Hydraulic direct-drive heavy-load AGV with shear fork stabilizing device

Abstract

The invention relates to the technical field of AGVs, in particular to a hydraulic direct-drive heavy-load AGV with a shear fork stabilizing device, which comprises a vehicle body, supporting plates are arranged at the positions, close to the two ends of the vehicle body, of the vehicle body, the shear fork stabilizing device is arranged between the supporting plates and the vehicle body, and a hydraulic direct-drive device is arranged between the supporting plates and the vehicle body. The hydraulic direct drive device is used for directly driving the supporting plate to ascend and descend, the transmission efficiency of the supporting plate can be improved, the loading capacity of the supporting plate in the ascending and descending process can be better guaranteed, the shear fork stabilizing device is arranged between the supporting plate and the vehicle body, and the stability of the supporting plate in the ascending and descending process can be further guaranteed; therefore, the stability and the loading capacity of the AGV during heavy-load operation are ensured.

Description

Technical Field

[0001] This application relates to the field of AGV (Automated Guided Vehicle) technology, and in particular to a hydraulic direct-drive heavy-duty AGV with a scissor lift stabilizing device. Background Technology

[0002] AGV, or Automated Guided Vehicle, refers to an automated vehicle equipped with automatic guidance systems that can travel along a planned path. Powered by batteries and equipped with various auxiliary mechanisms, such as lifting mechanisms, AGVs are widely used in various material handling operations. For example, when moving a passenger car, the AGV travels under the car's chassis, and then the lifting mechanism lifts the entire car, allowing it to be moved away.

[0003] When using AGVs to transport vehicles, there are strict requirements for the load-bearing capacity and stability of the AGVs. Currently, the lifting mechanism used in AGVs is usually a scissor lift mechanism. The advantage of the scissor lift mechanism is that it is easy to fold. However, during the lifting process, as the lifting height increases, the two support points at the lifting end will move closer to each other. This increases the overhang distance of the top support plate, thus affecting the overall stability of the lifting mechanism, and is particularly detrimental to safety under heavy loads.

[0004] Therefore, ensuring the stability of AGVs during heavy-duty operations is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] To ensure the stability of AGVs during heavy-duty operations, this application provides a hydraulic direct-drive heavy-duty AGV with a scissor lift stabilizing device.

[0006] The hydraulic direct-drive heavy-duty AGV with scissor lift stabilizing device provided in this application adopts the following technical solution: A hydraulic direct-drive heavy-duty AGV with a scissor lift stabilizing device includes a vehicle body, with support plates disposed near both ends of the vehicle body, a scissor lift stabilizing device disposed between the support plates and the vehicle body, and a hydraulic direct-drive device disposed between the support plates and the vehicle body.

[0007] By adopting the above technical solution, the support plate can be directly driven by a hydraulic direct drive device to lift and lower, which can improve the transmission efficiency of the support plate and better ensure the load-bearing capacity of the support plate during the lifting and lowering process. Furthermore, the scissor stabilizing device between the support plate and the vehicle body can further ensure the stability of the support plate during the lifting and lowering process, thereby ensuring the stability and load-bearing capacity of the AGV during heavy-duty operations.

[0008] Optionally, the scissor lift stabilizing device includes a base, which is fixedly mounted on the vehicle body. The base has two first mounting seats, one of which is fixedly connected to the base and the other of which is slidably connected to the base. A scissor lift is hinged to the first mounting seat, and the scissor lifts of the two first mounting seats are hinged to each other at their midpoints. The support plate has two second mounting seats on one side facing the base, one of which is slidably connected to the support plate and the other of which is fixedly connected to the support plate. The upwardly angled ends of the two scissor lifts are respectively hinged to the second mounting seats.

[0009] By adopting the above technical solution, when the hydraulic direct drive device directly drives the support plate to lift and lower, the two scissor bars that are hinged to each other at the middle position will gradually close towards the middle. That is, the two first mounting seats slide synchronously towards the center of the vehicle body, and the two second mounting seats slide synchronously towards the center of the vehicle body, thereby ensuring that the support plate is always parallel to the bottom surface of the vehicle body, and thus ensuring the stability of the support plate during the lifting and lowering process.

