AGV forklift and fork arm goods collecting and taking method

Abstract

The invention discloses an AGV forklift and a fork arm folding and unfolding method. The AGV forklift comprises a frame body, a portal assembly and two fork arm assemblies. Two containing grooves are formed in the frame body, and the fork arm assembly can be driven by the portal assembly to horizontally move and completely contained in the corresponding containing grooves or stretch out of the corresponding containing grooves. The fork arm assembly comprises a fork arm body, a driving module and two scissor fork modules; the driving module is provided with a transmission lead screw capable of rotating forwards and backwards, the transmission lead screw drives the two sliding block transmission pieces to move in the opposite directions or in the opposite directions, then the first-stage shear fork piece and the second-stage shear fork piece are symmetrically unfolded or folded, and finally the fork arm body is driven to stably ascend and descend. By means of the highly-integrated flat shear fork lifting mechanism, the fork arm assembly can be completely contained in a vehicle body and stretch into a narrow lifting opening of a tray while having a strong lifting function, the trafficability in a narrow space is improved under the condition that the static size of the whole vehicle is reduced, and the stability and reliability in the lifting process are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of AGV equipment, more particularly, it relates to an AGV forklift and a fork arm folding method. BACKGROUND

[0002] The AGV forklift is the core handling equipment in the modern intelligent warehouse and flexible manufacturing system, and its main function is to realize the automatic taking and placing of palletized goods. In order to adapt to narrow warehouse passageways and improve space utilization, the industry generally pursues compactness of the AGV forklift. The existing design requires the structure to be extended to contact the ground when the fork arm is extended to take and place goods. This extended structure cannot pass through the bottom beam of the field-shaped pallet, so it cannot be extended into the pallet to take and place goods. In addition, the upper and lower covers of the existing fork arm are opened together when it is lifted, so if a field-shaped pallet is taken, the pallet will be directly opened and damaged. Therefore, based on the optimization of the existing fork arm structure, the fork taking mode of the field-shaped pallet is adapted, and the deficiencies in the prior art are solved. SUMMARY

[0003] In view of the deficiencies in the prior art, the present application aims to provide an AGV forklift and a fork arm folding method to solve the problems in the background art.

[0004] The above technical purpose of the present application is achieved by the following technical scheme: an AGV forklift, comprising a frame body and two fork arm assemblies for lifting pallets; a portal assembly for moving the fork arm assemblies is arranged on the frame body; two accommodating grooves for accommodating the fork arm assemblies are arranged on the frame body in one-to-one correspondence with the fork arm assemblies; and the fork arm assemblies can be accommodated in the corresponding accommodating grooves.

[0005] Optionally, the fork arm assembly comprises a fork arm body for carrying a pallet, two scissor modules, and a driving module for driving the scissor modules to lift and thereby drive the fork arm body to lift; the fork arm body is slidably connected with the portal assembly; the driving module is detachably connected with the fork arm body; and the two scissor modules are respectively in transmission connection with the output end of the driving module.

[0006] Optionally, the driving module comprises a first driving member and a transmission screw rod; the first driving member is detachably connected with the fork arm body; the transmission screw rod is fixedly connected with the output end of the first driving member and located in the inner cavity of the fork arm body; and the scissor modules are in transmission connection with the transmission screw rod.

[0007] Optionally, the scissor module comprises a support plate for abutting and supporting the ground, a first scissor, a second scissor and a slider transmission; the slider transmission is in transmission connection with the transmission screw rod; one end of the first scissor is hingedly connected with the slider transmission, and the other end is hingedly connected with one end of the second scissor; the other end of the second scissor is hingedly connected with the support plate.

[0008] Optionally, the pulley transmission comprises a first pulley, a second pulley, a first screw nut and a second screw nut; the first screw nut is in forward thread connection with the transmission screw rod; the second screw nut is in reverse thread connection with the transmission screw rod; the first screw nut is fixedly connected with the first pulley; the second screw nut is fixedly connected with the second pulley; the first pulley and the second pulley are respectively in sliding connection with the fork body; one of the fork ends of the first scissor is hingedly connected with the first pulley; the other of the fork ends of the first scissor is hingedly connected with the second pulley.

