Multi-platform AGV forklift with secondary positioning function

Abstract

This application provides a multi-platform AGV forklift with secondary positioning function, relating to the field of logistics equipment technology. The multi-platform AGV forklift includes a chassis and a traveling assembly mounted on the chassis. A mast is mounted on the chassis, and a lifting plate is slidably mounted on the front side of the mast. A vertical drive component for driving the lifting plate to rise and fall along the mast is disposed between the mast and the lifting plate. At least two six-degree-of-freedom motion platforms are mounted on the lifting plate, and an adjustment assembly for adjusting the lifting position is disposed below or above the six-degree-of-freedom motion platforms. A vision camera is mounted on the top of the mast, used to acquire the three-dimensional coordinates of a target point. This multi-platform AGV forklift can effectively improve positioning accuracy and adaptability to multiple material specifications.

Description

Technical Field

[0001] This invention relates to the field of logistics equipment technology, specifically to a multi-platform AGV forklift with secondary positioning function. Background Technology

[0002] Lifting AGVs are autonomous mobile material handling equipment widely used in warehousing logistics and automated production lines. They delve into the bottom of shelves or bins and use a lifting mechanism to lift goods, enabling efficient material transfer between storage areas and work platforms. Compared to traditional forklift AGVs, they have a more compact structure and a smaller turning radius, making them suitable for dense storage and flexible production line layouts.

[0003] However, in actual complex working conditions, the positioning accuracy of existing lifting AGVs is difficult to meet the operational requirements. It relies on laser navigation and other methods for positioning and tracking, but the positioning system is susceptible to interference from various factors during operation, such as uneven ground, wheel slippage, changes in lighting, and dynamic obstacles. These interferences can cause deviations in the AGV's material pick-up and drop-off points, affecting the connection between the lifting mechanism and the rack, and even causing problems such as rack tipping over.

[0004] On the other hand, existing lifting AGVs have significant limitations in adapting to the handling of materials of different sizes. In industrial production and warehousing scenarios, the bottom dimensions of the materials to be transported vary greatly, while the dimensions of existing AGV lifting platforms are usually designed for specific specifications, making it difficult to accommodate large-span variations. To adapt to various material specifications, multiple AGVs with different lifting specifications need to be configured, increasing procurement and maintenance costs, as well as the difficulty of scheduling and operation and maintenance management. Summary of the Invention

[0005] To address the problems of insufficient positioning accuracy and difficulty in adapting to multiple material specifications in existing AGV technologies, this application provides a multi-platform AGV forklift with secondary positioning function, which can effectively improve positioning accuracy and adaptability to multiple material specifications.

[0006] The technical solution adopted by this invention to solve its technical problem is: A multi-platform AGV forklift with secondary positioning function includes a chassis and a traveling unit mounted on the chassis. A mast is mounted on the chassis, and a lifting plate is slidably mounted on the front side of the mast. A vertical drive component for driving the lifting plate to rise and fall along the mast is provided between the mast and the lifting plate. The lifting plate is provided with at least two six-degree-of-freedom motion platforms, and an adjustment device for adjusting the lifting position is provided below or above the six-degree-of-freedom motion platforms. A vision camera is installed at the top of the gantry, which is used to acquire the three-dimensional coordinates of the target point.

[0007] Furthermore, the adjustment assembly, from top to bottom, includes a longitudinal slide plate, a transverse slide plate, and a mounting plate. The mounting plate is disposed on the lifting plate. The transverse slide plate is slidably connected to the mounting plate, and a transverse driving component for driving the transverse slide plate to slide laterally is disposed between the transverse slide plate and the mounting plate. The longitudinal slide plate is slidably connected to the transverse slide plate, and a longitudinal driving component for driving the longitudinal slide plate to slide longitudinally is disposed between the longitudinal slide plate and the transverse slide plate. The fixed platform of the six-degree-of-freedom motion platform is disposed on the longitudinal slide plate.

[0008] Furthermore, the vertical drive component includes a vertical lead screw rotatably mounted on the gantry and a lifting motor for driving the vertical lead screw to rotate. The lifting plate is provided with a vertical drive nut that cooperates with the vertical lead screw.

[0009] Furthermore, a linear encoder is provided on one side of the gantry, and a sensing block that cooperates with the linear encoder is set on the corresponding side of the lifting plate via a bracket.

