Automatic AGV forklift

Abstract

The invention provides an automatic AGV forklift, and relates to the technical field of AGV forklifts, a forklift body is provided with two liftable forks, the length directions of the two forks are parallel to each other, the forks are provided with circulating conveying assemblies capable of running in the width directions of the forks, and when the forks are inserted into fork holes of trays and support the trays and cargoes, the forks are conveyed to the circulating conveying assemblies through the circulating conveying assemblies. The upper surface of the circulating conveying assembly makes contact with the trays and drives the trays and the goods to move in the width direction of the forks so as to adjust the gravity centers of the trays and the goods, the gravity centers of the trays and the goods are prevented from deflecting, the forks on the two sides bear the same pressure, and the goods overturning risk is reduced. The contact size of the circulating conveying assembly in the width direction of the pallet fork and the pallet fork is increased through the adjusting assembly, the actual contact and supporting area of the pallet fork and the tray is increased, deformation of the contact position of the tray and the pallet fork is reduced, the plane of the tray is kept horizontal, and the stability of the transfer process is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of AGV forklifts, in particular to an automatic AGV forklift. BACKGROUND

[0002] AGV forklift refers to a transport vehicle equipped with an automatic guiding device such as an electromagnetic or optical device, which can travel along a specified guiding path and has a carrying function. With the rapid development of science and technology, the limitations of traditional manual forklifts in efficiency, accuracy and labor cost are increasingly prominent. AGV forklifts are widely used due to their advantages of high-precision navigation, dynamic path planning and multi-scenario adaptability. For example, in complex environments such as e-commerce warehouses, flexible manufacturing production lines and port terminals, AGV forklifts have expanded their load capacity from light shelf handling to heavy pallet transfer, and achieved large-scale cluster operations through multi-vehicle coordination technology.

[0003] The existing AGV forklifts, when working, insert two forks into the fork holes of the pallet, and then lift and transfer the pallet and goods. Due to the difference in goods stacking, after the forks are inserted into the fork holes of the pallet and the pallet is lifted, the center of gravity of the pallet and goods is prone to deviation, resulting in inconsistent pressure on the two sides of the forks and the risk of goods overturning. Moreover, since the size of the forks is smaller than the size of the fork holes, the actual contact and support area between the forks and the pallet is small, which easily causes deformation at the contact position between the pallet and the forks, making it difficult to maintain the horizontal plane of the pallet and affecting the stability of the transfer process. The information disclosed in the background section of this application is only intended to enhance the understanding of the general background of the application, and should not be considered as recognition or suggestion that this information constitutes prior art known to those skilled in the art. SUMMARY

[0004] Therefore, it is necessary to provide an automatic AGV forklift to solve the problems existing in the current AGV forklifts.

[0005] The above-mentioned purpose is achieved by the following technical solutions: An automatic AGV forklift, a vehicle body is provided with two liftable forks, the length direction of the two forks is parallel to each other, a circulating conveying assembly capable of running along the width direction of the fork is arranged on the fork, when the fork is inserted into the fork hole of the pallet along the length direction and lifts the pallet and goods, the circulating conveying assembly runs to move the pallet and goods along the width direction of the fork; an adjusting assembly is arranged on the fork, and the adjusting assembly is used to adjust the size of the circulating conveying assembly in contact with the fork in the width direction of the fork.

[0006] Further, the forklift is provided with a pressure detection module, which is used to detect the pressure value of the pallet applied to the forklift, and when the pressure values applied to the two forklifts are different, the circulating conveying assembly operates to move the pallet and goods along the width direction of the forklift to the forklift with the smaller pressure value.

[0007] Further, the adjusting assembly comprises two adjusting rollers, the axes of the two adjusting rollers are parallel to the length direction of the forklift and are in the same horizontal plane, the circulating conveying assembly is in a closed chain structure, the adjusting rollers abut against the inner side of the circulating conveying assembly, and the two adjusting rollers can move relatively in the width direction of the forklift.

[0008] Further, the circulating conveying assembly is provided with a plurality of contact blocks at equal intervals along the running direction of the circulating conveying assembly, the contact blocks run synchronously along the width direction of the forklift with the circulating conveying assembly, and when the forklift is inserted into the fork hole of the pallet along the length direction and lifts the pallet and goods, the contact blocks contact the pallet.