[0009] Optionally, the portal assembly comprises a portal body, a driving wheel for driving the portal body to move in the horizontal direction, and a second driving member for driving the driving wheel to rotate; the driving wheel is detachably connected with the portal body and abuts against the vehicle frame body; the second driving member is detachably connected with the portal body, and the output end of the second driving member is fixedly connected with the driving wheel; the portal body is provided with a guide area corresponding to the fork assembly for guiding the fork assembly in the direction of gravity; the guide area is provided with a guide groove; the fork assembly is provided with a guide block corresponding to the guide groove; the guide block is slidably arranged in the guide groove.

[0010] Optionally, the portal body is further provided with an auxiliary support wheel on each side thereof; the auxiliary support wheel is in sliding abutment with the vehicle frame body.

[0011] Optionally, the accommodating groove is provided with a straight linear rail; the portal assembly is provided with a linear rail slider corresponding to the linear rail; the linear rail slider is in sliding connection with the corresponding linear rail, so as to guide the portal assembly in the horizontal direction.

[0012] Optionally, the bottom of the vehicle frame body is further provided with a driving assembly for driving the vehicle frame body as a whole to move.

[0013] Optionally, the fork assembly is further provided with a contact switch for detecting whether the tray is in place.

[0014] A fork arm folding and unloading method of an AGV forklift based on the above, comprising: Step S1, when the door frame assembly drives the fork arm assembly to gradually extend into the extension opening of the to-be-forked tray, stop until the tray contacts the contact type switch arranged on the fork arm assembly; Step S2, the driving module on the fork arm assembly drives the two scissor fork modules to extend from the extension opening of the tray, so that the support bottom plate on the scissor fork module is in contact with the ground; Step S3, the driving module on the fork arm assembly drives the two scissor fork modules to support the tray on the fork arm assembly by taking the support bottom plate as a support point. Step S4, the AGV moves to the lower side of the tray; Step S5, the driving module on the fork arm assembly drives the two scissor fork modules to retract, so that the support bottom plate on the scissor fork module is separated from the ground, and the fork arm retraction process is completed. Step S6, the driving module on the fork arm assembly drives the two scissor fork modules to continue to retract, so that the support bottom plate on the scissor fork module is separated from the ground, and the fork arm retraction process is completed.

[0015] In summary, the present application has the following beneficial effects: 1. The AGV passes through the flat scissor lifting mechanism specially designed, so that the whole fork arm assembly is small in thickness and narrow in width, can be completely accommodated in the vehicle body accommodating groove without any obstruction, reduces the static size of the whole vehicle, and enables the AGV to pass and turn in extremely narrow space; meanwhile, the telescopic structure of the fork arm is optimized, the fork arm can be telescopically supported from the small extension opening of the tray to lift the tray, the double scissor fork modules are symmetrically arranged, the slider transmission member driven by the forward and reverse screw rods can output symmetric and stable lifting force, the fork arm is suitable for the fork taking mode of the field-shaped tray, the field-shaped tray can be effectively forked without damaging the structure of the field-shaped tray, and the scene adaptability is further improved.

[0016] 2. The lifting driving module is integrated at the end of the fork arm, power is transmitted through the built-in screw rod, lateral space is saved, and the contradiction between the accommodation space and the lifting height is solved through the multi-stage scissor design. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is the schematic diagram of the main structure of the present application; Figure 2 is the schematic diagram of the method step flow of the present application; Figure 3 is the schematic diagram of the specific structure of the fork arm assembly of the present application; Figure 4 is the schematic diagram of the specific structure of the fork arm assembly in the telescopic state of the present application; Figure 5 is the schematic diagram of the specific structure of the scissor fork module of the present application; Figure 6 is a specific structural schematic diagram of a portal assembly of the present application; Figure 7 is a specific structural schematic diagram of an embodiment of the present application.

[0018] In the figure: 1, frame body; 11, containing groove; 12, straight linear rail; 2, fork arm assembly; 21, fork arm body; 22, guide block; 3, portal assembly; 31, portal body; 32, driving wheel; 33, second driving member; 34, guide area; 35, guide groove; 4, driving module; 41, first driving member; 42, transmission screw; 5, scissor module; 51, support plate; 52, first-level scissor member; 53, second-level scissor member; 54, sliding block transmission member; 541, first pulley member; 542, second pulley member; 543, first screw nut; 544, second screw nut; 6, auxiliary support wheel; 7, linear rail sliding block; 8, driving assembly; 9, contact switch. DETAILED DESCRIPTION

[0019] In order to make the objectives, characteristics and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below in combination with the drawings. Several embodiments of the present application are given in the drawings. However, the present application can be realized in many different forms, and is not limited to the embodiments described herein.