[0010] Furthermore, the walking assembly includes two drive wheel systems located at the rear end of the chassis and two omnidirectional wheels located at the front end of the chassis. The drive wheel system includes a support frame and a support seat slidably mounted on the support frame. A drive wheel is rotatably mounted on the outer side of the support seat, and a walking motor for driving the drive wheel is mounted on the inner side of the support seat. An elastic element for preventing the support seat from moving upward is provided between the support seat and the support frame.

[0011] Furthermore, the support frame includes a top plate, a bottom plate, and two guide columns. The top plate and the bottom plate are connected by the guide columns to form a frame structure. The support seat is located between the two guide columns. Guide seats that cooperate with the guide columns are respectively provided on both sides of the support seat. A positioning column is provided at the upper end of the support seat. An avoidance hole is provided on the top plate to allow the positioning column to pass through. The elastic element is a spring sleeved on the positioning column.

[0012] Furthermore, a battery mounting bracket is provided between the two drive wheel systems, and the two ends of the battery mounting bracket are respectively connected and fixed to the support frame of the two drive wheel systems, and the battery is mounted on the battery mounting bracket.

[0013] Furthermore, the chassis includes a chassis body, and forward-extending brackets are respectively provided on the left and right sides of the front end of the chassis body, with omnidirectional wheels provided at the end of the forward-extending brackets away from the chassis body.

[0014] Furthermore, the extended support is provided with mounting holes, and a caster seat is provided on the extended support above the mounting holes. The upper end of the caster is connected and fixed to the caster seat, and the lower end of the caster extends through the mounting holes to the bottom of the extended support.

[0015] Furthermore, when the lifting plate is in the lower limit position, the suspended end of the lifting plate is pressed against the universal wheel seat, and a shock-absorbing pad is provided on the upper side of the universal wheel seat.

[0016] The beneficial effects of this invention are: 1. This application provides a multi-platform AGV forklift with secondary positioning function. By installing a vision camera on the top of the mast and combining it with a six-degree-of-freedom motion platform, a secondary positioning mechanism of "vision guidance + six-degree-of-freedom platform fine-tuning" is realized. This mechanism enables the AGV to move to the vicinity of the target point using its own navigation system, and then adjust the posture of the lifting position through the six-degree-of-freedom motion platform. This effectively compensates for positioning deviations caused by external interference such as uneven ground, wheel slippage, and changes in lighting, and significantly improves the docking accuracy of material pick-up and drop-off points.

[0017] 2. This application provides a multi-platform AGV forklift with secondary positioning function. By setting independent adjustment components under each six-degree-of-freedom motion platform, the lateral and longitudinal positions of each lifting point can be flexibly adjusted, thereby adapting to materials of different sizes and support point layouts. This design allows a single AGV forklift to be compatible with material handling tasks with a wide range of span sizes, eliminating the need to configure multiple AGVs of different specifications, and reducing the costs of equipment procurement, maintenance, and scheduling management.

[0018] 3. The drive wheel system of the multi-platform AGV forklift with secondary positioning function provided in this application adopts an elastic suspension structure. The spring applies preload to the support seat, so that the drive wheel can float elastically when encountering uneven road surface, maintain good contact with the ground, effectively absorb impact energy, reduce vehicle vibration, and improve the overall driving stability and end positioning accuracy.

[0019] 4. The multi-platform AGV forklift with secondary positioning function provided in this application, when the lifting plate is at the lower limit position, its suspended end is pressed against the universal wheel seat and is provided with shock-absorbing pads, which can effectively support the front end of the lifting plate, avoid deformation of the cantilever structure, improve structural rigidity and running stability, and at the same time absorb high-frequency vibrations and extend the fatigue life of key components. Attached Figure Description

[0020] Figure 1 A three-dimensional structural diagram of a multi-platform AGV forklift with secondary positioning function provided for an embodiment of this application; Figure 2 for Figure 1 A magnified structural diagram of part A in the middle; Figure 3 A cross-sectional view of a multi-platform AGV forklift with secondary positioning function provided in an embodiment of this application; Figure 4 for Figure 3 A magnified structural diagram of part B in the middle section; Figure 5 for Figure 3 A magnified structural diagram of section C; Figure 6 A partial structural diagram for the lifting assembly; Figure 7 A three-dimensional structural diagram of the adjustment component; Figure 8 Side view of the adjustment assembly; Figure 9 Exploded view of the adjustment assembly; Figure 10 A schematic diagram of the installation structure for the walking assembly; Figure 11 A schematic diagram showing the positional relationship between the drive wheel system, chassis, and battery; Figure 12 A three-dimensional structural diagram of the drive wheel train; Figure 13 This is a cross-sectional view of the drive gear train; Figure 14 This is a schematic diagram of the installation structure of the caster wheels.

