AGV trolley, passive forking method and active forking method

Abstract

The invention relates to the technical field of AGVs, in particular to an AGV, a passive forking method and an active forking method.By changing the arrangement mode of a fork arm assembly in an AGV body into the arrangement mode of hanging a fork arm on the upper portion, on the premise that the size of the AGV body is not increased, through the arrangement mode of a hanging fork, the long-size fork arm assembly can be contained in the AGV body; when a tray is carried, the fork arms can make contact with the three cross beams, and the safety and stability during tray carrying are enhanced. The AGV trolley can fork the wood tray by using a passive tray forking method and an active tray forking method so as to adapt to different working environments, and the scene adaptability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV trolleys, and more specifically, to an AGV trolley, a passive forking method and an active 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 4 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 carts, such as an AGV forklift with patent publication number CN220976484U, the extended fork arm cover is placed in the AGV body. This setting method needs to extend the fork again after taking the pallet, 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. Therefore, we propose an improved AGV cart and its related forking 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 purpose of the present invention is to provide an AGV vehicle, a passive forking method and an active 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 fork arm assembly can be slidably received in the fork arm receiving groove; the fork arm receiving groove is symmetrically provided with two hooks; the hooks can be engaged with the fork arm assembly; when the two hooks are engaged with the fork arm assembly, the fork arm assembly and the AGV body are in a relatively static state; the fork arm assembly is provided with two avoidance openings corresponding to the two hooks; the two hooks can Passing through the corresponding avoidance openings; when the two hooks pass through the corresponding avoidance openings respectively, the hook and the fork arm assembly are in a separated state, and the fork arm assembly and the AGV body are in a relatively active state; it is also provided with: 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 rotatably connected to the AGV body; the second moving assembly is arranged at the bottom of the fork arm assembly; the second moving assembly is rotatably connected to the fork arm assembly.

[0005] Optionally, the fork arm assembly includes: a fork arm upper plate, a fork arm lower cover 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 oppositely arranged on the fork arm upper cover; the two hanging grooves can be respectively engaged with the corresponding hooks; two avoidance openings are arranged on the fork arm upper cover; and the second moving assembly is rotatably connected to the fork arm lower cover.

[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, an extension plate is further provided on the fork arm upper plate; the extension plate is fixedly connected to the fork arm upper plate; the extension plate can abut against the AGV body; when the two hooks are respectively engaged with the corresponding hanging grooves, the extension plate is in abutment with the AGV body.

[0010] 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.

[0011] An active forking method for an AGV trolley as described above, the steps of forking a pallet by the AGV trolley 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 this time, the fork arm upper plate and the hook are in a clamping state. With the fork arm upper plate as a support point, the fork arm lower cover moves downward along the gravity direction 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 until the avoidance opening on the fork arm upper plate and the 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 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 mode is driven, with the fork arm lower cover as the support point, so that the fork arm upper plate is lifted, thereby driving the pallet to be lifted; Step F: After the fork arm assembly completes lifting the pallet, the second moving assembly drives the fork arm assembly lifting the pallet back to the fork arm receiving slot, and makes the hanging slot on the fork arm upper plate and the 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 hook; Step H: When the hanging groove and the hook of the fork arm upper plate are in engagement, the pallet has been placed on 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.

[0012] A passive forking method for an AGV trolley as described above, the steps of forking a pallet by the AGV trolley 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 this time, the fork arm upper plate and the hook are in a clamping state. With the fork arm upper plate as a support point, the fork arm lower cover moves downward along the gravity direction 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 until the avoidance opening on the fork arm upper plate and the 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 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 mode is driven, with the fork arm lower cover as the support point, so that the fork arm upper plate is lifted, thereby driving the pallet to be lifted; 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 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 hook; Step H: When the hanging groove and the hook of the fork arm upper plate are in engagement, the pallet has been placed on 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 passive forking the pallet.

