AGV forklift robot with four degrees of freedom

Abstract

The invention relates to the technical field of AGV forklift robots, and provides a four-degree-of-freedom AGV forklift robot which comprises a forklift main body, a lifting assembly is arranged on one side of the forklift main body, a translation assembly is arranged on the lifting assembly, a rotating assembly is arranged on the translation assembly, and two forks are symmetrically arranged on one side of the rotating assembly. Lengthening assemblies are arranged on the two pallet forks correspondingly, a reinforcing assembly is arranged on the translation assembly, the other end of the reinforcing assembly is connected with a rotating assembly, a fixing frame is fixedly installed on one side of the rotating assembly, a two-way lead screw is driven to rotate through an arranged first motor, and then the rotating two-way lead screw rotates under the action of a limiting rod. According to the forklift robot, the two rectangular blocks in threaded connection with the forklift robot can be driven to be close to or away from each other, so that the distance between the two pallet forks can be adjusted according to the size of cargoes, and when the forklift robot carries the cargoes of different sizes, the position or angle does not need to be adjusted many times, and the cargoes can be accurately lifted up.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV forklift robots, and in particular to an AGV forklift robot with four degrees of freedom. Background Art

[0002] AGV forklift robots are robots that perform cargo handling tasks through an autonomous navigation system. Through advanced technologies such as lasers, magnetic strips, and visual sensors, they can automatically identify environments and routes in warehouses, production workshops, and other places to complete precise material handling, storage, and picking operations.

[0003] The known Chinese public authorized utility model CN221720427U discloses an AGV forklift robot, including a forklift body, the side of the forklift body is connected to a third fixed block by bolts, the third fixed block passes through an extension plate, the extension plate is connected to an extrusion screw by threads, one end of the extrusion screw is fixedly connected to a handle, the other end of the extrusion screw is movably connected to the extrusion plate, the bottom of the extension plate is fixedly connected to one end of a support frame, and the other end of the support frame is fixedly connected to a second fixed block. This AGV forklift robot has a third fixed block connected by bolts on the side of the forklift body, the third fixed block passes through an extension plate, and an extrusion device is connected to the extension plate by threads. In this way, when the forklift transports a high object, the handle can be turned to make the extrusion plate stick to the surface of the transported object to form a new support point, making the transportation more stable and not easy to collapse due to excessively high goods, and the stabilization effect is better.

[0004] However, in the implementation of relevant technologies, it was found that the above-mentioned scheme has the following problems: the spacing between the forks cannot be adjusted, so that the forklift robot needs to adjust the position or angle multiple times when carrying goods of different sizes, which not only wastes time, but also increases the difficulty of operation and reduces the working efficiency. It is also easy to cause deflection or inability to accurately lift the goods. Secondly, the prior art has a low degree of freedom when in use, and the length of the fork cannot be adjusted, so that when the forklift robot is used in a small space, it may lead to the inability to smoothly load and unload goods of a specific size or shape. Therefore, an AGV forklift robot with four degrees of freedom is needed. Summary of the invention

[0005] The present invention proposes an AGV forklift robot with four degrees of freedom, which solves the problem in the related art that the spacing between forks cannot be adjusted, the degrees of freedom are low, and the length of the forks cannot be adjusted, which may cause the forklift robot to be unable to smoothly load and unload goods of specific sizes or shapes when used in a small space.

[0006] The technical solution of the present invention is as follows: an AGV forklift robot with four degrees of freedom, comprising a forklift body, a lifting assembly is arranged on one side of the forklift body, a translation assembly is arranged on the lifting assembly, a rotation assembly is arranged on the translation assembly, two forks are symmetrically arranged on one side of the rotation assembly, and both of the two forks are arranged with an extension assembly; A reinforcement component is provided on the translation component, and the other end of the reinforcement component is connected to the rotation component; A fixed frame is fixedly installed on one side of the rotating assembly, and a bidirectional screw rod and two limit rods are respectively connected to the inner side wall of the fixed frame, and the bidirectional screw rod and the fixed frame are rotatably connected; The bidirectional screw rod and the limiting rod are jointly provided with two rectangular blocks, and the two forks are respectively fixedly mounted on one side of the two rectangular blocks, and the two rectangular blocks are both threadedly connected to the bidirectional screw rod; A first motor is fixedly mounted on one side of the fixing frame via a motor frame, and an output end of the first motor is fixedly connected to the bidirectional lead screw.

