Hydraulic braking differential driving forklift type AGV (Automatic Guided Vehicle)

Abstract

The invention discloses a hydraulic braking differential driving forklift type AGV, and relates to the technical field of forklifts, and the hydraulic braking differential driving forklift type AGV comprises a vehicle body, a hydraulic speed reducer, a friction plate, a brake pad, a brake piston, an elastic piece and a brake oil cavity. The hydraulic speed reducer comprises a speed reducer fixing disc and a speed reducer rotating disc, the speed reducer rotating disc is connected with a driving wheel, the brake pad makes contact with the friction plate to generate friction force so that the driving wheel can stop rotating, and the brake piston is used for moving relative to the speed reducer fixing disc. The elastic piece is used for providing elastic force to push the brake piston to move in the first direction and extrude the brake pad, and the brake oil cavity is used for enabling the brake piston to be pressed to move in the second direction when hydraulic oil is filled and further used for enabling the brake piston to be released from the pressed state after the hydraulic oil flows out. According to the hydraulic braking differential driving forklift type AGV, the problems that a traditional electromagnetic brake is large in braking distance, short in service life and high in maintenance cost are solved.

Description

Technical Field

[0001] This application relates to the technical field of forklifts, and particularly to a forklift-type AGV with hydraulic braking and differential drive. Background Art

[0002] A forklift-type AGV (Automated Guided Vehicle) is an automated logistics equipment that can achieve automatic handling and stacking of various goods.

[0003] In the existing system, forklift-type AGVs mainly rely on electromagnetic braking. The braking force of electromagnetic braking mainly depends on the electromagnetic field strength, with a small braking torque and a large braking distance. Especially for forklift-type AGVs in heavy-load or high-speed scenarios, there is often a situation where they cannot brake effectively, which affects the driving safety and stability. At the same time, the electromagnetic brake has a short service life, and its service life is greatly affected by coil aging. It is necessary to regularly check the armature stroke, coil insulation, etc., and frequent maintenance will increase costs. Summary of the Invention

[0004] The purpose of this application is to provide a forklift-type AGV with hydraulic braking and differential drive, which solves the problems of large braking distance, short service life, and high maintenance cost of traditional electromagnetic braking.

[0005] To achieve the above purpose, this application provides a forklift-type AGV with hydraulic braking and differential drive, including a vehicle body, and also including:

[0006] A hydraulic reducer, including a reducer fixed disk and a reducer rotating disk. The reducer fixed disk is installed on the vehicle body, the reducer rotating disk is rotationally matched with the reducer fixed disk, and the reducer rotating disk is connected with a driving wheel;

[0007] Friction plates, fixed to the reducer rotating disk;

[0008] Brake pads, movably arranged on the reducer fixed disk, used to contact the friction plates to generate frictional force to stop the driving wheel from rotating;

[0009] A brake piston, movably arranged on the reducer fixed disk, used to move relative to the reducer fixed disk along a first direction and a second direction, and the second direction is opposite to the first direction;

[0010] An elastic member, connected to the brake piston, used to provide an elastic force to push the brake piston to move along the first direction and squeeze the brake pads, so as to realize the contact between the brake pads and the friction plates to generate frictional force;

[0011] The brake oil cavity is provided on the fixed disk of the reducer and is used to press the brake piston to move in the second direction when hydraulic oil is filled, so that the brake pads and friction plates are separated, and the elastic member accumulates elastic force. It is also used to relieve the pressure on the brake piston after the hydraulic oil flows out, and make the brake piston move in the first direction under the action of the elastic force accumulated by the elastic member.

[0012] In some embodiments, the forklift AGV with hydraulic brake differential drive further includes an oil tank, an oil pump motor assembly, a brake valve block and an accumulator. The oil pump motor assembly is connected to the oil tank through a motor inlet pipe and is connected to the brake valve block and the accumulator through a valve block inlet pipe. The brake valve block is connected to the hydraulic reducer through a brake oil pipe. The hydraulic reducer is provided with a hydraulic oil passage for connecting the brake oil pipe and the brake oil cavity.

[0013] When the vehicle body is running, the oil pump motor assembly supplies oil to the accumulator and the hydraulic reducer through the brake valve block, and the oil circuit between the hydraulic reducer and the accumulator is conducted, so that the pressure in the hydraulic reducer is maintained in real time by relying on the accumulator.

[0014] In some embodiments, the number of drive wheels is two. The forklift AGV with hydraulic brake differential drive further includes:

[0015] Two drive motors, respectively connected to the two drive wheels through planetary reduction gears;

[0016] A steering wheel, installed on the vehicle body;

[0017] A steering motor, connected to the steering wheel and used to drive the steering wheel to rotate;

[0018] A drive motor controller, communicatively connected to the drive motor;

[0019] A steering motor controller, communicatively connected to the steering motor;

[0020] A main controller, used to send differential signals to the two drive motors through the drive motor controller and send rotation signals to the steering motor through the steering motor controller, so that the two drive wheels perform differential motion, and the angle generated by the differential of the two drive wheels matches the rotation angle of the steering wheel.

[0021] In some embodiments, the forklift AGV with hydraulic brake differential drive further includes:

[0022] A multi-way directional valve block assembly, connected to the hydraulic navigation lifting device, the mast tilting device and the attachment device;

[0023] A hydraulic controller, communicatively connected to the main controller and the multi-way directional valve block assembly, and used to send control instructions to the multi-way directional valve block assembly to control the actions of the hydraulic navigation lifting device, the mast tilting device and the attachment device.

[0024] In some embodiments, the hydraulic navigation lifting device includes:

[0025] A hydraulic navigation lifting lower base, fixed to the vehicle body;

[0026] A hydraulic navigation lifting upper base, fixed to the hydraulic navigation lifting lower base, and a left-position photoelectric proximity switch, a middle-position photoelectric proximity switch, and a right-position photoelectric proximity switch are fixed to the hydraulic navigation lifting upper base;

[0027] A jacking pipe, movably installed in the hydraulic navigation lifting upper base, a navigation laser is installed on the jacking pipe, and a photoelectric proximity switch upper limit, a lower left limit hole, and a lower right limit hole are sequentially provided along the direction away from the navigation laser on the jacking pipe;

[0028] When the photoelectric proximity switch upper limit moves to the middle-position photoelectric proximity switch, the middle-position photoelectric proximity switch is triggered to stop the downward movement of the jacking pipe. When the lower left limit hole moves to the left-position photoelectric proximity switch, the left-position photoelectric proximity switch is triggered to stop the upward movement of the jacking pipe. When the lower right limit hole moves to the right-position photoelectric proximity switch, the right-position photoelectric proximity switch is triggered to stop the upward movement of the jacking pipe.

[0029] In some embodiments, the hydraulic navigation lifting device further includes:

[0030] An upper slider assembly, disposed around the inner wall of the hydraulic navigation lifting upper base, for forming a limiting cavity, and the jacking pipe is restricted to lift in the limiting cavity;

[0031] A lower slider assembly, disposed around the outer wall of the jacking pipe, for slidingly cooperating with the hydraulic navigation lifting upper base to limit and guide the jacking pipe.

