Forklift AGV and goods taking and placing method

Abstract

The embodiment of the invention provides a forklift AGV and a goods taking and placing method. The forklift AGV comprises an omni-directional movement chassis, a portal and a telescopic forking mechanism. The portal frame is fixedly arranged on the first side of the omni-directional movement chassis in the first direction; the telescopic forking mechanism is movably mounted on the portal frame, can move up and down along the portal frame, and extends out or retracts to the omni-directional movement chassis in the first direction to pick and place goods; the omni-directional movement chassis can drive the portal and the telescopic forking mechanism to move in the roadway in the second direction. The omni-directional movement chassis can move towards the goods shelf in the first direction, so that part of the omni-directional movement chassis extends into the bottom of the goods shelf; the second direction is perpendicular to the first direction. The omni-directional movement chassis does not need to rotate, the telescopic forking mechanism can take and place goods, and the goods taking and placing efficiency is improved. When the omni-directional movement chassis moves in the roadway, the telescopic forking mechanism is in a contracted state, the first direction of the forklift AGV can be reduced, the forklift AGV can adapt to the narrow roadway, and therefore the goods shelf density of the warehousing system is improved.

Description

Technical Field

[0001] The present application relates to the field of logistics and warehousing technology, and in particular to a forklift AGV and a method for picking up and releasing goods. Background Art

[0002] AGV (Automated Guided Vehicle, AGV for short) refers to an automated guided vehicle, which is equipped with an automatic guidance device and can travel along a specified guidance path. It is a transport vehicle with safety protection and loading functions. AGV usually includes a body and a pickup mechanism. Among them, the AGV with a pickup mechanism in the form of a forklift is a forklift AGV, which is often used to pick up pallets carrying goods.

[0003] In the related art, the fork of the forklift AGV is located at the front end of the vehicle body. When the forklift AGV travels along the aisle to the target position, it needs to rotate the vehicle body first so that the fork faces the shelf on one side of the aisle before picking up the goods. This results in a low efficiency of the forklift AGV in picking up and placing goods. In addition, since a counterweight facility is provided at the rear end of the vehicle body, its turning radius is large, so that the aisle width needs to be set larger, and the shelf density of the storage system is low. Summary of the invention

[0004] The purpose of the embodiment of the present application is to provide a forklift AGV and a method for picking and placing goods, so as to improve the efficiency of picking and placing goods, and the density of shelves in the storage system. The specific technical solution is as follows:

[0005] An embodiment of the present application provides a forklift AGV, comprising: an omnidirectional motion chassis, a gantry and a telescopic fork-picking mechanism; the gantry is fixedly arranged on a first side of a first direction of the omnidirectional motion chassis; the telescopic fork-picking mechanism is movably installed on the gantry, can move up and down along the gantry, and extend or retract along the first direction to the omnidirectional motion chassis to pick up and place goods; the omnidirectional motion chassis can drive the gantry and the telescopic fork-picking mechanism arranged thereon to move in the aisle between the shelves along the second direction of the omnidirectional motion chassis; and can move toward the shelf along the first direction, so that part of the omnidirectional motion chassis extends to the bottom of the shelf; the second direction is perpendicular to the first direction.

[0006] In some embodiments of the present application, the shelves on both sides of the aisle are single-depth shelves; the omnidirectional motion chassis is used to move along the second direction in the aisle between the shelves to the target column where the target position on the shelf is located; or, is used to move along the second direction in the aisle between the shelves to the target column where the target position on the shelf is located, and move toward the target column along the first direction, so that part of the omnidirectional motion chassis extends to the bottom of the target column of the shelf; the telescopic fork mechanism is used to move up and down on the door frame to correspond to the target position, and pick up and place goods from the shelf along the first direction.

[0007] In some embodiments of the present application, the shelves on both sides of the aisle are multi-depth shelves; the omnidirectional motion chassis is used to move along the second direction in the aisle between the shelves to the target column where the target position on the shelf is located; and when picking up and placing goods from the storage position on the shelf away from one side of the aisle, further move along the first direction toward the target column, so that part of the omnidirectional motion chassis extends to the bottom of the target column of the shelf; the telescopic fork mechanism is used to move up and down on the door frame to correspond to the target position, and when picking up and placing goods from the storage position on the shelf away from one side of the aisle, extend along the first direction to the target position to pick and place goods from the shelf.

[0008] In some embodiments of the present application, the telescopic fork picking mechanism includes a telescopic mechanism and a fork, the fixed end of the telescopic mechanism is connected to the gantry, and the telescopic end of the telescopic mechanism is connected to the fork; the fork can be telescoped along a first direction driven by the telescopic mechanism to fork the goods on the shelf.

[0009] In some embodiments of the present application, the fork includes a connecting mechanism, a fork plate and two fork arms arranged in sequence along a first direction; one side of the connecting mechanism is connected to the telescopic mechanism, and the other side is connected to the fork plate; the two fork arms are fixed to the fork plate in parallel and spaced apart along a second direction.

[0010] In some embodiments of the present application, the fork also includes: an angle adjustment mechanism; the connecting mechanism includes two connecting arms spaced apart along the second direction; the two connecting arms are hinged to the top end of the fork plate; the angle adjustment mechanism is arranged on the connecting arm, and can drive the fork plate and the fork on the fork plate to rotate based on the hinge point between the top end and the connecting arm.

[0011] In some embodiments of the present application, the angle adjustment mechanism includes: an angle adjustment hydraulic cylinder and a roller; the first cylinder body of the angle adjustment hydraulic cylinder is fixed to the connecting arm; the roller is arranged at the end of the first piston rod of the angle adjustment hydraulic cylinder and contacts the lower part of the fork plate; the angle adjustment hydraulic cylinder is used to drive the roller to drive the fork plate to rotate based on the hinge point between the top of the fork plate and the connecting arm through the extension and retraction of the first piston rod.

[0012] In some embodiments of the present application, the mast includes: an outer mast and an inner mast; the outer mast is fixedly connected to the omnidirectional motion chassis; the inner mast is arranged on the inner side of the outer mast and is movably connected to the outer mast along the vertical direction; the telescopic mechanism of the telescopic fork mechanism is connected to the inner mast and can move up and down under the drive of the inner mast.

[0013] In some embodiments of the present application, the telescopic mechanism includes: a mounting frame, a scissors-fork mechanism and a telescopic drive mechanism; the mounting frame is arranged between two columns of the inner mast and is connected to the inner mast; one end of the scissors-fork mechanism is hinged to the mounting frame, and the other end is hinged to the fork; the telescopic drive mechanism is arranged on the mounting frame, and is drivingly connected to the scissors-fork mechanism, and is used to drive the scissors-fork mechanism to drive the fork to extend or retract along a first direction.

[0014] In some embodiments of the present application, the scissors-type mechanism includes multiple groups of scissors-type arms hingedly arranged in sequence along a first direction; each group of scissors-type arms includes two outer fork arms arranged in parallel and spaced apart and two inner fork arms arranged in parallel and spaced apart, and the outer fork arms and the inner fork arms located on the same side are crossed and hinged; the two outer fork arms and the two inner fork arms of a group of scissors-type arms close to the mounting frame are hingedly connected to the mounting frame; the two outer fork arms and the two inner fork arms of a group of scissors-type arms close to the cargo fork are hingedly connected to the cargo fork.

[0015] In some embodiments of the present application, the telescopic drive mechanism is at least one telescopic drive hydraulic cylinder; the telescopic drive hydraulic cylinder is arranged in the internal space of the scissor arm; the second cylinder body of the telescopic drive hydraulic cylinder is hinged to the mounting frame, and the second piston rod is hinged to the scissor arm; the telescopic drive hydraulic cylinder is used to drive the scissor arm of the scissor mechanism to extend or retract by extending and retracting the second piston rod.

[0016] In some embodiments of the present application, the forklift AGV also includes: a chain; a fixed wheel is provided on the inner side of the top of the inner mast, the first end of the chain is fixedly connected to the telescopic fork mechanism, and the second end bypasses the fixed wheel and is fixedly connected to the outer mast; when the inner mast moves up and down, the fixed wheel follows the inner mast to move up and down, so that the second end of the chain drives the telescopic fork mechanism to move up and down.

[0017] In some embodiments of the present application, the forklift AGV includes: a lifting hydraulic cylinder; the third cylinder body of the lifting hydraulic cylinder is fixed to the outside of the outer mast, and the third piston rod is fixedly connected to the inner mast; the lifting hydraulic cylinder is used to drive the inner mast to move up and down relative to the outer mast through the extension and retraction of the third piston rod.

[0018] In some embodiments of the present application, a accommodating slot is provided on the omnidirectional motion chassis; the accommodating slot corresponds to the position of the fork of the telescopic fork picking mechanism, and is used to accommodate the fork when the telescopic fork picking mechanism is in the lowest state, so that the fork can pick up goods on the ground.

[0019] In some embodiments of the present application, the omnidirectional motion chassis comprises: a chassis, two floating drive mechanisms and four universal casters; the two floating drive mechanisms are respectively arranged on both sides of the accommodating slot, and the center line of the two floating drive mechanisms passes through the movement center of the chassis; the four universal casters are respectively arranged at the four corners of the chassis.

[0020] An embodiment of the present application also provides a method for picking up and placing goods, which is applied to a controller, and the controller is communicatively connected with the omnidirectional motion chassis and the telescopic fork picking mechanism in the forklift AGV described in any of the above embodiments; the method includes: controlling the omnidirectional motion chassis to drive the gantry and the telescopic fork picking mechanism arranged thereon to move along the second direction of the omnidirectional motion chassis in the aisle between the shelves to the target column where the target position is located; controlling the telescopic fork picking mechanism to move up and down along the gantry to a height corresponding to the target position; based on the preset picking and placing logic, when necessary, using the omnidirectional motion chassis to move toward the shelf along the first direction, so that part of the omnidirectional motion chassis extends to the bottom of the shelf; controlling the telescopic fork picking mechanism to fork or place the goods at the target position along the first direction.