[0013] In summary, the present invention has the following beneficial effects: 1. By changing the setting mode of the fork arm assembly in the AGV body to the setting mode of hanging on the fork arm, the AGV body can accommodate a longer fork arm assembly through the setting mode of hanging fork without increasing the size of the body, so that the fork arm can contact three beams when transporting pallets, thereby enhancing the safety and stability when transporting pallets.

[0014] 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

[0015] 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 rear view schematic diagram of the specific structure of the AGV body of the present invention; Figure 4 is a schematic diagram of the lifting tray state of the present invention; Figure 5 is a schematic diagram of the specific structure of the fork arm assembly of the present invention; Figure 6 is a schematic diagram of the fork arm assembly and the AGV body of the present invention in a separated state; Figure 7 It is a schematic diagram of the fork arm assembly of the present invention and the AGV body being mounted.

[0016] In the figure: 1. AGV body; 11. fork arm receiving slot; 12. hook; 2. fork arm assembly; 21. fork arm upper plate; 211. hanging slot; 212. extension plate; 22. fork arm lower cover; 23. lifting module; 231. first driven scissors fork; 232. second driven scissors fork; 233. first active scissors fork; 234. second active scissors fork; 235. first driving member; 24. support rod; 3. avoidance; 4. first moving assembly; 41. driving wheel; 42. universal wheel; 43. third driving member; 5. second moving assembly; 51. fork arm active wheel; 52. fork arm driven wheel; 53. second driving member; 6. guide strip. DETAILED DESCRIPTION

[0017] 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.

[0018] 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.

[0019] 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.

[0020] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0021] The present invention provides an AGV vehicle, such as Figure 1As shown, it comprises: an AGV body 1 and at least one fork arm assembly 2; the AGV body 1 is provided with at least one fork arm receiving groove 11 corresponding to the fork arm assembly 2; the fork arm assembly 2 can be slidably received in the fork arm receiving groove 11; two hooks 12 are symmetrically arranged on the fork arm receiving groove 11; the hooks 12 can be engaged with the fork arm assembly 2; when the two hooks 12 are engaged with the fork arm assembly 2, the fork arm assembly 2 and the AGV body 1 are in a relatively static state; the fork arm assembly 2 is provided with two avoidance openings 3 corresponding to the two hooks 12; the two hooks 12 can pass through the corresponding avoidance openings 3; When the two hooks 12 pass through the corresponding avoidance openings 3 respectively, the hook 12 and the fork arm assembly 2 are in a separated state, and the fork arm assembly 2 and the AGV body 1 are in a relatively active state; there are also provided: a first moving assembly 4 for driving the AGV body 1 to move and a second moving assembly 5 for driving the fork arm assembly 2 to move in the X-axis direction; the first moving assembly 4 is arranged at the bottom of the AGV body 1; the first moving assembly 4 is rotatably connected to the AGV body 1; the second moving assembly 5 is arranged at the bottom of the fork arm assembly 2; the second moving assembly 5 is rotatably connected to the fork arm assembly 2.

[0022] In the first embodiment, in the initial state, the fork arm assembly 2 is hung on the AGV body 1 by the hook 12, 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 pallets; In the transport state, Figure 6 As shown, the avoidance opening 3 on the fork arm assembly 2 and the hook 12 on the AGV body 1 are on the same plumb line, and the fork arm assembly 2 separates the fork arm assembly 2 and the hook 12 on the AGV body 1 through the avoidance opening 3, so that the fork arm assembly 2 can move relative to the AGV body 1, and the second moving assembly 5 drives the fork arm assembly 2 to move to the bottom of the pallet to perform the operation of forking the pallet.

[0023] Furthermore, the fork arm assembly 2 includes: a fork arm upper plate 21, a fork arm lower cover 22 and a lifting module 23 for driving the fork arm upper plate 21 to lift; the lifting module 23 is fixedly connected to the fork arm lower cover 22; the output end of the lifting module 23 is hinged to the fork arm upper cover; two hanging grooves 211 are oppositely arranged on the fork arm upper cover; the two hanging grooves 211 can be respectively engaged with the corresponding hooks 12; the two avoidance openings 3 are arranged on the fork arm upper cover; the second moving assembly 5 is rotatably connected to the fork arm lower cover 22.

