An automated AGV fork truck

Abstract

The application provides an automatic AGV forklift, and relates to the technical field of AGV forklifts. Two liftable forks are arranged on the body, the length directions of the two forks are parallel to each other, a circulating conveying assembly capable of running along the width direction of the forks is arranged on the forks, when the forks are inserted into the fork holes of a pallet and lift the pallet and goods, the upper surface of the circulating conveying assembly is in contact with the pallet and drives the pallet and goods to move along the width direction of the forks, so as to adjust the gravity center of the pallet and goods, avoid the gravity center of the pallet and goods from being inclined, make the pressure on the two forks consistent, and reduce the risk of overturning of the goods. The size of the circulating conveying assembly in contact with the forks in the width direction of the forks is increased through the adjusting assembly, the actual contact and support area of the forks and the pallet is increased, the deformation of the contact position of the pallet and the forks is reduced, the plane of the pallet is kept horizontal, and the stability of the transfer process is ensured.

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.

[0004] The information disclosed in the background section of this application is only intended to deepen the understanding of the general background of the application and should not be considered as recognition or implicit acknowledgment in any form that this information constitutes prior art known to those skilled in the art. SUMMARY

[0005] Therefore, it is necessary to provide an automatic AGV forklift to solve the problems existing in the current AGV forklifts.

[0006] The above-mentioned purpose is achieved by the following technical solutions:

[0007] 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.

[0008] Furthermore, the fork is equipped with a pressure detection module, which is used to detect the pressure value applied by the pallet to the fork. When the pressure values ​​applied by the pallet to the two forks are different, the circulating conveying component operates to move the pallet and the goods along the width direction of the fork toward the fork with the smaller pressure value.

[0009] Furthermore, 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, and the two adjusting rollers can move relative to each other in the width direction of the fork.

[0010] Furthermore, 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.

[0011] Furthermore, some of the contact blocks are provided with cleaning components.

[0012] Furthermore, the preset number of cleaning components are arranged at equal intervals along the running direction of the circulating conveying assembly.

[0013] Furthermore, 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.

[0014] Furthermore, the forks are provided with tension rollers, which are used to keep the circulating conveying assembly taut.

[0015] Furthermore, the tensioning roller abuts against the outer side of the circulating conveying assembly.

[0016] Furthermore, a protective cover is provided at the end of the forks away from the vehicle body.

[0017] The beneficial effects of this invention are as follows: When the forks are inserted into the fork holes of the pallet and lift the pallet and goods, the upper surface of the circulating conveying component contacts the pallet and drives the pallet and goods to move along the width direction of the forks, thereby adjusting the center of gravity of the pallet and goods, preventing the center of gravity of the pallet and goods from tilting, ensuring that the pressure on both sides of the forks is consistent, and reducing the risk of goods tipping over; by adjusting the component to increase the size of the circulating conveying component in contact with the forks in the width direction of the forks, the actual contact and support area between the forks and the pallet is increased, reducing the deformation generated at the contact position between the pallet and the forks, keeping the pallet plane level, and ensuring the stability of the transfer process. Attached Figure Description

[0018] Figure 1 An isometric view of an automated AGV forklift provided in an embodiment of the present invention;

[0019] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0020] Figure 3 for Figure 1 A front view of a Chinese-made automated AGV forklift;

[0021] Figure 4 for Figure 1 Side view of the forks of a medium-sized automated AGV forklift;

[0022] Figure 5 for Figure 4 BB-direction sectional view of the forks of a medium-sized automated AGV forklift;

[0023] Figure 6 for Figure 4 Axonometric view of the circulating conveying component of a medium-sized automated AGV forklift with the forks removed;

[0024] Figure 7 for Figure 6 A magnified view of a section at point C;

[0025] Figure 8 for Figure 5 DD-direction sectional view of the forks of a medium-sized automated AGV forklift;

[0026] Figure 9 for Figure 8 A magnified view of a section at point E in the middle;

[0027] Figure 10 for Figure 8 A magnified view of a section at point F in the middle;

[0028] Figure 11 This is a schematic diagram showing the working state of the forks of an automated AGV forklift.