[0009] Further, some of the contact blocks are provided with cleaning pieces.

[0010] Further, the preset number of cleaning pieces are arranged at equal intervals along the running direction of the circulating conveying assembly.

[0011] Further, the circulating conveying assembly comprises the preset number of conveying sections, and the friction coefficients of the contact blocks in adjacent conveying sections are different.

[0012] Further, the forklift is provided with a tensioning roller, which is used to keep the circulating conveying assembly taut.

[0013] Further, the tensioning roller abuts against the outer side of the circulating conveying assembly.

[0014] Further, the end of the forklift away from the vehicle body is provided with a protective cover.

[0015] The beneficial effects of the present application are as follows: when the forklift is inserted into the fork hole of the pallet and lifts the pallet and goods, the upper surface of the circulating conveying assembly contacts the pallet and drives the pallet and goods to move along the width direction of the forklift, so as to adjust the center of gravity of the pallet and goods, avoid the center of gravity of the pallet and goods from being skewed, make the pressure on both sides of the forklift consistent, and reduce the risk of goods overturning; the adjusting assembly increases the size of the circulating conveying assembly contacting the forklift in the width direction of the forklift, improves the actual contact and support area of the forklift and the pallet, reduces the deformation of the contact position of the pallet and the forklift, maintains the horizontal plane of the pallet, and ensures the stability of the transfer process. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The isometric view of the automatic AGV forklift provided in the embodiment of the present application; Figure 2 The Figure 1 The enlarged view of the part A in the figure; Figure 3 The Figure 1 The front view of the automatic AGV forklift; Figure 4 The Figure 1 The side view of the automatic AGV forklift fork; Figure 5 The Figure 4 The B-B sectional view of the automatic AGV forklift fork; Figure 6 The Figure 4 The isometric view of the automatic AGV forklift fork without part of the circulating conveying assembly; Figure 7 The Figure 6 The enlarged view of the part C in the figure; Figure 8 The Figure 5 The D-D sectional view of the automatic AGV forklift fork; Figure 9 The Figure 8 The enlarged view of the part E in the figure; Figure 10 The Figure 8 The enlarged view of the part F in the figure; Figure 11 The working state schematic diagram of the automatic AGV forklift fork.

[0017] Wherein: 100, the vehicle body; 101, the fork; 102, the pallet; 103, the fork hole; 200, the circulating conveying assembly; 201, the chain; 202, the pressure detection module; 203, the contact block; 204, the cleaning piece; 300, the adjusting assembly; 301, the adjusting roller; 302, the sliding hole; 303, the cross plate; 304, the mounting plate; 305, the motor; 306, the first gear; 307, the second gear; 308, the bearing seat; 309, the first rotating shaft; 310, the sprocket; 311, the guide block; 312, the guide groove; 313, the telescopic piece; 314, the connecting shaft; 315, the adjusting groove; 316, the guide bolt; 317, the second rotating shaft; 318, the telescopic push rod; 319, the tensioning roller; 320, the third rotating shaft; 321, the fixed shaft; 322, the protective cover; 323, the I-beam; 324, the tension spring. DETAILED DESCRIPTION

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0019] The component designations used in this document, such as "first" and "second," are merely for distinguishing the described objects and do not have any sequential or technical meaning. The terms "connection" and "linkage" used in this invention, unless otherwise specified, include both direct and indirect connections (linkages). It should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0020] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0021] like Figures 1 to 11 As shown, this embodiment of the invention provides an automated AGV forklift. The vehicle body 100 is equipped with two liftable forks 101, which are parallel to each other in the length direction. The forks 101 are equipped with a circulating conveying assembly 200 that can run along its width direction. When the forks 101 are inserted into the fork holes 103 of the pallet 102 along their length direction and lift the pallet 102 and the goods, the circulating conveying assembly 200 runs to move the pallet 102 and the goods along the width direction of the forks 101. The forks 101 are equipped with an adjusting assembly 300, which is used to adjust the size of the contact between the circulating conveying assembly 200 and the forks 101 in the width direction of the forks 101.