[0020] In the present application, unless explicitly specified and limited, the terms “mounting”, “connection”, “connecting”, “fixing” and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. The terms “first”, “second” are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by “first”, “second” can explicitly or implicitly include one or more of the features.

[0021] In the present application, unless otherwise explicitly specified and limited, "on" or "under" of a first feature to a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, "on", "above" and "over" of a first feature to a second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. "Below", "under" and "underneath" of a first feature to a second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature. The terms "vertical", "horizontal", "left", "right", "up", "down" and similar expressions are only for illustrative purposes, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0022] The present application will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0023] The present application provides an AGV forklift and a fork arm folding and unfolding method, as shown in Figure 1 The present application provides an AGV forklift and a fork arm folding and unfolding method, as shown in

[0024] Further, the fork arm assembly 2 comprises a fork arm body 21 for carrying a pallet, two scissor modules 5 and a driving module 4 for driving the scissor modules 5 to lift and in turn drive the fork arm body 21 to lift; the fork arm body 21 is slidably connected with the portal assembly 3; the driving module 4 is detachably connected with the fork arm body 21; the two scissor modules 5 are respectively in transmission connection with the output end of the driving module 4.

[0025] Further, the driving module 4 comprises a first driving member 41 and a transmission screw rod 42; the first driving member 41 is detachably connected with the fork arm body 21; the transmission screw rod 42 is fixedly connected with the output end of the first driving member 41 and located in the inner cavity of the fork arm body 21; the scissor module 5 is in transmission connection with the transmission screw rod 42.

[0026] Further, the scissor module 5 comprises a support plate 51 for abutting support with the ground, a first scissor 52, a second scissor 53 and a slider transmission 54; the slider transmission 54 is in transmission connection with the transmission screw rod 42; one end of the first scissor 52 is hingedly connected with the slider transmission 54, and the other end is hingedly connected with one end of the second scissor 53; the other end of the second scissor 53 is hingedly connected with the support plate 51.

[0027] Further, the pulley transmission comprises a first pulley 541, a second pulley 542, a first screw rod nut 543 and a second screw rod nut 544; the first screw rod nut 543 is in forward thread connection with the transmission screw rod 42; the second screw rod nut 544 is in reverse thread connection with the transmission screw rod 42; the first screw rod nut 543 is fixedly connected with the first pulley 541; the second screw rod nut 544 is fixedly connected with the second pulley 542; the first pulley 541 and the second pulley 542 are respectively in sliding connection with the fork body 21; the first pulley 541 is hingedly connected with one of the scissor ends of the first scissor 52; the second pulley 542 is hingedly connected with the other scissor end of the first scissor 52.

[0028] Further, the portal assembly 3 comprises a portal body 31, a drive wheel 32 for driving the portal body 31 to move in the horizontal direction, and a second drive 33 for driving the drive wheel 32 to rotate; the drive wheel 32 is detachably connected with the portal body 31 and abuts against the frame body 1; the second drive 33 is detachably connected with the portal body 31, and the output end of the second drive 33 is fixedly connected with the drive wheel 32; the portal body 31 is provided with a guide area 34 corresponding to the fork assembly 2 for guiding the fork assembly 2 in the direction of gravity; the guide area 34 is provided with a guide groove 35; the fork assembly 2 is provided with a guide block 22 corresponding to the guide groove 35; the guide block 22 is slidingly arranged in the guide groove 35.

[0029] Further, the portal body 31 is further provided with an auxiliary support wheel 6 on each side; the auxiliary support wheel can slidingly abut against the frame body 1.

[0030] Further, the accommodating groove 11 is provided with a straight linear rail 12; the portal assembly 3 is provided with a linear rail slider 7 corresponding to the straight linear rail 12; the linear rail slider 7 is in sliding connection with the corresponding straight linear rail 12, so as to guide the portal assembly 3 in the horizontal direction.

[0031] Further, the bottom of the frame body 1 is also provided with a driving assembly 8 for driving the frame body 1 to move as a whole.