[0029] in:

[0030] 100. Vehicle body; 101. Forks; 102. Pallet; 103. Fork holes;

[0031] 200. Circulating conveyor assembly; 201. Chain; 202. Pressure detection module; 203. Contact block; 204. Cleaning component;

[0032] 300. Adjusting assembly; 301. Adjusting roller; 302. Sliding hole; 303. Horizontal plate; 304. Mounting plate; 305. Motor; 306. First gear; 307. Second gear; 308. Bearing seat; 309. First rotating shaft; 310. Sprocket; 311. Guide block; 312. Guide groove; 313. Telescopic component; 314. Connecting shaft; 315. Adjusting groove; 316. Guide bolt; 317. Second rotating shaft; 318. Telescopic push rod; 319. Tension roller; 320. Third rotating shaft; 321. Fixed shaft; 322. Protective cover; 323. I-beam; 324. Tension spring. Detailed Implementation

[0033] 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.

[0034] 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.

[0035] 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.

[0036] like Figures 1 to 11As 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.

[0037] 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 component 200 contacts the pallet 102 and drives the pallet 102 and the goods to move along the width direction of the forks 101. This adjusts the center of gravity of the pallet 102 and the goods, preventing the center of gravity of the pallet 102 and the goods from tilting. This ensures that the pressure on both sides of the forks 101 is consistent, reducing the risk of goods tipping over. By adjusting the component 300, the contact area between the circulating conveying component 200 and the forks 101 in the width direction of the forks 101 is increased, improving the actual contact and support area between the forks 101 and the pallet 102. This reduces the deformation at the contact point between the pallet 102 and the forks 101, keeping the pallet 102 plane level and ensuring the stability of the transfer process.

[0038] Existing AGV forklifts mainly include the following components: a navigation system, integrating LiDAR, vision sensors, and QR code or magnetic stripe recognition devices to achieve environmental perception and positioning; a drive module, consisting of drive components, wheel sets, and a steering mechanism, supporting multi-degree-of-freedom movement, such as forward, backward, and steering; forks 101, featuring height-adjustable forks 101 and a telescopic mechanism, with some models supporting fork 101 angle adjustment to adapt to different pallet 102 specifications; a control system, which achieves path planning and action coordination through relevant algorithms and instructions; safety devices, including emergency stop buttons, anti-collision sensors, and audible and visual alarm modules, ensuring human-machine collaboration safety; and an energy system powered by lithium battery packs, supporting automatic recharging or battery swapping modes. The structural composition and operating methods of AGV forklifts are existing technologies and will not be elaborated upon here.

[0039] The circulating conveying component 200 is a chain-like structure with closed ends. It can be a chain 201 or a belt or other recirculating structure. Preferably, it is a chain 201, which is ring-shaped and sleeved on the fork 101.

[0040] Preferably, see Figure 6The fork 101 is equipped with a pressure detection module 202, which is used to detect the pressure value applied by the pallet 102 to the fork 101. When the pressure values ​​applied by the pallet 102 to the two forks 101 are different, the circulating conveying component 200 operates so that the pallet 102 and the goods move along the width direction of the fork 101 towards the fork 101 with the smaller pressure value.

[0041] Based on the pressure difference between the two forks 101 and the pallet 102 and the goods, the circulating conveying component 200 moves the pallet 102 and the goods toward the fork 101 with the lower pressure value to adjust the center of gravity of the pallet 102 and the goods. This ensures that the center of gravity of the pallet 102 and the goods is located at the midpoint of the vertical line connecting the two forks 101, preventing the center of gravity of the pallet 102 and the goods from tilting. This ensures that the pressure on both forks 101 is consistent and reduces the risk of goods tipping over.

[0042] Each fork 101 may be provided with multiple pressure detection modules 202 at equal intervals along its length, and all of them are connected to the control system. For a fork 101, the multiple pressure detection modules 202 acquire the pressure values ​​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 average pressure values ​​corresponding to the two forks 101. If there is a difference, it indicates that the center of gravity of the current pallet 102 and the goods has been tilted, and controls the operation of the circulating conveyor component 200 to adjust the center of gravity of the pallet 102 and the goods. Figure 6 The diagram shows that only one pressure detection module 202 is installed on each fork 101.