[0010] Optionally, the scissor arms are arranged in two sets side by side, and the two sets of scissor arms are rotatably connected to a hinge shaft at the middle position.

[0011] By adopting the above technical solution and setting two sets of parallel scissor lifts, the structural strength and stability of the scissor lift stabilizing device are further increased.

[0012] Optionally, a controller is fixedly installed on the vehicle body, a position sensor is fixedly connected to the support plate, the position sensor is electrically connected to the controller, and the controller is electrically connected to the hydraulic direct drive device.

[0013] By adopting the above technical solution, the position sensor can detect the height position of the support plates located at both ends of the vehicle body during the lifting process. The position sensor will send the detected height position signal to the controller. The controller can automatically adjust the hydraulic direct drive device according to the height position signal detected by the position sensor, thereby ensuring that the two support plates located at both ends of the vehicle body maintain the same height position during the lifting process.

[0014] Optionally, the hydraulic direct drive device includes two hydraulic cylinders symmetrically arranged at both ends of the support plate. The telescopic ends of the hydraulic cylinders are fixedly connected to the support plate, and the ends of the hydraulic cylinders away from the support plate are fixedly mounted on the vehicle body.

[0015] By adopting the above technical solution, the support plate can be directly controlled to rise and fall using a hydraulic cylinder.

[0016] Optionally, the hydraulic direct drive device further includes a hydraulic pump fixedly installed on the vehicle body, a first connecting seat fixedly installed on the hydraulic pump, a connecting pipe provided between the two hydraulic cylinders, a second connecting seat connected to the connecting pipe, and a hydraulic pipe connected between the first connecting seat and the second connecting seat.

[0017] By adopting the above technical solution, hydraulic oil can be delivered or extracted from the hydraulic cylinder through a hydraulic pipe using a hydraulic pump, thereby driving the hydraulic cylinder to move the support plate for lifting operations.

[0018] Optionally, a compensation pipe is provided between the first connecting seat and the second connecting seat. The compensation pipe is connected in parallel with the hydraulic pipe. An electric control valve is provided on the compensation pipe, and the electric control valve is electrically connected to the controller.

[0019] By adopting the above technical solution, when the height position signals detected by the two position sensors at both ends of the vehicle body are inconsistent, the controller can open the electronically controlled valve in the hydraulic direct drive device at the lower end, thereby allowing hydraulic oil to enter the hydraulic cylinder at the lower end through the compensation pipe, thus increasing the fluid intake of the hydraulic cylinder and keeping the two support plates at both ends of the vehicle body at the same height, so as to ensure the stability of the AGV during the load-bearing process.

[0020] Optionally, the position sensor is a photoelectric displacement sensor.

[0021] By adopting the above technical solution, using photoelectric displacement sensors as position sensors can give position sensors the advantages of high detection accuracy and fast response speed, which is more conducive to ensuring the stability of AGV during the carrying process.

[0022] Optionally, the hydraulic pump is configured as a bidirectional hydraulic pump.

[0023] By adopting the above technical solution, the hydraulic cylinder can be controlled more conveniently to drive the support plate to perform lifting operations using a two-way hydraulic pump.

[0024] Optionally, a battery is fixedly installed on the vehicle body, and the battery is connected to the hydraulic direct drive device, the controller, and the position sensor.

[0025] By adopting the above technical solution, batteries can more conveniently provide power to the hydraulic direct drive device, controller, and position sensor, thereby ensuring the convenience of the AGV during operation.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. This application utilizes a hydraulic direct drive device to directly drive the support plate for lifting and lowering, which can improve the transmission efficiency of the support plate and better ensure the load-bearing capacity of the support plate during lifting and lowering. Furthermore, the scissor lift stabilizing device configured between the support plate and the vehicle body can further ensure the stability of the support plate during lifting and lowering, thereby ensuring the stability and load-bearing capacity of the AGV during heavy-duty operations.