[0007] Through the above technical solution, the fork can be raised and lowered, translated, rotated and telescopically adjusted, thereby significantly improving the movement flexibility, operation accuracy and application scenarios of the forklift robot. At the same time, the distance between the two forks can be adjusted according to the size of the goods, so that the forklift robot does not need to adjust the position or angle multiple times when carrying goods of different sizes, which not only reduces time consumption and operation difficulty, but also improves work efficiency. At the same time, it is not easy to cause deflection or inability to accurately lift the goods.

[0008] Preferably, the extension assembly comprises an extension sleeve plugged onto the fork, a first U-shaped connecting frame is fixedly mounted on both sides of the inner wall of the extension sleeve, and a second U-shaped connecting frame is connected to the pin on the first U-shaped connecting frame; First hydraulic cylinders are fixedly mounted on both sides of the fork, and the other end of the second U-shaped connecting frame is pin-connected to the first hydraulic cylinder.

[0009] Through the above technical solution, the length of the fork can be adjusted, so that when the forklift robot is used in a small space, it can not only lift the goods at the back of the cargo rack, but also smoothly load and unload goods of specific sizes or shapes.

[0010] Preferably, a plug-in groove is provided at one end of the fork, a plug-in rod is fixedly mounted on one side of the inner wall of the extension sleeve, and the other end of the plug-in rod is plugged into the plug-in groove.

[0011] Through the above technical solution, the stability effect and load-bearing capacity of the extension sleeve can be improved, so that the extension sleeve is not prone to bending when transporting goods.

[0012] Preferably, the lifting assembly includes a first fixed frame fixedly installed on one side of the forklift body, a pair of third U-shaped connecting frames are fixedly installed on one side of the first fixed frame, the inner pin shaft of the third U-shaped connecting frame is connected to the second hydraulic cylinder, and a second fixed frame is fixedly installed on the top of the two second hydraulic cylinders, and the second fixed frame is inserted into the inner side of the first fixed frame.

[0013] Through the above technical solution, the height of the fork can be adjusted, so that the goods can be stacked higher, the volume utilization rate of the warehouse is significantly improved, and the warehouse area is saved.

[0014] Preferably, first linear guide rails are fixedly mounted on both sides of the inner wall of the first fixing frame, and the second fixing frame is slidably connected to the first linear guide rails via a slider.

[0015] Through the above technical solution, the connection effect between the first fixing frame and the second fixing frame and the stability performance of the second fixing frame during lifting and lowering can be improved.

[0016] Preferably, the translation assembly includes a first U-shaped mounting frame arranged on one side of the lifting assembly, and three second linear guide rails are fixedly mounted on one side of the first U-shaped mounting frame in sequence from top to bottom, and the three second linear guide rails are all fixedly mounted on the second fixing frame; Two second linear guide rails are fixedly installed on one side of the inner wall of the first U-shaped mounting frame, and a support frame is slidably connected to the two second linear guide rails via a slider; A second U-shaped mounting frame is arranged on the first U-shaped mounting frame, and the supporting frame is threadedly connected to the driving mechanism.

[0017] The above technical solution enables the fork to be adjusted in translation, so that it can easily cope with various complex environments, especially when operating in narrow aisles or dense shelves. It also enables the operator to align the goods more quickly, reducing adjustment time, thereby improving loading and unloading efficiency. Preferably, the driving mechanism includes a first one-way screw rod arranged on the inner side of the first U-shaped mounting frame, both ends of the first one-way screw rod are rotatably connected to the first U-shaped mounting frame, the support frame is threadedly connected to the first one-way screw rod, a second motor is fixedly mounted on one side of the first U-shaped mounting frame through a motor frame, and the output end of the second motor is rotatably connected to the first one-way screw rod.

