Multifunctional AGV (automatic guided vehicle) and circular knitting machine doffing roll carrying method

Abstract

The invention relates to the technical field of circular knitting machine doffing roll carrying, and discloses a multifunctional AGV which comprises a vehicle body, a left fork and a right fork are arranged on the front side of the vehicle body, a lifting assembly sliding up and down is arranged on the front side of the vehicle body, the forks are connected to the lifting assembly in a front-back sliding mode, and arc grooves are formed in the tops of the front half parts of the forks. The pallet fork is arranged in the lifting assembly connected to the vehicle body in a lifting mode, meanwhile, the pallet fork is connected to the lifting assembly in a sliding mode, so that the pallet fork can be lifted up and down and can stretch out and draw back front and back, an arc groove is further formed in the top of the pallet fork, and when a cloth roll needs to be transported, the pallet fork retracts back and the cloth roll is placed in the arc groove; therefore, the yardage rolls are conveyed more stably, the situation that the gravity center is not stable due to the fact that the pallet forks are too long is prevented, meanwhile, the yardage rolls are prevented from rolling, meanwhile, the liftable pallet forks can receive the yardage rolls of the circular knitting machines with different heights, only the pallet forks need to stretch out again when pallets are conveyed, and multifunctional combined use is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of conveying a dropped cloth roll of a circular knitting machine, and in particular to a multifunctional AGV vehicle and a conveying method for a dropped cloth roll of a circular knitting machine. Background Art

[0002] AGV stands for Automated Guided Vehicle, which is an unmanned transport device. It can automatically travel along a preset path through electromagnetic or optical automatic guidance devices to achieve automatic handling of materials or goods. AGVs sense the surrounding environment through electromagnetic or optical automatic guidance devices, and combine built-in navigation systems and control systems to achieve precise positioning and path planning. During driving, AGVs can sense the vehicle's position and operating status in real time, and automatically travel and carry goods according to preset paths or real-time instructions.

[0003] The existing AGV has a simple structure and cannot meet the needs of transporting freight pallets and cloth rolls at the same time. Longer forks are required to transport pallets, while shorter forks are required to transport cloth rolls. In addition, the cylindrical structure of the cloth roll is easy to roll off the fork. At the same time, the height of the cloth roll dropped by the large circular machine will change. It is necessary to design a multifunctional AGV vehicle to meet the transportation of pallets and cloth rolls dropped by the large circular machine. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the shortcomings of the prior art, the present invention provides a multifunctional AGV vehicle and a method for transporting cloth rolls dropped from a large circular knitting machine, which has the advantages of adjustable fork height and length and fixed cloth rolls that are not easy to fall, thereby solving the problems in the above-mentioned background technology.

[0006] (II) Technical solution

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A multifunctional AGV vehicle comprises a vehicle body, a pair of left and right forks are arranged at the front side of the vehicle body, a lifting assembly that slides up and down is arranged at the front side of the vehicle body, the forks are connected to the lifting assembly by sliding forward and backward, and an arc groove is arranged at the top of the front half of the forks;

[0009] The lifting assembly comprises:

[0010] A lifting plate, a chain is fixed on the top of the lifting plate, the other end of the chain is connected to a No. 1 motor on the top of the vehicle body, and a sprocket is arranged on the output shaft of the No. 1 motor to be connected with the chain transmission;

[0011] A cable power device, the cable power device is fixed on the lifting plate, two cables pass through the cable power device, and the cable power device is used to drive the two cables to move;

[0012] The middle parts of the two cables are connected in a cable power device, and the front and rear ends of each cable are respectively fixed to the front and rear ends of the same fork or at positions close to the front and rear ends.

