Forklift type AGV stacking mechanism

Abstract

The invention discloses a forklift type AGV (automatic guided vehicle) stacking mechanism, and relates to the technical field of automatic guided vehicles, the forklift type AGV stacking mechanism comprises a balance vehicle, and a circular groove is formed in the balance vehicle; a driving device is arranged in the balance car, universal wheels are rotatably arranged at the output end of the driving device, a hydraulic cylinder is fixedly installed at the bottom of the inner wall of the circular groove, the rotating shaft is fixedly installed at the top of the output end of the hydraulic cylinder, the disc is rotatably installed at the top of the rotating shaft, and the supporting disc is fixedly installed at the top of the disc. The hollow cylinder is fixedly installed at the bottom of the supporting disc, the sliding rod is slidably installed on the inner wall of the hollow cylinder, and the suction cup is fixedly installed at the bottom of the hollow cylinder, so that the supporting disc cannot rotate, the balance car rotates, but goods on the top cannot rotate, and the goods are prevented from inclining due to the too large rotating angle during steering; and therefore, the stability during transportation is improved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic guided vehicles, in particular to a forklift type AGV automatic guided vehicle palletizing mechanism. Background Art

[0002] The forklift AGV automatic palletizing mechanism is a very important part of the modern logistics system. It combines forklift and automation technology to realize automated material handling and stacking tasks.

[0003] The patent with patent announcement number CN217837646U relates to a guided floating loading and unloading mechanism for a trolley or AGV automatic vehicle, including a guide structure, a lifting structure and a bearing mechanism. The bearing mechanism has multiple air locks, which are used to hold and lock the materials. The lifting structure is used to drive the bearing mechanism to lift and lower. The guide structure is used to contact the materials when the bearing mechanism is lifted and lowered to ensure that the posture of the materials does not change. This patent uses the guide structure to contact the materials so that the stacked materials maintain the stacked posture without deviation during the lifting process, thereby avoiding the occurrence of dumping.

[0004] In the above patent, the guide structure resists the materials so that the stacked materials can maintain the stacked posture without shifting during the lifting process, thereby avoiding the occurrence of tipping. However, when there are goods placed on the top of the guide vehicle, the turning of the guide vehicle when it moves will cause the goods on the top to tilt, causing the goods to fall, affecting the normal transportation of the goods. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a forklift-type AGV automatic guided vehicle palletizing mechanism, which solves the problems raised in the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a forklift-type AGV automatic guided vehicle stacking mechanism, comprising a balancing vehicle, a circular groove is opened inside the balancing vehicle; a driving device is arranged inside the balancing vehicle, a universal wheel is rotated at the output end of the driving device, a hydraulic cylinder is fixedly installed at the bottom of the inner wall of the circular groove, and a steering device is arranged on the top of the circular groove; The steering device comprises: a rotating shaft, a disc, a supporting disc, a hollow cylinder, a sliding rod, a suction cup, a transmission plate, a connecting column and a sealing block, wherein the rotating shaft is fixedly mounted on the top of the output end of the hydraulic cylinder, the disc is rotatably mounted on the top of the rotating shaft, the supporting disc is fixedly mounted on the top of the disc, the hollow cylinder is fixedly mounted on the bottom of the supporting disc, the sliding rod is slidably mounted on the inner wall of the hollow cylinder, the suction cup is fixedly mounted on the bottom of the hollow cylinder, the transmission plate is fixedly mounted on the bottom of the hollow cylinder, the connecting column slides through the inner and outer walls of the sliding rod, the sealing block is slidably mounted on the inner wall of the sliding rod, one end of the connecting column is fixedly mounted on the circumferential surface of the sealing block, and the other end of the connecting column is fixedly mounted on a side of the transmission plate close to the sealing block, the movement of the transmission plate will drive the connecting column to move toward the top, the movement of the connecting column will drive the sealing block to move toward the top, and the movement of the sealing block will cause air to flow into the interior of the suction cup; Wherein, a protective device for protecting the balancing vehicle and a positioning device for positioning the goods on the top of the support plate are arranged inside the balancing vehicle.

[0007] According to the above technical solution, a starting device is arranged inside the hydraulic cylinder, and the suction cup is elastic, and the sealing performance of the suction cup is improved by the elasticity of the surface of the suction cup.