[0032] In a specific embodiment, the AGV forklift comprises a frame body 1 and two fork arm assemblies 2; the frame body 1 is composed of a solid frame structure and serves as the load-bearing basis of the whole vehicle; two elongated accommodating grooves 11 are arranged side by side on the top of the frame body 1 in the front position along the width direction of the vehicle body, and the shape of the accommodating grooves 11 matches the cross section of the fork arm assemblies 2; a portal assembly 3 is arranged at one end of the frame body 1, and the portal assembly 3 is arranged above the two accommodating grooves 11; during work, the portal assembly 3 can simultaneously push out the two fork arm assemblies 2 from the accommodating grooves 11 (as shown in Figure 1 ); during non-work, the fork arm assemblies 2 are completely pulled back and hidden in the accommodating grooves 11 (as shown in Figure 2 ), so as to minimize the overall profile of the vehicle.

[0033] Each fork arm assembly 2 is the core unit for realizing the functions of picking up and lifting; the fork arm body 21 is an elongated flat plate structure, and the front end thereof, i.e., the end away from the portal, is a fork tooth for inserting a pallet; a guide block 22 is fixed to the upper surface of the end of the fork arm body 21 close to the portal assembly 3; A driving module 4 is installed at the end of the fork arm body 21 by means of bolts, so as to avoid that the overall structural width of the fork arm body 21 is too thick to pick up a pallet; the driving module 4 comprises a first driving member 41; in this embodiment, a servo motor is preferably adopted; and a horizontal transmission screw rod 42 is driven by the first driving member 41 and horizontally accommodated in a specially reserved long and narrow cavity inside the fork arm body 21; Two scissor modules 5 are symmetrically arranged on both sides of the transmission screw rod 42; each scissor module 5 comprises a support plate 51, a first scissor member 52, a second scissor member 53, and a sliding block transmission member 54; the sliding block transmission member 54 is specifically composed of a first pulley member 541, a second pulley member 542, a first screw rod nut 543, and a second screw rod nut 544; the first and second screw rod nuts 544 are respectively screwed on the sections with positive and reverse threads formed on the transmission screw rod 42; the first pulley member 541 is fixed with the first screw rod nut 543, the second pulley member 542 is fixed with the second screw rod nut 544, and the two pulley members are clamped into the slideway inside the fork arm body 21 and can slide along the length direction of the fork arm; The first scissor member 52 is X-shaped, one end of which is hinged with the first pulley member 541 and the second pulley member 542 respectively, and the other end is hinged with the upper end of the second scissor member 53; the lower end of the second scissor member 53 is hinged with the support plate 51, so as to drive the support plate 51 to extend and retract; the first scissor member 52 and the second scissor member 53 are both formed by two scissor rods hinged with each other; In the specific working process of the fork arm assembly 2, the first driving member 41 is started to drive the transmission screw rod 42 to rotate; due to the action of the positive and negative threads, the first and second pulley members 542 drive the first and second pulley members 542 to move towards each other along the slide; so that the first-stage shearing fork 52 is opened, and then the second-stage shearing fork 53 is pushed to expand downward, and finally the support plate 51 is driven to move downward until it is in stable contact with the ground; at this time, the support plate 51 acts as a ground fulcrum, and as the shearing fork continues to expand, that is, the two pulley members continue to move towards each other, the fork arm body 21 and the tray carried thereby are lifted upward relative to the ground fulcrum to realize the lifting action; the descending process is the reverse; this structure integrates the driving and transmission into the fork arm, has a thin overall thickness, and is symmetrically driven by the double shearing forks, so that the lifting is stable.

[0034] The portal assembly 3 is used to realize the horizontal telescopic movement of the fork arm assembly 2, and the portal body 31 is a portal frame; on the side of the portal body 31 facing the fork arm, two guide areas 34 are arranged, and a vertical guide groove 35 is formed in each area; when the fork arm assembly 2 is connected with the portal, the guide block 22 thereon is embedded in the corresponding guide groove 35 to form a sliding pair; this structure ensures that the fork arm can only move in the vertical direction during lifting, effectively preventing forward tilting and lateral turning. The portal body 31 is provided with a driving wheel 32, which is driven by a separate second driving member 33, preferably a micro reduction motor; the driving wheel 32 is pressed against the upper surface of the vehicle frame body 1 and drives the entire portal assembly 3 to move forward and backward by friction; in order to enhance stability, a plurality of auxiliary support wheels 6 are also installed on both sides of the portal body 31, which are in contact with the vehicle frame body 1 to provide a certain supporting force; a linear rail 12 is installed at the bottom of the accommodating groove 11; correspondingly, a rail sliding block 7 is installed at the bottom of the portal body 31; the rail sliding block 7 is clamped on the linear rail 12 to provide high-precision and low-friction guidance for the horizontal movement of the portal assembly 3, ensuring the straightness of the fork arm extension and retraction.