[0043] Preferably, the adjusting assembly 300 includes two adjusting rollers 301, the axes of which are parallel to the length direction of the fork 101 and are on the same horizontal plane. The circulating conveying assembly 200 is a chain structure with closed ends. The adjusting rollers 301 abut against the inner side of the circulating conveying assembly 200. The two adjusting rollers 301 can move relative to each other in the width direction of the fork 101.

[0044] By controlling the two adjusting rollers 301, relative movement can be generated in the width direction of the fork 101 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.

[0045] Preferably, both adjusting rollers 301 can move along the width direction of the fork 101. Of course, it is also possible for one adjusting roller 301 to move while the other adjusting roller 301 remains stationary.

[0046] Among them, see Figure 5 , Figure 7The fork 101 has sliding holes 302 on both sides along its width direction. A horizontal plate 303 is slidably disposed in the sliding hole 302. An adjusting roller 301 is rotatably disposed on the horizontal plate 303. When the horizontal plate 303 slides along the sliding hole 302, the adjusting roller 301 moves along the width direction of the fork 101.

[0047] Preferably, the circulating conveying component 200 is provided with a plurality of contact blocks 203 at equal intervals along its running direction. The contact blocks 203 move synchronously with the circulating conveying component 200 along the width direction of the fork 101. When the fork 101 is inserted into the fork hole 103 of the pallet 102 along its length direction and lifts the pallet 102 and the goods, the contact blocks 203 contact the pallet 102.

[0048] The circulating conveying assembly 200 includes multiple chains 201 evenly spaced along the length of the forks 101. Contact blocks 203 connect two chains 201, meaning the chains 201 and contact blocks 203 are alternately arranged, and the length direction of the contact blocks 203 is consistent with the length direction of the forks 101. (See also...) Figure 5 , Figure 7 , Figure 9 Both ends of the fork 101 are provided with mounting plates 304. One of the mounting plates 304 extends downward and is equipped with a motor 305. The motor 305 is equipped with a corresponding power supply and controller. The controller is connected to 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 meshes with a second gear 307. A first rotating shaft 309 is rotatably mounted on the mounting plate 304 through a bearing seat 308. The first rotating shaft 309 is fixed with the second gear 307. Multiple sprockets 310 are also fixed at equal intervals along the axial direction of the first rotating shaft 309. The sprockets 310 mesh with the corresponding chains 201 to drive the chain 201 and the contact block 203 to run along the width direction of the fork 101. See also... 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 along its width direction to cooperate with the guide block 311, so as to further limit the operation of the chain 201 and the contact block 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.

[0049] Both ends of the fork 101 are equipped with telescopic components 313, which can be pneumatic or hydraulic cylinders, and are equipped with corresponding air or hydraulic sources and controllers. The controllers are connected to the control system to control start and stop. The fixed end of the telescopic component 313 is fixed to the fork 101, and the telescopic end of the telescopic component 313 is fixed to the connecting shaft 314 in the middle of the mounting plate 304. The mounting plate 304 has a vertically opened adjustment groove 315, and both ends of the fork 101 are equipped with guide bolts 316 that slide relative to the adjustment groove 315. Both ends of the adjusting roller 301 are rotatably equipped with a second rotating shaft 317. A telescopic push rod 318 is provided between the connecting shaft 314 and the second rotating shaft 317. Both ends of the telescopic push rod 318 are telescopic and are equipped with compression springs inside. When the telescopic end of the telescopic component 313 extends or retracts, the mounting plate 304 slides vertically along the guide bolt 316 via the connecting shaft 314. Simultaneously, the telescopic push rod 318 drives the two second rotating shafts 317, the cross plate 303, and the adjusting roller 301 to move relative to each other in the width direction of the forks 101. It is worth noting that the control system can control the start and stop of the motor 305 and the telescopic component 313, as well as control the movement of the vehicle body 100 and the raising and lowering of the forks 101, thereby achieving path planning and motion coordination. The specific connections and implementation methods are existing technologies and will not be elaborated here.