[0008] According to the above technical solution, the protective device includes: an elastic telescopic rod, a roller and a ring. The elastic telescopic rod is fixedly installed at the bottom of the disc, the roller is rotatably installed at the bottom of the free end of the elastic telescopic rod, and the ring is fixedly installed at the bottom of the disc. The rotation of the elastic telescopic rod will drive the roller to rotate, and the rotation of the roller will contact the bottom of the circular groove.

[0009] According to the above technical scheme, the protective device also includes: a transmission oblique block, a sliding cross plate, an arc plate, a transmission oblique rod, a friction block and two square plates. The transmission oblique block is slidably installed on the bottom of the inner wall of the circular groove, the sliding cross plate slides through the inner and outer walls of the balancing car, the sliding cross plate slides through the inner wall of the transmission oblique block, the arc plate is fixedly installed on the end of the sliding cross plate away from the transmission oblique block, the transmission oblique rod slides through the inner and outer walls of the balancing car, the friction block is fixedly installed on the bottom of the transmission oblique rod, and a sliding groove is provided on the inner wall of the sliding cross plate. The two square plates are fixedly installed at both ends of the transmission oblique block, and the square plate is driven to move in the direction away from the arc plate through the reset of spring No. 1. The movement of the square plate drives the movement of the sliding cross plate, and the movement of the sliding cross plate drives the movement of the arc plate. The movement of the arc plate will contact and overlap with the balancing car.

[0010] According to the above technical solution, a No. 1 spring is arranged between the square plate and the circular groove, and a No. 2 spring is arranged between the transmission diagonal rod and the balancing vehicle. The square plate is reset by the No. 1 spring, and the transmission diagonal rod is reset by the No. 2 spring.

[0011] According to the above technical solution, the positioning device includes: a triangular block, a baffle and a connecting plate. The triangular block is fixedly installed on the top of the sliding cross plate, the baffle is fixedly installed on the top of the triangular block, and the connecting plate is slidably installed inside the balancing car.

[0012] According to the above technical solution, the positioning device also includes: a sliding block, a balance plate, an arc rod, a square groove and a clamping plate, the square groove is opened on the surface of the supporting plate, the sliding block is slidably installed on the inner wall of the square groove, the balance plate is fixedly installed on the top of the sliding block, the arc rod is slidably installed on the bottom of the supporting plate, and the clamping plate is fixedly installed on the top of the balance plate, the movement of the sliding block will drive the arc rod to rotate, the rotation of the arc rod will contact the remaining sliding blocks, and the rotation of the arc rod will drive the remaining sliding blocks to move.

[0013] According to the above technical solution, the arc rod is in contact with the sliding block, and a reset spring is provided between the connecting plate and the balancing vehicle, and the connecting plate is reset by the reset spring.

[0014] The present invention provides a forklift-type AGV automatic guided vehicle stacking mechanism. It has the following beneficial effects: (1) The invention generates negative pressure inside the suction cup so that the suction cup is attached to the ground. When the balancing vehicle rotates, the support plate is attracted by the suction force of the suction cup, so that the support plate does not rotate. When turning, the balancing vehicle rotates but the cargo on the top does not rotate, thereby preventing the cargo from tilting due to excessive rotation angle during turning, resulting in the inability to transport the cargo normally. The stability during transportation is improved. The movement of the connecting column drives the sealing block to move toward the top. The movement of the sealing block causes air to flow into the interior of the suction cup, thereby preventing the suction cup from being unable to detach from the ground due to excessive adsorption force, thereby improving the practicality of the device.

[0015] (2) The invention drives the friction block to move toward the bottom through the movement of the transmission diagonal rod. After the friction block moves, it contacts the ground, making it impossible for the self-balancing vehicle to continue moving. This prevents the top cargo from falling when the self-balancing vehicle collides, thereby reducing the probability of accidents. The movement of the sliding cross plate drives the arc plate to move. The movement of the arc plate contacts and overlaps with the self-balancing vehicle, so that when the device stops running, it will automatically retract to prevent affecting the movement of other self-balancing vehicles, thereby improving the degree of automation of the device.