[0032] In some embodiments, the hydraulic navigation lifting device further includes:

[0033] A prompting assembly, installed on the hydraulic navigation lifting lower base, for prompting pedestrians;

[0034] A safety laser probe, installed on the hydraulic navigation lifting lower base through an angle adjustment bracket;

[0035] A vision module, installed on the hydraulic navigation lifting upper base, for recording the driving conditions in front of the vehicle body.

[0036] In some embodiments, the gantry tilting device includes:

[0037] A gantry body, rotatably disposed on the vehicle body, and a gantry pin shaft is provided on the gantry body;

[0038] A front and rear tilting oil cylinder, connected to the vehicle body and the gantry pin shaft, for driving the gantry body to tilt forward or backward;

[0039] An upper bracket, fixed on the gantry pin shaft;

[0040] The lower bracket is fixed on the tilting cylinder for forward and backward movement.

[0041] The displacement sensor has one end connected to the upper bracket and the other end connected to the lower bracket, and is used to detect the distance of the mast body tilting forward or backward.

[0042] In some embodiments, the attachment device is installed on the mast body. The attachment device includes a fork frame body, on which a left fork, a middle left fork, a middle right fork and a right fork are provided, and fork hard limit blocks are arranged on both sides of the left fork, the middle left fork, the middle right fork and the right fork.

[0043] In some embodiments, the attachment device further includes a middle side shift cylinder, which is connected to the middle left fork and the middle right fork. The middle side shift cylinder is used to drive the middle left fork and the middle right fork to move relative to the fork frame body, and photoelectric proximity switch sensors are arranged on both sides of the middle left fork and the middle right fork.

[0044] The attachment device further includes:

[0045] The left cable support is fixed on the back of the left fork.

[0046] The left cable encoder is connected to the left cable support through the left cable, and is used to control the moving position of the left fork.

[0047] The right cable support is fixed on the back of the right fork.

[0048] The right cable encoder is connected to the right cable support through the right cable, and is used to control the moving position of the right fork.

[0049] Compared with the above background art, the forklift-type AGV with hydraulic braking differential drive provided by the embodiments of the present application includes a vehicle body, and further includes a hydraulic reducer, a friction plate, a brake pad, a brake piston, an elastic member, and a brake oil cavity. Among them, the hydraulic reducer includes a reducer fixed disk and a reducer rotating disk. The reducer fixed disk is installed on the vehicle body, and the reducer rotating disk is rotatably matched with the reducer fixed disk. The reducer rotating disk is connected with a driving wheel. The friction plate is fixed to the reducer rotating disk. The brake pad is movably arranged on the reducer fixed disk and is used to contact the friction plate to generate frictional force to stop the driving wheel from rotating. The brake piston is movably arranged on the reducer fixed disk and is used to move relative to the reducer fixed disk along a first direction and a second direction, and the second direction is opposite to the first direction. The elastic member is connected with the brake piston and is used to provide an elastic force to push the brake piston to move along the first direction and squeeze the brake pad, so as to realize the contact between the brake pad and the friction plate to generate frictional force. The brake oil cavity is arranged on the reducer fixed disk and is used to make the brake piston be pressed to move along the second direction when hydraulic oil is filled, so that the brake pad and the friction plate are separated and the elastic member accumulates elastic force. It is also used to relieve the pressure state of the brake piston after the hydraulic oil flows out and make the brake piston move along the first direction under the action of the elastic force accumulated by the elastic member.

[0050] In this way, when the vehicle body is powered off or brakes, the oil in the hydraulic reducer is drained. At this time, there is no hydraulic oil in the brake oil cavity, the pressure on the brake piston is zero, and the elastic member pushes the brake piston to move along the first direction, squeezing the brake pad, so that the brake pad and the friction plate contact to generate frictional force to stop the driving wheel from rotating. The elastic member uses a spring with a large stiffness coefficient, and the generated frictional force is sufficient to immediately stop the driving wheel from rotating. When the vehicle body is moving, the brake oil cavity is in an oil-filled state, and the hydraulic oil quickly enters the brake oil cavity. The brake piston is pressed to move along the second direction, and the elastic member is further compressed. At this time, the brake pad and the friction plate are separated and do not contact, and the driving wheel can move normally.

[0051] The forklift-type AGV with hydraulic braking differential drive set in this way has the following beneficial effects: The forklift-type AGV with hydraulic braking differential drive provided in the embodiment of the present application adopts hydraulic braking, which combines the characteristics of high hydraulic oil pressure, convenient adjustment, and rapid response, and also combines the characteristics of instantaneous deformation and rapid recovery of elastic components. Compared with the traditional electromagnetic braking method, a hydraulic brake is equipped on the drive wheel in this application. The hydraulic brake has a long service life, good anti-interference and silent effects, convenient movement control and adjustment, and low maintenance costs. At the same time, this braking method has a large braking torque and a small braking distance. Especially for the forklift-type AGV with hydraulic braking differential drive in heavy-load scenarios, it can brake in time, which not only improves the mobility of the AGV but also improves safety, solving the problems of large braking distance, short service life, and high maintenance cost of traditional electromagnetic braking. This hydraulic braking method, when applied to the vehicle body of the forklift-type AGV with hydraulic braking differential drive, greatly improves the performance of the whole vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0053] Figure 1 It is a schematic diagram of the whole vehicle of the forklift-type AGV with hydraulic braking differential drive in the embodiment of the present application;

[0054] Figure 2 is Figure 1 a schematic assembly structure diagram of the vehicle body and the double-wheel hydraulic braking device in the shown forklift-type AGV with hydraulic braking differential drive;

[0055] Figure 3 is Figure 2 the internal structure schematic of the hydraulic reducer in Figure 1 ;

[0056] Figure 4 is Figure 2 the internal structure schematic of the hydraulic reducer in Figure 2 ;

[0057] Figure 5 is Figure 1 a schematic diagram of the double-wheel hydraulic braking device in the shown forklift-type AGV with hydraulic braking differential drive;

[0058] Figure 6 It is the hydraulic schematic diagram of the forklift-type AGV with hydraulic braking differential drive in the embodiment of the present application;

[0059] Figure 7 isFigure 1 Schematic diagram of the structure of the hydraulic navigation lifting device in the forklift-type AGV with hydraulic braking differential drive shown;

[0060] Figure 8 is Figure 7 the enlarged schematic diagram of part A in;

[0061] Figure 9 is Figure 7 the internal structure schematic diagram of the hydraulic navigation lifting device shown;

[0062] Figure 10 is Figure 9 the enlarged schematic diagram of part B in;

[0063] Figure 11 is Figure 7 the inclined tie rod schematic diagram of the hydraulic navigation lifting device shown;

[0064] Figure 12 is Figure 1 the schematic diagram of the mast tilting device in the forklift-type AGV with hydraulic braking differential drive shown Figure 1 ;

[0065] Figure 13 is Figure 1 the schematic diagram of the mast tilting device in the forklift-type AGV with hydraulic braking differential drive shown Figure 2 ;

[0066] Figure 14 is Figure 1 the schematic diagram of the attachment device in the forklift-type AGV with hydraulic braking differential drive shown Figure 1 ;

[0067] Figure 15 is Figure 1 the schematic diagram of the attachment device in the forklift-type AGV with hydraulic braking differential drive shown Figure 2 .