[0027] 2. By setting up a controller, position sensor, compensation pipe and electronic control valve, this application can ensure that the two support plates located at both ends of the vehicle body maintain the same height during the lifting process, thereby ensuring the stability and safety of the AGV during heavy-duty operations. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the AVG in the rising state according to an embodiment of this application.

[0029] Figure 2 This is a schematic diagram of the AVG in a descending state according to an embodiment of this application.

[0030] Figure 3 This is a partial structural exploded view of the AVG in an embodiment of this application.

[0031] Figure 4 This is a schematic diagram of the hydraulic direct drive device of an AVG according to an embodiment of this application.

[0032] Explanation of reference numerals in the attached figures: 100. Vehicle body; 101. Mounting cavity; 102. Partition plate; 103. Steering wheel assembly; 104. Navigation system; 200. Support plate; 300. Scissor lift stabilizer; 301. Base; 302. First mounting seat; 303. Scissor lift rod; 304. Second mounting seat; 305. Hinge shaft; 400. Hydraulic direct drive device; 401. Hydraulic cylinder; 402. Hydraulic pump; 403. First connecting seat; 404. Connecting pipe; 405. Second connecting seat; 406. Hydraulic pipe; 407. Compensation pipe; 408. Electronic control valve; 500. Controller; 600. Sensor; 700. Battery. Detailed Implementation

[0033] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0034] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and 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 a limitation of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0036] Please refer to the above as well. Figure 1 and Figure 2 This application discloses a hydraulic direct-drive heavy-duty AGV with a scissor lift stabilizing device, including a vehicle body 100. The vehicle body 100 has a rectangular parallelepiped design and a mounting cavity 101 is provided on the vehicle body 100. A partition 102 is welded to the mounting cavity 101. The partition 102 can increase the structural strength of the mounting cavity 101 and also divide it into several mounting areas. Two symmetrically arranged steering wheel devices 103 are fixedly installed in the mounting areas near both ends of the vehicle body 100.

[0037] In this embodiment, by welding and connecting the partition plate 102 in the mounting cavity 101, the mounting cavity 101 can be divided into several mounting areas, and the overall structural strength of the vehicle body 100 can be increased, which is beneficial to ensuring the load-bearing capacity of the vehicle body 100. At the same time, the steering wheel device 103 can not only stably support the vehicle body 100, but also drive the vehicle body 100 to move.

[0038] Please refer to Figure 1 In one embodiment of this application, a scissor lift stabilizer 300 is fitted inside the mounting cavity 101 of the vehicle body 100, and a support plate 200 is fitted on the top of the scissor lift stabilizer 300. A hydraulic direct drive device 400 is disposed between the support plate 200 and the upper surface of the vehicle body 100, and the hydraulic direct drive device 400 is located on the outside of the scissor lift stabilizer 300 near both ends of the support plate 200.

[0039] This embodiment utilizes a hydraulic direct drive device 400 to directly drive the support plate 200 for lifting and lowering, which can improve the transmission efficiency of the support plate 200 and better ensure the load-bearing capacity of the support plate 200 during the lifting and lowering process. Furthermore, the scissor fork stabilizing device configured between the support plate and the vehicle body can further ensure the stability of the support plate during the lifting and lowering process, thereby ensuring the stability and load-bearing capacity of the AGV during heavy-duty operations.

[0040] Please refer to Figure 1 In one embodiment of this application, a navigation system 104 is installed inside the mounting cavity 101 of the vehicle body 100. The navigation system 104 can control the steering wheel device 103 to drive the AGV to move.