[0016] (3) In this invention, the movement of the balance plate will drive the clamping plate to move in the direction of the goods. The movement of the clamping plate will contact the goods and position the goods, thereby preventing the goods from flying out due to inertia when the balance vehicle is braked suddenly, thereby improving the protection of the goods. The movement of the sliding block will drive the arc rod to rotate. The rotation of the arc rod will contact the remaining sliding blocks. The rotation of the arc rod will drive the remaining sliding blocks to move, so that no matter when the balance vehicle is turned to different angles, the positioning device can be triggered and all the clamping plates can position the goods, thereby improving the practicality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the bottom structure of the balance vehicle of the present invention; Figure 3 This is a schematic diagram of the cross-sectional structure of the support plate of the present invention; Figure 4 It is a schematic diagram of the cross-sectional structure of the sliding rod of the present invention; Figure 5 This is a schematic diagram of the cross-sectional structure of the balance vehicle of the present invention; Figure 6 It is a schematic diagram of the structure of the protective device of the present invention; Figure 7 It is a schematic diagram of the structure of the positioning device of the present invention.

[0018] In the figure: 1. balance car; 2. universal wheel; 3. hydraulic cylinder; 41. rotating shaft; 42. disc; 43. supporting disc; 44. hollow cylinder; 45. sliding rod; 46. suction cup; 47. transmission plate; 48. connecting column; 49. sealing block; 51. elastic telescopic rod; 52. roller; 53. ring; 54. transmission oblique block; 55. sliding cross plate; 56. arc plate; 57. transmission oblique rod; 58. friction block; 59. No. 1 spring; 510. square plate; 61. triangular block; 62. baffle; 63. connecting plate; 64. sliding block; 65. balance plate; 66. arc rod; 67. square groove; 68. splint. DETAILED DESCRIPTION

[0019] 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.

[0020] See also Figure 1 - Figure 4One embodiment of the present invention is: a forklift type AGV automatic guided vehicle stacking mechanism, comprising a balancing vehicle 1, a circular groove is provided inside the balancing vehicle 1; a driving device is provided inside the balancing vehicle 1, a universal wheel 2 is rotated at the output end of the driving device, a hydraulic cylinder 3 is fixedly installed at the bottom of the inner wall of the circular groove, and a steering device is provided at the top of the circular groove; The steering device includes: a rotating shaft 41, a disc 42, a support disc 43, a hollow cylinder 44, a sliding rod 45, a suction cup 46, a transmission plate 47, a connecting column 48 and a sealing block 49. The rotating shaft 41 is fixedly mounted on the top of the output end of the hydraulic cylinder 3, the disc 42 is rotatably mounted on the top of the rotating shaft 41, the support disc 43 is fixedly mounted on the top of the disc 42, the hollow cylinder 44 is fixedly mounted on the bottom of the support disc 43, the sliding rod 45 is slidably mounted on the inner wall of the hollow cylinder 44, and the suction cup 46 is fixedly mounted on the bottom of the hollow cylinder 44, so that when turning, the balance car 1 rotates but the goods on the top will not The transmission plate 47 is fixedly mounted on the bottom of the hollow cylinder 44, and the connecting column 48 slides through the inner and outer walls of the sliding rod 45. The sealing block 49 is slidably mounted on the inner wall of the sliding rod 45. One end of the connecting column 48 is fixedly mounted on the circumferential surface of the sealing block 49, and the other end of the connecting column 48 is fixedly mounted on the side of the transmission plate 47 close to the sealing block 49 to prevent the suction cup 46 from being unable to detach from the ground due to excessive adsorption force, thereby improving the practicability of the device.

[0021] A starting device is provided inside the hydraulic cylinder 3 , and the suction cup 46 is elastic, and the sealing performance of the suction cup 46 is improved by the elasticity of the surface of the suction cup 46 .