[0068] Among them:

[0069] 1. Hydraulic navigation lifting device; 2. Mast tilting device; 3. Double-wheel hydraulic braking device; 4. Attachment device; 5. Vehicle body;

[0070] 11. Lower base of hydraulic navigation lifting; 12. Cable protection cover; 13. Upper base of hydraulic navigation lifting; 14. First upper slider; 15. Second upper slider; 17. Left-position photoelectric proximity switch; 18. Middle-position photoelectric proximity switch; 19. Right-position photoelectric proximity switch;

[0071] 102. Front projection lamp; 103. Angle adjustment bracket; 104. Front safety laser; 105. Front camera; 106. Side projection lamp; 107. Inclined tie rod; 108. Tie rod support;

[0072] 122. Jacking rod seat; 123. Jacking oil cylinder; 124. Jacking oil cylinder oil port; 125. Navigation laser shield

[0073] 182. Navigation laser; 183. Jacking pipe; 184. Navigation laser mounting seat; 185. Photoelectric proximity switch upper limit; 186. Lower left limit hole; 187. Lower right limit hole; 188. First sliding block; 189. Second sliding block; 190. Jacking cross bar

[0074] 21. Gantry body; 22. Upper bracket; 23. Lower bracket; 24. Displacement sensor; 25. Tipping oil cylinder; 26. Gantry pin shaft; 27. Bearing cover; 28. Gantry bearing; 29. Gantry lifting oil cylinder

[0075] 290. Tipping forward oil cylinder inlet; 291. Tipping backward oil cylinder inlet

[0076] 31. Steering wheel; 32. Steering motor mounting seat; 33. Steering motor; 34. Hydraulic reducer; 35. Left drive wheel; 36. Adapter plate; 37. Left drive motor; 38. Right drive motor; 39. Right drive wheel

[0077] 340. Multi-way directional valve block assembly; 341. Brake oil port; 342. Left brake oil pipe; 343. Fuel tank; 344. Motor inlet oil pipe; 345. Brake valve block; 346. Accumulator; 347. Oil pump motor assembly; 348. Valve block inlet oil pipe; 349. Right brake oil pipe

[0078] 3401. Reducer fixing plate; 3402. Double-row tapered roller bearing; 3403. Elastic part; 3404. Brake pad; 3405. Friction plate; 3406. Planetary reduction gear; 3407. Reducer rotating plate; 3408. Bolt; 3409. Hydraulic oil passage; 34091. Brake oil cavity; 34092. Brake piston

[0079] 41. Right side shift oil cylinder; 42. Right pull rope encoder; 43. Right pull rope; 44. Right pull rope bracket; 45. Hard limit stop block; 46. Left fork; 47. Mechanical collision switch; 48. Left side shift oil cylinder; 49. Middle position side shift oil cylinder

[0080] 481. First bracket; 482. Photoelectric proximity switch sensor; 483. Middle position right fork; 484. Left pull rope encoder; 485. Left pull rope; 486. Left pull rope bracket; 487. Middle position left fork; 488. Right fork; 489. Fork frame body; 490. Goods retaining shelf; 491. Second bracket; 492. Right side shift oil cylinder guide rail; 493. Left side shift oil cylinder guide rail Detailed implementation mode

[0081] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0082] To enable those skilled in the art of this technology to better understand the solution of the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0083] Please refer to Figures 1 to 4 , the forklift-type AGV with hydraulic braking differential drive provided in the embodiments of the present application includes a vehicle body 5, and further includes a double-wheel hydraulic braking device 3 provided on the vehicle body 5. The double-wheel hydraulic braking device 3 includes a hydraulic reducer 34, a friction plate 3405, a brake pad 3404, a brake piston 34092, an elastic member 3403, and a brake oil cavity 34091.

[0084] The hydraulic reducer 34 includes a reducer fixed disk 3401 and a reducer rotating disk 3407. The reducer fixed disk 3401 is installed on the vehicle body 5. The reducer rotating disk 3407 is connected with a driving wheel, and the driving wheel is fixed on the hydraulic reducer 34 through a bolt 3408. The reducer rotating disk 3407 and the reducer fixed disk 3401 are rotationally matched through a double-row tapered roller bearing 3402 to realize the rotation of the driving wheel.

[0085] The friction plate 3405 is fixed to the reducer rotating disk 3407, and the brake pad 3404 is movably arranged on the reducer fixed disk 3401. The brake pad 3404 is used to contact the friction plate 3405 to generate frictional force so that the driving wheel stops rotating. Among them, the numbers of the brake pads 3404 and the friction plates 3405 are both multiple groups, the brake pads 3404 and the friction plates 3405 are arranged at intervals, the friction plates 3405 are fixed, and the brake pads 3404 can move under force.

[0086] The brake piston 34092 is movably arranged on the reducer fixed disk 3401. The brake piston 34092 can move under pressure. The brake piston 34092 is used to move relative to the reducer fixed disk 3401 along a first direction and a second direction. The first direction and the second direction are directions on the same straight line, and the second direction is opposite to the first direction.

[0087] The elastic member 3403 is connected with the brake piston 34092. The elastic member 3403 is used to provide an elastic force to push the brake piston 34092 along the first direction (such as Figure 4Move in the left direction shown and squeeze the brake pad 3404 to bring the brake pad 3404 into contact with the friction plate 3405 to generate frictional force. Of course, the elastic member 3403 can be a spring with a high stiffness coefficient, and multiple sets of the brake piston 34092 and the elastic member 3403 are provided. The high-stiffness coefficient spring is installed in the corresponding brake piston 34092.

[0088] The brake oil cavity 34091 is provided in the reducer fixed disk 3401. The brake oil cavity 34091 is used to press the brake piston 34092 to move in the second direction (such as Figure 4 the right direction shown) when hydraulic oil is filled, so that the brake pad 3404 and the friction plate 3405 are separated, and the elastic member 3403 accumulates elastic force. It is also used to relieve the pressure on the brake piston 34092 after the hydraulic oil flows out, and make the brake piston 34092 move in the first direction under the action of the elastic force accumulated by the elastic member 3403.

