain or space, making it impossible to pick up the pallet. It also has certain limitations.

[0004] Therefore, we propose an improved AGV and its associated forklift method to enhance its flexibility and stability, and achieve efficient cargo handling. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this 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.

[0006] The above-mentioned technical objective of the present invention is achieved through the following technical solution: An AGV trolley, comprising: an AGV body and at least one fork arm assembly; the AGV body having at least one fork arm receiving groove corresponding to the fork arm assembly; the AGV body having at least one fork arm extension groove corresponding to the fork arm receiving groove; the fork arm receiving groove communicating with the fork arm extension groove; the fork arm assembly being able to be received in the fork arm receiving groove; a portion of the fork arm assembly being able to extend and be received in the fork arm extension groove; upper hooks and lower hooks being arranged sequentially from top to bottom on both sides of the fork arm receiving groove; the two upper hooks being symmetrically arranged; the two lower hooks being symmetrically arranged; the fork arm assembly being able to be hooked to the upper hooks or the lower hooks respectively; the fork arm assembly having two clearance openings for the lower hooks or the upper hooks to pass through; when the fork arm assembly is hooked to the two upper hooks respectively... A portion of the fork arm assembly abuts against the AGV body, and the fork arm assembly and the AGV body are in a relatively stationary state. When the fork arm assembly is engaged with each of the two lower hooks, a portion of the fork arm assembly extends into the fork arm extension groove, and the fork arm assembly and the AGV body are in a relatively stationary state. When the fork arm assembly is disengaged from both the two upper hooks and the two lower hooks, the fork arm assembly and the AGV body are in a relatively movable state. The system also includes: a first moving component for moving the AGV body and a second moving component for moving the fork arm assembly in the X-axis direction; the first moving component is located at the bottom of the AGV body and is rotatably connected to the AGV body; the second moving component is located at the bottom of the fork arm assembly and is rotatably connected to the fork arm assembly.

[0007] Optionally, the fork arm assembly includes: an upper fork arm plate, a lower fork arm cover, an extension plate, and a lifting module for driving the upper fork arm plate to lift; the lifting module is fixedly connected to the lower fork arm cover; the output end of the lifting module is hinged to the upper fork arm cover; two hanging slots are arranged opposite each other on the upper fork arm cover; the two hanging slots can respectively engage with the corresponding upper hook or lower hook; two clearance openings are provided on the upper fork arm cover; the second moving component is rotatably connected to the lower fork arm cover; the extension plate is fixedly connected to the upper fork arm plate; the extension plate can abut against the AGV body; the extension plate can be housed in the fork arm extension slot; when the two upper hooks are respectively engaged with the corresponding hanging slots, the extension plate is in abutment with the AGV body; when the two lower hooks are respectively engaged with the corresponding hanging slots, the extension plate is housed in the fork arm extension slot.

[0008] Optionally, the lifting module includes a first active scissor fork, a second active scissor fork, a first driven scissor fork, a second driven scissor fork, a support rod, and a first driving member for driving the support rod; the first driving member is fixedly connected to the lower cover of the fork arm; one end of the first active scissor fork and one end of the second active scissor fork are slidably connected to the lower cover of the fork arm respectively; the other ends of the first active scissor fork and the second active scissor fork are hinged to the upper plate of the fork arm respectively; one end of the first driven scissor fork and one end of the second driven scissor fork are slidably connected to the lower cover of the fork arm respectively; the other ends of the second driven scissor fork and the second driven scissor fork are hinged to the upper plate of the fork arm respectively; the first active scissor fork is hinged to the first driven scissor fork; the second active scissor fork is hinged to the second driven scissor 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 scissor fork and the second active scissor fork respectively.

[0009] Optionally, the second moving component includes: a fork arm drive wheel, a fork arm driven wheel, and a second driving member for driving the fork arm drive wheel to rotate; the fork arm drive wheel is disposed on one end of the bottom of the fork arm lower cover, and the fork arm drive wheel is rotatably connected to the fork arm lower cover; the fork arm driven wheel is disposed 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 drive wheel.

[0010] Optionally, the first moving component includes: a plurality of drive wheels, a plurality of omnidirectional wheels, and a third drive member for driving the drive wheels; the third drive member is disposed inside the AGV body and is fixedly connected to the AGV body; the plurality of drive wheels and the plurality of omnidirectional wheels are respectively rotatably connected to the bottom of the AGV body; the output end of the third drive member is respectively fixedly connected to the plurality of drive wheels.

[0011] Optionally, the two inner sidewalls at the bottom of the fork arm receiving groove are symmetrically provided with several guide strips for guiding the movement direction of the fork arm assembly; the several guide strips can respectively abut against the side of the fork arm assembly.