[0013] Preferably, the cable power device comprises:

[0014] A second motor, wherein a retractable power wheel is arranged at the output shaft of the second motor;

[0015] A telescopic power wheel, wherein two front and rear wire grooves are arranged on the telescopic power wheel, and the middle part of each cable is wound in different wire grooves;

[0016] The No. 2 steering roller is respectively arranged on the left and right sides of the telescopic power wheel. The No. 2 steering roller is provided with two front and rear wire grooves. The front and rear parts of each telescopic power wheel pass through the two wire grooves of the No. 2 steering roller respectively. After passing through the No. 2 steering roller, the cable passes through the No. 1 steering roller at a position close to the fork. The No. 1 steering roller is rotatably connected to the lifting plate. The rotating shaft of the No. 1 steering roller is vertically arranged. The No. 1 steering roller is provided with two upper and lower wire grooves. The front and rear ends of the cable pass through the upper and lower wire grooves of the No. 1 steering roller respectively.

[0017] Preferably, the lifting plate includes a front plate and two left and right side plates, wherein at least two front and rear rotatably connected rollers are arranged on the side plates of the lifting plate at positions corresponding to the forks, a sliding groove is arranged on the inner side of the fork, and each roller is pressed in the sliding groove on the upper and lower sides, and a wire groove is arranged on the roller. When one end of the cable passes through the roller, it is wound in the wire groove of the roller and is finally fixed at the tail of the fork, and the other end is fixed at the front end of the fork. When the cable is pulled by the cable power device, the roller is driven to rotate, so that the roller fits tightly against the inner wall of the sliding groove and uses friction to assist the extension and retraction of the fork.

[0018] Preferably, the end of the cable is bent into a ring shape and fixed by a fixing sleeve to form a ring, and a fixing hole is provided on the fork at a position corresponding to the end of the cable, and the end of the cable is fixed by a bolt arranged in the fixing hole.

[0019] Preferably, the cable power device also includes a power box, the telescopic power wheel and the No. 2 steering roller are both arranged in the power box, the power box is provided with a roller slot at a position corresponding to the No. 2 steering roller, the No. 2 steering roller slides up and down in the roller slot, a spring is provided in the roller slot, the bottom of the spring is pressed on the No. 2 steering roller, and the top is connected to the pressure regulating device, the pressure regulating device is set in the cable slot by a screw rod structure, the pressure regulation includes a pressure sensor and a housing, the top of the spring is pressed under the pressure sensor, the pressure sensor is fixed on the housing, a thread is provided on the outer side of the housing and is connected to a nut sleeve, the nut sleeve is rotatably connected to the power box, the height of the pressure regulating device is adjusted by rotating the nut sleeve, thereby adjusting the downward pressure of the No. 2 steering roller, thereby adjusting the tightness of the cable.

[0020] Preferably, a top laser assembly is arranged on the top of the vehicle body, and the top laser assembly includes a column fixed on the top of the vehicle body, and a laser radar and a wireless transmission antenna are arranged on the top of the column.

[0021] Preferably, anti-collision strips and multiple safety radars are provided on the bottom side of the vehicle body.

[0022] Preferably, a linear track is fixed on the side of the vehicle body, a linear sleeve is fixed on the position of the lifting assembly corresponding to the linear track, and the linear sleeve is slidably connected to the linear track.

[0023] Preferably, multi-directional wheels are arranged at the bottom of the vehicle body.

[0024] A method for transporting a cloth roll of a circular knitting machine, using a multifunctional AGV vehicle as described in any one of claims 1 to 9 for transporting the cloth roll, comprising:

[0025] S1 retracts the fork, detects the telescopic state of the fork, and if the fork is in the extended state, the second motor is started to control the cable to retract the fork;

[0026] S2 positioning, through the top laser combination positioning, controls the AGV to move to the large circular knitting machine position;

[0027] S3 fork lift, use the No. 1 motor to drive the chain to lift, pull the lifting assembly upward through the chain, thereby adjusting the height of the fork on the lifting assembly, and lift the fork to the position where the circular knitting machine drops the cloth roll;

[0028] S4 cloth dropping, the circular knitting machine drops the cloth roll to the arc groove position on the fork;

[0029] S5 lowering fork uses the No. 1 motor to drive the chain down, thereby lowering the fork to the bottom of the vehicle body;

[0030] S6 transport, without rotating the AGV, uses the universal wheels at the bottom of the vehicle body to move horizontally or vertically.