[0089] In this way, when the vehicle body 5 is powered off or brakes, the oil in the hydraulic reducer 34 is drained. At this time, there is no hydraulic oil in the brake oil cavity 34091, the pressure on the brake piston 34092 is zero, and the elastic member 3403 pushes the brake piston 34092 to move in the first direction, squeezing the brake pad 3404, so that the brake pad 3404 and the friction plate 3405 come into contact to generate frictional force to stop the driving wheel from rotating. The elastic member 3403 uses a spring with a large stiffness coefficient, and the generated frictional force is sufficient to immediately stop the driving wheel from rotating. When the vehicle body 5 is moving, the brake oil cavity 34091 is in an oil-filled state, and the hydraulic oil quickly enters the brake oil cavity 34091. The brake piston 34092 is pressed to move in the second direction, and the elastic member 3403 is further compressed. At this time, the brake pad 3404 and the friction plate 3405 are separated and do not come into contact, and the driving wheel can move normally.

[0090] The beneficial effects of the forklift-type AGV with hydraulic braking differential drive set in this way mainly include: The forklift-type AGV with hydraulic braking differential drive provided in the embodiment of the present application uses hydraulic braking, combining the characteristics of high hydraulic oil pressure, convenient adjustment, and rapid response, and also combining the characteristics of instantaneous deformation and rapid recovery of the elastic member 3403. Compared with the traditional electromagnetic braking method, a hydraulic brake is equipped on the driving wheel in this application. The hydraulic brake has a long service life, good anti-interference and silent effects, convenient movement control and adjustment, and low maintenance cost. At the same time, this braking method has a large braking torque and a small braking distance. Especially for the forklift-type AGV with hydraulic braking differential drive in heavy-load scenarios, it can brake in time, which improves the mobility and safety of the AGV, and solves the problems of large braking distance, short service life, and high maintenance cost of traditional electromagnetic braking. This hydraulic braking method is applied to the vehicle body 5 of the forklift-type AGV with hydraulic braking differential drive, which greatly improves the performance of the whole vehicle.

[0091] Please also read Figure 5 and Figure 6 The hydraulic brake differential drive forklift AGV also includes an oil tank 343, an oil pump motor assembly 347, a brake valve block 345 and an accumulator 346. The oil pump motor assembly 347 is connected to the oil tank 343 through a motor oil inlet pipe 344, and is connected to the brake valve block 345 and the accumulator 346 through a valve block oil inlet pipe 348. The brake valve block 345 is connected to the hydraulic reducer 34 through a brake oil pipe. The hydraulic reducer 34 is provided with a hydraulic oil channel 3409, and the hydraulic oil channel 3409 is used to connect the brake oil pipe and the brake oil chamber 34091.

[0092] When the vehicle body 5 is running, the oil pump motor assembly 347 supplies oil to the accumulator 346 and the hydraulic reducer 34 through the brake valve block 345, and the oil circuit between the hydraulic reducer 34 and the accumulator 346 is connected so that the pressure in the hydraulic reducer 34 is maintained in real time by the accumulator 346.

[0093] In this embodiment, the oil pump motor assembly 347 provides pressure for the entire hydraulic system, and the brake valve block 345 can control the hydraulic oil to enter the accumulator 346 or the hydraulic reducer 34 or the multi-way reversing valve block assembly 340. When the pressure of the accumulator 346 reaches a certain value, the pressure sensor of the accumulator 346 will alarm and feedback to the oil pump motor assembly 347 to stop supplying oil. When the vehicle body 5 starts, the accumulator 346 will supply oil to the hydraulic reducer 34 in time. When the vehicle body 5 brakes, the accumulator 346 stops supplying oil, and the oil pressure in the hydraulic reducer 34 quickly flows back to the oil tank 343.

[0094] In this way, when the vehicle body 5 is powered off or braked, the brake valve block 345 is in an oil unloading state, and the oil in the hydraulic reducer 34 flows back to the oil tank 343 through the hydraulic oil channel 3409 and the brake oil pipe. At this time, there is no pressure oil in the brake oil chamber 34091, and the brake piston 34092 is under zero pressure. The high-rigidity spring pushes the brake piston 34092 to move left, squeezing the brake pad 3404, so that multiple groups of brake pads 3404 and multiple groups of friction pads 3405 contact to generate friction to stop the driving wheel from rotating. Due to the large spring stiffness, the friction generated is sufficient to stop the driving wheel from rotating immediately. When the vehicle body 5 is moving, the brake valve block 345 and the accumulator 346 are in an oil-filled state, and the hydraulic oil quickly enters the brake oil chamber 34091 through the brake oil pipe and the hydraulic oil channel 3409. When the accumulator 346 is full of oil, the oil pump motor assembly 347 stops supplying oil to the accumulator 346, that is, the oil pump motor can stop working. At this time, the oil pressure in the brake oil chamber 34091 is maintained by the accumulator 346, and the brake piston 34092 moves to the right under pressure, and the high-strength coefficient spring is further compressed. At this time, the brake pad 3404 and the friction plate 3405 are separated and do not contact each other, and the drive wheel can move normally.

[0095] It should be noted that the number of drive wheels is two, namely the left drive wheel 35 and the right drive wheel 39. The left drive wheel 35 and the right drive wheel 39 are both load-carrying wheels and power wheels.

[0096] Moreover, the forklift-type AGV with hydraulic braking differential drive also includes a steering wheel 31 (also known as a steering double row wheel), a steering motor 33, and two drive motors.

[0097] Among them, the two drive motors are the left drive motor 37 and the right drive motor 38 respectively. The left drive motor 37 is connected to the left drive wheel 35 through a planetary reduction gear 3406, and the right drive motor 38 is also connected to the right drive wheel 39 through the planetary reduction gear 3406 to achieve the deceleration control of the two drive wheels. The steering wheel 31 is installed at one end of the vehicle body 5 away from the drive wheels. The steering motor 33 is connected to the steering wheel 31. The steering motor 33 is used to drive the steering wheel 31 to rotate. The steering motor 33 and the steering wheel 31 are installed on the steering motor mounting seat 32 to provide steering power for the vehicle body 5. The action instruction of the steering motor 33 is issued by the steering motor controller.

[0098] It should be noted that the left drive motor 37, the right drive motor 38, and the hydraulic reducer 34 are installed on the vehicle body 5 through the motor reducer adapter plate 36. Each hydraulic reducer 34 has a brake oil port 341. The fuel tank 343 stores the hydraulic oil of the whole vehicle. The oil pump motor assembly 347 provides pressure oil for the whole hydraulic system. First, the oil pump motor assembly 347 sucks hydraulic oil from the fuel tank 343 through the motor inlet oil pipe 344, and then supplies oil to the brake valve block 345 and the accumulator 346 through the valve block inlet oil pipe 348. The brake valve block 345 and the accumulator 346 then supply oil to the hydraulic reducers 34 on the left drive wheel 35 and the right drive wheel 39 respectively through the left brake oil pipe 342 and the right brake oil pipe 349 according to the main control command of the vehicle body 5.

[0099] In addition, the forklift-type AGV with hydraulic braking differential drive also includes a drive motor controller, a steering motor controller, and a main controller. Among them, the drive motor controller is communicatively connected to the drive motor, and the action instruction of the drive motor is issued by the drive motor controller. The steering motor controller is communicatively connected to the steering motor 33, and the action instruction of the steering motor 33 is issued by the steering motor controller. The main controller is used to send a differential signal to the two drive motors through the drive motor controller and send a rotation signal to the steering motor 33 through the steering motor controller, so that the two drive wheels perform differential motion, and the angle generated by the differential of the two drive wheels matches the rotation angle of the steering wheel 31.