[0012] An active forking method for an AGV (Automated Guided Vehicle) based on the above-mentioned AGV includes the following steps for the AGV to fork a pallet:

[0013] Step A: The first moving component drives the AGV body to move to one side of the pallet that needs to be picked up;

[0014] Step B: The lifting module drives the upper plate of the fork arm and the lower cover of the fork arm to separate. At this time, the upper plate of the fork arm and the lower hook are in a snap-fit ​​state. The upper plate of the fork arm and the lower cover of the fork arm are placed in the fork arm placement groove. The extension plate of the upper plate of the fork arm is placed in the fork arm extension groove. With the upper plate of the fork arm as the support point, the lower cover of the fork arm moves downward along the direction of gravity until the second moving component on the lower cover of the fork arm contacts the ground.

[0015] Step C: When the second moving component is in contact with the ground, the lifting module continues to drive, using the lower cover of the fork arm as a support point, the upper plate of the fork arm separates from the lower hook and moves upward, the second moving component is driven, driving the fork arm component to move until the clearance on the upper plate of the fork arm and the lower hook are on the same plumb line.

[0016] Step D: The lifting module drives the upper plate of the fork arm to descend. During the descent of the upper plate of the fork arm, the lower hook on the AGV body will pass through the clearance opening of the upper plate of the fork arm until the upper plate of the fork arm and the lower cover of the fork arm are fastened together. At this time, the fork arm assembly and the AGV body are in a relatively active state.

[0017] Step E: The second moving component drives the fork arm assembly into the bottom of the pallet. The lifting module drives the upper plate of the fork arm to be lifted, using the lower cover of the fork arm as a support point, thereby lifting the pallet.

[0018] Step F: After the fork arm assembly completes the lifting of the pallet, the second moving component drives the fork arm assembly that is lifting the pallet back into the fork arm receiving slot, and makes the hanging slot of the upper plate of the fork arm and the upper hook on the AGV body on the same plumb line.

[0019] Step G: The lifting module is driven to lower the upper plate of the fork arm using the lower cover of the fork arm as a support point until the hanging groove of the upper plate of the fork arm engages with the upper hook.

[0020] Step H: With the hanging slot and upper hook on the upper plate of the fork arm engaged, the pallet is placed on the AGV body. The extension plate on the upper plate of the fork arm abuts against the AGV body. The lifting module continues to drive, using the upper plate of the fork arm as a support point, and the lower cover of the fork arm is raised until the second moving component of the lower cover of the fork arm separates from the ground, completing the step of actively picking up the pallet.

[0021] An active forking method for an AGV (Automated Guided Vehicle) based on the above-mentioned AGV includes the following steps for the AGV to fork a pallet:

[0022] Step A: The first moving component drives the AGV body to move to one side of the pallet that needs to be picked up;

[0023] Step B: The lifting module drives the upper plate of the fork arm and the lower cover of the fork arm to separate. At this time, the upper plate of the fork arm and the lower hook are in a snap-fit ​​state. The upper plate of the fork arm and the lower cover of the fork arm are placed in the fork arm placement groove. The extension plate of the upper plate of the fork arm is placed in the fork arm extension groove. With the upper plate of the fork arm as the support point, the lower cover of the fork arm moves downward along the direction of gravity until the second moving component on the lower cover of the fork arm contacts the ground.

[0024] Step C: When the second moving component is in contact with the ground, the lifting module continues to drive, using the lower cover of the fork arm as a support point, the upper plate of the fork arm separates from the hook and moves upward, the second moving component is driven, driving the fork arm component to move until the clearance on the upper plate of the fork arm and the lower hook are on the same plumb line.

[0025] Step D: The lifting module drives the upper plate of the fork arm to descend. During the descent of the upper plate of the fork arm, the lower hook on the AGV body will pass through the clearance opening of the upper plate of the fork arm until the upper plate of the fork arm and the lower cover of the fork arm are fastened together. At this time, the fork arm assembly and the AGV body are in a relatively active state.

[0026] Step E: The second moving component drives the fork arm assembly into the bottom of the pallet. The lifting module drives the upper plate of the fork arm to be lifted, using the lower cover of the fork arm as a support point, thereby lifting the pallet.

[0027] Step F: After the fork arm assembly completes the lifting of the pallet, the first moving component drives the AGV body to move towards the fork arm assembly, so that the fork arm assembly lifting the pallet returns to the fork arm receiving slot, and so that the hanging slot of the upper plate of the fork arm and the upper hook on the AGV body are on the same plumb line.

[0028] Step G: The lifting module is driven to lower the upper plate of the fork arm using the lower cover of the fork arm as a support point until the hanging groove of the upper plate of the fork arm engages with the upper hook.

[0029] Step H: With the hanging slot and upper hook on the upper plate of the fork arm in engagement, the pallet is placed on the AGV body. The extension plate on the upper plate of the fork arm abuts against the AGV body. The lifting module continues to drive, using the upper plate of the fork arm as a support point, and the lower cover of the fork arm is raised until the second moving component of the lower cover of the fork arm separates from the ground, completing the passive pallet picking step.