[0041] Please refer to the above as well. Figure 1 and Figure 2 In one specific embodiment of this application, the scissor lift stabilizing device 300 includes a base 301, which is fixedly mounted on the vehicle body 100. Two first mounting seats 302 are provided on the base 301. One first mounting seat 302 is fixedly connected to the base 301, and the other first mounting seat 302 is slidably connected to the base 301. A scissor lift 303 is hingedly connected to the first mounting seat 302, and the scissor lifts 303 of the two first mounting seats 302 are hinged together at their midpoint. Two second mounting seats 304 are provided on the side of the support plate 200 facing the base 301. One second mounting seat 304 is slidably connected to the support plate 200, and the other second mounting seat 304 is fixedly connected to the support plate 200. The upwardly angled ends of the two scissor lifts 303 are respectively hinged to the second mounting seats 304.

[0042] In this embodiment, by using the articulated scissor rods 303, the inclination of the support plate 200 during lifting and lowering can be restricted. Because when the hydraulic direct drive device 400 directly drives the support plate 200 to lift and lower, as the support plate 200 moves up and down, the two scissor rods 303 that are articulated to each other at the intermediate positions will move in a scissor form accordingly. That is, when the support plate 200 rises, the two first mounting seats 302 slide synchronously in the direction of approaching each other, and at the same time, the two second mounting seats 304 also slide synchronously in the direction of approaching each other. The scissor movement of the two mutually articulated scissor rods 303 will ensure that the support plate 200 is always parallel to the bottom surface of the vehicle body 100. Vice versa, when the support plate 200 descends, the two first mounting seats 302 slide synchronously in the direction of moving away from each other, and at the same time, the two second mounting seats 304 also slide synchronously in the direction of moving away from each other. The scissor movement of the two mutually articulated scissor rods 303 will also ensure that the support plate 200 is always parallel to the bottom surface of the vehicle body 100. This can avoid losing balance due to unequal forces applied to both ends of the support plate 200 and ensure the stability of the support plate 200 during lifting and lowering. By symmetrically arranging two sets of scissor stabilizing devices 300, support plates 200, and hydraulic direct drive devices 400 on the vehicle body 100, when using an AGV to carry a car, the car can be lifted more smoothly by the two support plates 200, facilitating the handling or removal of the car.

[0043] Please refer to Figure 3 , in a specific embodiment of the present application, two sets of scissor rods 303 are arranged in parallel, and a hinge shaft 305 is rotatably connected to the middle positions of the two sets of scissor rods 303.

[0044] In this embodiment, by installing two sets of mutually articulated scissor rods 303 in parallel between the first mounting seat 302 and the second mounting seat 304, the structural strength of the scissor stabilizing device 300 can be increased, which is beneficial to improving the bearing capacity of the scissor stabilizing device 300 during operation.

[0045] It can be understood that in other embodiments of the present application, the scissor stabilizing device 300 can also be configured with multiple sets of mutually articulated scissor rods 303 that are successively articulated in a "yao" shape, and then the obliquely upward end portions of the two scissor rods 303 at the top are respectively articulated to the second mounting seat 304.

[0046] Please refer to Figure 1 and Figure 2 , in a specific embodiment of the present application, a controller 500 is fixedly installed on the vehicle body 100, a position sensor 600 is fixedly connected to the support plate 200, the position sensor 600 is electrically connected to the controller 500, and the controller 500 is electrically connected to the hydraulic direct drive device 400.

[0047] In this embodiment, the position sensor 600 can detect the height position of the support plates 200 located at both ends of the vehicle body 100 during the lifting process. The position sensor 600 will send the detected height position signal to the controller 500. The controller 500 can automatically adjust the hydraulic direct drive device 400 according to the height position signal detected by the position sensor 600, thereby ensuring that the two support plates 200 located at both ends of the vehicle body 100 maintain the same height position during the lifting process.

[0048] Specifically, the position sensor 600 preferably adopts a photoelectric displacement sensor, because the photoelectric displacement sensor can give the position sensor 600 the advantages of high detection accuracy and fast response speed, which is more conducive to ensuring the stability of the AGV during the carrying process.