[0021] In some embodiments of the present application, the shelves on both sides of the lane are single-depth shelves; based on the preset pick-up and placement logic, when necessary, the omnidirectional motion chassis is used to move toward the shelf along the first direction so that part of the omnidirectional motion chassis extends to the bottom of the shelf, including: if in the preset pick-up and placement logic, for the single-depth shelf, a telescopic fork mechanism is used to directly fork or place goods at a target position, the omnidirectional motion chassis is further used to move toward the shelf along the first direction so that part of the omnidirectional motion chassis extends to the bottom of the shelf; controlling the telescopic fork mechanism to fork or place goods at the target position along the first direction includes: controlling the telescopic fork mechanism to directly fork or place goods at the target position along the first direction; if in the preset pick-up and placement logic, for the single-depth shelf, a telescopic fork mechanism is used to extend to the target position to fork or place goods, then controlling the telescopic fork mechanism to fork or place goods at the target position along the first direction includes: controlling the telescopic fork mechanism to extend to the target position along the first direction or retract to the omnidirectional motion chassis to pick up and place goods.

[0022] In some embodiments of the present application, the shelves on both sides of the aisle are multi-depth shelves; based on the preset pick-up and placement logic, when necessary, the omnidirectional motion chassis is used to move toward the shelf along the first direction so that part of the omnidirectional motion chassis extends to the bottom of the shelf, including: when the target position is a storage position far away from one side of the aisle, based on the preset pick-up and placement logic, the omnidirectional motion chassis is further used to move toward the shelf along the first direction so that part of the omnidirectional motion chassis extends to the bottom of the shelf; controlling the telescopic fork mechanism to fork or place the goods at the target position along the first direction includes: controlling the telescopic fork mechanism to extend to the target position or retract to the omnidirectional motion chassis along the first direction to fork or place the goods at the target position.

[0023] In some embodiments of the present application, based on the preset pick-up and placement logic, when necessary, the omnidirectional motion chassis is used to move toward the shelf along the first direction, so that part of the omnidirectional motion chassis extends to the bottom of the shelf, and further includes: when the target position is a storage position close to one side of the aisle, if in the preset pick-up and placement logic, for the storage position close to one side of the aisle, a telescopic fork mechanism is used to directly fork or place the goods at the target position, then the omnidirectional motion chassis is further used to move toward the shelf along the first direction, so that part of the omnidirectional motion chassis extends to the bottom of the shelf; the telescopic fork mechanism is controlled Forking or placing goods at a target position along the first direction includes: for a storage position close to one side of the alley, controlling the telescopic fork mechanism to directly fork or place the goods at the target position along the first direction; if in the preset picking and placing logic, for a storage position close to one side of the alley, the telescopic fork mechanism is extended to the target position to fork or place the goods, then controlling the telescopic fork mechanism to fork or place the goods at the target position along the first direction includes: for a storage position close to one side of the alley, controlling the telescopic fork mechanism to extend to the target position along the first direction or retract to the omnidirectional motion chassis to pick up and place the goods.

[0024] In some embodiments of the present application, the telescopic fork picking mechanism includes a telescopic mechanism and a fork; the telescopic mechanism has a scissors-fork mechanism and a telescopic drive mechanism; the controller is also communicatively connected with the telescopic drive mechanism; the telescopic fork picking mechanism is controlled to extend to a target position along the first direction or retract to the omnidirectional motion chassis to pick up and place goods, including: controlling the telescopic drive mechanism to drive the scissors-fork mechanism and the fork to extend or retract along the first direction so that the fork picks up and places goods.

[0025] An embodiment of the present application also provides a controller in a forklift AGV, comprising: a memory for storing a computer program; and a processor for implementing any of the above-mentioned methods for picking up and placing goods when executing the program stored in the memory.

[0026] Beneficial effects of the embodiments of the present application:

[0027] The forklift AGV provided in the embodiment of the present application has a gantry and a telescopic fork-picking mechanism disposed on a first side of a first direction of an omnidirectional motion chassis, and the telescopic fork-picking mechanism can be telescoped in the first direction. When picking up and placing goods, the omnidirectional motion chassis does not need to rotate, and the telescopic fork-picking mechanism can pick up and place goods, thereby improving the efficiency of picking up and placing goods. When the omnidirectional motion chassis moves in the lane along the second direction, the telescopic fork-picking mechanism is in a retracted state, which can reduce the size of the forklift AGV in the first direction, that is, in the lane width direction, and can adapt to narrower lanes, thereby improving the shelf density of the storage system.

[0028] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0030] Figure 1a A three-dimensional structural diagram of a forklift AGV provided in an embodiment of the present application;

[0031] Figure 1b for Figure 1a The forklift AGV shown is a three-dimensional structural diagram in which the telescopic fork mechanism is in an extended state;

[0032] Figure 1c for Figure 1b The forklift AGV shown is a three-dimensional structural diagram of the telescopic fork mechanism in the lifting state;

[0033] Figure 2a When the shelf is a single-depth shelf Figure 1a The top view of the forklift AGV before picking up the goods;

[0034] Figure 2b for Figure 2a The front view of the forklift AGV carrying goods moving in the aisle is shown;

[0035] Figure 2c for Figure 2a The forklift AGV shown is a top view of the forklift AGV carrying goods moving in the aisle;

[0036] Figure 2d for Figure 2b A front view of the first embodiment of the forklift AGV placing goods on a shelf;

[0037] Figure 2e for Figure 2b A front view of the second embodiment of the forklift AGV placing goods on a shelf;

[0038] Figure 3a When the shelf is a multi-depth shelf Figure 1a The top view of the forklift AGV before picking up the goods;

[0039] Figure 3b for Figure 3a The forklift AGV shown is a top view of the forklift AGV carrying goods moving in the aisle;

[0040] Figure 3c for Figure 3b A three-dimensional structural diagram showing a portion of the omnidirectional motion chassis of the forklift AGV extending to the bottom of the shelf;

[0041] Figure 3d for Figure 3c The telescopic fork mechanism of the forklift AGV shown places the goods on the shelf away from the side of the aisle;

[0042] Figure 4a for Figure 1a The front view of the forklift AGV shown;

[0043] Figure 4b for Figure 1a A side view of the forklift AGV shown;

[0044] Figure 4c for Figure 1a A top view of the forklift AGV shown;

[0045] Figure 4d for Figure 1a A bottom view of the forklift AGV shown;

[0046] Figure 5 for Figure 1a The three-dimensional structure diagram of the omnidirectional motion chassis and the mast is shown;

[0047] Figure 6 for Figure 1a The three-dimensional structural diagram of the mast and telescopic fork-taking mechanism shown;

[0048] Figure 7a for Figure 1a A three-dimensional structural diagram of the telescopic fork-taking mechanism shown;

[0049] Figure 7b for Figure 7a A three-dimensional structural diagram of the telescopic fork mechanism from another angle;

[0050] Figure 8 for Figure 4a The three-dimensional structural diagram of the omnidirectional motion chassis shown;

[0051] Fig. 9 A flow chart of the first embodiment of the method for picking up and releasing goods provided by this application;

[0052] Fig.10 A flow chart of a second embodiment of the method for picking up and releasing goods provided in this application;

[0053] Fig.11 A flow chart of a third embodiment of the method for picking up and releasing goods provided in this application;

[0054] Fig.12 A schematic diagram of the structure of a controller in a forklift AGV provided in an embodiment of the present application.

[0055] Reference numerals:

[0056] Omnidirectional motion chassis 100; chassis 110; receiving slot 111; camera mounting plate 112; floating drive mechanism 120; drive assembly 121; driving wheel 122; universal caster 130; chassis top cover 140; control panel 150; code reading camera 160;

[0057] Door frame 200; outer door frame 210; first guide wheel 211; chain connecting plate 212; inner door frame 220; fixed wheel 221; top plate 222; fixed part 2221; inclined rod 230; upper end ear plate 231; lower end ear plate 232;

[0058] Telescopic fork picking mechanism 300; telescopic mechanism 310; mounting frame 311; second guide wheel 3111; scissor mechanism 312; scissor arm 3121; outer fork arm 3121a; inner fork arm 3121b; rib plate 3121c; telescopic driving mechanism 313; second cylinder 313a; second piston rod 313b; fork 320; connecting mechanism 321; connecting arm 3211; fork plate 322; extension arm 3221; fork arm 323; angle adjustment mechanism 324; angle adjustment hydraulic cylinder 3241; first cylinder 3241a; roller 3242;

[0059] Chain 410; lifting hydraulic cylinder 420; third cylinder 420a; third piston rod 420b;

[0060] Lane 500;

[0061] Shelf 600; first shelf 600A; second shelf 600B; storage layer 610; storage position 611;

[0062] Goods 700. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0064] As mentioned in the background art, an AGV generally includes a body and a picking mechanism, wherein an AGV whose picking mechanism is in the form of a fork is a forklift AGV, which is often used to forklift a pallet carrying goods.

[0065] In the related art, the fork of the forklift AGV is located at the front end of the vehicle body. When the forklift AGV travels along the aisle to the target position, it needs to rotate the vehicle body first so that the fork faces the shelf on one side of the aisle before picking up the goods. This results in a low efficiency of the forklift AGV in picking up and placing goods. In addition, since a counterweight facility is provided at the rear end of the vehicle body, its turning radius is large, so that the aisle width needs to be set larger, and the shelf density of the storage system is low.

[0066] In order to improve the efficiency of picking and placing goods, as well as the shelf density of the storage system, the embodiment of the present application provides a forklift AGV and a method for picking and placing goods. First, the forklift AGV provided in the embodiment of the present application is described in detail.