[0024] In the second embodiment, Figure 5-7 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 23, so as to realize the steps of hanging and separating the fork arm upper plate 21 and the AGV; Figure 7 As shown, the hanging groove 211 on the fork arm upper plate 21 and the hook 12 on the AGV body 1 are on the same plumb line. By lowering the fork arm upper plate 21, the hanging groove 211 on the fork arm upper plate 21 and the hook 12 on the AGV body 1 are engaged, thereby achieving the effect of hanging the fork arm assembly 2 on the AGV body 1; the second moving assembly 5 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 5, thereby moving the fork arm assembly 2 to the bottom of the pallet to perform the operation of forking the pallet.

[0025] Furthermore, the lifting module 23 includes a first active scissors fork 233, a second active scissors fork 234, a first driven scissors fork 231, a second driven scissors fork 232, a support rod 24 and a first driving member 235 for driving the support rod 24; the first driving member 235 is fixedly connected to the fork arm lower cover 22; one end of the first active scissors fork 233 and one end of the second active scissors fork 234 are respectively slidably connected to the fork arm lower cover 22; the other end of the first active scissors fork 233 and the other end of the second active scissors fork 234 are respectively hinged to the fork arm upper plate 21; the first active scissors fork 233 and the second active scissors fork 234 are respectively hinged to the fork arm upper plate 21; One end of a driven scissors fork 231 and one end of a second driven scissors fork 232 are respectively slidably connected to the fork arm lower cover 22; the other end of the second driven scissors fork 232 and the other end of the second driven scissors fork 232 are respectively hinged to the fork arm upper plate 21; the first active scissors fork 233 is hinged to the first driven scissors fork 231; the second active scissors fork 234 is hinged to the second driven scissors fork 232; one end of the support rod 24 is hinged to the output end of the driving member; the other end of the support rod 24 is respectively hinged to the first active scissors fork 233 and the second active scissors fork 234.

[0026] In the third embodiment, Figure 5 As shown, the support arm is driven to move by the first driving member 235, so that the support arm drives the first active scissors fork 233 and the second active scissors fork 234 hinged to the support plate, so that the first active scissors fork 233 and the second active scissors fork 234 are telescopically moved, and the first driven scissors fork 231 and the second driven scissors fork 232 provide auxiliary support effect, so that when the first active scissors fork 233 and the second active scissors fork 234 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 5 includes: a fork arm driving wheel 51, a fork arm driven wheel 52 and a second driving member 53 for driving the fork arm driving wheel 51 to rotate; the fork arm driving wheel 51 is arranged on one end of the bottom of the fork arm lower cover 22, and the fork arm driving wheel 51 is rotatably connected to the fork arm lower cover 22; the fork arm driven wheel 52 is arranged on the other end of the bottom of the fork arm lower cover 22, and the fork arm driven wheel 52 is rotatably connected to the fork arm lower cover 22; the second driving member 53 is fixedly connected to the fork arm lower cover 22, and the output end of the second driving member 53 is fixedly connected to the fork arm driving wheel 51.

[0028] In the fourth embodiment, Figure 5 As shown, the fork arm active wheel 51 is driven by the second driving member 53 to drive the fork arm assembly 2 to move relative to the AGV body 1, and the fork arm driven wheel 52 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 4 includes: a plurality of driving wheels 41, a plurality of universal wheels 42 and a third driving member 43 for driving the driving wheels 41; the third driving member 43 is arranged inside the AGV body 1, and the third driving member 43 is fixedly connected to the AGV body 1; the plurality of driving wheels 41 and the plurality of universal wheels 42 are respectively rotatably connected to the bottom of the AGV body 1; the output ends of the third driving member 43 are respectively fixedly connected to the plurality of driving wheels 41.