[0022] When the present embodiment is working, the cargo is placed on the top of the support plate 43, and then the driving device is driven. The rotation of the output end of the driving device will cause the universal wheel 2 to rotate, and the rotation of the universal wheel 2 will drive the balancing vehicle 1 to move. The movement of the balancing vehicle 1 will drive the hydraulic cylinder 3 to move, and the movement of the hydraulic cylinder 3 will drive the rotating shaft 41 to move. The movement of the rotating shaft 41 will drive the disc 42 to move, and the movement of the disc 42 will drive the support plate 43 to move. The movement of the support plate 43 will drive the cargo to move. When the balancing vehicle 1 turns, the starting device controls the output end of the hydraulic cylinder 3 to move toward the bottom, and the movement of the output end of the hydraulic cylinder 3 will drive the support plate 43 to move toward the bottom, and the movement of the support plate 43 will drive the hollow cylinder 44 to move toward the bottom, and the movement of the hollow cylinder 44 will drive the sliding rod 45 to move toward the bottom, and the movement of the sliding rod 45 will drive the suction cup 46 to move toward the bottom, and the suction cup 46 will contact the ground when it moves toward the bottom. After the suction cup 46 contacts the ground, the suction cup 46 is affected. The gas inside the suction cup 46 is extruded to be discharged from the inside of the suction cup 46, so that the internal air pressure of the suction cup 46 is less than the external air pressure, so that a negative pressure is generated inside the suction cup 46, so that the suction cup 46 is adsorbed on the ground. Subsequently, when the balancing vehicle 1 rotates, the support plate 43 is subjected to the suction force of the suction cup 46, so that the support plate 43 will not rotate, so that when turning, the balancing vehicle 1 rotates but the goods on the top will not rotate, so as to prevent the goods from tilting due to too large a rotation angle during turning, resulting in the inability to complete the transportation of the goods normally, thereby improving the stability during transportation, and the movement of the hollow cylinder 44 will drive the transmission plate 47 to move toward the top, and the movement of the transmission plate 47 will drive the connecting column 48 to move toward the top, and the movement of the connecting column 48 will drive the sealing block 49 to move toward the top, and the movement of the sealing block 49 will cause air to flow into the inside of the suction cup 46, thereby preventing the suction cup 46 from being unable to detach from the ground due to excessive adsorption force, thereby improving the practicability of the device.

[0023] See also Figure 1 - Figure 7 On the basis of the above embodiment, in another embodiment of the present invention, a protective device for protecting the balancing vehicle 1 and a positioning device for positioning the goods on the top of the support plate 43 are arranged inside the balancing vehicle 1, wherein the protective device includes: an elastic telescopic rod 51, a roller 52 and a ring 53, the elastic telescopic rod 51 is fixedly installed at the bottom of the disc 42, the roller 52 is rotatably installed at the bottom of the free end of the elastic telescopic rod 51, and the ring 53 is fixedly installed at the bottom of the disc 42, so that the support plate 43 is more stable when rotating, further improving the stability.

[0024] The protective device also includes: a transmission oblique block 54, a sliding cross plate 55, an arc plate 56, a transmission oblique rod 57, a friction block 58 and two square plates 510. The transmission oblique block 54 is slidably installed at the bottom of the inner wall of the circular groove, the sliding cross plate 55 slides through the inner and outer walls of the balancing vehicle 1, the sliding cross plate 55 slides through the inner wall of the transmission oblique block 54, the arc plate 56 is fixedly installed at one end of the sliding cross plate 55 away from the transmission oblique block 54, the transmission oblique rod 57 slides through the inner and outer walls of the balancing vehicle 1, the friction block 58 is fixedly installed at the bottom of the transmission oblique rod 57, and a sliding groove is provided on the inner wall of the sliding cross plate 55 to prevent the top cargo from falling when the balancing vehicle 1 collides, thereby reducing the probability of accidents. The two square plates 510 are fixedly installed at both ends of the transmission oblique block 54, so that when the operation stops, the device will be automatically stored to prevent affecting the movement of other balancing vehicles 1, thereby improving the degree of automation of the device.

[0025] A No. 1 spring 59 is arranged between the square plate 510 and the circular groove, and a No. 2 spring is arranged between the transmission diagonal rod 57 and the balancing vehicle 1. The No. 1 spring 59 drives the square plate 510 to reset, and the No. 2 spring drives the transmission diagonal rod 57 to reset.

[0026] The positioning device includes: a triangular block 61, a baffle 62 and a connecting plate 63. The triangular block 61 is fixedly installed on the top of the sliding horizontal plate 55, the baffle 62 is fixedly installed on the top of the triangular block 61, and the connecting plate 63 is slidably installed inside the balancing vehicle 1.

[0027] The positioning device also includes: a sliding block 64, a balance plate 65, an arc rod 66, a square groove 67 and a clamping plate 68. The square groove 67 is opened on the surface of the support plate 43, the sliding block 64 is slidably installed on the inner wall of the square groove 67, the balance plate 65 is fixedly installed on the top of the sliding block 64, the arc rod 66 is slidably installed on the bottom of the support plate 43, and the clamping plate 68 is fixedly installed on the top of the balance plate 65 to prevent the goods from flying out due to inertia when the balance vehicle 1 is braked suddenly, thereby improving the protection of the goods, so that when the balance vehicle 1 is turned to different angles, the positioning device can be triggered and all the clamping plates 68 can position the goods, thereby improving the practicality of the device.