[0067] See also Figures 1a to 2a , Figure 1a A three-dimensional structural diagram of a forklift AGV provided in an embodiment of the present application; Figure 1b for Figure 1a The forklift AGV shown is a three-dimensional structural diagram in which the telescopic fork mechanism is in an extended state; Figure 1c for Figure 1b The forklift AGV shown is a three-dimensional structural diagram of the telescopic fork mechanism in the lifting state; Figure 2a When the shelf is a single-depth shelf Figure 1a The forklift AGV is shown in a top view before picking up the goods.

[0068] like Figures 1a to 2a As shown, the forklift AGV includes: an omnidirectional motion chassis 100 , a door frame 200 and a telescopic fork mechanism 300 .

[0069] The gantry 200 is fixedly arranged on the first side of the first direction x of the omnidirectional motion chassis 100; the telescopic fork mechanism 300 is movably installed on the gantry 200, can move up and down along the gantry 200, and extend or retract along the first direction x to the omnidirectional motion chassis 100 to pick up and place the goods 700.

[0070] The omnidirectional motion chassis 100 can drive the gantry 200 and the telescopic fork mechanism 300 disposed thereon to move in the lane 500 between the shelves 600 along the second direction y of the omnidirectional motion chassis 100, and can move toward the shelves 600 along the first direction x, so that part of the omnidirectional motion chassis 100 extends into the bottom of the shelves 600. The second direction y is perpendicular to the first direction x.

[0071] Specifically, Figure 1a to Figure 1c As shown, the mast 200 in this embodiment is arranged on the left side of the omnidirectional motion chassis 100, and the telescopic mechanism 310 and the fork 320 are installed on the mast 200 and arranged toward the right side. In other embodiments, the mast 200 can also be arranged on the right side of the omnidirectional motion chassis 100, and the telescopic mechanism 310 and the fork 320 are arranged toward the left side. This application does not limit this.

[0072] The first direction x is a direction from a first side of the omnidirectional motion chassis 100 to a second side opposite to the first side, and is perpendicular to the length direction of the lane 500 ; the second direction y is parallel to the length direction of the lane 500 .

[0073] The omnidirectional motion chassis 100 is a motion chassis that can move along the first direction x, the second direction y, and rotate in situ. The omnidirectional motion chassis 100 is used to drive the gantry 200 and the telescopic fork picking mechanism 300 to move along the lane 500 so that the telescopic fork picking mechanism 300 can pick up and place different goods 700 in the length direction of the shelf 600, and drive the gantry 200 and the telescopic fork picking mechanism 300 to move in a direction perpendicular to the lane 500 so that the telescopic fork picking mechanism 300 can pick up and place different goods 700 in the width direction of the shelf 600.

[0074] When the telescopic fork mechanism 300 picks up and places goods, if there is a deviation between the actual position of the telescopic fork mechanism 300 and the target position, the omnidirectional motion chassis 100 can be moved along the second direction y for fine adjustment, which can improve the picking and placing accuracy of the forklift AGV.

[0075] like Figure 1a As shown, when the telescopic fork mechanism 300 is in the retracted state, it is completely located on the omnidirectional motion chassis 100 , so that the forklift AGV has a smaller size in the first direction x and can adapt to the narrower lane 500 .

[0076] The storage system includes a plurality of shelf units, which are arranged in sequence and spaced apart, and aisles 500 are formed between adjacent shelf units. Each shelf unit includes at least one row of shelves 600, and the number of shelves 600 included in each shelf unit can be the same or different. The shelves 600 can be Figure 2a The single-depth rack shown may also be a multi-depth rack. The present application does not limit the number of racks 600 included in the rack unit and the types of racks 600.

[0077] like Figure 2a As shown, when the forklift AGV needs to pick up and place the goods 700 on the shelf 600 on the right side of the alley 500, it can directly pick up and place the goods through the telescopic fork mechanism 300 in the alley 500, or it can move along the first direction x to make part of the omnidirectional motion chassis 100 extend to the bottom of the shelf 600. At this time, the telescopic fork mechanism 300 can pick up and place the goods without telescoping.

[0078] When the forklift AGV needs to pick up and place goods on the shelf 600 on the left side of the lane 500, it can enter the lane 500 on the left side of the shelf 600 to pick up the goods, or it can rotate on the spot and make the telescopic fork mechanism 300 face the shelf 600 to pick up the goods. See the subsequent instructions for details.

[0079] It should be noted that the cargo 700 specifically refers to a pallet and articles carried on the pallet or a material box containing articles. The pallet is usually a field-shaped pallet or a Sichuan-shaped pallet, which is not limited in this application.

[0080] The forklift AGV provided in the embodiment of the present application, the gantry 200 and the telescopic fork mechanism 300 are arranged on the first side of the first direction x of the omnidirectional motion chassis 100, and the telescopic fork mechanism 300 can be telescoped along the first direction x. When picking up and placing the goods 700, the omnidirectional motion chassis 100 does not need to rotate, and the telescopic fork mechanism 300 can pick up and place the goods 700, thereby improving the efficiency of picking up and placing the goods. When the omnidirectional motion chassis 100 moves in the lane 500, the telescopic fork mechanism 300 is in a retracted state, which can reduce the size of the forklift AGV in the first direction x, that is, the width direction of the lane 500, and can adapt to narrower lanes 500, thereby improving the shelf density of the storage system.

[0081] In some embodiments of the present application, see Figure 2b to Figure 2e , Figure 2b for Figure 2a The front view of the forklift AGV carrying goods moving in the aisle is shown; Figure 2c for Figure 2a The forklift AGV shown is a top view of the forklift AGV carrying goods moving in the aisle; Figure 2d for Figure 2b A front view of the first embodiment of the forklift AGV placing goods on a shelf; Figure 2e for Figure 2b The forklift AGV is shown in the front view of the second embodiment of placing goods on the shelf. Figure 2a to Figure 2d As shown, the racks 600 on both sides of the lane 500 are single-depth racks.

[0082] The omnidirectional motion chassis 100 is used to move along the second direction y in the aisle 500 between the shelves 600 to the target column where the target position is located on the shelf 600; or, is used to move along the second direction y in the aisle 500 between the shelves 600 to the target column where the target position is located on the shelf 600, and move toward the target column along the first direction x, so that part of the omnidirectional motion chassis 100 extends to the bottom of the target column of the shelf 600.

[0083] The telescopic fork mechanism 300 is used to move up and down on the door frame 200 to correspond to the target position, and to pick up and place the goods 700 from the shelf 600 along the first direction x.

[0084] Specifically, Figure 2b As shown, each row of shelves 600 includes at least one storage layer 610 spaced apart in the vertical direction. Each storage layer 610 is divided into a plurality of storage locations 611 for storing goods 700.

[0085] The height of the omnidirectional motion chassis 100 is lower than the height of the bottom storage layer 610 of the shelf 600 so as to partially extend into the bottom of the shelf 600 .

[0086] Below, refer to Figure 2a to Figure 2d , the process of the first embodiment in which the forklift AGV moves the cargo 700 on the ground to the shelf 600 is described.

[0087] Step A: The omnidirectional motion chassis 100 drives the gantry 200 and the telescopic fork mechanism 300 disposed thereon to move to a position corresponding to the cargo 700 on the ground. The position is not limited to Figure 2a It is shown as being located on the left side of the cargo 700 , but it may also be located at the front, rear or right side, as long as the telescopic fork mechanism 300 is facing toward the cargo 700 .

[0088] Step B: The telescopic fork mechanism 300 moves on the door frame to a position corresponding to the height of the cargo 700, and extends toward the cargo 700, and retracts back into the omnidirectional motion chassis 100 after taking the cargo 700.

[0089] Step C: The omnidirectional motion chassis 100 enters the lane 500 and moves to a position corresponding to the row where the target storage position 611 is located. The telescopic fork mechanism 300 needs to face the shelf 600 where the target storage position 611 is located, which can be achieved by the omnidirectional motion chassis 100 rotating in situ.

[0090] Step D: The telescopic fork mechanism 300 moves along the gantry 200 to a position corresponding to the row of the target storage position 611, and extends toward the target storage position 611 to place the cargo 700. The movement of the telescopic fork mechanism 300 along the gantry 200 and the movement of the omnidirectional motion chassis 100 in step C can be performed in any order or simultaneously to improve the efficiency of picking and placing cargo.

[0091] The forklift AGV moves the goods 700 on the ground to the second embodiment of the shelf 600, referring to Figure 2a to Figure 2c and Figure 2e , after step C, step E is performed: the omnidirectional motion chassis 100 moves toward the shelf 600 along the first direction x, so that part of the omnidirectional motion chassis 100 extends to the bottom of the shelf 600, so that the telescopic fork mechanism 300 places the goods 700 at the target storage position 611. When the part of the omnidirectional motion chassis 100 extends to the bottom of the shelf 600, the door frame 200 is still located outside the shelf 600, but the goods 700 on the telescopic fork mechanism 300 are already located above the target storage position 611, and the telescopic fork mechanism 300 only needs to release the goods 700.

[0092] The process of the forklift AGV moving the goods 700 on the shelf 600 to other locations is the reverse process of the above steps, which will not be repeated here. The other locations can be other storage locations 611 of the shelf 600, storage locations 611 on other shelves 600, or other destinations such as the ground and a workstation.

[0093] By using the embodiments of the present application, the forklift AGV can pick up and place the goods 700 on the single-depth shelf in the above two ways, thereby improving the utilization rate of the forklift AGV.

[0094] In some embodiments of the present application, see Figure 3a to Figure 3d , Figure 3a When the shelf is a multi-depth shelf Figure 1a The top view of the forklift AGV before picking up the goods; Figure 3b for Figure 3a The forklift AGV shown is a top view of the forklift AGV carrying goods moving in the aisle; Figure 3c for Figure 3b A three-dimensional structural diagram showing a portion of the omnidirectional motion chassis of the forklift AGV extending to the bottom of the shelf; Figure 3d for Figure 3c The telescopic fork mechanism of the forklift AGV is shown as a front view placing the goods on the side of the shelf away from the aisle.