[0031] (III) Beneficial effects

[0032] Compared with the prior art, the present invention provides a multifunctional AGV vehicle and a method for transporting a circular knitting machine drop cloth roll, which has the following beneficial effects:

[0033] 1. The multifunctional AGV vehicle and the method for transporting the cloth roll dropped by the large circular knitting machine are as follows: the fork is arranged in a lifting assembly connected to the vehicle body by lifting, and at the same time, the fork is slidably connected to the lifting assembly, so that the fork can be lifted up and down and can be extended and retracted forward and backward. The top of the fork is also provided with an arc groove. When the cloth roll needs to be transported, the fork is retracted and the cloth roll is placed in the arc groove, so that the cloth roll is transported more smoothly, and the fork is prevented from being too long to cause an unstable center of gravity and prevent the cloth roll from rolling. At the same time, the liftable fork can receive cloth rolls of large circular knitting machines at different heights, and when transporting the cargo plate, the fork only needs to be extended again, so as to realize the combined use of multiple functions.

[0034] 2. The multifunctional AGV vehicle and the method for transporting the cloth rolls dropped by the circular knitting machine are characterized in that a plurality of rotatably connected rollers are arranged in the fork, and the cable is wound around the rollers when passing through the rollers, so that the cable drives the rollers to rotate while pulling the fork to move, and the friction force generated by the rotation of the rollers assists the movement of the fork, so that the rollers can fit more closely to the inner wall of the sliding groove, thereby improving the stability of the fork.

[0035] 3. The multifunctional AGV vehicle and the method for transporting the cloth roll dropped by the circular knitting machine are arranged in a power box by sliding the No. 2 steering roller up and down, and a pressure regulating device is connected to the No. 2 steering roller, so that the tightness of the cable can be controlled by adjusting the downward pressure of the No. 2 steering roller.

[0036] 4. The multifunctional AGV vehicle and the method for transporting the cloth roll of the circular knitting machine are characterized in that universal wheels are arranged at the bottom of the vehicle body, so that the AGV vehicle can be directly moved horizontally and vertically without rotating, which is convenient for use in a small space. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the structure of the multifunctional AGV vehicle of the present invention.

[0038] Figure 2 It is a schematic diagram of the structure of the multifunctional AGV vehicle of the present invention.

[0039] Figure 3 This is a schematic diagram of the structure of motor No. 1 of the present invention.

[0040] Figure 4 It is a structural schematic diagram of the lifting assembly of the present invention.

[0041] Figure 5 It is a structural schematic diagram of the connection relationship of the cable ends of the present invention.

[0042] Figure 6 It is a schematic structural diagram of the fork and roller of the present invention.

[0043] Figure 7 It is a schematic diagram of the structure inside the cable power device of the present invention.

[0044] Figure 8 It is an exploded view of the power box of the present invention.

[0045] In the figure: 1. Car body; 11. Linear track; 12. Safety radar; 13. Anti-collision strip; 14. No. 1 motor; 15. Chain; 16. Top laser assembly; 17. Control panel; 18. Charging port;

[0046] 2. Fork; 21. Arc groove; 22. Sliding groove; 23. Fixing hole;

[0047] 3. Lifting assembly; 31. Lifting plate; 32. Cable power device; 33. Cable; 34. Steering roller No. 1; 35. Linear sleeve; 36. Roller; 331. Fixed sleeve; 321. Motor No. 2; 322. Telescopic power wheel; 323. Steering roller No. 2; 324. Power box; 325. Box cover; 3241. Roller slide; 3242. Cable slide; 3251. Press block. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0051] Embodiment 1:

[0052] This embodiment provides a multifunctional AGV vehicle and a method for transporting a circular knitting machine cloth roll, which has the following technical features.