[0030] In summary, the present invention has the following beneficial effects:

[0031] 1. By using the upper and lower hooks on the AGV body, the lower hook can be used when there is no goods to be picked up, reducing the space occupied when the forks are extended, thus reducing the working space when picking up goods and facilitating operations in confined spaces; the upper hook can be used after picking up goods, so that after picking up the pallet, there is no need to retract it to the lower hook, and the upper hook can be used directly, reducing operation steps and improving picking efficiency.

[0032] 2. AGVs can use both passive and active pallet-grabbing methods to pick up wooden pallets, adapting to different working environments and improving scenario adaptability. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the main structure of the present invention;

[0034] Figure 2 This is a schematic diagram of the specific structure of the AGV vehicle body of the present invention;

[0035] Figure 3 This is a bottom view schematic diagram of the specific structure of the AGV vehicle body of the present invention;

[0036] Figure 4 This is a schematic diagram of the specific structure of the fork arm assembly of the present invention;

[0037] Figure 5 This is a schematic diagram showing the specific positional relationship of the no-load hanging state of the present invention;

[0038] Figure 6 This is a schematic diagram showing the specific positional relationship of the separation state under no-load conditions according to the present invention;

[0039] Figure 7 This is a schematic diagram showing the specific positional relationship of the tray-retrieving device according to the present invention;

[0040] Figure 8 This is a schematic diagram showing the specific positional relationship of the transport pallet of the present invention;

[0041] Figure 9 This is a cross-sectional view showing the specific positional relationship of the transport pallet of the present invention;

[0042] Figure 10 This is a schematic diagram showing the specific positional relationship of the attachment state under the transport of the present invention.

[0043] In the diagram: 1. AGV body; 11. Fork arm storage 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 scissor fork; 242. Second active scissor fork; 243. First driven scissor fork; 244. Second driven scissor fork; 245. Support rod; 246. First drive component; 25. Hanging slot; 3. Upper hook; 4. Lower hook; 5. Clearance opening; 6. First moving component; 61. Drive wheel; 62. Caster wheel; 63. Third drive component; 7. Second moving component; 71. Fork arm drive wheel; 72. Fork arm driven wheel; 73. Second drive component; 8. Guide bar; 9. Pallet. Detailed Implementation

[0044] To make the objectives, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying 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.

[0045] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0046] In this invention, unless otherwise expressly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of a second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of a second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal 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 or operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0047] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0048] This invention provides an AGV (Automated Guided Vehicle), an active forking method, and a passive forking method, such as... Figure 1As shown, an AGV (Automated Guided Vehicle) includes: an AGV body 1 and at least one fork arm assembly 2; the AGV body 1 has at least one fork arm receiving groove 11 corresponding to the fork arm assembly 2; the AGV body 1 has at least one fork arm extension groove 12 corresponding to the fork arm receiving groove 11; the fork arm receiving groove 11 and the fork arm extension groove 12 are connected; the fork arm assembly 2 can be received in the fork arm receiving groove 11; a portion of the fork arm assembly 2 can be extended into the fork arm extension groove 12; upper hooks 3 and lower hooks 4 are arranged sequentially from top to bottom on both sides of the fork arm receiving groove 11; the two upper hooks 3 are symmetrically arranged; the two lower hooks 4 are symmetrically arranged; the fork arm assembly 2 can be hooked to the upper hooks 3 or the lower hooks 4 respectively; the fork arm assembly 2 has two clearance openings 5 ​​for the lower hooks 4 or the upper hooks 3 to pass through; when the fork arm assembly 2 is hooked to the two upper hooks 3 respectively, the fork arm assembly 2... 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 stationary state; when the fork arm assembly 2 is engaged with the two lower hooks 4 respectively, part of the fork arm assembly 2 extends into the fork arm extension groove 12, and the fork arm assembly 2 and the AGV body 1 are in a relatively stationary 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 movable state; a first moving component 6 for moving the AGV body 1 and a second moving component 7 for moving the fork arm assembly 2 in the X-axis direction are also provided; the first moving component 6 is disposed at the bottom of the AGV body 1; the first moving component 6 is rotatably connected to the AGV body 1; the second moving component 7 is disposed at the bottom of the fork arm assembly 2; the second moving component 7 is rotatably connected to the fork arm assembly 2.

[0049] In Embodiment 1, the fork arm assembly 2 can be hung on the AGV body 1 via the upper hook 3 or the lower hook 4 on the AGV body 1, so that the AGV body 1 can drive the fork arm assembly 2 to the working position. The fork arm assembly 2 can be hung on the AGV body 1 by hooking the fork. Without increasing the size of the AGV body 1, a longer fork arm assembly 2 can be installed to meet the requirements of the pallet 9.

[0050] In standby mode, such as Figure 5-6As shown, the fork arm assembly 2 is hung on the AGV body 1 via the lower hook 4. At this time, part of the fork arm assembly 2 extends and is placed in the fork arm extension slot 12. When the fork arm assembly 2 is hung on the lower hook 4, it can be easily separated from the AGV body 1 without occupying too much space. When there is no need to move the pallet 9, the fork arm assembly 2 is hung on the AGV body 1 using the lower hook 4, which facilitates the next fork extension operation and reduces the working space.