[0100] Furthermore, the hydraulic brake differential drive forklift AGV also includes a multi-way reversing valve block assembly 340 and a hydraulic controller. The multi-way reversing valve block assembly 340 is connected to the hydraulic navigation lifting device 1, the front and rear tilting device 2 of the mast and the accessory device 4; the hydraulic controller is communicatively connected to the main controller and the multi-way reversing valve block assembly 340, and the hydraulic controller is used to send control instructions to the multi-way reversing valve block assembly 340 to control the action of the hydraulic navigation lifting device 1, the front and rear tilting device 2 of the mast and the accessory device 4.

[0101] In summary, the hydraulic controller, the drive motor controller, and the steering motor controller are uniformly controlled by the main controller. When the vehicle body 5 is running, the oil pump motor assembly 347 supplies oil to the accumulator 346 and the hydraulic reducer 34 through the brake valve block 345, and the oil passes through the left brake oil pipe 342 and the right brake oil pipe 349 to supply oil to the hydraulic reducer 34 on the left drive wheel 35 and the right drive wheel 39 respectively, and the brake pads 3404 in the hydraulic reducer 34 will be loosened, and the drive wheels can move; when the vehicle body 5 brakes, the accumulator 346 stops supplying oil, and at the same time, the hydraulic oil in the hydraulic reducer 34 will flow back to the oil tank 343 through the left brake oil pipe 342 and the right brake oil pipe 349. Due to the loss of oil pressure in the hydraulic reducer 34, the brake pads 3404 will be locked, and the drive wheels stop moving, that is, the whole vehicle stops moving. The pressure in the accumulator 346 can be detected in real time by the accumulator 346 pressure sensor. When it is lower than the set value, it will be fed back to the hydraulic controller, and the oil pump motor assembly 347 will replenish the accumulator 346 in time. When the pressure of the accumulator 346 reaches a certain value, the oil pump motor assembly 347 can stop working. It should be emphasized that the oil circuit between the hydraulic reducer 34 and the accumulator 346 is conductive during the operation of the vehicle body 5, and the pressure in the hydraulic reducer 34 can be maintained in real time by the accumulator 346. Therefore, the oil pump motor assembly 347 does not need to work all the time during the movement of the vehicle body 5. The main controller sends instructions to the multi-way reversing valve block assembly 340 through the hydraulic controller to control the lifting and lowering of the hydraulic navigation lifting device 1 and the attachment device 4, as well as the front and rear tilting of the gantry forward and backward tilting device 2. When the vehicle body 5 needs to turn or turn, the main controller fitting algorithm gives the first two sets of drive motor differential signals, and gives the steering motor 33 a corresponding rotation signal, thereby sending instructions to the two drive wheels and the steering wheel 31 through the drive motor controller and the steering motor controller, allowing the two drive wheels to move differentially. The angle generated by the differential must match the rotation angle of the steering wheel 31. The drive wheel and the steering wheel 31 are synchronized in real time to ensure that the drive wheel and the steering wheel 31 turn smoothly and avoid tire wear. At the same time, the counterbalanced forklift in this mode greatly reduces the turning radius, greatly improving the passability and flexibility in various spatial environments; when the vehicle body 5 is moving straight, it is only necessary to let the drive wheel and the steering wheel 31 run parallel to the vehicle body 5.

[0102] Applying the control logic of this hydraulic system for braking and differential drive to the forklift - type AGV vehicle body 5 with hydraulic braking and differential drive greatly improves the performance of the whole vehicle.

[0103] Please also refer to Figures 7 to 10 , the hydraulic navigation lifting device 1 includes a hydraulic navigation lower base 11, a hydraulic navigation upper base 13, and a jacking pipe 183.

[0104] Among them, the hydraulic navigation lower base 11 is fixed to the vehicle body 5, the hydraulic navigation upper base 13 is fixed to the hydraulic navigation lower base 11, and the left - position photoelectric proximity switch 17, the middle - position photoelectric proximity switch 18, and the right - position photoelectric proximity switch 19 are fixed to the hydraulic navigation upper base 13; the jacking pipe 183 is movably installed in the hydraulic navigation upper base 13, the navigation laser 182 is installed on the jacking pipe 183, and the photoelectric proximity switch upper limit 185, the lower left limit hole 186, and the lower right limit hole 187 are arranged in sequence along the direction away from the navigation laser 182 on the jacking pipe 183.

[0105] When the photoelectric proximity switch upper limit 185 moves to the middle - position photoelectric proximity switch 18, the middle - position photoelectric proximity switch 18 is triggered to stop the downward movement of the jacking pipe 183. When the lower left limit hole 186 moves to the left - position photoelectric proximity switch 17, the left - position photoelectric proximity switch 17 is triggered to stop the upward movement of the jacking pipe 183. When the lower right limit hole 187 moves to the right - position photoelectric proximity switch 19, the right - position photoelectric proximity switch 19 is triggered to stop the upward movement of the jacking pipe 183.

[0106] Moreover, the hydraulic navigation lifting device 1 also includes an upper slider assembly and a lower slider assembly. The upper slider assembly is arranged around the inner wall of the hydraulic navigation upper base 13 to form a limiting cavity, and the jacking pipe 183 is restricted to lift in the limiting cavity; the lower slider assembly is arranged around the outer wall of the jacking pipe 183 and is used for sliding cooperation with the hydraulic navigation upper base 13 to limit and guide the jacking pipe 183.

[0107] Specifically, the upper slider assembly includes four first upper sliders 14 and four second upper sliders 15, which are respectively fixed on the hydraulic navigation lifting upper base 13, and the jacking pipe 183 is restricted to move in the four first upper sliders 14 and the four second upper sliders 15; the lower slider assembly includes four first lower sliders 188 and four second lower sliders 189, which are arranged on the outer wall of the jacking pipe 183 for sliding cooperation with the hydraulic navigation lifting upper base 13. Of course, the hydraulic navigation lifting upper base 13 is Slide grooves corresponding to each lower sliding block can be set to limit and guide the lifting tube 183; the left photoelectric proximity switch 17, the middle photoelectric proximity switch 18, and the right photoelectric proximity switch 19 are respectively fixed on the hydraulic navigation lifting base 13, the navigation laser 182 is fixed on the navigation laser mounting seat 184, the navigation laser shield 125 is used to protect the navigation laser 182, and the line of the navigation laser 182 is protected by the wiring shield 12. When the upper limit 185 of the photoelectric proximity switch moves to the middle photoelectric proximity switch 18, the middle photoelectric proximity switch 18 will be triggered and the lifting tube 183 will stop moving downward. When the lifting cylinder 123 is working, oil enters the lifting cylinder oil port 124, pushing the lifting cross bar 190 and the lifting rod seat 122 to move upward, and the lifting pipe 183 drives the navigation laser 182 to move upward. When the lower left limit hole 186 moves to the left photoelectric proximity switch 17, the left photoelectric proximity switch 17 is triggered, the lifting pipe 183 stops moving upward, and the navigation laser 182 is at one height. When the lower right limit hole 187 moves to the right photoelectric proximity switch 19, the right photoelectric proximity switch 19 is triggered, the lifting pipe 183 stops moving upward, and the navigation laser 182 is at another height. That is, the lifting height of the navigation laser 182 is determined by the position of the limit hole on the hydraulic navigation lifting base 13, so the lifting height of the navigation laser 182 can be changed by changing the position of the limit hole.