[0050] Furthermore, when one of the adjusting rollers 301 and its outer chain 201 and contact block 203 move to abut against one inner wall 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 its outer chain 201 and contact block 203 move to abut against the other inner wall of the fork hole 103. Therefore, the distances that the two adjusting rollers 301 and their outer chains 201 and contact blocks 203 extend relative to the fork 101 may be inconsistent, but the contact area between the chain 201, contact block 203 and the corresponding fork 101 is consistent, which is the distance between the two inner walls of the fork hole 103 in the width direction of the fork 101.

[0051] Preferably, a predetermined number of contact blocks 203 are provided with cleaning components 204.

[0052] When the forks 101 are inserted into the fork holes 103 of the pallet 102 along their length, the forks 101 are controlled to rise and the cleaning component 204 is made to contact the inner top wall of the fork hole 103. Then, the circulating conveying component 200 is controlled to run, so that the contact surface of the cleaning component 204 with the pallet 102, that is, with the inner top wall of the fork hole 103, is slidably in contact with it to clean it, so as to prevent dust and other dirt from forming a lubricating layer on the inner top wall of the fork hole 103, thereby preventing the pallet 102 from sliding relative to the forks 101 and ensuring the stability of the transfer process.

[0053] The cleaning component 204 is made of a soft material and can be a cleaning brush, which can replace a contact block 203 and be placed between the two chains 201. Alternatively, the cleaning component 204 can be a cleaning roller with an adhesive layer on its surface. When the circulating conveyor assembly 200 is running, the cleaning component 204 rolls into 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.

[0054] Preferably, a preset number of cleaning components 204 are arranged at equal intervals along the running direction of the circulating conveying assembly 200 to clean the inner top wall of the fork hole 103 more evenly.

[0055] 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.

[0056] 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 the corresponding materials so that the coefficient of friction between the contact blocks 203 and the pallets 102 remains consistent. This ensures both the anti-slip performance between the contact blocks 203 and the pallets 102 and prevents them from getting stuck, while also ensuring the stability of the transfer process.

[0057] For wooden pallets 102, the coefficient of friction of the contact blocks 203 in the corresponding conveying section is reduced. This can be achieved by smoothing the surface, such as polishing, or by applying an additional coating with a low coefficient of friction. For plastic or metal pallets 102, the coefficient of friction of the contact blocks 203 in the corresponding conveying section is increased. This can be achieved by texture design or by applying an additional coating with a high coefficient of friction.

[0058] Preferably, the fork 101 is provided with a tension roller 319, which is used to keep the circulating conveying assembly 200 taut.

[0059] Preferably, the tension roller 319 abuts against the outer side of the circulating conveying assembly 200.

[0060] The tension roller 319 has a third rotating shaft 320 at both ends, and a fixed shaft 321 on the mounting plate 304. A tension spring 324 is provided between the third rotating shaft 320 and the fixed shaft 321, so that the tension roller 319 always tends to keep the circulating conveying assembly 200 taut. In addition, when the mounting plate 304 slides vertically along the guide bolt 316, the fixed shaft 321 and the tension spring 324 drive the third rotating shaft 320 and the tension roller 319 to move towards or away from the circulating conveying assembly 200 respectively, thereby keeping the circulating conveying assembly 200 at a certain degree of tension and avoiding excessive slack or tightness that would affect operation.

[0061] Of course, the tension roller 319 can also abut against the inside of the circulating conveyor assembly 200.

[0062] Preferably, the end of the fork 101 away from the vehicle body 100 is provided with a protective cover 322.

[0063] The protective cover 322 is fixed to the fork 101 by bolts and I-beams 323.

[0064] When in use, the present invention can control the operation of the motor 305 as needed, so that the output end of the motor 305 drives the first gear 306 to rotate, which in turn drives the second gear 307, the first rotating shaft 309 and the sprocket 310 to rotate synchronously, thereby driving the chain 201 and the contact block 203 to run along the width direction of the fork 101, that is, the operation of the circulating conveying component 200. At the same time, the tension roller 319 ensures that the circulating conveying component 200 maintains a certain degree of tension.