[0051] In the state of transporting pallet 9, such as Figure 9-10 As shown, when the fork arm assembly 2 has taken the pallet 9 and returned to the AGV body 1, the fork arm assembly 2 can be directly hung on the AGV body 1 via the upper hook 3, eliminating the need to reassemble the fork arm assembly 2 into the fork arm storage slot 11 and the fork arm extension slot 12, thereby improving the efficiency of the AGV trolley in taking the pallet 9.

[0052] Optionally, the lower hook 4 can be an elastic hook, which includes: a locking plate, a locking base, a locking tongue, a spring, and a ball head pin; the locking plate is set on the locking base, and the locking plate and the locking base are integrally formed; the locking tongue is slidably connected to the locking base plate; the locking base is provided with an installation groove; the spring is set in the installation groove; one end of the ball head pin is connected to the spring, and the other end abuts against the locking tongue; the locking tongue abuts against the hanging groove 25 of the fork arm assembly 2, thereby limiting and fixing the position of the fork arm assembly 2 on the AGV body 1; when lifting, the locking tongue is squeezed to cause the spring to contract, and the locking tongue retracts, thereby allowing the fork arm assembly 2 to move relative to the AGV body 1, achieving the effect of unhooking; after the fork arm assembly 2 separates from the locking tongue, the spring causes it to extend and return to the initial position.

[0053] Further, the fork arm assembly 2 includes: an upper fork arm plate 21, a lower fork arm cover 22, an extension plate 23, and a lifting module 24 for driving the upper fork arm plate 21 to lift; the lifting module 24 is fixedly connected to the lower fork arm cover 22; the output end of the lifting module 24 is hinged to the upper fork arm cover; two hanging slots 25 are arranged opposite each other on the upper fork arm cover; the two hanging slots 25 can respectively engage with the corresponding upper hook 3 or lower hook 4; two clearance openings 5 ​​are provided on the upper fork arm cover; the second moving assembly 7 and The lower cover 22 of the fork arm is rotatably connected; the extension plate 23 is fixedly connected to the upper plate 21 of the fork arm; the extension plate 23 can abut against the AGV body 1; the extension plate 23 can be placed in the fork arm extension groove 12; when the two upper hooks 3 are respectively engaged with the corresponding hanging grooves 25, the extension plate 23 is in abutting state with the AGV body 1; when the two lower hooks 4 are respectively engaged with the corresponding hanging grooves 25, the extension plate 23 is placed in the fork arm extension groove 12.

[0054] In Example 2, as Figure 4 As shown, the lifting module 24 separates or brings the upper fork arm plate 21 and the lower fork arm cover 22 together, thus achieving the steps of attaching and detaching the upper fork arm plate 21 from the AGV; as shown... Figure 5 and Figure 10 As shown, the hanging slot 25 on the upper plate 21 of the fork arm and the upper hook 3 or lower hook 4 on the AGV body 1 are on the same vertical line. By lowering the upper plate 21 of the fork arm, the hanging slot 25 on the upper plate 21 and the upper hook 3 or lower hook 4 on the AGV body 1 are engaged, thus achieving the effect of hanging the fork arm assembly 2 on the AGV body 1. The second moving component 7 is located at the bottom of the lower cover 22 of the fork arm. After the upper plate 21 of the fork arm is separated from the AGV body 1, the second moving component 7 drives the lower cover 22 of the fork arm to move, thereby moving the fork arm assembly 2 to the bottom of the pallet 9 for the operation of picking up the pallet 9. Figure 10 As shown, by setting an extension plate 23 on the upper plate 21 of the fork arm, the area range of the pallet 9 can be increased. At the same time, when the pallet 9 is placed on the AGV body 1, the contact point between the extension plate 23 and the AGV body 1 can serve as a second support point, which cooperates with the first support point of the hook on the upper plate 21 of the fork arm and the AGV body 1 to achieve a more stable hooking effect.

[0055] Further, the lifting module 24 includes a first active scissor fork 241, a second active scissor fork 242, a first driven scissor fork 243, a second driven scissor 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 lower cover 22 of the fork arm; one end of the first active scissor fork 241 and one end of the second active scissor fork 242 are slidably connected to the lower cover 22 of the fork arm; the other end of the first active scissor fork 241 and the other end of the second active scissor fork 242 are hinged to the upper plate 21 of the fork arm; the first active scissor fork 241, the second active scissor fork 242, the third active scissor fork 243, the fourth driven scissor fork 244, the fifth active scissor fork 245, the sixth active scissor fork 245, the seventh active scissor fork 242, the eighth active scissor fork 243, the ninth active scissor fork 244, the eleventh active scissor fork 245, the eleventh active scissor fork 245, the eleventh active scissor fork 242, the eleventh active scissor fork 243, the eleventh driven scissor fork 244, the eleventh driven scissor fork 245, the eleventh driven scissor fork 2 One end of a driven scissor fork 243 and one end of a second driven scissor fork 244 are slidably connected to the lower cover 22 of the fork arm, respectively; the other ends of the second driven scissor fork 244 and the second driven scissor fork 244 are hinged to the upper plate 21 of the fork arm, respectively; the first driving scissor fork 241 is hinged to the first driven scissor fork 243; the second driving scissor fork 242 is hinged to the second driven scissor fork 244; one end of the support rod 245 is hinged to the output end of the drive member; the other end of the support rod 245 is hinged to the first driving scissor fork 241 and the second driving scissor fork 242, respectively.