[0021] In the diagram: 1. Chassis; 11. Chassis body; 12. Forward support bracket; 121. Mounting hole; 21. Drive wheel system; 2111. Top plate; 2112. Bottom plate; 2113. Guide column; 212. Support base; 213. Drive wheel; 2131. Central shaft; 214. Travel motor; 215. Guide seat; 216. Positioning column; 217. Spring; 22. Caster wheel; 221. Caster wheel seat; 31. Gantry; 311. Upper crossbeam; 3111. First vertical drive bearing housing; 312. Lower crossbeam; 3121. Second vertical drive bearing housing; 3122. First mounting plate; 313. Vertical beam; 3131. Vertical guide rail; 314. Second mounting plate; 32. Lifting plate; 321. Vertical plate; 3211. Vertical slider; 3212. Transmission seat; 322. Horizontal plate; 331. Vertical lead screw; 3311. Connecting boss; 332. Vertical drive nut; 333. Lifting motor; 3331. Motor housing; 334. Drive gear; 335. Driven gear; 341. Linear encoder; 342. Sensing block; 343. Bracket; 4. Visual camera; 51. Six-degree-of-freedom motion platform; 511. Fixed platform; 512. Moving platform; 52. Adjustment assembly; 521. Longitudinal slide plate; 5211. Longitudinal slider; 5212. Longitudinal drive nut; 522. Lateral slide plate; 5221. Lateral slider; 5222. Lateral drive nut; 5223. Longitudinal guide rail; 5224. Longitudinal lead screw; 5225. Longitudinal drive bearing housing; 5226. Longitudinal adjustment handwheel; 523. Mounting plate; 5231. Lateral guide rail; 5232. Lateral lead screw; 5233. Lateral drive bearing housing; 5234. Lateral adjustment handwheel; 61. Battery mounting bracket; 62. Storage battery; 71. Main frame; 72. Shell. Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings. The described embodiments are merely a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort should fall within the protection scope of this application.

[0023] To facilitate understanding of the specific embodiments of this application, a coordinate system is now defined as follows: Figure 1 As shown, the left and right directions are horizontal, the front and back directions are vertical, and the up and down directions are vertical.

[0024] Example 1 like Figure 1 and Figure 3 As shown, a multi-platform AGV forklift with secondary positioning function includes a chassis 1, on which a traveling assembly and a lifting assembly are mounted. The lifting assembly includes a mast 31, with a lifting plate 32 slidably mounted on the front side of the mast 31, and a vertical drive component for driving the lifting plate 32 to move up and down is provided between the lifting plate 32 and the mast 31. At least two six-degree-of-freedom motion platforms 51 are provided on the lifting plate 32, and an adjustment assembly 52 is provided below or above each of the six-degree-of-freedom motion platforms 51. The adjustment assembly 52 is used to adjust the lifting position (i.e., the lateral and longitudinal coordinates) to adapt to the geometric dimensions of materials of different specifications. A vision camera 4 is provided at the top of the mast 31, and the vision camera 4 is used to acquire the three-dimensional coordinates of the target point in real time.

[0025] In one specific implementation, the lifting plate 32 described in this embodiment is provided with four six-degree-of-freedom motion platforms 51, and each of the six-degree-of-freedom motion platforms 51 has an adjustment device 52 below it, and each adjustment device 52 is independently controlled. Preferably, the four six-degree-of-freedom motion platforms 51 are arranged in a rectangular array of two rows and two columns.