[0095] like Figure 3a to Figure 3d As shown, the racks 600 on both sides of the lane 500 are multi-depth racks.

[0096] The omnidirectional motion chassis 100 is used to move along the second direction y in the aisle 500 between the shelves 600 to the target column where the target position is located on the shelf 600; and when picking up and placing the goods 700 stored in the shelf 600 away from the side of the aisle 500, it is further moved toward the target column along the first direction x, so that part of the omnidirectional motion chassis 100 extends to the bottom of the target column of the shelf 600.

[0097] The telescopic fork mechanism 300 is used to move up and down on the door frame 200 to correspond to the target position, and when picking up and placing goods 700 stored on the shelf 600 away from the side of the aisle 500, it extends to the target position along the first direction x to pick up and place the goods 700 from the shelf 600.

[0098] Specifically, the multi-depth shelf can be a single shelf 600, or can be formed by splicing a plurality of sub-shelves back to back, which is not limited in the present application.

[0099] like Figure 3a to Figure 3d As shown, the shelf 600 in this embodiment is a double-depth shelf, which is formed by two single-depth sub-shelves spliced ​​back to back.

[0100] When the forklift AGV needs to pick up and place the goods 700 on the first shelf 600A located on the side close to the lane 500, the handling process is consistent with the above-mentioned process of picking up and placing the goods 700 on the single-depth shelf, and will not be repeated here.

[0101] Below, refer to Figure 3a to Figure 3d , the process of the forklift AGV moving the cargo 700 on the ground to the second shelf 600B located on the side away from the lane 500 is described.

[0102] Step F: The omnidirectional motion chassis 100 drives the gantry 200 and the telescopic fork mechanism 300 disposed thereon to move to a position corresponding to the cargo 700 on the ground.

[0103] Step G: The telescopic fork-taking mechanism 300 moves on the door frame to a position corresponding to the height of the cargo 700, and extends toward the cargo 700, and retracts back into the omnidirectional motion chassis 100 after taking the cargo 700.

[0104] Step H: The omnidirectional motion chassis 100 enters the lane 500, moves along the second direction y to a position corresponding to the column where the target storage position 611 is located, and moves toward the shelf 600 along the first direction x, so that part of the omnidirectional motion chassis 100 extends to the bottom of the first shelf 600A. The movement along the second direction y and the movement along the first direction x can be performed in any order or simultaneously to improve the efficiency of picking and placing goods.

[0105] Step I: The telescopic fork mechanism 300 moves along the door frame 200 to a position corresponding to the row where the target storage position 611 is located, and extends toward the target storage position 611 to place the cargo 700 at the target storage position 611 of the second shelf 600B.

[0106] To implement the above process, it is necessary to ensure that the storage position 611 on the first shelf 600A corresponding to the target storage position 611 of the second shelf 600B is empty.

[0107] By using the embodiments of the present application, the forklift AGV can pick up and place the goods 700 on the multi-deep shelves in the above manner, thereby improving the utilization rate of the forklift AGV.

[0108] In some embodiments of the present application, Figure 1a to Figure 1c As shown, the telescopic fork picking mechanism 300 includes a telescopic mechanism 310 and a fork 320. The fixed end of the telescopic mechanism 310 is connected to the door frame 200, and the telescopic end of the telescopic mechanism 310 is connected to the fork 320. The fork 320 can be telescoped along the first direction x driven by the telescopic mechanism 310 to fork the goods 700 on the shelf 600.

[0109] Specifically, the fork 320 can be extended and retracted along the first direction x based on the telescopic mechanism 310. When the picking and placing task is not performed, the fork is retracted to the omnidirectional motion chassis 100, so that the width of the forklift AGV along the first direction x is the width of the omnidirectional motion chassis 100. In actual applications, the aisle width can be set to a maximum of 150 mm more than the width of the omnidirectional motion chassis 100.

[0110] By using the embodiment of the present application, the telescopic fork mechanism 300 adopts a fork form to fork the goods 700 from the bottom, which can reduce the left and right intervals between the goods 700 on the shelf 600, so that the shelf 600 can store more goods 700, thereby improving the storage capacity of the shelf 600.

[0111] In some embodiments of the present application, see Figures 4a to 4d , Figure 4a for Figure 1a The front view of the forklift AGV shown; Figure 4b for Figure 1a A side view of the forklift AGV shown; Figure 4c for Figure 1a A top view of the forklift AGV shown; Figure 4d for Figure 1a The bottom view of the forklift AGV is shown in Figure 1. Figure 1a to Figure 1c and Figure 4c As shown, the door frame 200 includes an outer door frame 210 and an inner door frame 220 .

[0112] The outer mast 210 is fixedly connected to the omnidirectional motion chassis 100 ; the inner mast 220 is disposed on the inner side of the outer mast 210 , and is movably connected to the outer mast 210 along the vertical direction.

[0113] The telescopic mechanism 310 of the telescopic fork mechanism 300 is connected to the inner mast 220 and can move up and down driven by the inner mast 220 .

[0114] Specifically, Figure 1a to Figure 1c and Figure 4c As shown, the outer door frame 210 and the inner door frame 220 have the same height, the columns of the outer door frame 210 and the inner door frame 220 are channel steels, and there is a gap between the columns of the outer door frame 210 and the inner door frame 220 located on the same side, such as Figure 3c As shown, at least one first guide wheel 211 is fixed to the side of the column of the outer mast 210 facing the inner mast 220, and the first guide wheel 211 is rollingly connected to the column of the inner mast 220. When the inner mast 220 moves up and down, the first guide wheel 211 rotates, reducing the friction between the outer mast 210 and the inner mast 220.

[0115] The telescopic mechanism 310 and the inner mast 220 may be directly connected or indirectly connected through other mechanisms. When directly connected, the moving range of the telescopic fork mechanism 300 in the vertical direction is equal to the moving range of the inner mast.

[0116] By using the embodiment of the present application, an outer mast 210 and an inner mast 220 are provided, and the inner mast 220 drives the telescopic fork picking mechanism 300 to move up and down relative to the outer mast 210, so as to realize the picking and placing of goods 700 at different heights on the shelf 600. In addition, the inner mast 220 is provided on the inner side of the outer mast 210, and can be vertically telescopic, thereby shortening the overall height of the forklift AGV.

[0117] In some embodiments of the present application, see Figure 5 and Figure 6 , Figure 5 for Figure 1a The three-dimensional structure diagram of the omnidirectional motion chassis and the mast is shown; Figure 6 for Figure 1a The three-dimensional structure diagram of the mast and telescopic fork mechanism is shown in FIG. Figure 1a to Figure 1c , Figure 5 and Figure 6 As shown, the forklift AGV further includes a chain 410 .

[0118] A fixed wheel 221 is provided on the inner side of the top of the inner mast 220 . The first end of the chain 410 is fixedly connected to the telescopic fork mechanism 300 , and the second end of the chain 410 passes around the fixed wheel 221 and is fixedly connected to the outer mast 210 .

[0119] When the inner mast 220 moves up and down, the fixed wheel 221 moves up and down following the inner mast 220 , so that the second end of the chain 410 drives the telescopic fork mechanism 300 to move up and down.

[0120] Specifically, the number of the chain 410 and the fixed wheel 221 is at least one. Figure 1b , Figure 1c and Figure 4b As shown, a fixed wheel 221 is disposed on the inner side of each of the two uprights of the inner mast 220, and two chains 410 wound around the two fixed wheels 221 are respectively fixed on both sides of the telescopic fork-taking mechanism 300, thereby improving the stability of the telescopic fork-taking mechanism 300 when it moves up and down. The two fixed wheels 221 are disposed on the inner side of the inner mast 220, which can improve the utilization rate of the inner space of the inner mast 220. Furthermore, compared to the case where the fixed wheel 221 is installed on the side of the inner gantry 220 away from or close to the telescopic fork mechanism 300, the diameter of the fixed wheel 221 can only be set smaller, or the size of the gantry 200 in the second direction y can be increased to leave enough space for the connection between the second end of the chain 410 and the outer gantry 210. In this embodiment, the fixed wheel 221 is arranged on the inner side of the inner gantry 220, and the diameter of the fixed wheel 221 can be set larger to improve the lifting efficiency of the chain 410 and avoid the two parts of the chain 410 on both sides of the fixed wheel 221 being too close. The size of the gantry 200 in the second direction y can also be made smaller to reduce the body size of the forklift AGV and adapt to narrower aisles 500, thereby improving the shelf density of the storage system.

[0121] like Figure 1b As shown, a chain connecting plate 212 spanning two columns is provided on the upper portion of the outer door frame 210 for fixing the second end of the chain 410 .

[0122] like Figure 1a to Figure 1c and Figure 5 As shown, the gantry 200 further includes an inclined tie rod 230. An upper end ear plate 231 of the inclined tie rod 230 is hinged to one side of the column of the outer gantry 210 toward the second side of the omnidirectional motion chassis 100, and a lower end ear plate 232 is hinged to the omnidirectional motion chassis 100, which can improve the structural stability of the forklift AGV.

[0123] By using the embodiment of the present application, the telescopic fork-taking mechanism 300 can move up and down relative to the inner mast 220 driven by the chain 410. The moving range of the telescopic fork-taking mechanism 300 is twice the moving range of the inner mast 220, which increases the moving range of the telescopic fork-taking mechanism 300 in the vertical direction, so that the height of the mast 200 can be set lower. It is only necessary to make the height of the telescopic fork-taking mechanism 300 not less than the height of the topmost cargo 700 of the shelf 600 when both the inner mast 220 and the telescopic fork-taking mechanism 300 rise to the end of the stroke. In addition, during the process of the inner mast 220 rising relative to the outer mast 210, the telescopic fork-taking mechanism 300 can rise synchronously, and can also be extended and retracted driven by the telescopic mechanism 310, further improving the efficiency of the telescopic fork-taking mechanism 300 in picking and placing cargo.