[0056] In Example 3, as Figure 4As shown, the support arm is moved by the first driving member 246, which drives the first active scissor fork 241 and the second active scissor fork 242, which are hinged to the support plate. This causes the first active scissor fork 241 and the second active scissor fork 242 to extend and retract. The first driven scissor fork 243 and the second driven scissor fork 244 provide auxiliary support. This provides auxiliary support when the first active scissor fork 241 and the second active scissor fork 242 lift the upper plate 21 of the fork arm, thereby enhancing the overall support strength of the fork arm assembly 2.

[0057] Further, the second moving component 7 includes: a fork arm drive wheel 71, a fork arm driven wheel 72, and a second driving member 73 for driving the fork arm drive wheel 71 to rotate; the fork arm drive wheel 71 is disposed on one end of the bottom of the fork arm lower cover 22, and the fork arm drive wheel 71 is rotatably connected to the fork arm lower cover 22; the fork arm driven wheel 72 is disposed 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 drive wheel 71.

[0058] In Example 4, as Figure 4 As shown, the second drive unit 73 drives the fork arm drive wheel 71 to move the fork arm assembly 2 relative to the AGV body 1. 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. It can operate stably in various environments and reduce accidental errors during the forking process.

[0059] Further, the first moving component 6 includes: a plurality of drive wheels 61, a plurality of omnidirectional wheels 62, and a third drive member 63 for driving the drive wheels 61; the third drive member 63 is disposed inside the AGV body 1 and is fixedly connected to the AGV body 1; the plurality of drive wheels 61 and the plurality of omnidirectional wheels 62 are respectively rotatably connected to the bottom of the AGV body 1; the output end of the third drive member 63 is respectively fixedly connected to the plurality of drive wheels 61.

[0060] In Example 5, as Figure 2-3 As shown, the third drive component 63 is used to drive the drive wheel 61 to move the AGV body 1, enabling the AGV body 1 to move in multiple directions. Through multi-directional control, the AGV vehicle is given flexibility, can adapt to different operating scenarios, improves mobility, reduces the difficulty of operation in complex environments, and thus improves overall work efficiency.

[0061] Furthermore, the two side walls on the bottom inner side of the fork arm receiving groove 11 are symmetrically provided with a plurality of guide strips 8 for guiding the movement direction of the fork arm assembly 2; the plurality of guide strips 8 can respectively abut against the side of the fork arm assembly 2.

[0062] In Example 7, as Figure 2 As shown, the guide bar 8 guides the movement direction of the fork arm assembly 2, reduces operational errors, significantly improves the accuracy of the fork arm assembly 2 during operation, enhances the safety and reliability of the work, and helps the fork arm assembly 2 to accurately enter the fork arm receiving slot 11, ensuring the consistency and stability of each operation.

[0063] An active forking method for an AGV (Automated Guided Vehicle) based on the above-mentioned AGV includes the following steps for the AGV to fork pallet 9:

[0064] Step A: The first moving component 6 drives the AGV body 1 to move to one side of the pallet 9 that needs to be picked up;

[0065] Step B: The lifting module 24 drives the upper plate 21 and the lower cover 22 of the fork arm to separate. At this time, the upper plate 21 of the fork arm and the lower hook 4 are in a snap-fit ​​state. The upper plate 21 and the lower cover 22 of the fork arm are placed in the fork arm placement groove 11, and the extension plate 23 of the upper plate 21 is placed in the fork arm extension groove 12. With the upper plate 21 of the fork arm as the support point, the lower cover 22 of the fork arm moves downward along the direction of gravity until the second moving component 7 on the lower cover 22 of the fork arm comes into contact with the ground.

[0066] Step C: When the second moving component 7 is in contact with the ground, the lifting module 24 continues to drive, using the lower cover 22 of the fork arm as a support point, the upper plate 21 of the fork arm separates from the lower hook 4 and moves upward. The second moving component 7 is driven, causing the fork arm assembly 2 to move until the clearance 5 on the upper plate 21 of the fork arm and the lower hook 4 are on the same plumb line; Figure 6 As shown, the clearance 5 on the upper plate 21 of the fork arm and the lower hook 4 are on the same plumb line, so that the upper plate 21 of the fork arm can be separated from the AGV body 1 when it descends.

[0067] Step D: The lifting module 24 drives the upper plate 21 of the fork arm to descend. During the descent of the upper plate 21 of the fork arm, the lower hook 4 on the AGV body 1 will pass through the clearance opening 5 of the upper plate 21 of the fork arm until the upper plate 21 of the fork arm and the lower cover 22 of the fork arm are fastened together. At this time, the fork arm assembly 2 and the AGV body 1 are in a relatively active state.