[0026] like Figure 7 , Figure 8 and Figure 9 As shown, the adjustment assembly 52, from top to bottom, includes a longitudinal slide plate 521, a transverse slide plate 522, and a mounting plate 523. The mounting plate 523 is detachably and fixedly connected to the lifting plate 32. The transverse slide plate 522 is slidably connected to the mounting plate 523 via a sliding assembly, and a transverse drive component is provided between the transverse slide plate 522 and the mounting plate 523 to drive the transverse slide plate 522 to slide laterally back and forth relative to the mounting plate 523. The longitudinal slide plate 521 is slidably connected to the transverse slide plate 522 via a sliding assembly, and a longitudinal drive component is provided between the longitudinal slide plate 521 and the transverse slide plate 522 to drive the longitudinal slide plate 521 to slide longitudinally back and forth relative to the transverse slide plate 522. The fixed platform 511 of the six-degree-of-freedom motion platform 51 is detachably and fixedly mounted on the longitudinal slide plate 521.

[0027] In one specific embodiment, the upper surface of the mounting plate 523 in this embodiment is provided with transverse guide rails 5231 extending laterally at both the front and rear ends of the mounting plate 523. The lower side of the transverse slide plate 522 is provided with transverse sliders 5221 that slide in cooperation with the transverse guide rails 5231 at both the front and rear ends. The transverse drive component includes a transverse lead screw 5232 located between the two transverse guide rails 5231. Both ends of the transverse lead screw 5232 are rotatably connected to transverse drive bearing seats 5233 fixedly mounted on the mounting plate 523 via bearing assemblies. A transverse drive nut 5222 cooperating with the transverse lead screw 5232 is fixedly mounted on the lower side of the transverse slide plate 522. The upper side of the transverse slide plate 522 is provided with longitudinal guide rails 5223 extending longitudinally at both the left and right ends. The lower side of the longitudinal slide plate 521 is provided with longitudinal sliders 5211 that slide in cooperation with the longitudinal guide rails 5223 at both the left and right ends. The longitudinal drive component includes a longitudinal lead screw 5224 located between the two longitudinal guide rails 5223. The two ends of the longitudinal lead screw 5224 are respectively rotatably connected to the longitudinal drive bearing seat 5225 fixedly mounted on the transverse slide plate 522 via bearing assemblies. A longitudinal drive nut 5212 that cooperates with the longitudinal lead screw 5224 is fixedly mounted on the lower side of the longitudinal slide plate 521.

[0028] One end of the transverse lead screw 5232 is provided with a transverse adjustment handwheel 5234 or a transverse adjustment motor, and one end of the longitudinal lead screw 5224 is provided with a longitudinal adjustment handwheel 5226 or a longitudinal adjustment motor.

[0029] In one specific embodiment, a transverse adjustment handwheel 5234 is provided at one end of the transverse lead screw in this embodiment, and the transverse adjustment handwheel 5234 is located at the outer end of the transverse lead screw 5232 (with the side opposite to the left and right of the two adjustment parts 52 as the inner side). A longitudinal adjustment handwheel 5226 is provided at one end of the longitudinal lead screw 5224, and the longitudinal adjustment handwheel 5226 is located at the front end of the longitudinal lead screw 5224 (according to...). Figure 1 (Coordinate system shown).

[0030] As one specific implementation method, such as Figure 1 , Figure 3 and Figure 5 As shown, the gantry 31 in this embodiment includes vertical beams 313 on the left and right sides, and an upper crossbeam 311 and a lower crossbeam 312 connecting the two vertical beams 313. Vertical guide rails 3131 extending vertically are respectively provided on the vertical beams 313 on both sides. The lifting plate 32 includes a vertical plate 321 and a horizontal plate 322 fixedly disposed at the bottom of the vertical plate 321. A vertical slider 3211, which slides in cooperation with the vertical guide rails 3131, is fixedly disposed on the rear side of the vertical plate 321. Through the cooperation of the vertical guide rails 3131 and the vertical slider 3211, the lifting plate 32 can move stably up and down along the gantry 31. The six-degree-of-freedom motion platform 51 is disposed on the horizontal plate 322 of the lifting plate 32 via an adjustment device 52.

[0031] In one specific embodiment, second mounting plates 314 are welded and fixed to the left and right sides of the bottom end of the gantry 31, and the second mounting plates 314 are provided with connection holes for connecting to the chassis 1. The second mounting plates 314 and the chassis 1 are fastened together by high-strength bolts.