[0049] Please refer to the above as well. Figure 1 and Figure 3 In one specific embodiment of this application, the hydraulic direct drive device 400 includes two hydraulic cylinders 401 symmetrically arranged at both ends of the support plate 200. The telescopic ends of the hydraulic cylinders 401 are fixedly connected to the support plate 200, and the end of the hydraulic cylinder 401 away from the support plate 200 is fixedly installed on the vehicle body 100.

[0050] In this embodiment, the support plate 200 can be directly controlled to rise and fall using a hydraulic cylinder 401. By using the hydraulic cylinder 401 to directly support the outer end of the support plate 200, the overhang distance between the two ends of the support plate 200 remains unchanged, which improves the stability of the support plate 200 during the rising process. The method of using the hydraulic cylinder 401 to directly support the support plate 200 also has the advantage of high energy efficiency, which helps to ensure the load-bearing capacity of the support plate 200 during the rising and falling process.

[0051] Please refer to Figure 4 In one specific embodiment of this application, the hydraulic cylinder 401 is configured as a telescopic hydraulic cylinder, which is a multi-stage hydraulic cylinder consisting of two or more stages of piston cylinders.

[0052] This embodiment uses a telescopic hydraulic cylinder to support the support plate 200, which can better increase the lifting stroke of the support plate 200, thereby cooperating with the scissor lift stabilizing device 300 to meet different lifting stroke requirements.

[0053] Please refer to the above as well. Figure 2 and Figure 4In one specific embodiment of this application, the hydraulic direct drive device 400 further includes a hydraulic pump 402 fixedly installed on the vehicle body 100. A first connecting seat 403 is fixedly installed on the hydraulic pump 402. A connecting pipe 404 is provided between the two hydraulic cylinders 401. A second connecting seat 405 is connected to the connecting pipe 404. A hydraulic pipe 406 is connected between the first connecting seat 403 and the second connecting seat 405. The hydraulic pump 402 can input hydraulic oil into the hydraulic cylinder 401 in sequence through the first connecting seat 403, the hydraulic pipe 406, the second connecting seat 405, and the connecting pipe 404. It can also extract the hydraulic oil inside the hydraulic cylinder 401 in sequence through the connecting pipe 404, the second connecting seat 405, the hydraulic pipe 406, and the first connecting seat 403.

[0054] This embodiment utilizes a hydraulic pump 402 to deliver or withdraw hydraulic oil through a hydraulic pipe 406 to the hydraulic cylinder 401, thereby driving the hydraulic cylinder 401 to extend and retract, and causing the support plate 200 to lift and lower. When the connecting pipe 404 is connected to the rod chamber of the hydraulic cylinder 401, withdrawing hydraulic oil from the rod chamber allows the telescopic end of the hydraulic cylinder 401 to extend outside the cylinder body. When the connecting pipe 404 is connected to the rodless chamber of the hydraulic cylinder 401, withdrawing hydraulic oil from the rod chamber allows the telescopic end of the hydraulic cylinder 401 to retract inside the cylinder body.

[0055] In one specific embodiment of this application, it is preferred to connect the connecting pipe 404 to the rodless chamber of the hydraulic cylinder 401, and the hydraulic pump 402 is configured as a bidirectional hydraulic pump. In this way, by using the bidirectional hydraulic pump to draw or input hydraulic oil away from the rod chamber of the hydraulic cylinder 401, the telescopic end of the hydraulic cylinder 401 can be retracted or extended into the cylinder body of the hydraulic cylinder 401. This not only makes it easier to drive the support plate 200 to perform lifting operations, but also saves on the design and manufacturing costs of the return oil circuit.

[0056] Please refer to Figure 4 In one specific embodiment of this application, a compensation pipe 407 is provided between the first connecting seat 403 and the second connecting seat 405. The compensation pipe 407 is connected in parallel with the hydraulic pipe 406. An electric control valve 408 is provided on the compensation pipe 407. The electric control valve 408 is electrically connected to the controller 500.