[0053] See also Figure 1-8 A multifunctional AGV vehicle comprises a vehicle body 1, a pair of left and right forks 2 are arranged at the front side of the vehicle body 1, a lifting assembly 3 that slides up and down is arranged at the front side of the vehicle body 1, the forks 2 are connected to the lifting assembly 3 by sliding forward and backward, and an arc groove 21 is arranged at the top of the front half of the forks 2;

[0054] The lifting assembly 3 comprises:

[0055] A lifting plate 31, a chain 15 is fixed on the top of the lifting plate 31, the other end of the chain 15 is connected to the No. 1 motor 14 on the top of the vehicle body 1, and a sprocket is arranged on the output shaft of the No. 1 motor 14 to be transmission-connected with the chain 15;

[0056] A cable power device 32, wherein the cable power device 32 is fixed on the lifting plate 31, and two cables 33 pass through the cable power device 32, and the cable power device 32 is used to drive the two cables 33 to move;

[0057] The middle parts of the two cables 33 are connected to the cable power device 32 by transmission, and the front and rear ends of each cable 33 are respectively fixed to the front and rear ends of the same fork 2 or at positions close to the front and rear ends.

[0058] In an optional embodiment, the cable power device 32 includes:

[0059] A second motor 321, wherein a telescopic power wheel 322 is disposed at the output shaft of the second motor 321;

[0060] A telescopic power wheel 322, wherein the telescopic power wheel 322 is provided with two front and rear wire grooves, and the middle part of each cable 33 is wound in different wire grooves;

[0061] The No. 2 steering roller 323 is respectively arranged on the left and right sides of the telescopic power wheel 322. The No. 2 steering roller 323 is provided with two front and rear wire grooves. The front and rear parts of each telescopic power wheel 322 pass through the two wire grooves of the No. 2 steering roller 323 respectively. The cable 33 passes through the No. 2 steering roller 323 and then passes through the No. 1 steering roller 34 near the fork 2. The No. 1 steering roller 34 is rotatably connected to the lifting plate 31. The rotating axis of the No. 1 steering roller 34 is vertically arranged. The No. 1 steering roller 34 is provided with two upper and lower wire grooves. The front and rear ends of the cable 33 pass through the upper and lower wire grooves of the No. 1 steering roller 34 respectively.

[0062] In an optional embodiment, the lifting plate 31 includes a front plate and two left and right side plates, wherein at least two front and rear rotatably connected rollers 36 are arranged on the side plates of the lifting plate 31 at positions corresponding to the forks 2, a sliding groove 22 is arranged on the inner side of the forks 2, and each roller 36 is pressed against the sliding groove 22 on the upper and lower sides, and a wire groove is arranged on the rollers 36. When one end of the cable 33 passes through the rollers 36, it is wound in the wire groove of the rollers 36 and is finally fixed at the tail of the fork 2, and the other end is fixed at the front end of the fork 2. When the cable 33 is pulled by the cable power device 32, the rollers 36 are driven to rotate, so that the rollers 36 are closely attached to the inner wall of the sliding groove 22 and the friction force is used to assist the extension and retraction of the fork 2.

[0063] In an optional embodiment, the end of the cable 33 is bent into a ring shape and fixed by a fixing sleeve 331 to form a ring, and a fixing hole 23 is provided on the fork 2 at a position corresponding to the end of the cable 33, and the end of the cable 33 is fixed by a bolt in the fixing hole 23.