[0108] The hydraulic navigation lifting device 1 realizes the raising or lowering of the navigation laser 182 by using a hydraulic cylinder to push the lifting tube 183 up or down. The hydraulic cylinder has low cost, high lifting speed, convenient adjustment, large lifting force, long service life and easy maintenance. At the same time, the upper slider assembly and the lower slider assembly limit the lifting tube 183, and the slider can be added with a gasket to facilitate the adjustment of the distance between the slider and the lifting tube 183, so as to ensure that the lifting tube 183 moves in the vertical direction and is not easy to shake. This structure not only improves the operation accuracy of the lifting tube 183 and allows the navigation laser 182 to run stably, but also reduces the processing cost and installation difficulty of the navigation lifting. In addition, according to the lifting height requirements of the project site, corresponding limit holes can be opened on the lifting tube 183 to make the lifting height of the navigation different.

[0109] In some embodiments, the hydraulic navigation lifting device 1 further includes a prompting component, a safety laser probe, and a vision module. Among them, the prompting component can be the front projection lamp 102 and the side projection lamp 106. The front projection lamp 102 and the side projection lamp 106 are installed on the lower base 11 of the hydraulic navigation lifting. The function of the front projection lamp 102 is to warn pedestrians in front of the vehicle body 5, and the function of the side projection lamp 106 is to warn pedestrians on the left and right sides of the vehicle body 5; the safety laser probe can be the front safety laser probe 104. The front safety laser probe 104 is installed on the lower base 11 of the hydraulic navigation lifting through the angle adjustment bracket 103. The angle adjustment bracket 103 can adjust the angle so that the safety laser probe 104 can adjust the scanning surface according to different scenarios; the vision module can be the front camera 105. The front camera 105 is installed on the upper base 13 of the hydraulic navigation lifting. The function of the front camera 105 is to record the driving conditions in front of the vehicle body 5.

[0110] Please refer to Figure 11 , the hydraulic navigation lifting device 1 further includes an inclined tie rod 107 and a tie rod support 108. One end of the inclined tie rod 107 is fixed on the tie rod support 108, and the other end is fixed on the vehicle body 5, so that the hydraulic navigation lifting device 1 is more stable during the driving process of the vehicle body 5. By connecting the hydraulic navigation lifting device 1 and the vehicle body 5 through the inclined tie rod 107, the shaking of the navigation during the operation of the vehicle body 5 is reduced, and the stability of the hydraulic navigation lifting device 1 is improved.

[0111] In this embodiment, the hydraulic navigation lifting device 1 is equipped with two sets of slider assemblies. The jacking oil cylinder 123 pushes the jacking pipe 183 to rise linearly in the two sets of slider assemblies. Compared with the fixed navigation installation form, this device has a lifting and adjustment function. It should be noted that in the existing navigation lifting devices, some use the combination of "electric cylinder + guide rod + linear bearing" to realize the lifting of the navigation laser. This combination has high requirements for processing accuracy and complex installation. The holes in the three plates need to be on the same axis to install the guide rod and make the guide rod move smoothly. Some also use the combination of "electric push rod + guide rail" to realize the lifting of the navigation laser. This combination has a high cost. As the stroke of the electric push rod increases, the required length of the guide rail is longer, and the cost is higher, and the operation is unstable. Compared with the above two existing navigation lifting mechanisms, this device uses a hydraulic cylinder for jacking and is limited by multiple sets of slider assemblies, and has the characteristics of large lifting force, high speed, stable jacking, easy installation and adjustment, low cost, and easy maintenance.

[0112] Please refer to Figure 12 and Figure 13, the mast tilting device 2 includes a mast body 21, a tilting cylinder 25, an upper bracket 22, a lower bracket 23 and a displacement sensor 24. Among them, the mast body 21 is rotatably arranged on the vehicle body 5. The mast body 21 is installed on the vehicle body 5 through a mast bearing 28. The mast bearing 28 is fixed in a bearing cover 27. At the same time, the mast body 21 is provided with a mast pin 26. The tilting cylinder 25 is connected to the vehicle body 5 and the mast pin 26. The tilting cylinder 25 is used to drive the mast body 21 to tilt forward or backward. The upper bracket 22 is fixed on the mast pin 26, and the lower bracket 23 is fixed on the tilting cylinder 25. One end of the displacement sensor 24 is connected to the upper bracket 22, and the other end is connected to the lower bracket 23. The displacement sensor 24 is used to detect the tilting distance of the mast body 21 forward or backward.

[0113] The multi-way valve block assembly 340 controls the on-off of each oil circuit of the whole vehicle. When the multi-way valve block assembly 340 supplies oil to the oil inlet 290 of the forward tilting cylinder, the tilting cylinder 25 pushes the mast pin 26 to move forward. At the same time, the mast body 21 rotates with the mast ear plate as the hinge point. At this time, the displacement sensor 24 measures the forward tilting distance (or angle) of the mast. Similarly, when the multi-way valve block supplies oil to the oil inlet 291 of the rear tilting cylinder, the tilting cylinder 25 pushes the mast pin 26 to move backward. At the same time, the mast body 21 rotates with the mast ear plate as the hinge point. At this time, the displacement sensor 24 measures the rear tilting distance of the mast.

[0114] In this way, the mast has the function of tilting forward and backward. Compared with the forklift-type AGV with hydraulic braking differential drive of a conventional fixed mast, the tilting function forward and backward is more convenient for picking up and unloading goods, preventing the goods from falling off the fork during the forklift handling process. And, compared with the tilting function of the attachment, the tilting angle of the mast forward and backward is larger, making it easier to insert and handle goods. In addition, the displacement sensor 24 can be used to measure and control the tilting angle of the mast in real time. When the vehicle body 5 moves forward or backward, to ensure the stable operation of the goods, the mast needs to tilt backward to lower the center of gravity of the goods, and at the same time make the goods closely lean against the fork body 489 on the attachment to ensure that the goods do not fall. When the vehicle body 5 retracts the fork to unload the goods, to ensure that the fork is horizontal, the mast needs to tilt forward at a certain angle. The tilting forward or backward of the mast of the AGV vehicle body 5 meets the requirements of different goods picking conditions and different operating scenarios.