[0065] Move the vehicle body 100 to the corresponding position on the pallet 102, and insert the forks 101 along their length into the fork holes 103 of the pallet 102. Control the forks 101 to rise and make the cleaning component 204 contact the inner top wall of the fork hole 103. Then control the circulation conveying component 200 to run, so that the cleaning component 204 slides into contact with the inner top wall of the fork hole 103 to clean it, preventing dust and other dirt from forming a lubricating layer on the inner top wall of the fork hole 103, thereby preventing the pallet 102 from sliding relative to the forks 101 and ensuring the stability of the transfer process.

[0066] The forks 101 are controlled to rise to lift the pallet 102 and the goods. The pressure detection module 202 detects the pressure value applied by the pallet 102 to the forks 101. When there is a difference in the pressure value of the two forks 101, the circulating conveyor component 200 is controlled to continue to operate, so that the pallet 102 and the goods move along the width direction of the forks 101 towards the fork 101 with the smaller pressure value, so as 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 connecting the two forks 101, avoiding the center of gravity of the pallet 102 and the goods from being tilted, so that the pressure on both forks 101 is consistent, reducing the risk of goods tipping over.

[0067] The telescopic end of the control telescopic component 313 extends downward, and the mounting plate 304 slides vertically downward along the guide bolt 316 via the connecting shaft 314. At the same time, the telescopic push rod 318 drives the two second rotating shafts 317, the cross plate 303, and the adjusting roller 301 to move away from each other in the width direction of the fork 101. This increases the contact area between the circulating conveying component 200 and the fork 101 in the width direction of the fork 101, increases the actual contact and support area between the fork 101 and the pallet 102, reduces the deformation at the contact position between the pallet 102 and the fork 101, keeps the pallet 102 plane horizontal, and ensures the stability of the transfer process.

[0068] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0069] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. An automated AGV fork lift, characterized by, The vehicle body is provided with two liftable forks, the length directions of the two forks are parallel to each other, the forks are provided with a circulating conveying assembly capable of running along the width direction of the forks, when the forks are inserted into the fork holes of a pallet along the length direction and lift the pallet and goods, the circulating conveying assembly runs to move the pallet and goods along the width direction of the forks; the forks are provided with an adjusting assembly, the adjusting assembly is used to adjust the size of the circulating conveying assembly in contact with the forks in the width direction of the forks; The adjusting assembly comprises two adjusting rollers, the axes of the two adjusting rollers are parallel to the length direction of the forks and are in the same horizontal plane, the circulating conveying assembly is a chain structure with closed head and tail, the adjusting rollers abut against the inner side of the circulating conveying assembly, the two adjusting rollers can relatively move in the width direction of the forks; 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 forks with the circulating conveying assembly, when the forks are inserted into the fork holes of a pallet along the length direction and lift the pallet and goods, the contact blocks contact the pallet.

2. The automated AGV fork truck of claim 1, wherein, The forks are provided with a pressure detection module, the pressure detection module is used to detect the pressure value of the pallet applied to the forks, when the pressure values of the pallet applied to the two forks have differences, the circulating conveying assembly runs to move the pallet and goods along the width direction of the forks to the fork with smaller pressure value.

3. The automated AGV fork truck of claim 1, wherein, Some of the contact blocks are provided with cleaning pieces.

4. The automated AGV fork truck of claim 3, wherein, A preset number of the cleaning pieces are arranged at equal intervals along the running direction of the circulating conveying assembly.

5. The automated AGV fork truck of claim 4, wherein, The circulating conveying assembly comprises the preset number of conveying sections, the friction coefficients of the contact blocks in adjacent conveying sections have differences.

6. The automated AGV fork truck of claim 1, wherein, The forks are provided with a tensioning roller, the tensioning roller is used to keep the circulating conveying assembly taut.

7. The automated AGV fork truck of claim 6, wherein, The tensioning roller abuts against the outer side of the circulating conveying assembly.

8. The automated AGV fork truck of claim 1, wherein, The end of the forks away from the vehicle body is provided with a protective cover.

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