[0064] In an optional embodiment, the cable power device 32 also includes a power box 324, the telescopic power wheel 322 and the second steering roller 323 are both arranged in the power box 324, and the power box 324 is provided with a roller slot 3241 at a position corresponding to the second steering roller 323, the second steering roller 323 slides up and down in the roller slot 3241, and a spring is arranged in the roller slot 3241, the bottom of the spring is pressed on the second steering roller 323, and the top is connected to the pressure regulating device, the pressure regulating device is arranged in the cable slot 3242 by a screw rod structure, the pressure regulation includes a pressure sensor and a shell, the top of the spring is pressed under the pressure sensor, the pressure sensor is fixed on the shell, a thread is arranged on the outer side of the shell and is connected to the nut sleeve, the nut sleeve is rotatably connected to the power box 324, and the height of the pressure regulating device is adjusted by rotating the nut sleeve, thereby adjusting the downward pressure of the second steering roller 323, thereby adjusting the tightness of the cable 33.

[0065] In an optional embodiment, a top laser assembly 16 is disposed on the top of the vehicle body 1 , and the top laser assembly 16 includes a column fixed on the top of the vehicle body 1 , and a laser radar and a wireless transmission antenna are disposed on the top of the column.

[0066] In an optional embodiment, an anti-collision strip 13 and a plurality of safety radars 12 are provided on the bottom side of the vehicle body 1 .

[0067] In an optional embodiment, a linear track 11 is fixed to the side of the vehicle body 1 , and a linear sleeve 35 is fixed to a position on the lifting assembly 3 corresponding to the linear track 11 , and the linear sleeve 35 is slidably connected to the linear track 11 .

[0068] In an optional embodiment, multi-directional wheels are arranged at the bottom of the vehicle body 1 .

[0069] Specifically, the end of the chain 15 is fixed on a sprocket on the output shaft of the first motor 14 , and each sprocket tooth on the sprocket corresponds to a gap on the chain 15 .

[0070] Specifically, cable slide grooves 3242 are provided on both sides of the power box 324 , and the cable 33 passes through the cable slide grooves 3242 .

[0071] Specifically, the power box 324 is provided with a box cover 325, and the box cover 325 is provided with a pressure block 3251, and the pressure block 3251 is used to press on the second steering roller 323, so that the second steering roller 323 slides in the roller slide groove 3241, which is convenient for disassembly and installation.

[0072] Specifically, a control panel 17 and a charging port 18 are also provided on the vehicle body 1 .

[0073] A method for transporting a cloth roll of a circular knitting machine, using a multifunctional AGV vehicle as described in any one of claims 1 to 9 for transporting the cloth roll, comprising:

[0074] S1 retracts the fork, detecting the telescopic state of the fork 2. If the fork 2 is in the extended state, the second motor 321 is started to control the cable 33 to retract the fork 2;

[0075] S2 positioning, through the top laser combination 16 positioning, controls the AGV to move to the large circular knitting machine position;

[0076] S3 lifts the fork, uses the No. 1 motor 14 to drive the chain 15 to lift, and pulls the lifting assembly 3 to slide upward through the chain 15, thereby adjusting the height of the fork 2 on the lifting assembly 3, and lifting the fork 2 to the position where the circular knitting machine drops the cloth roll;

[0077] S4 cloth dropping, the circular knitting machine drops the cloth roll to the position of the arc groove 21 on the fork 2;

[0078] S5 fork lowering, using the No. 1 motor 14 to drive the chain 15 to lower, so as to lower the fork 2 to the bottom of the vehicle body 1;

[0079] S6 transport, without rotating the AGV, use the universal wheels at the bottom of the vehicle body 1 to move horizontally or vertically. In summary, the multifunctional AGV vehicle and the method for transporting the cloth rolls dropped from the large circular knitting machine, the multifunctional AGV vehicle and the method for transporting the cloth rolls dropped from the large circular knitting machine, by setting the fork 2 in the lifting assembly 3 that is lifted and connected to the vehicle body 1, and at the same time, the fork 2 is also slidably connected to the lifting assembly 3, so that the fork 2 can be lifted up and down and can be extended and retracted forward and backward, and an arc groove 21 is also provided on the top of the fork 2. When it is necessary to transport the cloth roll, the fork 2 is retracted and the cloth roll is placed in the arc groove 21, so that the cloth roll is transported more smoothly, and the fork 2 is prevented from being too long to cause an unstable center of gravity and prevent the cloth roll from rolling. At the same time, the liftable fork 2 can receive cloth rolls from large circular knitting machines of different heights, and when transporting the cargo plate, it is only necessary to re-extend the fork 2 to achieve multi-functional combined use.