[0028] The arc rod 66 contacts the sliding block 64 , and a reset spring is provided between the connecting plate 63 and the balancing vehicle 1 , and the connecting plate 63 is reset by the reset spring.

[0029] When the present embodiment is working, the rotation of the disc 42 will drive the elastic telescopic rod 51 to rotate, the rotation of the elastic telescopic rod 51 will drive the roller 52 to rotate, the rotation of the roller 52 will contact the bottom of the circular groove, so that the support disc 43 is more stable when rotating, and the stability is further improved. The movement of the disc 42 toward the bottom will drive the ring 53 to move toward the bottom, the movement of the ring 53 will contact the transmission bevel block 54, the movement of the ring 53 will drive the transmission bevel block 54 to move in the direction away from the hydraulic cylinder 3, the movement of the transmission bevel block 54 will drive the sliding cross plate 55 to move in the direction away from the hydraulic cylinder 3, the movement of the sliding cross plate 55 will drive the arc plate 56 to move in the direction away from the balancing vehicle 1, the arc plate 56 will no longer contact the balancing vehicle 1 after moving, and when the balancing vehicle 1 moves, if there is an obstacle in front of the balancing vehicle 1, the arc plate 56 will contact the obstacle, and the arc plate 56 will move toward the balancing vehicle 1 The reverse movement of the arc plate 56 will drive the transmission oblique rod 57 to move toward the bottom, and the movement of the transmission oblique rod 57 will drive the friction block 58 to move toward the bottom. After the friction block 58 moves, it will contact the ground, making it impossible for the balance car 1 to continue moving, preventing the top cargo from falling when the balance car 1 collides, thereby reducing the probability of accidents. When the balance car 1 is not working, the ring 53 moves to the top and no longer contacts the transmission oblique block 54. The square plate 510 is driven to move away from the arc plate 56 through the No. 1 spring reset 59. The movement of the square plate 510 drives the sliding horizontal plate 55 to move. The movement of the sliding horizontal plate 55 drives the arc plate 56 to move. The movement of the arc plate 56 will contact and overlap with the balance car 1, so that when it stops running, the device will be automatically stored to prevent affecting the movement of other balance cars 1, thereby improving the degree of automation of the device.

[0030] The movement of the sliding cross plate 55 will drive the triangular block 61 to move away from the arc plate 56, the movement of the triangular block 61 will drive the baffle plate 62 to move away from the arc plate 56, the movement of the baffle plate 62 will contact the connecting plate 63, the movement of the triangular block 61 will drive the connecting plate 63 to move toward the top, the movement of the baffle plate 62 will drive the connecting plate 63 to move away from the triangular block 61, the movement of the connecting plate 63 will contact the sliding block 64, the movement of the connecting plate 63 will drive the sliding block 64 to move toward the direction of the hydraulic cylinder 3, the movement of the sliding block 64 will drive the balance plate 65 to move toward the direction of the cargo. The movement of the balance plate 65 will drive the clamping plate 68 to move in the direction of the goods. The movement of the clamping plate 68 will contact with the goods and position the goods, thereby preventing the goods from flying out due to inertia when the balance vehicle 1 is braked suddenly, thereby improving the protection of the goods. The movement of the sliding block 64 will drive the arc rod 66 to rotate. The rotation of the arc rod 66 will contact with the remaining sliding blocks 64. The rotation of the arc rod 66 will drive the remaining sliding blocks 64 to move, so that no matter when the balance vehicle 1 is turned to different angles, the positioning device can be triggered and all the clamping plates 68 can position the goods, thereby improving the practicality of the device.