[0115] Such as Figure 6As shown, the mast tilting device 2 further includes a mast lifting cylinder 29 for driving the lifting movement of the mast body 21. When the mast body 21 needs to be lifted, the oil pump motor assembly 347 supplies oil to the multi-way valve block assembly 340 through the brake valve block 345, and then the multi-way valve block assembly 340 supplies oil to the mast lifting cylinder 29. Similarly, if the mast body 21 is to be tilted or the hydraulic navigation lifting device 1 is to be lifted, the multi-way valve block assembly 340 needs to supply oil to the front and rear tilting cylinders 25 or the lifting cylinder 123. The action instructions of the multi-way valve block assembly 340 and the oil pump motor assembly 347 are issued by the hydraulic controller.

[0116] Please refer to Figure 14 and Figure 15 also. The attachment device 4 is installed on the mast body 21. The attachment device 4 includes a fork frame body 489. On the fork frame body 489, there are a left fork 46, a middle left fork 487, a middle right fork 483, and a right fork 488. On both sides of the left fork 46, the middle left fork 487, the middle right fork 483, and the right fork 488, there are fork hard limit blocks 45.

[0117] In some embodiments, the attachment device 4 further includes a middle side shift cylinder 49. The middle side shift cylinder 49 is connected to the middle left fork 487 and the middle right fork 483. The middle side shift cylinder 49 is used to drive the middle left fork 487 and the middle right fork 483 to move relative to the fork frame body 489. On both sides of the middle left fork 487 and the middle right fork 483, there are photoelectric proximity switch sensors 482.

[0118] Moreover, the attachment device 4 further includes a left pull rope bracket 486, a left pull rope encoder 484, a right pull rope bracket 44, and a right pull rope encoder 42. Among them, the left pull rope bracket 486 is fixed to the back of the left fork 46. The left pull rope encoder 484 is connected to the left pull rope bracket 486 through the left pull rope 485. The left pull rope encoder 484 is used to control the moving position of the left fork 46. The right pull rope bracket 44 is fixed to the back of the right fork 488. The right pull rope encoder 42 is connected to the right pull rope bracket 44 through the right pull rope 43. The right pull rope encoder 42 is used to control the moving position of the right fork 488.

[0119] Specifically, the left fork 46, the middle left fork 487, the middle right fork 483, and the right fork 488 are respectively installed on the fork frame body 489. Hard limit blocks 45 are provided on both sides of each fork as hard limits to limit the extreme positions of the fork movement. Photoelectric proximity switch sensors 482 are provided on both sides of the two middle forks. The photoelectric proximity switch sensors 482 are fixed on the first bracket 481, the first bracket 481 is fixed on the second bracket 491, and the second bracket 491 is fixed on the goods retaining shelf 490. The first bracket 481 is designed with vertical adjustment kidney-shaped holes, enabling the photoelectric proximity switch sensors 482 to adjust the installation position in the vertical direction. The second bracket 491 is designed with horizontal adjustment kidney-shaped holes, enabling the photoelectric proximity switch sensors 482 to adjust the installation position in the horizontal direction.

[0120] In this way, when the multi-way valve block assembly 340 supplies oil to the middle side-shift cylinder 49, the middle side-shift cylinder 49 simultaneously pushes the middle left fork 487 and the middle right fork 483 to move to both sides. When one side of the two forks approaches the photoelectric proximity switch sensor 482 by a certain distance, the photoelectric proximity switch sensor 482 is triggered, and the two forks stop moving. Similarly, when the middle side-shift cylinder 49 simultaneously pushes the middle left fork 487 and the middle right fork 483 to move towards the middle, another group of photoelectric proximity switch sensors 482 is triggered.

[0121] It should be noted that the moving position of the left fork 46 is controlled by the left pull rope encoder 484. The left pull rope bracket 486 is fixed on the back of the left fork 46. When the multi-way valve block assembly 340 supplies oil to the left side-shift cylinder 48, the left fork 46 will move along the left side-shift cylinder guide rail 493. If the fork moves to the right, the left pull rope 485 will extend to the right. If the fork moves to the left, the left pull rope 485 will move to the left. Similarly, the moving position of the right fork 488 is controlled by the right pull rope encoder 42. The right pull rope bracket 44 is fixed on the back of the right fork 488. When the multi-way valve block assembly 340 supplies oil to the right side-shift cylinder 41, the right fork 488 will move along the right side-shift cylinder guide rail 492. If the fork moves to the right, the right pull rope 43 will extend to the right. If the fork moves to the left, the right pull rope 43 will move to the left.

[0122] In this way, the displacement distances of the left fork 46 and the right fork 488 are controlled in real time by a wire rope encoder, and the elongation distance of the wire rope encoder determines the moving distances of the left fork 46 and the right fork 488. The moving distances of the middle-position left fork 487 and the middle-position right fork 483 are controlled by two groups of photoelectric proximity switch sensors 482. The installation positions of the photoelectric proximity switch sensors 482 determine the moving distances of the middle-position left fork 487 and the middle-position right fork 483. There is a set of hard limits on both sides of each fork to ensure the limit positions of the fork movement. This four-fork adjustable attachment meets the requirements of cargo pallets with different socket sizes and improves the versatility of the attachment.

[0123] In addition, the attachment device 4 further includes a mechanical collision switch 47. When the fork is inserted into the pallet and the pallet contacts the mechanical collision switch 47, the mechanical collision switch 47 is triggered, indicating that the goods have reached the position, and the vehicle body 5 stops moving forward.

[0124] The attachment device 4 of this application has the function of four-fork adjustable distance. This kind of attachment can insert and pick up pallets with different socket spacings. Compared with traditional fixed forks or two-adjustable-distance forks, the fork spacing of this kind of attachment can be adaptively adjusted according to the on-site pallet requirements, enabling an AGV vehicle body 5 to have different fork widths and insert and pick up pallets with different socket sizes.

[0125] In summary, the hydraulic navigation lifting device 1 in the embodiment of this application has multiple strokes, is convenient to adjust, operates stably, and increases the usage scenarios of the AGV; the gantry tilting device 2 has the function of tilting forward and backward, which not only facilitates the loading and unloading of goods but also prevents the goods from falling off due to fork deformation, enhancing the safety during the operation of the AGV; in terms of the wheel arrangement, it adopts front double-wheel drive and rear-wheel steering, and hydraulic brakes are equipped on the driving wheels, which improves both the mobility and safety of the AGV. Applying the control logic of this hydraulic system braking and differential drive to the forklift-type AGV vehicle body 5 with hydraulic braking and differential drive greatly improves the performance of the whole vehicle; the four-fork adjustable-distance forks can change the fork width for passing goods of two groups and insert and pick up pallets with different socket spacings, improving the versatility of this attachment.

[0126] It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0127] The above has introduced in detail the forklift-type AGV with hydraulic braking differential drive provided by the present application. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the solution of the present application and its core idea. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the protection scope of the present application.