[0030] In the fifth embodiment, Figure 3 As shown, the third driving member 43 is used to drive the driving wheel 41 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, an extension plate 212 is also provided on the fork arm upper plate 21; the extension plate 212 is fixedly connected to the fork arm upper plate 21; the extension plate 212 can abut against the AGV body 1; when the two hooks 12 are respectively engaged with the corresponding hanging grooves 211, the extension plate 212 is in abutment with the AGV body 1.

[0032] In Example 6, Figure 1 and Figure 5As shown, an extension plate 212 is provided on the fork arm upper plate 21 to increase the area range of the forked pallet. At the same time, when the forked pallet is placed on the AGV body 1, the contact point between the extension plate 212 and the AGV body 1 can be used as a second support point, cooperating with the first support point of the hook 12 on the fork arm upper plate 21 and the AGV body 1 to achieve a more stable hanging effect.

[0033] Furthermore, a plurality of guide bars 6 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 6 can respectively abut against the side edges of the fork arm assembly 2.

[0034] In embodiment seven, Figure 2 As shown, the guide bar 6 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.

[0035] An active forking method for an AGV trolley as described above, the steps of forking a pallet by the AGV trolley are as follows: Step A: The first moving component 4 drives the AGV body 1 to move to the side of the pallet that needs to be forked; Step B: the lifting module 23 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 hook 12 are in a clamping state, and the fork arm lower cover 22 moves downward along the gravity direction with the fork arm upper plate 21 as the support point until the second moving component 5 on the fork arm lower cover 22 abuts against the ground; Step C: When the second moving assembly 5 is in contact with the ground, the lifting module 23 continues to drive, with the fork arm lower cover 22 as the support point, the fork arm upper plate 21 separates from the hook 12 and moves upward, and the second moving assembly 5 is driven to drive the fork arm assembly 2 to move until the avoidance opening 3 on the fork arm upper plate 21 and the hook 12 are on the same plumb line; Step D: The lifting module 23 drives the fork arm upper plate 21 to descend. During the descending process of the fork arm upper plate 21, the hook 12 on the AGV body 1 passes through the avoidance opening 3 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 5 drives the fork arm assembly 2 to enter the bottom of the pallet, and the lifting mode is driven, with the fork arm lower cover 22 as the support point, so that the fork arm upper plate 21 is lifted, thereby lifting the pallet; Step F: After the fork arm assembly 2 completes lifting the pallet, the second moving assembly 5 drives the fork arm assembly 2 lifting the pallet back to the fork arm receiving groove 11, and makes the hanging groove 211 of the fork arm upper plate 21 and the hook 12 on the AGV body 1 be on the same plumb line; Step G: The lifting module 23 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 211 of the fork arm upper plate 21 is engaged with the hook 12; Step H: When the hanging groove 211 of the fork arm upper plate 21 is engaged with the hook 12, the pallet has been placed on the AGV body 1, and the lifting module 23 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 5 of the fork arm lower cover 22 is separated from the ground, completing the step of actively forking the pallet.