[0022] When the forks 101 are inserted into the fork holes 103 of the pallet 102 and lift the pallet 102 and the goods, the upper surface of the circulating conveying assembly 200 is in contact with the pallet 102 and drives the pallet 102 and the goods to move along the width direction of the forks 101, so as to adjust the center of gravity of the pallet 102 and the goods, avoid the center of gravity of the pallet 102 and the goods from being deviated, make the pressure borne by the two forks 101 consistent, and reduce the risk of overturning of the goods; the adjusting assembly 300 increases the size of the circulating conveying assembly 200 in contact with the forks 101 in the width direction of the forks 101, improves the actual contact and support area of the forks 101 with the pallet 102, reduces the deformation of the contact position of the pallet 102 with the forks 101, makes the plane of the pallet 102 maintain horizontal, and ensures the stability in the transfer process.

[0023] The existing AGV forklift can mainly include the following components: a navigation system integrated with a laser radar, a visual sensor, a two-dimensional code or a magnetic strip recognition device to realize environmental perception and positioning; a driving module composed of a driving member, a wheel set and a steering mechanism to support multi-degree-of-freedom motion such as forward movement, backward movement and steering; forks 101 with liftable forks 101 and a telescopic mechanism, some models supporting angle adjustment of the forks 101 to adapt to different pallet 102 specifications; a control system to realize path planning and action coordination through relevant algorithms and instructions; a safety device with an emergency stop button, a collision avoidance sensor and a sound and light alarm module to ensure the safety of human-machine cooperation; and an energy system powered by a lithium battery pack to support automatic recharging or battery replacement mode. The structure and working mode of the AGV forklift are prior art, which will not be described here.

[0024] The circulating conveying assembly 200 is a closed chain structure at both ends, which can be a chain 201 or a belt and other structures that can circulate, and is preferably a chain 201 in a ring shape and sleeved on the forks 101.

[0025] Preferably, referring to Figure 6 The forks 101 are provided with a pressure detection module 202 for detecting the pressure value of the pallet 102 applied to the forks 101. When the pressure values applied by the pallet 102 to the two forks 101 are different, the circulating conveying assembly 200 operates to move the pallet 102 and the goods along the width direction of the forks 101 to the fork 101 with the smaller pressure value.

[0026] According to the pressure difference of the two forks 101 caused by the pallet 102 and the goods, and through the circulating conveying assembly 200, the pallet 102 and the goods are moved to the fork 101 with the smaller pressure value, so as to adjust the center of gravity of the pallet 102 and the goods, make the center of gravity of the pallet 102 and the goods repositioned at the midpoint of the perpendicular line of the two forks 101, avoid the center of gravity of the pallet 102 and the goods from being deviated, make the pressure borne by the two forks 101 consistent, and reduce the risk of overturning of the goods.

[0027] Wherein, each fork 101 is provided with multiple pressure detection modules 202 at equal intervals along the length direction of the fork 101, and is connected with the control system. For one fork 101, the multiple pressure detection modules 202 acquire the pressure value of the pallet 102 and the goods applied to the current fork 101, and send the average value to the control system. The control system compares the pressure average values corresponding to the two forks 101, and if there is a difference, it indicates that the center of gravity of the current pallet 102 and the goods is skewed, and the circulating conveying assembly 200 is operated to adjust the center of gravity of the pallet 102 and the goods. Figure 6 It is shown in FIG. 4 that only one pressure detection module 202 is provided on each fork 101.

[0028] Preferably, the adjusting assembly 300 includes two adjusting rollers 301, the axes of the two adjusting rollers 301 are parallel to the length direction of the fork 101 and are in the same horizontal plane, the circulating conveying assembly 200 is a chain-like structure with closed ends, the adjusting rollers 301 abut the inner side of the circulating conveying assembly 200, and the two adjusting rollers 301 can move relatively in the width direction of the fork 101.

[0029] The relative movement of the two adjusting rollers 301 in the width direction of the fork 101 can be controlled to adjust the size of the contact between the circulating conveying assembly 200 and the fork 101 in the width direction of the fork 101.

[0030] Preferably, the two adjusting rollers 301 can move in the width direction of the fork 101. Of course, one of the adjusting rollers 301 can move, and the other adjusting roller 301 can be stationary.

[0031] Wherein, referring to Figure 5 、 Figure 7 , the two sides of the fork 101 are provided with sliding holes 302 in the width direction of the fork 101, the sliding holes 302 are slidably provided with cross plates 303, the adjusting rollers 301 are rotatably arranged on the cross plates 303, and when the cross plates 303 slide along the sliding holes 302, the adjusting rollers 301 move in the width direction of the fork 101.