[0068] Step E: The second moving component 7 drives the fork arm assembly 2 to the bottom of the pallet 9. The lifting module drives the upper plate 21 of the fork arm to be lifted, using the lower cover 22 of the fork arm as a support point, thereby lifting the pallet 9.

[0069] Step F: After the fork arm assembly 2 completes the lifting of the pallet 9, the second moving assembly 7 drives the fork arm assembly 2, which is lifting the pallet 9, back into the fork arm receiving slot 11, so that the hanging slot 25 of the upper plate 21 of the fork arm 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 upper plate 21 of the fork arm and the upper hook 3 are on the same vertical line, so as to realize the overall snapping of the fork arm assembly 2 onto the AGV body 1 through the upper hook 3;

[0070] Step G: The lifting module 24 is driven to lower the upper plate 21 of the fork arm using the lower cover 22 of the fork arm as a support point until the hanging groove 25 of the upper plate 21 of the fork arm engages with the upper hook 3.

[0071] Step H: With the slot 25 on the upper plate 21 of the fork arm and the upper hook 3 engaged, the pallet 9 is placed on the AGV body 1. The extension plate 23 on the upper plate 21 of the fork arm abuts against the AGV body 1. The lifting module 24 continues to drive, using the upper plate 21 of the fork arm as a support point, the lower cover 22 of the fork arm is raised until the second moving component 7 of the lower cover 22 of the fork arm separates from the ground, completing the step of actively picking up the pallet 9.

[0072] An active forking method for an AGV (Automated Guided Vehicle) based on the above-mentioned AGV includes the following steps for the AGV to fork pallet 9:

[0073] Step A: The first moving component 6 drives the AGV body 1 to move to one side of the pallet 9 that needs to be picked up;

[0074] Step B: The lifting module 24 drives the upper plate 21 and the lower cover 22 of the fork arm to separate. At this time, the upper plate 21 of the fork arm and the lower hook 4 are in a snap-fit ​​state. The upper plate 21 and the lower cover 22 of the fork arm are placed in the fork arm placement groove 11, and the extension plate 23 of the upper plate 21 is placed in the fork arm extension groove 12. With the upper plate 21 of the fork arm as the support point, the lower cover 22 of the fork arm moves downward along the direction of gravity until the second moving component 7 on the lower cover 22 of the fork arm comes into contact with the ground.

[0075] Step C: When the second moving component 7 is in contact with the ground, the lifting module 24 continues to drive, using the lower cover 22 of the fork arm as a support point, the upper plate 21 of the fork arm separates from the hook and moves upward, the second moving component 7 is driven, driving the fork arm component 2 to move until the clearance 5 on the upper plate 21 of the fork arm and the lower hook 4 are on the same plumb line; Figure 6 As shown, the clearance 5 on the upper plate 21 of the fork arm and the lower hook 4 are on the same plumb line, so that the upper plate 21 of the fork arm can be separated from the AGV body 1 when it descends.

[0076] Step D: The lifting module 24 drives the upper plate 21 of the fork arm to descend. During the descent of the upper plate 21 of the fork arm, the lower hook 4 on the AGV body 1 will pass through the clearance opening 5 of the upper plate 21 of the fork arm until the upper plate 21 of the fork arm and the lower cover 22 of the fork arm are fastened together. At this time, the fork arm assembly 2 and the AGV body 1 are in a relatively active state.

[0077] Step E: The second moving component 7 drives the fork arm assembly 2 to the bottom of the pallet 9. The lifting module drives the upper plate 21 of the fork arm to be lifted, using the lower cover 22 of the fork arm as a support point, thereby lifting the pallet 9.

[0078] Step F: After the fork arm assembly 2 completes the lifting of the pallet 9, the first moving component 6 drives the AGV body 1 to move towards the fork arm assembly 2, so that the fork arm assembly 2, which is lifting the pallet 9, returns to the fork arm receiving slot 11, and so that the hanging slot 25 of the upper plate 21 of the fork arm 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 upper plate 21 of the fork arm and the upper hook 3 are on the same vertical line, so as to realize the overall snapping of the fork arm assembly 2 onto the AGV body 1 through the upper hook 3;

[0079] Step G: The lifting module 24 is driven to lower the upper plate 21 of the fork arm using the lower cover 22 of the fork arm as a support point until the hanging groove 25 of the upper plate 21 of the fork arm engages with the upper hook 3.

[0080] Step H: With the slot 25 on the upper plate 21 of the fork arm and the upper hook 3 engaged, the pallet 9 is placed on the AGV body 1. The extension plate 23 on the upper plate 21 of the fork arm abuts against the AGV body 1. The lifting module 24 continues to drive, using the upper plate 21 of the fork arm as a support point, the lower cover 22 of the fork arm is raised until the second moving component 7 of the lower cover 22 of the fork arm separates from the ground, completing the passive forking of the pallet 9.