[0080] The multifunctional AGV vehicle and the method for transporting the cloth roll dropped by the circular knitting machine are characterized in that a plurality of rotatably connected rollers 36 are arranged in the fork 2, and the cable 33 is wound around the roller 36 when passing through the roller 36, so that the cable 33 drives the roller 36 to rotate while pulling the fork 2 to move. The friction force generated by the rotation of the roller 36 assists the movement of the fork 2, so that the roller 36 can fit more closely to the inner wall of the sliding groove 22, thereby improving the stability of the fork 2.

[0081] The multifunctional AGV vehicle and the method for transporting the cloth roll dropped by the circular knitting machine are arranged in the power box 324 by sliding the second steering roller 323 up and down, and the pressure regulating device is connected to the second steering roller 323, so as to control the tightness of the cable 33 by adjusting the downward pressure of the second steering roller 323.

[0082] The multifunctional AGV vehicle and the method for transporting the dropped cloth roll of the circular knitting machine are characterized in that universal wheels are arranged at the bottom of the vehicle body 1, so that the AGV vehicle can be directly moved horizontally and vertically without rotating, and is convenient for use in a narrow space.

[0083] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0084] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multifunctional AGV vehicle, comprising a vehicle body (1), a fork (2) being arranged at the front side of the vehicle body (1), a lifting assembly (3) which slides up and down being also arranged at the front side of the vehicle body (1), the fork (2) being connected to the lifting assembly (3) by sliding forward and backward, characterized in that: The fork (2) is provided with an arc groove (21) at the top of the front half; The lifting assembly (3) comprises: A lifting plate (31), a chain (15) is fixed on the top of the lifting plate (31), the other end of the chain (15) is connected to a No. 1 motor (14) on the top of the vehicle body (1), and a sprocket is arranged on the output shaft of the No. 1 motor (14) for transmission connection with the chain (15); A cable power device (32), wherein the cable power device (32) is fixed on the lifting plate (31), two cables (33) pass through the cable power device (32), and the cable power device (32) is used to drive the two cables (33) to move; The middle parts of the two cables (33) are connected in a cable power device (32) through transmission, and the front and rear ends of each cable (33) are respectively fixed to the front and rear ends of the same fork (2) or positions close to the front and rear ends.

2. A multifunctional AGV vehicle according to claim 1, characterized in that: The cable power device (32) comprises: A second motor (321), wherein a telescopic power wheel (322) is provided at the output shaft of the second motor (321); A telescopic power wheel (322), wherein the telescopic power wheel (322) is provided with two front and rear wire grooves, and the middle part of each cable (33) is wound in different wire grooves; The second steering roller (323) is respectively arranged on the left and right sides of the telescopic power wheel (322). The second steering roller (323) is provided with two front and rear wire grooves. The front and rear parts of each telescopic power wheel (322) pass through the two wire grooves of the second steering roller (323) respectively. The cable (33) passes through the second steering roller (323) and then passes through the first steering roller (34) at a position close to the fork (2). The first steering roller (34) is rotatably connected to the lifting plate (31). The rotating shaft of the first steering roller (34) is vertically arranged. The first steering roller (34) is provided with two upper and lower wire grooves. The front and rear ends of the cable (33) pass through the upper and lower wire grooves of the first steering roller (34) respectively.