[0032] Preferably, the circulating conveying assembly 200 is provided with multiple contact blocks 203 at equal intervals along the running direction of the circulating conveying assembly 200, the contact blocks 203 run synchronously with the circulating conveying assembly 200 in the width direction of the fork 101, and when the fork 101 is inserted into the fork hole 103 of the pallet 102 along the length direction of the fork 101 and lifts the pallet 102 and the goods, the contact blocks 203 contact the pallet 102.

[0033] The circulating conveying assembly 200 comprises a plurality of chains 201 arranged at equal intervals along the length direction of the fork 101, and a contact block 203 is connected between two chains 201, that is, the chains 201 and the contact blocks 203 are arranged alternately, and the length direction of the contact block 203 is consistent with the length direction of the fork 101. See Figure 5 、 Figure 7 、 Figure 9 One of the mounting plates 304 extends downward and is provided with a motor 305, the motor 305 is provided with a corresponding power supply and a controller, the controller is connected with the control system, the output end of the motor 305 rotates through the mounting plate 304 and is fixed with a first gear 306, the first gear 306 is engaged with a second gear 307, a first rotating shaft 309 is rotatably arranged on the mounting plate 304 through a bearing seat 308, the first rotating shaft 309 is fixed with the second gear 307, a plurality of sprockets 310 are fixed at equal intervals along the axial direction of the first rotating shaft 309, the sprockets 310 are engaged with the corresponding chains 201 for transmission, so as to drive the chains 201 and the contact blocks 203 to run along the width direction of the fork 101. In addition, see Figure 10 The inner side of the contact block 203 is provided with a guide block 311, and the fork 101 is provided with a guide groove 312 matched with the guide block 311 along the width direction of the fork 101, so as to further limit the running of the chains 201 and the contact blocks 203, and the guide block 311 on the inner side of the contact block 203 can abut against the outer surface of the adjusting roller 301.

[0034] The two ends of the fork 101 are provided with telescopic members 313, which can be structures such as air cylinders or hydraulic cylinders, and corresponding air sources or hydraulic sources and controllers are arranged, the controller is connected with the control system, so as to control the start and stop. The fixed end of the telescopic member 313 is fixed with the fork 101, the telescopic end of the telescopic member 313 is fixed with a connecting shaft 314 in the middle of the mounting plate 304, the mounting plate 304 is vertically provided with an adjusting groove 315, and the two ends of the fork 101 are provided with guide bolts 316 which slide relative to the adjusting groove 315. The two ends of the adjusting roller 301 are rotatably provided with second rotating shafts 317, the connecting shaft 314 and the second rotating shafts 317 are provided with telescopic push rods 318, both ends of the telescopic push rod 318 are telescopic ends, and the inside is provided with a compression spring. When the telescopic end of the telescopic member 313 is telescoped, the mounting plate 304 is vertically slid along the guide bolt 316 through the connecting shaft 314, and the two second rotating shafts 317, the cross plate 303 and the adjusting roller 301 are relatively moved in the width direction of the fork 101 through the telescopic push rod 318. It is worth mentioning that the control system can control the start and stop of the motor 305 and the telescopic member 313, and control the movement of the vehicle body 100 and the lifting of the fork 101, so as to realize the path planning and action coordination, and the specific connection and implementation manner are prior art, which will not be described here.

[0035] In addition, when one of the adjusting rollers 301 and the chain 201 and the contact block 203 outside the adjusting roller 301 move to abut against one of the inner side walls of the fork hole 103, the telescopic member 313 continues to operate, the compression spring in the telescopic push rod 318 is compressed, and the current adjusting roller 301 stops moving until the other adjusting roller 301 and the chain 201 and the contact block 203 outside the adjusting roller 301 move to abut against the other inner side wall of the fork hole 103. Therefore, the distance by which the two adjusting rollers 301 and the chain 201 and the contact block 203 outside the adjusting rollers 301 extend relative to the fork 101 can be inconsistent, but the contact area of the chain 201 and the contact block 203 with the corresponding fork 101 is consistent, and is the distance between the two inner side walls of the fork hole 103 in the width direction of the fork 101.

[0036] Preferably, the preset number of contact blocks 203 are provided with cleaning members 204.