[0081] This invention discloses an AGV (Automated Guided Vehicle) trolley, an active forking method, and a passive forking method. Using an upper hook 3 and a lower hook 4 mounted on the AGV body 1, the lower hook 4 is used when no goods are being retrieved, reducing the space occupied by the forks during forking and thus minimizing the working space required for retrieving goods, facilitating operations in confined spaces. After retrieving goods, the upper hook 3 is used, eliminating the need to retract it to the lower hook 4 after retrieving the pallet 9, reducing operational steps and improving forking efficiency. The AGV trolley can use both passive and active forking methods to retrieve wooden pallets 9, adapting to different operating environments and improving scenario adaptability.

[0082] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An AGV (Automated Guided Vehicle) trolley, characterized in that, include: AGV body and at least one forklift assembly; The AGV body has at least one fork arm receiving slot corresponding to the fork arm assembly; the AGV body has at least one fork arm extension slot corresponding to the fork arm receiving slot; the fork arm receiving slot is connected to the fork arm extension slot; the fork arm assembly can be received in the fork arm receiving slot; a portion of the fork arm assembly can be extended and received in the fork arm extension slot. The fork arm receiving groove has an upper hook and a lower hook arranged sequentially from top to bottom on both sides; the two upper hooks are arranged symmetrically; the two lower hooks are arranged symmetrically; the fork arm assembly can be hooked to the upper hook or the lower hook respectively; The fork arm assembly has two clearance openings for the lower hook to pass through; When the fork arm assembly is engaged with the two upper hooks respectively, part of the fork arm assembly abuts against the AGV body, and the fork arm assembly and the AGV body are in a relatively stationary state; When the fork arm assembly is engaged with the two lower hooks respectively, a portion of the fork arm assembly is placed in the fork arm extension slot, and the fork arm assembly and the AGV body are in a relatively stationary 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 movable state. It also includes: a first moving component for moving the AGV body and a second moving component for moving the fork arm assembly in the X-axis direction; The first moving component is disposed at the bottom of the AGV body; the first moving component is rotatably connected to the AGV body; The second movable component is disposed at the bottom of the fork arm assembly; the second movable component is rotatably connected to the fork arm assembly; The fork arm assembly includes: an upper fork arm plate, a lower fork arm cover, an extension plate, and a lifting module for driving the upper fork arm plate to be lifted. The lifting module is fixedly connected to the lower cover of the fork arm; the output end of the lifting module is hinged to the upper plate of the fork arm. The upper plate of the fork arm has two hanging slots facing each other; the two hanging slots can be respectively engaged with the corresponding upper hook or lower hook; two clearance openings are provided on the upper plate of the fork arm; The second moving component is rotatably connected to the lower cover of the fork arm; the extension plate is fixedly connected to the upper plate of the fork arm; the extension plate can abut against the AGV body; the extension plate can be housed in the fork arm extension slot; When the two upper hooks are engaged with the corresponding hanging slots, the extension plate is in contact with the AGV body. When the two lower hooks are engaged with their corresponding hanging slots, the extension plate is placed inside the fork arm extension slot.

2. The AGV trolley according to claim 1, characterized in that, The lifting module includes a first active scissor fork, a second active scissor fork, a first driven scissor fork, a second driven scissor fork, a support rod, and a first driving member for driving the support rod; the first driving member is fixedly connected to the lower cover of the fork arm. One end of the first active scissor fork and one end of the second active scissor fork are slidably connected to the lower cover of the fork arm; the other ends of the first active scissor fork and the second active scissor fork are hinged to the upper plate of the fork arm. One end of the first driven scissor fork and one end of the second driven scissor fork are slidably connected to the lower cover of the fork arm; the other ends of the second driven scissor fork and the second driven scissor fork are hinged to the upper plate of the fork arm. The first active scissor lift is hinged to the first driven scissor lift; the second active scissor lift is hinged to the second driven scissor lift. One end of the support rod is hinged to the output end of the drive component; the other end of the support rod is hinged to the first active scissor lift and the second active scissor lift, respectively.

3. The AGV trolley according to claim 1, characterized in that, The second moving component includes: a fork arm drive wheel, a fork arm driven wheel, and a second drive member for driving the fork arm drive wheel to rotate; The fork arm drive wheel is located at one end of the bottom of the fork arm lower cover, and the fork arm drive wheel is rotatably connected to the fork arm lower cover; The fork arm driven wheel is disposed 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 drive unit is fixedly connected to the lower cover of the fork arm, and the output end of the second drive unit is fixedly connected to the drive wheel of the fork arm.

4. An AGV trolley according to claim 1, characterized in that, The first moving component includes: a plurality of drive wheels, a plurality of omnidirectional wheels, and a third drive component for driving the drive wheels; The third driving component is disposed inside the AGV body and is fixedly connected to the AGV body; The plurality of drive wheels and the plurality of omnidirectional wheels are respectively rotatably connected to the bottom of the AGV body; the output end of the third drive component is respectively fixedly connected to the plurality of drive wheels.