[0124] In some embodiments of the present application, Figure 1a to Figure 1c , Figure 5 and Figure 6 As shown, the forklift AGV includes: a lifting hydraulic cylinder 420 .

[0125] The third cylinder body 420a of the lifting hydraulic cylinder 420 is fixed to the outside of the outer mast 210, and the third piston rod 420b is fixedly connected to the inner mast 220; the lifting hydraulic cylinder 420 is used to drive the inner mast 220 to move up and down relative to the outer mast 210 through the extension and retraction of the third piston rod 420b.

[0126] Specifically, a top plate 222 spanning two columns is provided on the top of the inner mast 220, and a lifting hydraulic cylinder 420 is provided on the outer sides of the two columns of the outer mast 210. The top telescopic ends of the third piston rods 420b of the two lifting hydraulic cylinders 420 are fixedly connected to the top plate 222. The lifting hydraulic cylinders 420 lift the top plate 222 to drive the inner mast 220 to lift. Figure 1c As shown, two opposite and spaced fixing portions 2221 are extended downward from the top plate 222 for mounting the fixing wheel 221 .

[0127] The lifting hydraulic cylinder 420 is externally connected to a hydraulic pump. When oil is introduced into the lifting hydraulic cylinder 420 , the third piston rod 420 b can drive the inner mast to rise.

[0128] In other embodiments, the power mechanism for lifting the inner mast 220 is not limited to the lifting hydraulic cylinder 420, but can also be a gas cylinder, an electric push rod, etc.

[0129] By applying the embodiment of the present application, the inner mast 220 is driven to move up and down relative to the outer mast 210 by the lifting hydraulic cylinder 420, so that the stability of the up and down movement of the telescopic fork mechanism 300 can be improved, and the control accuracy of the lifting hydraulic cylinder 420 is high, so that the fork 320 of the telescopic fork mechanism 300 can be moved to a precise height to fork the goods.

[0130] In some embodiments of the present application, see Figure 7a and Figure 7b , Figure 7a for Figure 1a A three-dimensional structural diagram of the telescopic fork-taking mechanism shown; Figure 7b for Figure 7a The three-dimensional structure diagram of the telescopic fork mechanism from another angle is shown. Figure 6 , Figure 7a and Figure 7b As shown, the telescopic mechanism 310 includes: a mounting frame 311 , a scissor mechanism 312 and a telescopic driving mechanism 313 .

[0131] The mounting frame 311 is disposed between two columns of the inner door frame 220 and is connected to the inner door frame 220 .

[0132] One end of the scissor mechanism 312 is hinged to the mounting frame 311 , and the other end is hinged to the fork 320 .

[0133] The telescopic driving mechanism 313 is disposed on the mounting frame 311 and is drivingly connected to the scissor-fork mechanism 312 , and is used to drive the scissor-fork mechanism 312 to drive the fork 320 to extend or retract along a first direction.

[0134] Specifically, Figure 6 As shown, the mounting frame 311 is a square frame, and the first end of the chain 410 is fixedly connected to the top plate of the mounting frame 311 .

[0135] like Figure 7a and Figure 7b As shown, at least one second guide wheel 3111 is provided on the side wall of the column of the mounting frame 311 close to the inner door frame 220. The second guide wheel 3111 is rollingly connected to the inner side of the column of the inner door frame 220 to play a guiding role and limit the displacement of the mounting frame 311 along the first direction x, thereby improving the movement efficiency of the telescopic fork mechanism 300.

[0136] In the embodiment of the present application, a scissor mechanism 312 and a telescopic drive mechanism 313 are provided, so that the scissor mechanism 312, driven by the telescopic drive mechanism 313, drives the fork 320 to extend or retract, thereby achieving a longer range of picking up and placing goods. Moreover, the scissor mechanism 312 has a smaller volume after being retracted, so that the fork 320 can be completely located on the omnidirectional motion chassis 100 in the retracted state, so that the forklift AGV has a smaller size in the first direction x and can adapt to narrower alleys 500.

[0137] In some embodiments of the present application, Figure 7a and Figure 7b As shown, the scissor mechanism 312 includes a plurality of scissor arms 3121 hingedly arranged in sequence along a first direction.

[0138] Each set of scissor arms 3121 includes two outer fork arms 3121a disposed in parallel and spaced apart from each other and two inner fork arms 3121b disposed in parallel and spaced apart from each other. The outer fork arms 3121a and the inner fork arms 3121b located on the same side are crossed and hinged.

[0139] Two outer fork arms 3121 a and two inner fork arms 3121 b of a set of scissor arms 3121 close to the mounting frame 311 are hinged to the mounting frame 311 .

[0140] Two outer fork arms 3121 a and two inner fork arms 3121 b of a set of scissor arms 3121 close to the fork 320 are hinged to the fork 320 .

[0141] Specifically, Figure 7a and Figure 7b As shown, in this embodiment, the scissor arms 3121 are divided into two groups, one group is hinged to the mounting frame 311 , and the other group is hinged to the fork 320 .

[0142] The two outer fork arms 3121a and the inner fork arms 3121b may be arranged in parallel and spaced apart in the vertical direction, and a set of scissor arms 3121 close to the mounting frame 311 may be hinged to the left and right side walls of the mounting frame; or Figure 7a and Figure 7b As shown, a group of scissor arms 3121 are arranged horizontally at intervals along the second direction, and are hinged to the top and bottom inner walls or the bottom of the left and right side walls of the mounting frame 311 close to the mounting frame 311. Since the mounting frame 311 has a certain thickness, when the scissor arms 3121 are contracted, a portion of them can be accommodated in the internal space of the mounting frame 311, thereby improving space utilization.

[0143] The two opposite outer fork arms 3121a and the two opposite inner fork arms 3121b are connected by a rib plate 3121c, which can improve the stability of the scissor arm 3121 structure and enable the opposite outer fork arms 3121a and inner fork arms 3121b to extend and retract synchronously.

[0144] By using the embodiment of the present application, the fork 320 is driven to move along the first direction x by the extension and retraction of the scissor arm 3121, thereby improving the load-bearing capacity of the telescopic mechanism 310 and the stability of load-bearing and operation.

[0145] In some embodiments of the present application, Figure 7a and Figure 7b As shown, the telescopic driving mechanism 313 is at least one telescopic driving hydraulic cylinder; the telescopic driving hydraulic cylinder is arranged in the internal space of the scissor arm 3121.

[0146] The second cylinder body 313 a of the telescopic driving hydraulic cylinder is hinged to the mounting frame 311 , and the second piston rod 313 b is hinged to the scissor arm 3121 .

[0147] The telescopic driving hydraulic cylinder is used to drive the scissor arms 3121 of the scissor mechanism 312 to extend or retract through the extension of the second piston rod 313b.

[0148] Specifically, the bottom end of the second cylinder body 313a of the telescopic driving hydraulic cylinder is hinged to the top inner wall or the bottom inner wall of the mounting frame 311, and the second piston rod 313b can be hinged to any rib plate 3121c on the scissor arm 3121, such as Figure 7a and Figure 7b As shown, the bottom end of the second cylinder 313a is hinged to the bottom inner wall of the mounting frame 311, and the second piston rod 313b is hinged to the rib plate 3121c located above the cross hinge point of the outer fork arm 3121a and the inner fork arm 3121b, and the extension and retraction of the scissor mechanism 312 is achieved by pushing or pulling the rib plate 3121c. In other embodiments, the bottom end of the second cylinder 313a can also be hinged to the top inner wall of the mounting frame 311, and the second piston rod 313b can be hinged to the rib plate 3121c located below the cross hinge point of the outer fork arm 3121a and the inner fork arm 3121b, and this application does not limit this.

[0149] In other embodiments, the bottom end of the second cylinder body 313a may be hinged to the bottom inner wall of the mounting frame 311, and the second piston rod 313b may be hinged to the rib plate 3121c located below the cross hinge point of the outer fork arm 3121a and the inner fork arm 3121b. However, under the premise of ensuring the carrying capacity of the scissor-fork mechanism 312, that is, without changing the longitudinal dimension of the scissor-fork mechanism 312, the length of the telescopic driving hydraulic cylinder is relatively small, which will cause the telescopic range of the scissor-fork mechanism 312 to be reduced. In order to ensure that the telescopic range remains unchanged, the longitudinal dimension of the mounting frame 311 can only be increased, which increases the weight of the telescopic fork picking mechanism 300, thereby reducing the lifting efficiency of the telescopic fork picking mechanism 300, and the telescopic fork picking mechanism 300 cannot fork the cargo 700 located on the ground.

[0150] In other embodiments, the telescopic driving mechanism 313 may also be a cylinder or an electric push rod.

[0151] By applying the embodiment of the present application, compared with the telescopic drive mechanism 313 being completely arranged on the scissors-type mechanism 312, the second cylinder body 313a of the telescopic drive mechanism 313 of the present application is hinged to the mounting frame 311, which can improve the stability of the telescopic mechanism 310 structure, and can also reduce the load on the scissors-type arm 3121, thereby increasing the service life of the scissors-type arm 3121.

[0152] In some embodiments of the present application, Figure 7a and Figure 7b As shown, the fork 320 includes a connecting mechanism 321, a fork plate 322 and two fork arms 323 which are sequentially arranged along a first direction.

[0153] One side of the connection mechanism 321 is connected to the telescopic mechanism 310, and the other side is connected to the fork plate 322. Two fork arms 323 are fixed to the fork plate 322 in parallel and spaced apart along the second direction.

[0154] Specifically, Figure 7a and Figure 7b As shown, one side of the connecting mechanism 321 is hinged to the scissor arm 3121 of the telescopic mechanism 310, and the other side can be fixedly connected or movably connected to the fork plate 322, which is not limited in the present application.

[0155] The fork arm 323 is L-shaped, with a vertical portion fixedly connected to the fork plate 322 and a horizontal portion extending along the first direction x.