[0018] Through the above technical solution, the support frame and the fork can be stably driven to perform translation adjustment.

[0019] Preferably, the rotating assembly comprises a connecting rod penetrating the supporting frame, and the connecting rod is rotatably connected to the supporting frame, a connecting block is fixedly mounted on the connecting rod, an H-shaped plate is fixedly mounted on one side of the connecting block, and the fixing frame is fixedly mounted on one side of the H-shaped plate; A third motor is fixedly mounted on the bottom of the support frame via a motor frame, and an output end of the third motor is fixedly connected to the connecting rod.

[0020] Through the above technical solution, the fork can be driven to rotate and adjust, so that the forklift robot can operate flexibly in a small space. It is particularly suitable for working in narrow passages or compact warehouse environments, greatly reducing the risk of collision and damage.

[0021] Preferably, the reinforcement assembly includes a fixing column fixedly mounted on the top of the support frame, and a reinforcement plate is jointly sleeved on the fixing column and the connecting rod.

[0022] Through the above technical solution, the connection effect and stability performance between the support frame and the rotating component can be improved without affecting the rotation adjustment of the rotating component.

[0023] Preferably, a third U-shaped mounting frame is fixedly mounted on the top of the support frame, a second one-way screw is rotatably mounted on the top of the third U-shaped mounting frame, and the reinforcement plate is threadedly connected to the second one-way screw.

[0024] Through the above technical solution, the reinforcement plate can be plugged into the fixing column and the reinforcement plate, and at the same time, the reinforcement plate will not fall off the fixing column when the forklift robot moves.

[0025] The working principle and beneficial effects of the present invention are: 1. The bidirectional screw rod is driven to rotate by the first motor, and then the rotating bidirectional screw rod can drive the two rectangular blocks threaded thereon to move closer or farther away under the action of the limit rod, so that the distance between the two forks can be adjusted according to the size of the goods, thereby making it possible for the forklift robot to accurately lift the goods without having to adjust the position or angle multiple times when carrying goods of different sizes.

[0026] 2. Through the setting of the lifting component and the translation component, the fork can be driven to lift and adjust, and can also be driven to translate and adjust. Then, through the rotating component and the extension component, the fork can be driven to rotate and adjust, and the length of the fork can be adjusted, so that the forklift robot can smoothly load and unload goods of specific sizes or shapes when used in a small space.

[0027] 3. By setting up the reinforcement component and with the cooperation of the third U-shaped mounting frame and the second one-way screw rod, the connection effect and stability performance between the translation component and the rotation component can be improved.

[0028] 4. By setting up the second one-way screw and with the cooperation of the third U-shaped mounting frame, the reinforcement plate can be stably driven to rise and fall, and the reinforcement plate can also be fixed, so that the reinforcement plate can be plugged into the fixed column and the reinforcement plate, so that when the forklift robot moves, the reinforcement plate will not fall off from the fixed column and the fixed column. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] Figure 1 It is a schematic diagram of the overall structure proposed by the present invention; Figure 2 A side view schematic diagram of the structure of the present invention; Figure 3 A structural schematic diagram of a fixed frame is provided for the present invention; Figure 4 A schematic diagram of the structure of the extension assembly proposed for the present invention; Figure 5 A schematic diagram of the structure of a rotating assembly is provided for the present invention; Figure 6 A schematic diagram of the structure of the translation assembly proposed in the present invention; Figure 7 A schematic diagram of the structure of the lifting assembly proposed in the present invention; Figure 8 The present invention provides a structural schematic diagram of a first linear guide rail.