[0032] like Figure 4 , Figure 5 and Figure 6As shown, the vertical drive component includes a vertical lead screw 331 rotatably mounted on the gantry 31 and a lifting motor 333 for driving the vertical lead screw 331 to rotate. The upper end of the vertical lead screw 331 is rotatably connected to a first vertical drive bearing seat 3111 fixedly mounted on the upper crossbeam 311 via a bearing assembly, and the lower end of the vertical lead screw 331 is rotatably connected to a second vertical drive bearing seat 3121 fixedly mounted on the lower crossbeam 312 via a bearing assembly. A detachable transmission seat 3212 is fixedly mounted on the vertical plate 321 of the lifting plate 32, and a vertical drive nut 332 that cooperates with the vertical lead screw 331 is mounted on the transmission seat 3212. A first mounting plate 3122 is fixedly installed on the lower crossbeam 312 of the gantry 31 by welding. The lifting motor 333 is fixedly installed on the first mounting plate 3122 by a motor base 3331. The power output shaft of the lifting motor 333 is connected to the vertical lead screw 331 through a transmission mechanism.

[0033] In one specific implementation, the transmission mechanism described in this embodiment employs gear transmission. The transmission mechanism includes a drive gear 334 mounted on the power output shaft of the lifting motor 333, and a driven gear 335 meshing with the drive gear 334 at the lower end of the vertical lead screw 331. When the lifting motor 333 rotates, it drives the vertical lead screw 331 to rotate via gear transmission, thereby driving the transverse drive nut 5222 and the lifting plate 32 fixed thereto to move axially along the vertical lead screw 331.

[0034] As one specific implementation method, such as Figure 5 As shown, the lower end of the vertical lead screw 331 is provided with a ring-shaped connecting boss 3311. The driven gear 335, which is sleeved on the vertical lead screw 331, is located below the connecting boss 3311 and is fixedly connected to the connecting boss 3311 by screws, so as to ensure that the transmission structure is compact and reliable.

[0035] Furthermore, in order to provide timely feedback on the height of the lifting plate 32, such as Figure 1 and Figure 2 As shown, a detachable linear encoder 341 is fixedly installed on one side of the gantry 31, and a sensing block 342 that cooperates with the linear encoder 341 is mounted on the corresponding side of the lifting plate 32 via a bracket 343. When the lifting plate 32 moves up and down, the sensing block 342 moves synchronously with it, and the linear encoder 341 reads the position information of the sensing block 342 in real time, thereby realizing the detection of the position of the lifting plate 32.

[0036] like Figure 1 , Figure 3 , Figure 10 and Figure 11As shown, the walking assembly includes two drive wheel systems 21 located at the rear end of the chassis 1 and two omnidirectional wheels 22 located at the front end of the chassis 1. The two drive wheel systems 21 have the same structure and are arranged symmetrically.

[0037] like Figure 12 and Figure 13 As shown, the drive wheel system 21 includes a support frame and a support seat 212 slidably disposed on the support frame. A drive wheel 213 is rotatably disposed on the outer side of the support seat 212, and a travel motor 214 for driving the drive wheel 213 to rotate is disposed on the inner side of the support seat 212. An elastic member is disposed between the support seat 212 and the support frame to prevent the support seat 212 from moving upward.

[0038] In one specific embodiment, the support frame described in this embodiment includes a top plate 2111, a bottom plate 2112, and two guide posts 2113. The top plate 2111 and the bottom plate 2112 are connected by the guide posts 2113 to form a frame structure. A support base 212 is located between the two guide posts 2113, and guide seats 215 that cooperate with the guide posts 2113 are respectively provided on both sides of the support base 212. For example, the guide seats 215 are linear bearings. A positioning post 216 is provided at the upper end of the support base 212, and a clearance hole is provided on the top plate 2111 to allow the positioning post 216 to pass through. The elastic element is a spring 217 sleeved on the positioning post 216, with the upper end of the spring 217 abutting against the lower surface of the top plate 2111 and the lower end of the spring 217 abutting against the upper surface of the support base 212.

[0039] The structural design takes into account both dynamic load adaptability and space compactness: after the pre-compression of the spring 217 is calibrated, it can provide moderate support stiffness when the AGV forklift is unloaded, while under full load conditions, the support seat 212 is allowed to sink controllably along the guide column 2113, which both buffers the impact and avoids wheel system suspension and instability.