5. An AGV trolley according to claim 1, characterized in that, The two inner sidewalls at the bottom of the fork arm receiving groove are symmetrically provided with several guide strips for guiding the movement direction of the fork arm assembly; the several guide strips can respectively abut against the side of the fork arm assembly.

6. An active forking method for an AGV (Automated Guided Vehicle) based on any one of claims 1-5, characterized in that, The steps for this AGV to pick up a 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 picked up; Step B: The lifting module drives the upper plate of the fork arm and the lower cover of the fork arm to separate. At this time, the upper plate of the fork arm and the lower hook are in a snap-fit ​​state. The upper plate of the fork arm and the lower cover of the fork arm are placed in the fork arm placement groove. The extension plate of the upper plate of the fork arm is placed in the fork arm extension groove. With the upper plate of the fork arm as the support point, the lower cover of the fork arm moves downward along the direction of gravity until the second moving component on the lower cover of the fork arm contacts the ground. Step C: When the second moving component is in contact with the ground, the lifting module continues to drive, using the lower cover of the fork arm as a support point, the upper plate of the fork arm separates from the lower hook and moves upward, the second moving component is driven, driving the fork arm component to move until the clearance on the upper plate of the fork arm and the lower hook are on the same plumb line. Step D: The lifting module drives the upper plate of the fork arm to descend. During the descent of the upper plate of the fork arm, the lower hook on the AGV body will pass through the clearance opening of the upper plate of the fork arm until the upper plate of the fork arm and the lower cover of the fork arm are fastened together. At this time, the fork arm assembly and the AGV body are in a relatively active state. Step E: The second moving component drives the fork arm assembly into the bottom of the pallet. The lifting module drives the upper plate of the fork arm to be lifted, using the lower cover of the fork arm as a support point, thereby lifting the pallet. Step F: After the fork arm assembly completes the lifting of the pallet, the second moving component drives the fork arm assembly that is lifting the pallet back into the fork arm receiving slot, and makes the hanging slot of the upper plate of the fork arm and the upper hook on the AGV body on the same plumb line. Step G: The lifting module is driven to lower the upper plate of the fork arm using the lower cover of the fork arm as a support point until the hanging slot of the upper plate of the fork arm engages with the upper hook. Step H: With the hanging slot and upper hook on the upper plate of the fork arm engaged, the pallet is placed on the AGV body. The extension plate on the upper plate of the fork arm abuts against the AGV body. The lifting module continues to drive, using the upper plate of the fork arm as a support point, and the lower cover of the fork arm is raised until the second moving component of the lower cover of the fork arm separates from the ground, completing the step of actively picking up the pallet.

7. A passive forking method for an AGV (Automated Guided Vehicle) based on any one of claims 1-5, characterized in that, The steps for this AGV to pick up a 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 picked up; Step B: The lifting module drives the upper plate of the fork arm and the lower cover of the fork arm to separate. At this time, the upper plate of the fork arm and the lower hook are in a snap-fit ​​state. The upper plate of the fork arm and the lower cover of the fork arm are placed in the fork arm placement groove. The extension plate of the upper plate of the fork arm is placed in the fork arm extension groove. With the upper plate of the fork arm as the support point, the lower cover of the fork arm moves downward along the direction of gravity until the second moving component on the lower cover of the fork arm contacts the ground. Step C: When the second moving component is in contact with the ground, the lifting module continues to drive, using the lower cover of the fork arm as a support point, the upper plate of the fork arm separates from the lower hook and moves upward, the second moving component is driven, driving the fork arm component to move until the clearance on the upper plate of the fork arm and the lower hook are on the same plumb line. Step D: The lifting module drives the upper plate of the fork arm to descend. During the descent of the upper plate of the fork arm, the lower hook on the AGV body will pass through the clearance opening of the upper plate of the fork arm until the upper plate of the fork arm and the lower cover of the fork arm are fastened together. At this time, the fork arm assembly and the AGV body are in a relatively active state. Step E: The second moving component drives the fork arm assembly into the bottom of the pallet. The lifting module drives the upper plate of the fork arm to be lifted, using the lower cover of the fork arm as a support point, thereby lifting the pallet. Step F: After the fork arm assembly completes the lifting of the pallet, the first moving component drives the AGV body to move towards the fork arm assembly, so that the fork arm assembly lifting the pallet returns to the fork arm receiving slot, and so that the hanging slot of the upper plate of the fork arm and the upper hook on the AGV body are on the same plumb line. Step G: The lifting module is driven to lower the upper plate of the fork arm using the lower cover of the fork arm as a support point until the hanging slot of the upper plate of the fork arm engages with the upper hook. Step H: With the hanging slot and upper hook on the upper plate of the fork arm in engagement, the pallet is placed on the AGV body. The extension plate on the upper plate of the fork arm abuts against the AGV body. The lifting module continues to drive, using the upper plate of the fork arm as a support point, and the lower cover of the fork arm is raised until the second moving component of the lower cover of the fork arm separates from the ground, completing the passive pallet picking step.

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