[0031] In the figure: 1. Forklift body; 2. Lifting assembly; 21. First fixed frame; 22. Third U-shaped connecting frame; 23. Second hydraulic cylinder; 24. Second fixed frame; 3. Translation assembly; 31. First U-shaped mounting frame; 32. Second U-shaped mounting frame; 33. Second linear guide rail; 34. Support frame; 35. Driving mechanism; 3501. First one-way screw rod; 3502. Second motor; 4. Rotating assembly; 41. Connecting rod; 42. Connecting block; 43. H-shaped plate; 44. Third motor; 5. Fork; 6. Extension assembly; 61. Extension sleeve; 62. Second U-shaped connecting frame; 63. First hydraulic cylinder; 7. reinforcement assembly; 71. fixing column; 72. reinforcement plate; 8. Fixed frame; 9. Bidirectional screw rod; 10. Limit rod; 11. First motor; 12. Connecting rod; 13. First linear guide rail; 14. Third U-shaped mounting bracket; 15. Second unidirectional screw rod. DETAILED DESCRIPTION

[0032] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Embodiment 1

[0034] See also Figures 1 to 8 , an AGV forklift robot with four degrees of freedom, comprising a forklift body 1, a lifting assembly 2 is arranged on one side of the forklift body 1, a translation assembly 3 is arranged on the lifting assembly 2, a rotation assembly 4 is arranged on the translation assembly 3, two forks 5 are symmetrically arranged on one side of the rotation assembly 4, and both forks 5 are provided with an extension assembly 6; A fixed frame 8 is fixedly installed on one side of the rotating assembly 4, and a bidirectional screw rod 9 and two limit rods 10 are respectively connected to the inner side wall of the fixed frame 8, and the bidirectional screw rod 9 and the fixed frame 8 are rotatably connected; Two rectangular blocks are provided on the bidirectional screw rod 9 and the limit rod 10, and the two forks 5 are fixedly installed on one side of the two rectangular blocks respectively, and the two rectangular blocks are threadedly connected to the bidirectional screw rod 9; A first motor 11 is fixedly mounted on one side of the fixing frame 8 via a motor frame, and an output end of the first motor 11 is fixedly connected to the bidirectional lead screw 9 .

[0035] The present invention provides an AGV forklift robot with four degrees of freedom. When in use, the lifting component 2 and the translation component 3 can drive the fork 5 to be lifted and adjusted, and can also drive the fork 5 to be translated and adjusted. Then, the rotating component 4 can drive the fork 5 to rotate, so as to facilitate the adjustment of the angle of the fork 5. Then, the lengthening component 6 can be used to adjust the length of the fork 5, so that when the forklift robot is used in a narrow space, it can not only lift the goods at the back of the cargo rack, but also smoothly load and unload goods of a specific size or shape. Then, the first motor 11 drives the bidirectional screw rod 9 to rotate, and then the rotating bidirectional screw rod 9 can stably drive the two rectangular blocks threaded thereon to move closer or farther under the limiting cooperation of the limiting rod 10, so that the spacing between the two forks 5 can be adjusted according to the size of the goods, so that the forklift robot does not need to adjust the position or angle multiple times when carrying goods of different sizes, which not only reduces time consumption and operation difficulty, but also improves work efficiency, and is not easy to cause deflection or inability to accurately lift the goods.

[0036] Furthermore, the extension assembly 6 includes an extension sleeve 61 inserted on the fork 5, and first U-shaped connecting frames are fixedly installed on both sides of the inner wall of the extension sleeve 61, and a second U-shaped connecting frame 62 is connected to the pin on the first U-shaped connecting frame; The first hydraulic cylinder 63 is fixedly mounted on both sides of the fork 5 , and the other end of the second U-shaped connecting frame 62 is pin-connected to the first hydraulic cylinder 63 .