[0035] Further, a driving assembly 8 is installed at the bottom of the vehicle frame body 1; the assembly is usually composed of a plurality of independently driven Mecanum wheels or rudders, which can realize omnidirectional movement functions such as forward movement, backward movement, lateral translation and in-place rotation, so that the AGV forklift can flexibly shuttle between shelves.

[0036] Optionally, the fork arm assembly 2 is also provided with a contact switch 9 for detecting whether the tray is in place.

[0037] In other embodiments, a contact switch 9 can also be provided on the end of the fork arm assembly 2 close to the portal assembly 3; when the tray fork reaches this position, the contact is triggered, and then the signal is transmitted to the controller built-in the AGV trolley, and then the next lifting operation is started.

[0038] Further, the control mode involved in the above embodiments is completed by the controller built in the AGV, which can be MCU, single-chip microcomputer, PLC, etc., and the embodiment is preferably MCU.

[0039] A fork arm folding, folding and taking goods method based on the AGV forklift above, comprising: Step S1, when the mast assembly drives the fork arm assembly to gradually extend into the extension opening of the pallet to be forked, stop until the pallet contacts the contact type switch arranged on the fork arm assembly; Step S2, the driving module on the fork arm assembly drives the two scissor modules to extend from the extension opening of the pallet, so that the support bottom plate on the scissor module is in contact with the ground; Step S3, the driving module on the fork arm assembly drives the two scissor modules to support the pallet on the fork arm assembly by taking the support bottom plate as the support point to lift; Step S4, the AGV moves to the lower side of the pallet; Step S5, the driving module on the fork arm assembly drives the two scissor modules to retract, taking the support bottom plate as the support point, to lower the pallet on the fork arm assembly, and then place the pallet on the vehicle body; Step S6, the driving module on the fork arm assembly drives the two scissor modules to continue to retract, so that the support bottom plate on the scissor module is separated from the ground, and the fork arm folding, folding and taking goods process is completed.

[0040] In other embodiments, the corresponding fork arm folding, folding and taking goods process is opposite to the above fork arm folding, folding and taking goods process steps, thereby achieving the effect of placing the goods on the vehicle body on the target position.

[0041] The AGV forklift of the application, the AGV is provided with a specially designed flat scissor lifting mechanism, so that the whole fork arm assembly 2 is small in thickness and narrow in width, can be completely accommodated in the vehicle body accommodating groove 11 without any obstruction, reduces the overall static size, and enables the AGV to pass and turn in extremely narrow space; meanwhile, the telescopic structure of the fork arm is optimized, so that it can be telescopically supported from the small extension opening of the pallet to lift the pallet, the double scissor modules 5 are symmetrically arranged, the slider transmission member 54 driven by the forward and reverse screw rods can output symmetric and stable lifting force, and effectively resist the eccentric load; the guide block 22 groove between the fork arm and the mast provides reliable anti-overturning constraint for lifting in the cantilever state; the lifting driving module 4 is integrated at the end of the fork arm, the power is transmitted through the built-in screw rod, and the lateral space is saved; the multi-stage scissor design realizes a larger lifting stroke in a limited height, and solves the contradiction between the accommodation space and the lifting height; the auxiliary supporting wheel 6 is arranged on the side of the mast, when the fork arm telescopic structure is retracted and the pallet is lifted, it can abut against the vehicle body to provide a certain supporting force, and avoid damaging the structure of the mast and the fork arm.

[0042] The above merely describes the preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-described embodiments. Any technical solution falling within the concept of the present application shall fall within the protection scope of the present application. It should be noted that, for ordinary skilled persons in the art, some improvements and refinements without departing from the principles of the present application shall also be considered as falling within the protection scope of the present application.