[0156] By using the embodiment of the present application, a connecting mechanism 321 and a fork plate 322 are provided, so that the fork arm 323 can be connected to the telescopic mechanism 310 , and driven by the telescopic mechanism 310 , the goods are forked or placed.

[0157] In some embodiments of the present application, Figure 7a and Figure 7b As shown, the fork 320 further includes an angle adjustment mechanism 324 .

[0158] The connecting mechanism 321 includes two connecting arms 3211 spaced apart from each other along the second direction; the two connecting arms 3211 are both hinged to the top end of the fork plate 322 .

[0159] The angle adjustment mechanism 324 is disposed on the connecting arm 3211 , and can drive the fork plate 322 and the forks 323 on the fork plate 322 to rotate based on the hinge point between the top end and the connecting arm 3211 .

[0160] Specifically, the fork plate 322 has a pair of extension arms 3221 extending upward in the vertical direction and arranged in parallel and spaced apart along the second direction y on one side facing the scissor mechanism 312. The top end of each extension arm 3221 is hinged to the outer middle part of a connecting arm 3211. The specific hinge position height on the connecting arm 3211 is sufficient to enable the fork arm 323 to fork the cargo 700 on the ground.

[0161] By using the embodiment of the present application, an angle adjustment mechanism 324 is provided to adjust the pitch angle of the fork arm 323 , so that the fork arm 323 can fork the cargo 700 more flexibly.

[0162] In some embodiments of the present application, Figure 7a and Figure 7b As shown, the angle adjustment mechanism 324 includes: an angle adjustment hydraulic cylinder 3241 and a roller 3242 .

[0163] The first cylinder body 3241 a of the angle adjustment hydraulic cylinder 3241 is fixed to the connecting arm 3211 .

[0164] The roller 3242 is disposed at the end of the first piston rod of the angle adjustment hydraulic cylinder 3241 and contacts the lower portion of the fork plate 322 .

[0165] The angle adjustment hydraulic cylinder 3241 is used to make the roller 3242 drive the fork plate 322 to rotate based on the hinge point between the top end of the fork plate 322 and the connecting arm 3211 through the extension and retraction of the first piston rod.

[0166] Specifically, Figure 7a and Figure 7b As shown, when the first piston rod is extended, the roller 3242 lifts the lower part of the fork plate 322 obliquely upward, so that the fork plate 322 rotates counterclockwise based on the hinge point, and the roller 3242 and the fork plate 322 are in rolling contact, which can reduce friction. When the first piston rod is retracted, the fork plate 322 rotates clockwise based on the hinge point by gravity.

[0167] In other embodiments, the angle adjustment may also be achieved by hingedly connecting the first cylinder body 3241 a of the angle adjustment hydraulic cylinder 3241 to the connecting arm 3211 , and hingedly connecting the end of the first piston rod to the fork plate 322 .

[0168] By using the embodiment of the present application, the angle adjustment hydraulic cylinder 3241 drives the roller to drive the fork plate 322 to rotate based on the hinge point between the top of the fork plate 322 and the connecting arm 3211, which can improve the adjustment accuracy and stability of the pitch angle of the fork plate 322.

[0169] In some embodiments of the present application, see Figure 8 ,like Figure 8 As shown, a receiving slot 111 is provided on the omnidirectional motion chassis 100; the receiving slot 111 corresponds to the position of the fork 320 of the telescopic fork picking mechanism 300, and is used to accommodate the fork 320 when the telescopic fork picking mechanism 300 is in the lowest state, so that the fork 320 can fork the cargo 700 on the ground.

[0170] Specifically, when the cargo picking and placing task is not performed, the cargo fork arm 323 is accommodated in the receiving slot 111. After the cargo fork arm 323 forks the cargo 700, it retracts back into the omnidirectional motion chassis 100, and can move downward into the receiving slot 111 to place the cargo 700 on the top surface of the omnidirectional motion chassis 100, or the cargo fork arm 323 can maintain the lifting state.

[0171] By using the embodiment of the present application, a receiving slot 111 is provided on the omnidirectional motion chassis 100 , so that the cargo 700 on the ground can be forked, and the weight of the forklift AGV can be reduced, thereby improving the movement efficiency of the omnidirectional motion chassis 100 .

[0172] In some embodiments of the present application, Figure 4d , Figure 5 and Figure 8 As shown, the omnidirectional motion chassis 100 includes: a chassis 110 , two floating drive mechanisms 120 and four universal casters 130 .

[0173] The two floating drive mechanisms 120 are respectively arranged on both sides of the accommodating slot 111 , and the center line of the two floating drive mechanisms 120 passes through the movement center of the chassis 110 ; the four universal casters 130 are respectively arranged at the four corners of the chassis 110 .

[0174] Specifically, Figure 4d As shown, two floating drive mechanisms 120 are disposed diagonally on both sides of the receiving slot 111 , which can improve the structural stability of the omnidirectional motion chassis 100 .

[0175] The floating drive mechanism 120 includes: a drive assembly 121 and two driving wheels 122 . The two driving wheels 122 are respectively arranged on both sides of the drive assembly 121 and can rotate under the drive of the drive assembly 121 , thereby driving the chassis 110 to move.

[0176] The floating drive mechanism 120 is a steering wheel mechanism, which drives the two driving wheels 122 to rotate differentially through the driving assembly 121 to achieve its own omnidirectional movement, so that the omnidirectional motion chassis 100 can achieve omnidirectional movement by relying on the two floating drive mechanisms 120 .

[0177] When the forklift AGV is unloaded, the forklift AGV's center of gravity is biased toward the first side because the gantry 200 and the telescopic fork mechanism 300 are both arranged on the first side of the omnidirectional motion chassis 100. When the telescopic fork mechanism 300 is extended with the cargo 700, the center of gravity is greatly biased toward the second side, so there is an unbalanced load problem during the cargo picking and placing process.

[0178] The floating drive mechanism 120 relies on the spring to provide sufficient and stable wheel pressure for the driving wheel 122, and the four universal casters 130 are arranged at the four corners of the chassis 110, which can avoid slipping caused by insufficient wheel pressure caused by unbalanced load, thereby improving the stability of the forklift AGV during operation.

[0179] In addition, in the embodiment of the present application, the gantry 200 is fixed to the omnidirectional motion chassis 100 and remains stationary, and the telescopic fork mechanism 300 is telescopically extended along the first direction x to pick up and release goods. When the telescopic fork mechanism 300 is extended with the goods 700, the weight of the goods 700 is shared by the fork 320 and the gantry 200 at the same time, which can reduce the change of the center of gravity of the forklift AGV and improve the stability and carrying capacity of the forklift AGV during operation.

[0180] like Figure 1a , Figure 4a and Figure 4cAs shown, the omnidirectional motion chassis 100 further includes a chassis top cover 140 , which is disposed on the top of the chassis 110 , wherein a portion of the chassis top cover 140 located on the first side is higher than the remaining portion, and a portion overlapping with the door frame 200 is hollow.

[0181] The interior of the part of the chassis top cover 140 located on the first side is used to accommodate control equipment, and a control panel 150 is provided on the surface thereof for the staff to control the operation of the forklift AGV.

[0182] like Figure 4d As shown, a receiving slot 111 is opened on the chassis 110, and a camera mounting plate 112 is arranged at the end of the receiving slot 111 close to the first side. A code reading camera 160 is arranged at the bottom of the camera mounting plate 112. The code reading camera 160 is located at the center of the omnidirectional motion chassis 100, and is used to scan the QR code information on the ground and feed it back to the control device of the forklift AGV, so that the control device controls the movement of the omnidirectional motion chassis 100 after receiving the QR code information.

[0183] By using the embodiment of the present application, two floating drive mechanisms 120 are provided, and universal casters 130 are provided at the four corners of the chassis 110, which can improve the structural stability of the omnidirectional motion chassis 100. The floating drive mechanism 120 relies on the spring to provide sufficient and stable wheel pressure for the driving wheel 122, which can further improve the stability of the movement of the omnidirectional motion chassis 100.

[0184] The following is a detailed description of the method for picking up and releasing goods provided in the embodiment of the present application.

[0185] The cargo picking and placing method provided in the embodiment of the present application is applied to a controller, and the controller is connected to the omnidirectional motion chassis and the telescopic fork picking mechanism in the forklift AGV described in any of the above embodiments. Fig. 9 , Fig. 9 This is a flow chart of the first embodiment of the method for picking up and releasing goods provided by this application, and the process includes the following steps:

[0186] Step S900, controlling the omnidirectional motion chassis to drive the gantry and the telescopic fork mechanism disposed thereon to move along the second direction of the omnidirectional motion chassis in the lanes between the shelves to the target row where the target position is located;

[0187] Step S910, controlling the telescopic fork mechanism to move up and down along the door frame to a height corresponding to the target position;

[0188] Step S920, based on the preset pick-up and place logic, when necessary, use the omnidirectional motion chassis to move toward the shelf along the first direction, so that a portion of the omnidirectional motion chassis extends to the bottom of the shelf;

[0189] Step S930: Control the telescopic fork mechanism to fork or place the goods at the target position along the first direction.

[0190] In practical applications, step S900 and step S910 may be performed in any order or simultaneously to improve the efficiency of picking up and placing goods by the forklift AGV.

[0191] The embodiment of the present application is applied to the forklift AGV mentioned above. When picking up and placing goods, the omnidirectional motion chassis does not need to rotate, and the telescopic fork mechanism can pick up and place the goods, thereby improving the efficiency of picking up and placing goods. When the omnidirectional motion chassis moves in the lane 500, the telescopic fork mechanism is in a retracted state, which can reduce the size of the forklift AGV in the first direction x, that is, the width direction of the lane, and can adapt to narrower lanes, thereby improving the shelf density of the storage system.