[0037] Specifically, the first hydraulic cylinder 63 connected to the second U-shaped connecting frame 62 drives the first U-shaped connecting frame, so that the extension sleeve 61 provided on the fork 5 can be extended and retracted, and then the length of the fork 5 can be adjusted, so that when the forklift robot is used in a small space, it can not only lift the goods at the back of the cargo rack, but also smoothly load and unload goods of specific sizes or shapes.

[0038] Furthermore, a plug-in groove is formed at one end of the fork 5, a plug-in rod 12 is fixedly mounted on one side of the inner wall of the extension sleeve 61, and the other end of the plug-in rod 12 is plugged into the plug-in groove.

[0039] Specifically, the insertion groove and the insertion rod 12 can improve the stability and load-bearing capacity of the extension sleeve 61.

[0040] Furthermore, the lifting assembly 2 includes a first fixed frame 21 fixedly installed on one side of the forklift body 1, a pair of third U-shaped connecting frames 22 are fixedly installed on one side of the first fixed frame 21, the inner side pin shaft of the third U-shaped connecting frame 22 is connected to the second hydraulic cylinder 23, and a second fixed frame 24 is fixedly installed on the top of the two second hydraulic cylinders 23, and the second fixed frame 24 is inserted into the inner side of the first fixed frame 21.

[0041] Specifically, the third U-shaped connecting frame 22 inside the first fixed frame 21 is driven to rise and fall by the telescopic second hydraulic cylinder 23, so that the height of the fork 5 can be adjusted, so that the goods can be stacked higher, the volume utilization rate of the warehouse is significantly improved, and the warehouse area is saved.

[0042] Furthermore, first linear guide rails 13 are fixedly installed on both sides of the inner wall of the first fixing frame 21 , and the second fixing frame 24 is slidably connected to the first linear guide rails 13 via a slider.

[0043] Specifically, the first linear guide rail 13 can improve the connection effect between the first fixing frame 21 and the second fixing frame 24 and the stability of the second fixing frame 24 during lifting and lowering.

[0044] Furthermore, the translation assembly 3 includes a first U-shaped mounting frame 31 disposed on one side of the lifting assembly 2, and three second linear guide rails 33 are fixedly mounted on one side of the first U-shaped mounting frame 31 in sequence from top to bottom, and the three second linear guide rails 33 are all fixedly mounted on the second fixing frame 24; Two second linear guide rails 33 are fixedly installed on one side of the inner wall of the first U-shaped mounting frame 31, and a support frame 34 is slidably connected to the two second linear guide rails 33 through a slider; The second U-shaped mounting frame 32 is disposed on the first U-shaped mounting frame 31 , and the supporting frame 34 is threadedly connected to the driving mechanism 35 .

[0045] Specifically, the support frame 34 is driven by the driving mechanism 35, so that the support frame 34 can stably translate in the first U-shaped mounting frame 31 under the action of the second linear guide rail 33, so that the fork 5 can be translated and adjusted, and thus can easily cope with various complex environments, especially when operating in narrow aisles or densely packed shelves, which makes its advantages more evident. At the same time, it allows the operator to align the goods more quickly, reducing the adjustment time, thereby improving the loading and unloading efficiency.

[0046] Furthermore, the driving mechanism 35 includes a first one-way screw rod 3501 arranged on the inner side of the first U-shaped mounting frame 31, both ends of the first one-way screw rod 3501 are rotatably connected to the first U-shaped mounting frame 31, the support frame 34 is threadedly connected to the first one-way screw rod 3501, and a second motor 3502 is fixedly installed on one side of the first U-shaped mounting frame 31 through a motor frame, and the output end of the second motor 3502 is rotatably connected to the first one-way screw rod 3501.

[0047] Specifically, the second motor 3502 drives the first one-way screw rod 3501 to rotate, so that the first one-way screw rod 3501 can stably drive the support frame 34 threadedly connected thereto to translate and adjust under the action of the second linear guide rail 33.