Claims

1. A forklift-type AGV with hydraulic braking differential drive, comprising a vehicle body, characterized in that, It further includes: A hydraulic retarder, including a retarder fixed disk and a retarder rotating disk. The retarder fixed disk is installed on the vehicle body, the retarder rotating disk is rotationally matched with the retarder fixed disk, and the retarder rotating disk is connected with a driving wheel; Friction plates, fixed to the retarder rotating disk; Brake pads, movably arranged on the retarder fixed disk, for contacting the friction plates to generate frictional force so as to stop the driving wheel from rotating; A brake piston, movably arranged on the retarder fixed disk, for moving relative to the retarder fixed disk along a first direction and a second direction, and the second direction is opposite to the first direction; An elastic member, connected with the brake piston, for providing an elastic force to push the brake piston to move along the first direction and squeeze the brake pads, so as to realize the contact between the brake pads and the friction plates to generate frictional force; A brake oil cavity, arranged on the retarder fixed disk, for enabling the brake piston to be pressurized and move along the second direction when hydraulic oil is filled, so that the brake pads and the friction plates are separated, and enabling the elastic member to accumulate elastic force. It is also used for enabling the brake piston to be released from the pressurized state after the hydraulic oil flows out, and enabling the brake piston to move along the first direction under the action of the elastic force accumulated by the elastic member.

2. The forklift AGV with hydraulic braking differential drive according to claim 1, wherein The forklift AGV with hydraulic braking differential drive further includes an oil tank, an oil pump motor assembly, a brake valve block and an accumulator. The oil pump motor assembly is connected with the oil tank through a motor inlet oil pipe, and is connected with the brake valve block and the accumulator through a valve block inlet oil pipe. The brake valve block is connected with the hydraulic retarder through a brake oil pipe. The hydraulic retarder is provided with a hydraulic oil passage, and the hydraulic oil passage is used for communicating the brake oil pipe and the brake oil cavity; When the vehicle body is running, the oil pump motor assembly supplies oil to the accumulator and the hydraulic retarder through the brake valve block, and the oil circuit between the hydraulic retarder and the accumulator is conducted, so that the pressure in the hydraulic retarder is maintained in real time depending on the accumulator.

3. The forklift AGV with hydraulic braking differential drive according to claim 1, characterized in that, The number of the driving wheels is two, and the forklift AGV with hydraulic braking differential drive further includes: Two driving motors, respectively connected with the two driving wheels through planetary reduction gears; Steering wheels, installed on the vehicle body; A steering motor, connected with the steering wheels, for driving the steering wheels to rotate; A driving motor controller, communicatively connected with the driving motors; A steering motor controller, communicatively connected with the steering motor; A main controller, for sending differential signals to the two driving motors through the driving motor controller, and sending rotation signals to the steering motor through the steering motor controller, so that the two driving wheels perform differential motion, and the angle generated by the differential of the two driving wheels matches the rotation angle of the steering wheels.

4. The forklift-type AGV with hydraulic braking differential drive according to claim 3, characterized in that, The forklift AGV with hydraulic braking differential drive further includes: A multi-way directional valve block assembly, connected with a hydraulic navigation lifting device, a mast tilting device and an attachment device; The hydraulic controller is communicatively connected to the main controller and the multi-way directional valve block assembly, and is configured to send control instructions to the multi-way directional valve block assembly to control the actions of the hydraulic navigation lifting device, the mast tilting device, and the attachment device.

5. The forklift-type AGV with hydraulic braking differential drive according to claim 4, characterized in that, The hydraulic navigation lifting device includes: The lower base of the hydraulic navigation lift, which is fixed to the vehicle body; The upper base of the hydraulic navigation lift, which is fixed to the lower base of the hydraulic navigation lift. The upper base of the hydraulic navigation lift is fixed with a left-position photoelectric proximity switch, a middle-position photoelectric proximity switch, and a right-position photoelectric proximity switch; The jacking pipe is movably installed in the upper base of the hydraulic navigation lift. The jacking pipe is equipped with a navigation laser, and the jacking pipe is sequentially provided with a photoelectric proximity switch upper limit, a lower left limit hole, and a lower right limit hole along the direction away from the navigation laser; When the photoelectric proximity switch upper limit moves to the middle-position photoelectric proximity switch, the middle-position photoelectric proximity switch is triggered to stop the downward movement of the jacking pipe. When the lower left limit hole moves to the left-position photoelectric proximity switch, the left-position photoelectric proximity switch is triggered to stop the upward movement of the jacking pipe. When the lower right limit hole moves to the right-position photoelectric proximity switch, the right-position photoelectric proximity switch is triggered to stop the upward movement of the jacking pipe.

6. The forklift-type AGV with hydraulic braking differential drive according to claim 5, characterized in that, The hydraulic navigation lifting device further includes: The upper slider assembly is disposed around the inner wall of the upper base of the hydraulic navigation lift and is configured to form a limiting cavity, and the jacking pipe is restricted to lift in the limiting cavity; The lower slider assembly is disposed around the outer wall of the jacking pipe and is configured to slidably cooperate with the upper base of the hydraulic navigation lift to limit and guide the jacking pipe.

7. The forklift-type AGV with hydraulic braking differential drive according to claim 5, characterized in that, The hydraulic navigation lifting device further includes: The prompting assembly is installed on the lower base of the hydraulic navigation lift and is used to prompt pedestrians; The safety laser probe is installed on the lower base of the hydraulic navigation lift through an angle adjustment bracket; The vision module is installed on the upper base of the hydraulic navigation lift and is used to record the driving conditions in front of the vehicle body.

8. The forklift-type AGV with hydraulic braking differential drive according to claim 4, wherein, The mast tilting device includes: The mast body is rotatably disposed on the vehicle body, and the mast body is provided with a mast pin; The front and rear tilting cylinders are connected to the vehicle body and the mast pin and are used to drive the mast body to tilt forward or backward; The upper bracket is fixed on the mast pin; The lower bracket is fixed on the front and rear tilting cylinders; The displacement sensor has one end connected to the upper bracket and the other end connected to the lower bracket, and is used to detect the distance of the mast body tilting forward or backward.

9. The forklift-type AGV with hydraulic braking differential drive according to claim 8, characterized in that, The attachment device is installed on the mast body. The attachment device includes a fork frame body, and the fork frame body is provided with a left fork, a middle left fork, a middle right fork, and a right fork. Hard limit blocks for the forks are arranged on both sides of the left fork, the middle left fork, the middle right fork, and the right fork.

10. The forklift AGV with hydraulic braking differential drive according to claim 9, characterized in that, The attachment device further includes a middle position side shift oil cylinder, which is connected to the middle position left fork and the middle position right fork. The middle position side shift oil cylinder is used to drive the middle position left fork and the middle position right fork to move relative to the fork frame body. Photoelectric proximity switch sensors are arranged on both sides of the middle position left fork and the middle position right fork; The attachment device further includes: A left pull rope bracket, fixed to the back of the left fork; A left pull rope encoder, connected to the left pull rope bracket through the left pull rope, and used to control the moving position of the left fork; A right pull rope bracket, fixed to the back of the right fork; A right pull rope encoder, connected to the right pull rope bracket through the right pull rope, and used to control the moving position of the right fork.

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