[0192] In some embodiments of the present application, Figure 2a to Figure 2e As shown, the racks on both sides of the aisle are single-depth racks. Fig.10 , Fig.10 This is a flow chart of a second embodiment of the method for picking up and releasing goods provided by this application, and the process includes the following steps:

[0193] Step S900, controlling the omnidirectional motion chassis to drive the gantry and the telescopic fork mechanism disposed thereon to move along the second direction of the omnidirectional motion chassis in the lanes between the shelves to the target row where the target position is located;

[0194] Step S910, controlling the telescopic fork mechanism to move up and down along the door frame to a height corresponding to the target position;

[0195] Step S921, if in the preset pick-up and place logic, for the single-depth shelf, a telescopic fork mechanism is used to directly fork or place the goods at the target position, the omnidirectional motion chassis is further used to move toward the shelf along the first direction, so that part of the omnidirectional motion chassis extends to the bottom of the shelf;

[0196] Step S931, controlling the telescopic fork mechanism to directly fork or place the goods at the target position along the first direction;

[0197] Step S932: If in the preset pick-up and placement logic, for a single-depth shelf, a telescopic fork mechanism is extended to a target position to pick up or place goods, the telescopic fork mechanism is controlled to extend along the first direction to the target position or retract to the omnidirectional motion chassis to pick up and place goods.

[0198] Specifically, the direct forking described in step S931 means that the telescopic forking mechanism does not need to adjust the position of the telescopic forking mechanism along the first direction, and can directly fork or release the goods.

[0199] The telescopic fork picking mechanism comprises a telescopic mechanism and a fork; the telescopic mechanism comprises a scissor mechanism and a telescopic driving mechanism; and the controller is also connected in communication with the telescopic driving mechanism.

[0200] In step S932, the telescopic fork mechanism is controlled to extend to the target position along the first direction or retract to the omnidirectional motion chassis to pick up and place goods. A specific implementation method is as follows:

[0201] The telescopic drive mechanism is controlled to drive the scissor mechanism and the cargo fork to extend or retract along the first direction, so that the cargo fork can pick up and place the cargo.

[0202] By using the embodiments of the present application, the forklift AGV can pick up and place goods on the single-depth shelf by moving the omnidirectional motion chassis or adjusting the telescopic length of the telescopic fork mechanism, thereby improving the utilization rate of the forklift AGV.

[0203] In some embodiments of the present application, Figure 3a to Figure 3d As shown, the racks on both sides of the aisle are multi-depth racks. Fig.11 , Fig.11 This is a flow chart of the third embodiment of the method for picking up and releasing goods provided by this application, and the process includes the following steps:

[0204] Step S900, controlling the omnidirectional motion chassis to drive the gantry and the telescopic fork mechanism disposed thereon to move along the second direction of the omnidirectional motion chassis in the lanes between the shelves to the target row where the target position is located;

[0205] Step S910, controlling the telescopic fork mechanism to move up and down along the door frame to a height corresponding to the target position;

[0206] When the target location is a storage location far from the side of the lane,

[0207] Step S922, based on the preset pick-up and place logic, further using the omnidirectional motion chassis to move toward the shelf along the first direction, so that a portion of the omnidirectional motion chassis extends to the bottom of the shelf;

[0208] Step S933, controlling the telescopic fork mechanism to extend along the first direction to the target position or retract to the omnidirectional motion chassis to fork or place the cargo at the target position.

[0209] By using the embodiment of the present application, the forklift AGV can pick up and place the goods 700 stored in the multi-depth shelf away from the side of the aisle in the above manner, thereby improving the utilization rate of the forklift AGV.

[0210] In some embodiments of the present application, Figure 3a to Figure 3d As shown in the figure, the racks on both sides of the aisle are multi-depth racks. Fig.11 As shown, the process includes the following steps:

[0211] Step S900, controlling the omnidirectional motion chassis to drive the gantry and the telescopic fork mechanism disposed thereon to move along the second direction of the omnidirectional motion chassis in the lanes between the shelves to the target row where the target position is located;

[0212] Step S910, controlling the telescopic fork mechanism to move up and down along the door frame to a height corresponding to the target position;

[0213] When the target location is a storage location close to one side of the lane,

[0214] Step S923, if in the preset pick-up and place logic, for the storage position close to one side of the lane, a telescopic fork mechanism is used to directly fork or place the goods at the target position, the omnidirectional motion chassis is further used to move toward the shelf along the first direction, so that part of the omnidirectional motion chassis extends to the bottom of the shelf;

[0215] Step S934, for the storage position close to one side of the lane, controlling the telescopic fork mechanism to directly fork or place the goods at the target position along the first direction;

[0216] Step S935, if in the preset picking and placing logic, for the storage position close to one side of the alley, a telescopic fork mechanism is extended to the target position to fork or place the goods, then for the storage position close to one side of the alley, the telescopic fork mechanism is controlled to extend along the first direction to the target position or retract to the omnidirectional motion chassis to pick up and place the goods.

[0217] In practical applications, the omnidirectional motion chassis can move along the second direction y and along the first direction x in any order or simultaneously to improve the efficiency of picking up and placing goods.

[0218] By using the embodiment of the present application, the forklift AGV can pick up and place the goods 700 stored in the multi-depth shelf close to one side of the aisle in the above manner, thereby improving the utilization rate of the forklift AGV.

[0219] The present application also provides a controller in a forklift AGV; see Fig.12 , Fig.12 This is a schematic diagram of the structure of the controller in the forklift AGV provided in the embodiment of the present application. Fig.12 As shown, the controller includes:

[0220] Memory 1201, used for storing computer programs;

[0221] The processor 1202 is used to implement the steps of the above-mentioned method of picking up and releasing goods when executing the program stored in the memory 1201: the method includes:

[0222] Control the omnidirectional motion chassis to drive the gantry and the telescopic fork mechanism disposed thereon to move along the second direction of the omnidirectional motion chassis in the lanes between the shelves to the target row where the target position is located;

[0223] Controlling the telescopic fork mechanism to move up and down along the door frame to a height corresponding to the target position;

[0224] Based on the preset logic of picking and placing goods, when necessary, the omnidirectional motion chassis is used to move toward the shelf along the first direction, so that part of the omnidirectional motion chassis extends to the bottom of the shelf;

[0225] The telescopic fork mechanism is controlled to fork or place the cargo at the target position along the first direction.

[0226] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 1202, the communication interface, and the memory 1201 communicate with each other via the communication bus.

[0227] In addition, the above-mentioned control device can be implemented by a computer, and can also include a communication module, for example: a wired network card or a wireless network card for communicating with the handling robot and the tallying robot.

[0228] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0229] The communication interface is used for communication between the above electronic device and other devices.

[0230] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0231] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0232] 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 "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0233] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A forklift AGV, characterized in that: include: An omnidirectional motion chassis (100), a door frame (200) and a telescopic fork mechanism (300); The door frame (200) is fixedly arranged on a first side in a first direction of the omnidirectional motion chassis (100); The telescopic fork-taking mechanism (300) is movably mounted on the door frame (200), and is capable of moving up and down along the door frame (200), and extending or retracting along the first direction to the omnidirectional motion chassis (100) to pick up and place goods (700); The omnidirectional motion chassis (100) is capable of driving the door frame (200) and the telescopic fork-taking mechanism (300) arranged thereon to move in the lane (500) between the shelves (600) along the second direction of the omnidirectional motion chassis (100); and is capable of moving toward the shelf (600) along the first direction, so that a portion of the omnidirectional motion chassis (100) extends into the bottom of the shelf (600); The second direction is perpendicular to the first direction.

2. The forklift AGV according to claim 1, characterized in that: The shelves (600) on both sides of the lane (500) are single-depth shelves; The omnidirectional motion chassis (100) is used to move along the second direction in the lane (500) between the shelves (600) to the target column where the target position on the shelf (600) is located; or, is used to move along the second direction in the lane (500) between the shelves (600) to the target column where the target position on the shelf (600) is located, and move along the first direction toward the target column, so that a portion of the omnidirectional motion chassis (100) extends into the bottom of the target column of the shelf (600); The telescopic fork-taking mechanism (300) is used to move up and down on the door frame (200) to a position corresponding to a target position, and to take and place goods (700) from the shelf (600) along the first direction.

3. The forklift AGV according to claim 1, characterized in that: The shelves (600) on both sides of the lane (500) are multi-depth shelves; The omnidirectional motion chassis (100) is used to move along the second direction in the lane (500) between the shelves (600) to a target row on the shelf (600) where a target position is located; and when picking up and placing goods (700) stored at a side of the shelf (600) away from the lane (500), further move along the first direction toward the target row, so that a portion of the omnidirectional motion chassis (100) extends into the bottom of the target row of the shelf (600); The telescopic fork mechanism (300) is used to move up and down on the door frame (200) to correspond to the target position, and when picking up and placing goods (700) stored at a side of the shelf (600) away from the lane (500), extend along the first direction to the target position to pick up and place the goods (700) from the shelf (600).

4. The forklift AGV according to claim 1, characterized in that: The telescopic fork picking mechanism (300) comprises a telescopic mechanism (310) and a fork (320); a fixed end of the telescopic mechanism (310) is connected to the door frame (200), and a telescopic end of the telescopic mechanism (310) is connected to the fork (320); the fork (320) can be extended and retracted along a first direction under the drive of the telescopic mechanism (310) to fork pick up goods (700) on the shelf (600).

5. The forklift AGV according to claim 4, characterized in that: The fork (320) comprises a connection mechanism (321), a fork plate (322), and two fork arms (323) which are arranged in sequence along a first direction; One side of the connecting mechanism (321) is connected to the telescopic mechanism (310), and the other side is connected to the fork plate (322); The two fork arms (323) are fixed to the fork plate (322) in parallel and at intervals along the second direction.