[0036] A passive forking method for an AGV trolley as described above, the steps of forking a pallet by the AGV trolley are as follows: Step A: The first moving component 4 drives the AGV body 1 to move to the side of the pallet that needs to be forked; Step B: the lifting module 23 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 hook 12 are in a clamping state, and the fork arm lower cover 22 moves downward along the gravity direction with the fork arm upper plate 21 as the support point until the second moving component 5 on the fork arm lower cover 22 abuts against the ground; Step C: When the second moving assembly 5 is in contact with the ground, the lifting module 23 continues to drive, with the fork arm lower cover 22 as the support point, the fork arm upper plate 21 separates from the hook 12 and moves upward, and the second moving assembly 5 is driven to drive the fork arm assembly 2 to move until the avoidance opening 3 on the fork arm upper plate 21 and the hook 12 are on the same plumb line; Step D: The lifting module 23 drives the fork arm upper plate 21 to descend. During the descending process of the fork arm upper plate 21, the hook 12 on the AGV body 1 passes through the avoidance opening 3 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 5 drives the fork arm assembly 2 to enter the bottom of the pallet, and the lifting mode is driven, with the fork arm lower cover 22 as the support point, so that the fork arm upper plate 21 is lifted, thereby lifting the pallet; Step F: After the fork arm assembly 2 completes lifting the pallet, the first moving assembly 4 drives the AGV body 1 to move toward the fork arm assembly 2, so that the fork arm assembly 2 lifting the pallet returns to the fork arm receiving groove 11, and the hanging groove 211 of the fork arm upper plate 21 and the hook 12 on the AGV body 1 are on the same plumb line; Step G: The lifting module 23 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 211 of the fork arm upper plate 21 is engaged with the hook 12; Step H: When the hanging groove 211 of the fork arm upper plate 21 is engaged with the hook 12, the pallet has been placed on the AGV body 1, and the lifting module 23 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 5 of the fork arm lower cover 22 is separated from the ground, completing the step of passively forking the pallet.

[0037] An AGV trolley, a passive forking method and an active forking method of the present invention, by changing the setting mode of the fork arm assembly 2 in the AGV body 1 to a fork arm hanging setting mode, can enable the AGV body 1 to accommodate a longer fork arm assembly 2 through the hanging fork setting mode without increasing the size of the body, so that the fork arm can contact three cross beams when transporting the pallet, thereby enhancing the safety and stability when transporting the pallet; the AGV trolley can use the passive forking pallet method and the active forking pallet method to fork wooden pallets, so as to adapt to different working environments and improve scene adaptability.

[0038] 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 fork arm assembly can be slidably received in the fork arm receiving groove; Two hooks are symmetrically arranged on the fork arm receiving groove; the hooks can be engaged with the fork arm assembly; when the two hooks are engaged with the fork arm assembly, the fork arm assembly and the AGV body are in a relatively static state; The fork arm assembly is provided with two avoidance openings corresponding to the two hooks; the two hooks can pass through the corresponding avoidance openings; when the two hooks pass through the corresponding avoidance openings respectively, the hooks and the fork arm assembly are in a separated state, and 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 comprises: a fork arm upper plate, a fork arm lower cover 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 hooks; 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.

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 2, characterized in that: An extension plate is also provided on the fork arm upper plate; the extension plate is fixedly connected to the fork arm upper plate; the extension plate can abut against the AGV body; When the two hooks are respectively engaged with the corresponding hanging grooves, the extension plate is in contact with the AGV body.

7. 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.

8. An active forking method for an AGV vehicle according to any one of claims 1 to 7, 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 this time, the fork arm upper plate and the hook are in a clamping state. With the fork arm upper plate as a support point, the fork arm lower cover moves downward along the gravity direction 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 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 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 mode is driven, with the fork arm lower cover as the support point, so that the fork arm upper plate is lifted, 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 to the fork arm receiving slot, and makes the hanging slot on the fork arm upper plate and the 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 hook; Step H: When the hanging groove and the hook of the fork arm upper plate are in engagement, the pallet has been placed on 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.

9. A passive forking method for an AGV vehicle according to any one of claims 1 to 7, characterized in that: The steps for the AGV to fork 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 forked; Step B: The lifting module drives the fork arm upper plate and the fork arm lower cover to separate. At this time, the fork arm upper plate and the hook are in a clamping state. With the fork arm upper plate as a support point, the fork arm lower cover moves downward along the gravity direction 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 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 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 mode is driven, with the fork arm lower cover as the support point, so that the fork arm upper plate is lifted, 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 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 hook; Step H: When the hanging groove and the hook of the fork arm upper plate are in engagement, the pallet has been placed on 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 passive forking the pallet.

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