[0048] Further, the rotating assembly 4 includes a connecting rod 41 that penetrates the support frame 34, and the connecting rod 41 is rotatably connected to the support frame 34, a connecting block 42 is fixedly installed on the connecting rod 41, an H-shaped plate 43 is fixedly installed on one side of the connecting block 42, and the fixing frame 8 is fixedly installed on one side of the H-shaped plate 43; A third motor 44 is fixedly mounted on the bottom of the support frame 34 via a motor frame, and an output end of the third motor 44 is fixedly connected to the connecting rod 41 .

[0049] Specifically, the third motor 44 drives the connecting rod 41 rotatably installed on the support frame 34 to rotate, and then the rotating connecting rod 41 drives the connecting block 42 fixed thereon, so that the H-shaped plate 43 can drive the fork 5 to rotate and adjust, thereby enabling the forklift robot to operate flexibly in a small space, which is particularly suitable for operation in narrow passages or compact warehouse environments, greatly reducing the risk of collision and damage, while also simplifying the operating steps, reducing invalid movement time, and thus improving the overall logistics turnover efficiency.

[0050] Embodiment 2

[0051] Based on Example 1, in this embodiment: a reinforcement component 7 is provided on the translation component 3, and the other end of the reinforcement component 7 is connected to the rotation component 4, and the reinforcement component 7 includes a fixed column 71 fixedly installed on the top of the support frame 34, and a reinforcement plate 72 is jointly provided on the fixed column 71 and the connecting rod 41.

[0052] The technical solution provided in this embodiment is: through the fixing column 71 and the reinforcement plate 72, and with the cooperation of the connecting rod 41, it is possible to improve the connection effect and stability performance between the support frame 34 and the rotating component 4 without affecting the rotation adjustment process of the rotating component 4.

[0053] Furthermore, a third U-shaped mounting frame 14 is fixedly mounted on the top of the support frame 34 , a second one-way screw rod 15 is rotatably mounted on the top of the third U-shaped mounting frame 14 , and the reinforcing plate 72 is threadedly connected to the second one-way screw rod 15 .

[0054] Specifically, by manually turning the handwheel on the top of the second one-way screw 15, the second one-way screw 15 can stably drive the reinforcement plate 72 to descend with the cooperation of the third U-shaped mounting frame 14, so that the reinforcement plate 72 can be plugged into the fixed column 71 and the reinforcement plate 72, and at the same time, the reinforcement plate 72 will not fall off the fixed column 71 when the forklift robot is moving.

[0055] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An AGV forklift robot with four degrees of freedom, comprising a forklift body (1), characterized in that: A lifting assembly (2) is provided on one side of the forklift body (1); a translation assembly (3) is provided on the lifting assembly (2); a rotation assembly (4) is provided on the translation assembly (3); two forks (5) are symmetrically provided on one side of the rotation assembly (4); and both of the two forks (5) are provided with an extension assembly (6); A reinforcement component (7) is provided on the translation component (3), and the other end of the reinforcement component (7) is connected to the rotation component (4); A fixed frame (8) is fixedly mounted on one side of the rotating assembly (4), and a bidirectional screw rod (9) and two limit rods (10) are respectively connected to the inner side walls of the fixed frame (8), and the bidirectional screw rod (9) and the fixed frame (8) are rotatably connected; The bidirectional screw rod (9) and the limiting rod (10) are jointly provided with two rectangular blocks, and the two forks (5) are respectively fixedly mounted on one side of the two rectangular blocks, and the two rectangular blocks are both threadedly connected to the bidirectional screw rod (9); A first motor (11) is fixedly mounted on one side of the fixing frame (8) via a motor frame, and an output end of the first motor (11) is fixedly connected to the bidirectional lead screw (9).

2. The AGV forklift robot with four degrees of freedom according to claim 1, characterized in that: The extension assembly (6) comprises an extension sleeve (61) inserted into the fork (5), first U-shaped connecting frames are fixedly mounted on both sides of the inner wall of the extension sleeve (61), and a second U-shaped connecting frame (62) is pin-connected on the first U-shaped connecting frame; A first hydraulic cylinder (63) is fixedly mounted on both sides of the fork (5), and the other end of the second U-shaped connecting frame (62) is pin-connected to the first hydraulic cylinder (63).