Claims

1. An AGV forklift, characterized in that, The vehicle includes a frame body and two fork arm assemblies for lifting pallets; the frame body is provided with a mast assembly for moving the fork arm assemblies; the frame body is provided with two receiving slots corresponding to the fork arm assemblies for accommodating the fork arm assemblies; the fork arm assemblies can be accommodated in the corresponding receiving slots.

2. The AGV forklift according to claim 1, characterized in that, The fork arm assembly includes: a fork arm body for carrying a pallet, two scissor modules, and a drive module for driving the scissor modules to lift, thereby driving the fork arm body to lift. The fork arm body is slidably connected to the gantry assembly; the drive module is detachably connected to the fork arm body. The two scissor lift modules are respectively connected to the output end of the drive module.

3. An AGV forklift according to claim 2, characterized in that, The drive module includes: a first drive component and a transmission lead screw; The first driving component is detachably connected to the fork arm body; the transmission screw is fixedly connected to the output end of the first driving component and is located in the inner cavity of the fork arm body; the scissor lift module is drivenly connected to the transmission screw.

4. An AGV forklift according to claim 3, characterized in that, The scissor lift module includes: a support plate for contact and support with the ground, a primary scissor lift component, a secondary scissor lift component, and a slider transmission component; The slider transmission component is connected to the transmission screw; one end of the first-stage scissor lift component is hinged to the slider transmission component, and the other end is hinged to one end of the second-stage scissor lift component; the other end of the second-stage scissor lift component is hinged to the support plate.

5. An AGV forklift according to claim 4, characterized in that, The pulley transmission component includes: a first pulley component, a second pulley component, a first lead screw nut, and a second lead screw nut; The first lead screw nut is threadedly connected to the transmission lead screw in the forward direction; the second lead screw nut is threadedly connected to the transmission lead screw in the reverse direction; the first lead screw nut is fixedly connected to the first pulley component; the second lead screw nut is fixedly connected to the second pulley component. The first pulley component and the second pulley component are slidably connected to the fork arm body, respectively; The first pulley is hinged to one of the scissor ends of the first-stage scissor lift; the second pulley is hinged to the other scissor end of the first-stage scissor lift.

6. An AGV forklift according to claim 1, characterized in that, The gantry assembly includes: a gantry body, a drive wheel for moving the gantry body in the horizontal direction, and a second drive member for driving the drive wheel to rotate; The drive wheel is detachably connected to the gantry body and abuts against the vehicle frame body; the second drive component is detachably connected to the gantry body, and the output end of the second drive component is fixedly connected to the drive wheel; The gantry body is provided with guide areas corresponding to the fork arm assemblies for guiding the fork arm assemblies in the direction of gravity; guide grooves are provided in the guide areas; guide blocks corresponding to the guide grooves are provided on the fork arm assemblies; the guide blocks are slidably placed in the guide grooves.

7. An AGV forklift according to claim 6, characterized in that, Auxiliary support wheels are also provided on both sides of the gantry body; the auxiliary support wheels can slide and abut against the frame body.

8. An AGV forklift according to claim 1, characterized in that, Each of the receiving slots is provided with a linear guide rail; the gantry assembly is provided with a linear guide rail slider corresponding to the linear guide rail; the linear guide rail slider is slidably connected to the corresponding linear guide rail so as to guide the gantry assembly in the horizontal direction.

9. An AGV forklift according to claim 1, characterized in that, The fork arm assembly is also equipped with a contact switch for detecting whether the pallet is in place.

10. A method for retracting and retracting the fork arm of an AGV forklift as described in any one of claims 1-9, characterized in that, include: Step S1: When the gantry assembly drives the fork arm assembly to gradually extend into the inlet of the pallet to be picked up, it stops when the pallet contacts the contact switch set on the fork arm assembly. Step S2: The drive module on the fork arm assembly drives the two scissor modules to extend from the pallet extension opening, so that the support base plate on the scissor module contacts the ground; Step S3: The drive module on the fork arm assembly drives the two scissor lift modules to raise the pallet on the fork arm assembly using the support base plate as a support point. Step S4: The AGV moves under the tray; Step S5: The drive module on the fork arm assembly drives the two scissor fork modules to retract, using the support base plate as a support point, and lowers the pallet on the fork arm assembly, and then places the pallet on the frame body. Step S6: The drive module on the fork arm assembly drives the two scissor modules to continue retracting, causing the support base plate on the scissor module to separate from the ground, thus completing the fork arm retraction and retrieval process.

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