[0057] In this embodiment, by setting up a compensation pipe 407 and an electronically controlled valve 408, when the height position signals detected by the two position sensors 600 at both ends of the vehicle body 100 are inconsistent, the controller 500 can open the electronically controlled valve 408 in the hydraulic direct drive device 400 at the lower end, thereby allowing hydraulic oil to enter the hydraulic cylinder 401 at the lower end through the compensation pipe 407, thereby increasing the fluid intake of the hydraulic cylinder 401 and keeping the two support plates 200 at both ends of the vehicle body 100 at the same height, thus ensuring the stability of the AGV during the load-bearing process.

[0058] Please refer to Figure 2 In one specific embodiment of this application, a battery 700 is fixedly installed on the vehicle body 100, and the battery 700 is electrically connected to the steering wheel device 103, the navigation system 104, the hydraulic direct drive device 400, the controller 500, and the position sensor 600.

[0059] This embodiment utilizes battery 700 to provide power to steering wheel device 103, navigation system 104, hydraulic direct drive device 400, controller 500, and position sensor 600, thus avoiding the problem of wire tangling caused by using external power supply wires, thereby ensuring the convenience of AGV trolley during operation.

[0060] In related technologies, AGVs use direct-drive scissor lift stabilization devices for their lifting mechanism. However, direct-drive scissor lift stabilization devices are power-intensive, energy-inefficient, and have a lifting stroke limited to 100mm, with a rated load of only 3000kg. This embodiment, by using a hydraulic cylinder to directly vertically drive the lifting platform, achieves a lifting stroke of up to 150mm. Due to the vertical drive, its energy efficiency is higher. Under the same configuration specifications, the lifting load of the vertical drive method used in this application can reach 4750kg.

[0061] The implementation principle of a hydraulic direct-drive heavy-duty AGV with a scissor lift stabilizing device in this application embodiment is as follows: Before moving a passenger car, the AGV is first driven to the underside of the car by the steering wheel device 103. Then, the hydraulic direct drive device 400 located at both ends of the vehicle body 100 is activated by the controller 500 to lift the support plates 200 located at both ends of the vehicle body 100. The two support plates 200 will support the chassis of the car and drive the entire car to rise and hold it. Then, when the AGV is driven to the designated position by controlling the steering wheel device 103, the entire car can be moved to the designated position.

[0062] When the hydraulic direct drive device 400 located at both ends of the vehicle body 100 is activated by the controller 500 to raise the support plate 200 located at both ends of the vehicle body 100, the support points of the scissor fork stabilizer 300 on the support plate 200 will move closer to each other. The scissor fork movement of the two interconnected scissor fork rods 303 will restrict the scissor fork rods 303 and the support plate 200 to each other, thereby ensuring that the support plate 200 is always parallel to the bottom surface of the vehicle body 100. This can prevent the support plate 200 from tilting and help to increase the stability of the support plate 200 during the lifting process.

[0063] Meanwhile, by using hydraulic cylinder 401 to directly fix the outer end of the support plate 200 with two support points, the overhang distance between the two ends of the support plate 200 remains unchanged, which further improves the stability of the support plate 200 during the lifting process. In addition, the method of using hydraulic cylinder 401 to directly support the support plate 200 also has the advantage of high energy efficiency, which helps to ensure the load-bearing capacity of the support plate 200 during the lifting process.

[0064] After the AGV described in this application transports the entire vehicle to the designated location, the controller 500 can control the hydraulic pump 402 to reverse its rotation, thereby extracting the hydraulic oil from the rod chamber of the hydraulic cylinder 401 sequentially through the connecting pipe 404, the second connecting seat 405, the hydraulic pipe 406, and the first connecting seat 403. During the extraction of the hydraulic oil, the weight of the vehicle on the support plate 200 can be used to quickly press the telescopic end of the hydraulic cylinder 401 into the hydraulic cylinder 401. This not only enables the support plate 200 to descend quickly but also reduces the energy consumption of the hydraulic pump 402 in extracting the hydraulic oil, which is beneficial to improving the energy efficiency of the AGV during operation.