3. The AGV forklift robot with four degrees of freedom according to claim 2, characterized in that: One end of the fork (5) is provided with a plug-in slot, one side of the inner wall of the extension sleeve (61) is fixedly mounted with a plug-in rod (12), and the other end of the plug-in rod (12) is plugged into the plug-in slot.

4. The AGV forklift robot with four degrees of freedom according to claim 1, characterized in that: The lifting assembly (2) comprises a first fixing frame (21) fixedly mounted on one side of the forklift body (1); a pair of third U-shaped connecting frames (22) are fixedly mounted on one side of the first fixing frame (21); a second hydraulic cylinder (23) is connected to the inner pin of the third U-shaped connecting frame (22); a second fixing frame (24) is fixedly mounted on the top of the two second hydraulic cylinders (23); and the second fixing frame (24) is plugged into the inner side of the first fixing frame (21).

5. The AGV forklift robot with four degrees of freedom according to claim 4, characterized in that: First linear guide rails (13) are fixedly mounted on both sides of the inner wall of the first fixed frame (21), and the second fixed frame (24) is slidably connected to the first linear guide rails (13) via a slider.

6. The AGV forklift robot with four degrees of freedom according to claim 5, characterized in that: The translation assembly (3) comprises a first U-shaped mounting frame (31) arranged on one side of the lifting assembly (2), three second linear guide rails (33) being fixedly mounted on one side of the first U-shaped mounting frame (31) in sequence from top to bottom, and the three second linear guide rails (33) are all fixedly mounted on the second fixing frame (24); Two second linear guide rails (33) are fixedly mounted on one side of the inner wall of the first U-shaped mounting frame (31), and a support frame (34) is slidably connected to the two second linear guide rails (33) via a slider; A second U-shaped mounting frame (32) is provided on the first U-shaped mounting frame (31), and the supporting frame (34) is threadedly connected to the driving mechanism (35).

7. The AGV forklift robot with four degrees of freedom according to claim 6, characterized in that: The driving mechanism (35) comprises a first one-way screw rod (3501) arranged on the inner side of the first U-shaped mounting frame (31), both ends of the first one-way screw rod (3501) are rotatably connected to the first U-shaped mounting frame (31), the support frame (34) is threadedly connected to the first one-way screw rod (3501), a second motor (3502) is fixedly mounted on one side of the first U-shaped mounting frame (31) via a motor frame, and an output end of the second motor (3502) is rotatably connected to the first one-way screw rod (3501).

8. The AGV forklift robot with four degrees of freedom according to claim 7, characterized in that: The rotating assembly (4) comprises a connecting rod (41) penetrating the support frame (34), and the connecting rod (41) is rotatably connected to the support frame (34); a connecting block (42) is fixedly mounted on the connecting rod (41), an H-shaped plate (43) is fixedly mounted on one side of the connecting block (42), and the fixing frame (8) is fixedly mounted on one side of the H-shaped plate (43); A third motor (44) is fixedly mounted on the bottom of the support frame (34) via a motor frame, and an output end of the third motor (44) is fixedly connected to the connecting rod (41).

9. The AGV forklift robot with four degrees of freedom according to claim 8, characterized in that: The reinforcement assembly (7) comprises a fixing column (71) fixedly mounted on the top of the support frame (34), and a reinforcement plate (72) is sleeved on the fixing column (71) and the connecting rod (41).

10. The AGV forklift robot with four degrees of freedom according to claim 9, characterized in that: A third U-shaped mounting frame (14) is fixedly mounted on the top of the support frame (34), a second one-way screw rod (15) is rotatably mounted on the top of the third U-shaped mounting frame (14), and the reinforcing plate (72) is threadedly connected to the second one-way screw rod (15).

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