3. A multifunctional AGV vehicle according to claim 2, characterized in that: The lifting plate (31) comprises a front plate and two left and right side plates, wherein at least two front and rear rotatably connected rollers (36) are arranged on the side plates of the lifting plate (31) at positions corresponding to the forks (2), a sliding groove (22) is arranged on the inner side of the forks (2), and each roller (36) is pressed against the sliding groove (22) at the upper and lower sides, and a wire groove is arranged on the roller (36). When one end of the cable (33) passes through the roller (36), it is wound in the wire groove of the roller (36) and finally fixed to the tail of the fork (2), and the other end is fixed to the front end of the fork (2). When the cable (33) is pulled by the cable power device (32), the roller (36) is driven to rotate, so that the roller (36) is closely attached to the inner wall of the sliding groove (22) and friction is used to assist the fork (2) to extend and retract.

4. A multifunctional AGV vehicle according to claim 3, characterized in that: The end of the cable (33) is bent into a ring shape and fixed by a fixing sleeve (331) to form a ring. A fixing hole (23) is provided on the fork (2) at a position corresponding to the end of the cable (33). The end of the cable (33) is fixed by a bolt provided in the fixing hole (23).

5. The multifunctional AGV according to claim 2, characterized in that: The cable power device (32) also includes a power box (324), the telescopic power wheel (322) and the second steering roller (323) are both arranged in the power box (324), the power box (324) is provided with a roller slide groove (3241) at a position corresponding to the second steering roller (323), the second steering roller (323) slides up and down in the roller slide groove (3241), a spring is arranged in the roller slide groove (3241), the bottom of the spring is pressed on the second steering roller (323), and the top is connected to the pressure regulating device, the pressure regulating device is arranged in the cable slide groove (3242) through a screw rod structure, the pressure regulation includes a pressure sensor and a shell, the top of the spring is pressed below the pressure sensor, the pressure sensor is fixed on the shell, the outer side of the shell is provided with a thread and is connected to the nut sleeve, and the nut sleeve is rotatably connected to the power box (324).

6. The multifunctional AGV according to claim 1, characterized in that: A top laser assembly (16) is arranged on the top of the vehicle body (1), and the top laser assembly (16) comprises a column fixed on the top of the vehicle body (1), and a laser radar and a wireless transmission antenna are arranged on the top of the column.

7. The multifunctional AGV according to claim 1, characterized in that: An anti-collision strip (13) and a plurality of safety radars (12) are arranged on the bottom side of the vehicle body (1).

8. The multifunctional AGV according to claim 1, characterized in that: A linear track (11) is fixed on the side of the vehicle body (1), a linear sleeve (35) is fixed on the lifting assembly (3) at a position corresponding to the linear track (11), and the linear sleeve (35) is slidably connected to the linear track (11).

9. The multifunctional AGV according to claim 1, characterized in that: Multidirectional wheels are arranged at the bottom of the vehicle body (1).

10. A method for transporting a circular knitting machine cloth roll, using the multifunctional AGV vehicle as described in any one of claims 1 to 9 for transporting, characterized in that: include: S1 retracts the fork, detecting the telescopic state of the fork (2). If the fork (2) is in the extended state, the second motor (321) is started to control the cable (33) to retract the fork (2); S2 positioning, through the top laser assembly (16) positioning, controls the AGV to move to the circular knitting machine position; S3 lifts the fork, using the No. 1 motor (14) to drive the chain (15) to lift, and pulls the lifting assembly (3) to slide upward through the chain (15), thereby adjusting the height of the fork (2) on the lifting assembly (3), and lifting the fork (2) to the position where the fabric roll of the circular knitting machine is dropped; S4 cloth dropping, the circular knitting machine drops the cloth roll to the position of the arc groove (21) on the fork (2); S5 fork lowering, using the first motor (14) to drive the chain (15) to lower, so as to lower the fork (2) to the bottom of the vehicle body (1); S6 transport, without rotating the AGV vehicle, uses the universal wheels at the bottom of the vehicle body (1) to move horizontally or vertically.

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