[0065] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A hydraulic direct-drive heavy-duty AGV with a scissor lift stabilizing device, characterized in that: Includes a vehicle body (100), with support plates (200) arranged near both ends of the vehicle body (100), a scissor lift stabilizer (300) arranged between the support plate (200) and the vehicle body (100), and a hydraulic direct drive device (400) arranged between the support plate (200) and the vehicle body (100).

2. The hydraulic direct-drive heavy-duty AGV with scissor lift stabilizing device according to claim 1, characterized in that: The scissor lift stabilizing device (300) includes a base (301), which is fixedly mounted on the vehicle body (100). The base (301) is provided with two first mounting seats (302). One first mounting seat (302) is fixedly connected to the base (301), and the other first mounting seat (302) is slidably connected to the base (301). A scissor lift rod (303) is hingedly connected to the first mounting seat (302). The scissor lift rods (303) of the two first mounting seats (302) are hinged to each other at their middle positions. The support plate (200) is provided with two second mounting seats (304) on one side facing the base (301). One second mounting seat (304) is slidably connected to the support plate (200), and the other second mounting seat (304) is fixedly connected to the support plate (200). The obliquely upward ends of the two scissor lift rods (303) are respectively hinged to the second mounting seats (304).

3. The hydraulic direct-drive heavy-duty AGV with scissor lift stabilizing device according to claim 2, characterized in that: The scissor lifts (303) are arranged in two sets in parallel, and the two sets of scissor lifts (303) are rotatably connected to the middle position of the hinge shaft (305).

4. The hydraulic direct-drive heavy-duty AGV with scissor lift stabilizing device according to claim 1, characterized in that: A controller (500) is fixedly installed on the vehicle body (100), and a position sensor (600) is fixedly connected to the support plate (200). The position sensor (600) is electrically connected to the controller (500), and the controller (500) is electrically connected to the hydraulic direct drive device (400).

5. The hydraulic direct-drive heavy-duty AGV with scissor lift stabilizing device according to claim 4, characterized in that: The hydraulic direct drive device (400) includes two hydraulic cylinders (401) symmetrically arranged at both ends of the support plate (200). The telescopic ends of the hydraulic cylinders (401) are fixedly connected to the support plate (200), and the end of the hydraulic cylinder (401) away from the support plate (200) is fixedly installed on the vehicle body (100).

6. The hydraulic direct-drive heavy-duty AGV with scissor lift stabilizing device according to claim 5, characterized in that: The hydraulic direct drive device (400) also includes a hydraulic pump (402) fixedly installed on the vehicle body (100). A first connecting seat (403) is fixedly installed on the hydraulic pump (402). A connecting pipe (404) is provided between the two hydraulic cylinders (401). A second connecting seat (405) is connected to the connecting pipe (404). A hydraulic pipe (406) is connected between the first connecting seat (403) and the second connecting seat (405).

7. The hydraulic direct-drive heavy-duty AGV with scissor lift stabilizing device according to claim 6, characterized in that: A compensation pipe (407) is provided between the first connecting seat (403) and the second connecting seat (405). The compensation pipe (407) is connected in parallel with the hydraulic pipe (406). An electric control valve (408) is provided on the compensation pipe (407). The electric control valve (408) is electrically connected to the controller (500).

8. The hydraulic direct-drive heavy-duty AGV with scissor lift stabilizing device according to claim 4, characterized in that: The position sensor (600) is a photoelectric displacement sensor.

9. The hydraulic direct-drive heavy-duty AGV with scissor lift stabilizing device according to claim 6, characterized in that: The hydraulic pump (402) is configured as a bidirectional hydraulic pump.

10. The hydraulic direct-drive heavy-duty AGV with scissor lift stabilizing device according to any one of claims 4-9, characterized in that: A battery (700) is fixedly installed on the vehicle body (100), and the battery (700) is connected to the hydraulic direct drive device (400), the controller (500) and the position sensor (600).

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