[0031] 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 forklift-type AGV automatic guided vehicle palletizing mechanism, comprising a balancing vehicle (1), characterized in that: A circular groove is provided inside the balancing vehicle (1); a driving device is provided inside the balancing vehicle (1); a universal wheel (2) is rotatably provided at the output end of the driving device; a hydraulic cylinder (3) is fixedly mounted at the bottom of the inner wall of the circular groove; and a steering device is provided at the top of the circular groove; The steering device comprises: a rotating shaft (41), a disc (42), a supporting disc (43), a hollow cylinder (44), a sliding rod (45), a suction cup (46), a transmission plate (47), a connecting column (48) and a sealing block (49), wherein the rotating shaft (41) is fixedly mounted on the top of the output end of the hydraulic cylinder (3), the disc (42) is rotatably mounted on the top of the rotating shaft (41), the supporting disc (43) is fixedly mounted on the top of the disc (42), the hollow cylinder (44) is fixedly mounted on the bottom of the supporting disc (43), and the sliding rod (45) is fixedly mounted on the top of the output end of the hydraulic cylinder (3). The connecting column (48) is slidably mounted on the inner wall of the hollow cylinder (44), the suction cup (46) is fixedly mounted on the bottom of the hollow cylinder (44), the transmission plate (47) is fixedly mounted on the bottom of the hollow cylinder (44), the connecting column (48) slidably penetrates the inner and outer walls of the sliding rod (45), the sealing block (49) is slidably mounted on the inner wall of the sliding rod (45), one end of the connecting column (48) is fixedly mounted on the circumferential surface of the sealing block (49), and the other end of the connecting column (48) is fixedly mounted on a side of the transmission plate (47) close to the sealing block (49); Wherein, a protective device for protecting the balancing vehicle (1) and a positioning device for positioning the goods on the top of the support plate (43) are arranged inside the balancing vehicle (1).

2. A forklift-type AGV automatic guided vehicle palletizing mechanism according to claim 1, characterized in that: A starting device is arranged inside the hydraulic cylinder (3), and the suction cup (46) is elastic.

3. The forklift-type AGV automatic guided vehicle palletizing mechanism according to claim 2, characterized in that: The protective device comprises: an elastic telescopic rod (51), a roller (52) and a circular ring (53); the elastic telescopic rod (51) is fixedly mounted on the bottom of the circular disc (42); the roller (52) is rotatably mounted on the bottom of the free end of the elastic telescopic rod (51); and the circular ring (53) is fixedly mounted on the bottom of the circular disc (42).

4. The forklift-type AGV automatic guided vehicle palletizing mechanism according to claim 3, characterized in that: The protective device further comprises: a transmission oblique block (54), a sliding transverse plate (55), an arc plate (56), a transmission oblique rod (57), a friction block (58) and two square plates (510); the transmission oblique block (54) is slidably mounted on the bottom of the inner wall of the circular groove; the sliding transverse plate (55) slides through the inner and outer walls of the balancing vehicle (1); the sliding transverse plate (55) slides through the inner wall of the transmission oblique block (54); the arc plate (56) is fixedly mounted on one end of the sliding transverse plate (55) away from the transmission oblique block (54); the transmission oblique rod (57) slides through the inner and outer walls of the balancing vehicle (1); the friction block (58) is fixedly mounted on the bottom of the transmission oblique rod (57); a sliding groove is provided on the inner wall of the sliding transverse plate (55); and the two square plates (510) are fixedly mounted on both ends of the transmission oblique block (54).

5. The forklift-type AGV automatic guided vehicle palletizing mechanism according to claim 4, characterized in that: A No. 1 spring (59) is provided between the square plate (510) and the circular groove, and a No. 2 spring is provided between the transmission inclined rod (57) and the balancing vehicle (1).

6. The forklift-type AGV automatic guided vehicle palletizing mechanism according to claim 5, characterized in that: The positioning device comprises: a triangular block (61), a baffle (62) and a connecting plate (63); the triangular block (61) is fixedly mounted on the top of the sliding transverse plate (55); the baffle (62) is fixedly mounted on the top of the triangular block (61); and the connecting plate (63) is slidably mounted inside the balancing vehicle (1).

7. The forklift-type AGV automatic guided vehicle palletizing mechanism according to claim 6, characterized in that: The positioning device further comprises: a sliding block (64), a balancing plate (65), an arc-shaped rod (66), a square groove (67) and a clamping plate (68); the square groove (67) is formed on the surface of the supporting plate (43); the sliding block (64) is slidably mounted on the inner wall of the square groove (67); the balancing plate (65) is fixedly mounted on the top of the sliding block (64); the arc-shaped rod (66) is slidably mounted on the bottom of the supporting plate (43); and the clamping plate (68) is fixedly mounted on the top of the balancing plate (65).

8. The forklift-type AGV automatic guided vehicle palletizing mechanism according to claim 7, characterized in that: The arc-shaped rod (66) is in contact with the sliding block (64), and a return spring is provided between the connecting plate (63) and the balancing vehicle (1).

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