6. The forklift AGV according to claim 5, characterized in that: The cargo fork (320) further includes: an angle adjustment mechanism (324); The connecting mechanism (321) comprises two connecting arms (3211) arranged at intervals along the second direction; the two connecting arms (3211) are both hinged to the top end of the fork plate (322); The angle adjustment mechanism (324) is arranged on the connecting arm (3211), and can drive the fork plate (322) and the fork arm (323) on the fork plate (322) to rotate based on a hinge point between the top end and the connecting arm (3211).

7. The forklift AGV according to claim 6, characterized in that: The angle adjustment mechanism (324) comprises: an angle adjustment hydraulic cylinder (3241) and a roller (3242); The first cylinder body (3241a) of the angle adjustment hydraulic cylinder (3241) is fixed to the connecting arm (3211); The roller (3242) is arranged at the end of the first piston rod of the angle adjustment hydraulic cylinder (3241) and is in contact with the lower part of the fork plate (322); The angle adjustment hydraulic cylinder (3241) is used to enable the roller (3242) to drive the fork plate (322) to rotate based on the hinge point between the top end of the fork plate (322) and the connecting arm (3211) through the extension and retraction of the first piston rod.

8. The forklift AGV according to claim 4, characterized in that: The door frame (200) comprises: an outer door frame (210) and an inner door frame (220); The outer mast (210) is fixedly connected to the omnidirectional motion chassis (100); the inner mast (220) is arranged on the inner side of the outer mast (210) and is movably connected to the outer mast (210) in a vertical direction; The telescopic mechanism (310) of the telescopic forking mechanism (300) is connected to the inner door frame (220) and can move up and down under the drive of the inner door frame (220).

9. The forklift AGV according to claim 8, characterized in that: The telescopic mechanism (310) comprises: a mounting frame (311), a scissor mechanism (312) and a telescopic driving mechanism (313); The mounting frame (311) is arranged between two upright posts of the inner door frame (220) and is connected to the inner door frame (220); One end of the scissor mechanism (312) is hinged to the mounting frame (311), and the other end is hinged to the cargo fork (320); The telescopic driving mechanism (313) is arranged on the mounting frame (311) and is drivingly connected to the scissor-fork mechanism (312), and is used to drive the scissor-fork mechanism (312) to drive the cargo fork (320) to extend or retract along a first direction.

10. The forklift AGV according to claim 9, characterized in that: The scissor mechanism (312) comprises a plurality of groups of scissor arms (3121) hingedly arranged in sequence along a first direction; Each set of scissor arms (3121) comprises two outer fork arms (3121a) arranged in parallel and at intervals, and two inner fork arms (3121b) arranged in parallel and at intervals, wherein the outer fork arms (3121a) and the inner fork arms (3121b) located on the same side are crossed and hinged; Two outer fork arms (3121a) and two inner fork arms (3121b) of a set of scissor arms (3121) close to the mounting frame (311) are hingedly connected to the mounting frame (311); Two outer fork arms (3121a) and two inner fork arms (3121b) of a set of scissor arms (3121) close to the fork (320) are hinged to the fork (320).

11. The forklift AGV according to claim 10, characterized in that: The telescopic drive mechanism (313) is at least one telescopic drive hydraulic cylinder; the telescopic drive hydraulic cylinder is arranged in the internal space of the scissor arm (3121); The second cylinder body (313a) of the telescopic driving hydraulic cylinder is hinged to the mounting frame (311), and the second piston rod (313b) is hinged to the scissor arm (3121); The telescopic driving hydraulic cylinder is used to drive the scissor arms (3121) of the scissor mechanism (312) to extend or retract through the extension of the second piston rod (313b).

12. The forklift AGV according to claim 8, characterized in that: The forklift AGV further comprises: a chain (410); A fixed wheel (221) is provided on the inner side of the top of the inner mast (220); a first end of the chain (410) is fixedly connected to the telescopic fork mechanism (300), and a second end of the chain (410) bypasses the fixed wheel (221) and is fixedly connected to the outer mast (210); When the inner mast (220) moves up and down, the fixed wheel (221) moves up and down following the inner mast (220), so that the second end of the chain (410) drives the telescopic fork mechanism (300) to move up and down.

13. The forklift AGV according to any one of claims 8 to 12, characterized in that: The forklift AGV comprises: a lifting hydraulic cylinder (420); The third cylinder body (420a) of the lifting hydraulic cylinder (420) is fixed to the outside of the outer mast (210), and the third piston rod (420b) is fixedly connected to the inner mast (220); the lifting hydraulic cylinder (420) is used to drive the inner mast (220) to move up and down relative to the outer mast (210) by extending and retracting the third piston rod (420b).

14. The forklift AGV according to claim 4, characterized in that: The omnidirectional motion chassis (100) is provided with a receiving slot (111); the receiving slot (111) corresponds to the position of a cargo fork (320) of the telescopic fork-taking mechanism (300) and is used to receive the cargo fork (320) when the telescopic fork-taking mechanism (300) is in the lowest state, so that the cargo fork (320) can fork cargo (700) on the ground.

15. The forklift AGV according to claim 14, characterized in that: The omnidirectional motion chassis (100) comprises: a chassis (110), two floating drive mechanisms (120) and four universal casters (130); The two floating drive mechanisms (120) are respectively arranged on both sides of the accommodating slot (111), and a center line connecting the two floating drive mechanisms (120) passes through the movement center of the chassis (110); and the four universal casters (130) are respectively arranged at the four corners of the chassis (110).

16. A method for picking up and releasing goods, characterized in that: Applied to a controller, the controller being communicatively connected to the omnidirectional motion chassis and the telescopic forklift mechanism in the forklift AGV according to any one of claims 1 to 15; The method comprises: Control the omnidirectional motion chassis to drive the gantry and the telescopic fork mechanism disposed thereon to move along the second direction of the omnidirectional motion chassis in the lanes between the shelves to the target row where the target position is located; Controlling the telescopic fork mechanism to move up and down along the door frame to a height corresponding to the target position; Based on the preset logic of picking and placing goods, when necessary, the omnidirectional motion chassis is used to move toward the shelf along the first direction, so that part of the omnidirectional motion chassis extends to the bottom of the shelf; The telescopic fork mechanism is controlled to fork or place the cargo at the target position along the first direction.

17. The method for picking up and releasing goods according to claim 16, characterized in that: The shelves on both sides of the lane are single-depth shelves; The method of moving the omnidirectional motion chassis toward the shelf along the first direction based on the preset pick-up and place logic when necessary, so that a portion of the omnidirectional motion chassis extends to the bottom of the shelf, includes: If in the preset pick-up and place logic, for a single-depth shelf, a telescopic fork mechanism is used to directly fork or place goods at a target position, the omnidirectional motion chassis is further used to move toward the shelf along the first direction, so that part of the omnidirectional motion chassis extends to the bottom of the shelf; The controlling the telescopic fork mechanism to fork or place the cargo at the target position along the first direction comprises: Controlling the telescopic fork mechanism to directly fork or place the cargo at the target position along the first direction; If in the preset pick-up and placement logic, for a single-depth shelf, a telescopic fork mechanism is extended to a target position to fork or place goods, then controlling the telescopic fork mechanism to fork or place goods at the target position along the first direction includes: The telescopic fork mechanism is controlled to extend to a target position along the first direction or retract to the omnidirectional motion chassis to pick up and place goods.

18. The method for picking up and releasing goods according to claim 16, characterized in that: The shelves on both sides of the lane are multi-depth shelves; The method of moving the omnidirectional motion chassis toward the shelf along the first direction based on the preset pick-up and place logic when necessary, so that a portion of the omnidirectional motion chassis extends to the bottom of the shelf, includes: When the target location is a storage location far from one side of the aisle, based on the preset pick-up and place logic, the omnidirectional motion chassis is further used to move toward the shelf along the first direction, so that part of the omnidirectional motion chassis extends to the bottom of the shelf; The controlling the telescopic fork mechanism to fork or place the cargo at the target position along the first direction comprises: The telescopic fork mechanism is controlled to extend to a target position or retract to the omnidirectional motion chassis along the first direction to fork or place the cargo at the target position.

19. The method for picking up and releasing goods according to claim 18, characterized in that: Based on the preset pick-up and place logic, when necessary, the omnidirectional motion chassis is used to move toward the shelf along the first direction so that part of the omnidirectional motion chassis extends to the bottom of the shelf, and further includes: When the target location is a storage location close to one side of the lane, If in the preset pick-up and place logic, for the storage position close to one side of the aisle, a telescopic fork mechanism is used to directly fork or place the goods at the target position, the omnidirectional motion chassis is further used to move toward the shelf along the first direction, so that part of the omnidirectional motion chassis extends to the bottom of the shelf; The controlling the telescopic fork mechanism to fork or place the cargo at the target position along the first direction comprises: For a storage location close to one side of the laneway, controlling the telescopic fork mechanism to directly fork or place the goods at the target location along the first direction; If in the preset pick-up and release logic, for a storage location close to one side of the lane, a telescopic fork mechanism is extended to a target location to fork or place the goods, then controlling the telescopic fork mechanism to fork or place the goods at the target location along the first direction includes: For a storage location close to one side of the lane, the telescopic fork mechanism is controlled to extend to a target location along the first direction or retract to the omnidirectional motion chassis to pick up and place goods.

20. The method for picking up and releasing goods according to any one of claims 17 to 19, characterized in that: The telescopic fork picking mechanism comprises a telescopic mechanism and a fork; the telescopic mechanism comprises a scissor mechanism and a telescopic driving mechanism; The controller is also in communication connection with the telescopic drive mechanism; The controlling the telescopic fork mechanism to extend to a target position along the first direction or retract to the omnidirectional motion chassis to pick up and place goods comprises: The telescopic drive mechanism is controlled to drive the scissor mechanism and the cargo fork to extend or retract along the first direction, so that the cargo fork can pick up and place the cargo.

21. A controller in a forklift AGV, characterized in that: include: Memory, used to store computer programs; The processor is used to implement the method for picking up and releasing goods as described in any one of claims 16 to 20 when executing the program stored in the memory.

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