[0037] When the fork 101 is inserted into the fork hole 103 of the pallet 102 along the length direction of the fork 101, the fork 101 is controlled to rise and enable the cleaning member 204 to contact the inner top wall of the fork hole 103, and then the circulating conveying assembly 200 is controlled to operate, so that the cleaning member 204 is in sliding contact with the contact surface of the pallet 102, i.e., the inner top wall of the fork hole 103, to clean the contact surface, thereby avoiding the formation of a lubricating layer of dust and other dirt on the inner top wall of the fork hole 103, and thus avoiding the sliding of the pallet 102 relative to the fork 101, and ensuring the stability of the transfer process.

[0038] The cleaning member 204 is made of a soft material, which can be a cleaning brush, and is arranged between the two chains 201 instead of one section of the contact block 203. Of course, the cleaning member 204 can also be a cleaning roller, and the surface of the cleaning roller is provided with an adhesive layer. When the circulating conveying assembly 200 operates, the cleaning member 204 is in rolling contact with the inner top wall of the fork hole 103, and cleans the contact surface of the pallet 102 through the adhesive layer, thereby improving the cleaning effect.

[0039] Preferably, the preset number of cleaning members 204 are arranged at equal intervals along the running direction of the circulating conveying assembly 200, so as to more uniformly clean the inner top wall of the fork hole 103.

[0040] Preferably, the circulating conveying assembly 200 includes a preset number of conveying sections, and the friction coefficients of the contact blocks 203 in adjacent conveying sections are different.

[0041] For pallets 102 made of different materials, such as wood, plastic, and metal, the contact blocks 203 of different conveying sections are switched to contact the pallets 102 of corresponding materials, so that the friction coefficient between the contact block 203 and the pallet 102 remains consistent, thereby balancing the anti-skid performance between the contact block 203 and the pallet 102 and avoiding the jamming of the two, while ensuring the stability of the transfer process.

[0042] Wherein, for the wooden pallet 102, the friction coefficient of the contact block 203 in the corresponding conveying section is reduced in a way of smoothing treatment such as polishing or additional spraying of a coating with low friction coefficient. For the plastic or metal pallet 102, the friction coefficient of the contact block 203 in the corresponding conveying section is increased in a way of texture design or additional spraying of a coating with high friction coefficient.

[0043] Preferably, the pallet 101 is provided with a tensioning roller 319 for keeping the circulating conveying assembly 200 tensioned.

[0044] Preferably, the tensioning roller 319 abuts against the outer side of the circulating conveying assembly 200.

[0045] Wherein, both ends of the tensioning roller 319 are rotatably provided with third rotating shafts 320, and the mounting plate 304 is provided with fixed shafts 321, and the third rotating shafts 320 and the fixed shafts 321 are provided with tension springs 324, so that the tensioning roller 319 always has a tendency to keep the circulating conveying assembly 200 tensioned. In addition, when the mounting plate 304 vertically slides along the guide bolt 316, the third rotating shafts 320 and the tensioning roller 319 are driven by the fixed shafts 321 and the tension springs 324 to move correspondingly towards or away from one side of the circulating conveying assembly 200, so that the circulating conveying assembly 200 keeps a certain degree of tension, avoiding being too loose or too tight to affect the operation.

[0046] Of course, the tensioning roller 319 can also abut against the inner side of the circulating conveying assembly 200.

[0047] Preferably, the end of the pallet 101 away from the vehicle body 100 is provided with a protective cover 322.

[0048] Wherein, the protective cover 322 is fixed to the pallet 101 by bolts and I-beams 323.

[0049] In use, the motor 305 can be controlled according to the needs to drive the first gear 306 to rotate, drive the second gear 307, the first rotating shaft 309 and the chain wheel 310 to rotate synchronously, thereby driving the chain 201 and the contact block 203 to run along the width direction of the pallet 101, that is, the circulating conveying assembly 200 runs, while the tensioning roller 319 ensures that the circulating conveying assembly 200 keeps a certain degree of tension.

[0050] The vehicle body 100 is moved to the corresponding position of the pallet 102, and the forks 101 are inserted into the fork holes 103 of the pallet 102 along the length direction of the forks 101, the forks 101 are controlled to rise and make the cleaning member 204 contact the inner top wall of the fork hole 103, and the circulating conveying assembly 200 is controlled to operate, so that the cleaning member 204 is in sliding contact with the inner top wall of the fork hole 103 to clean the inner top wall of the fork hole 103, thereby avoiding that dirt such as dust forms a lubricating layer on the inner top wall of the fork hole 103, and thus avoiding that the pallet 102 slides relative to the forks 101, and ensuring the stability of the transfer process.

[0051] The forks 101 are controlled to rise to lift the pallet 102 and the goods, the pressure value of the pallet 102 applied to the forks 101 is detected by the pressure detection module 202, when the pressure values applied to the two forks 101 are different, the circulating conveying assembly 200 is controlled to continue to operate, so that the pallet 102 and the goods move along the width direction of the forks 101 to the fork 101 with the smaller pressure value, to adjust the center of gravity of the pallet 102 and the goods, so that the center of gravity of the pallet 102 and the goods is located at the midpoint of the vertical line of the two forks 101 again, avoiding that the center of gravity of the pallet 102 and the goods is inclined, so that the pressure applied to the two forks 101 is consistent, and the risk of overturning of the goods is reduced.

[0052] The telescopic end of the telescopic member 313 is controlled to extend downward, the mounting plate 304 is driven by the connecting shaft 314 to slide vertically downward along the guide bolt 316, and the two second rotating shafts 317, the cross plate 303 and the adjusting roller 301 are driven by the telescopic push rod 318 to move away from each other in the width direction of the forks 101, so as to increase the size of the contact between the circulating conveying assembly 200 and the forks 101 in the width direction of the forks 101, improve the actual contact and support area of the forks 101 and the pallet 102, reduce the deformation of the contact position between the pallet 102 and the forks 101, so that the plane of the pallet 102 is maintained horizontal, and the stability of the transfer process is ensured.

[0053] The technical features of the above embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0054] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. An automated AGV forklift, characterized in that, The vehicle body is equipped with two liftable forks, which are parallel to each other in length direction. Each fork is equipped with a circulating conveying assembly that can run along its width direction. When the forks are inserted into the fork holes of the pallet along their length direction and lift the pallet and goods, the circulating conveying assembly operates to move the pallet and goods along the width direction of the forks. The forks are equipped with an adjustment assembly for adjusting the size of the contact between the circulating conveying assembly and the forks in the width direction of the forks.

2. The automated AGV forklift according to claim 1, characterized in that, The forks are equipped with a pressure detection module, which is used to detect the pressure value applied by the pallet to the forks. When there is a difference in the pressure value applied by the pallet to the two forks, the circulating conveying component operates to move the pallet and the goods along the width direction of the forks toward the fork with the smaller pressure value.

3. The automated AGV forklift according to claim 1, characterized in that, The adjusting assembly includes two adjusting rollers, the axes of which are parallel to the length direction of the fork and are on the same horizontal plane. The circulating conveying assembly is a chain structure with closed ends. The adjusting rollers abut against the inner side of the circulating conveying assembly. The two adjusting rollers can move relative to each other in the width direction of the fork.

4. The automated AGV forklift according to any one of claims 1 to 3, characterized in that, The circulating conveying assembly is provided with multiple contact blocks at equal intervals along its running direction. The contact blocks move synchronously with the circulating conveying assembly along the width direction of the forks. When the forks are inserted into the fork holes of the pallet along their length direction and lift the pallet and the goods, the contact blocks contact the pallet.

5. The automated AGV forklift according to claim 4, characterized in that, Some of the contact blocks are equipped with cleaning components.

6. The automated AGV forklift according to claim 5, characterized in that, A predetermined number of the cleaning components are arranged at equal intervals along the running direction of the circulating conveying assembly.

7. The automated AGV forklift according to claim 6, characterized in that, The circulating conveying assembly includes the preset number of conveying sections, and the friction coefficients of the contact blocks in adjacent conveying sections are different.

8. The automated AGV forklift according to claim 3, characterized in that, The forks are equipped with tension rollers, which are used to keep the circulating conveyor assembly taut.

9. The automated AGV forklift according to claim 8, characterized in that, The tensioning roller abuts against the outer side of the circulating conveyor assembly.

10. The automated AGV forklift according to claim 1, characterized in that, The forks are equipped with a protective cover at the end furthest from the vehicle body.

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