[0040] like Figure 10 and Figure 11 As shown, a battery mounting bracket 61 is provided above the two drive wheel systems 21. The two ends of the battery mounting bracket 61 are detachably connected and fixed to the support frames of the left and right drive wheel systems 21, and the battery 62 is fixedly mounted on the battery mounting bracket 61.

[0041] Furthermore, such as Figure 10 As shown, the chassis 1 includes a chassis body 11, with forward-extending supports 12 respectively provided on the left and right sides of the front end of the chassis body 11. A caster wheel 22 is provided at the end of the forward-extending support 12 furthest from the chassis body 11. The gantry 31 is located between the chassis body 11 and the forward-extending supports 12.

[0042] By designing the chassis 1 as a chassis body 11 plus a forward support 12, not only is the stability of the entire chassis 1 structure guaranteed and the risk of instability caused by the offset of the center of gravity avoided, but the weight can also be reduced and material costs can be saved.

[0043] Furthermore, such as Figure 14 As shown, the extended support 12 is provided with a mounting hole 121, and a caster seat 221 is provided on the extended support 12 above the mounting hole 121. The upper end of the caster 22 is connected and fixed to the caster seat 221, and the lower end of the caster 22 extends through the mounting hole 121 to the lower part of the extended support 12.

[0044] In one specific embodiment, the universal wheel seat 221 described in this embodiment includes a web plate, and two ends of the web plate are respectively provided with wing plates extending downward perpendicular to the web plate. The lower end of the wing plate is provided with a connecting lug plate extending outward in a horizontal direction (with the side opposite to the two wing plates as the inner side). The universal wheel seat 221 spans the mounting hole 121, and the connecting lug plate is fixedly connected to the forward support 12 by screws.

[0045] Furthermore, when the lifting plate 32 is in the lower limit position, the suspended end of the lifting plate 32 is pressed against the universal wheel seat 221, and a shock-absorbing pad is provided on the upper side of the universal wheel seat 221.

[0046] In this way, during the transfer of goods, the lifting plate 32 can be lowered to the lower limit position by the drive motor, so that the front end of the lifting plate 32 is pressed against the universal wheel seat 221. At this time, the suspended end of the lifting plate 32 is effectively supported, avoiding deformation caused by the cantilever structure, improving structural rigidity and operational stability. At the same time, the shock-absorbing pad can effectively absorb high-frequency vibrations during the transfer process, effectively extending the fatigue life of key components.

[0047] Furthermore, to protect the core components of the AGV forklift, a main frame 71 and a cover 72 are provided at the rear end of the chassis 1 (i.e., the chassis body 11). The main frame 71 is fixedly installed on the chassis body 11, and the cover 72 covers the outside of the main frame 71. The drive wheel system 21, the battery 62, and the lifting motor 333 are all located within the enclosed space of the cover 72, thereby achieving physical protection and electromagnetic shielding for the core components such as the drive wheel system 21, the battery 62, and the drive motor, and improving the robustness and long-term operational reliability of the entire machine in complex industrial environments.

[0048] During operation, the adjustment unit 52 is first adjusted according to the size of the goods to be transferred, so that the positions of the four six-degree-of-freedom motion platforms 51 match the size of the goods. During the handling process, when the AGV forklift moves to the vicinity of the target point using its own navigation system, the vision camera 4 set on the top of the mast 31 collects the three-dimensional coordinates of the target point. Using the three-dimensional coordinates collected by the vision camera 4 and the position information fed back by the attitude sensors of the six-degree-of-freedom motion platforms 51, the deviation vector between the current pose of each six-degree-of-freedom motion platform 51 and the predetermined support point is calculated. Then, the six-degree-of-freedom motion platforms 51 are driven to adjust their attitude, compensating for the positioning error within the allowable range. This secondary positioning mechanism of "vision guidance + six-degree-of-freedom platform fine-tuning" enables the AGV forklift to effectively cope with external environmental interference, significantly improving the first-time success rate of workpiece docking without requiring modifications to the original chassis 1 or navigation system.

[0049] Here, for the picking process, the target point is the center position of the workpiece to be picked up by the forklift; for the placing process, the target point is the preset center coordinates of the workpiece placement position.

[0050] When the forklift travels on uneven surfaces, the drive wheel 213 is impacted and moves upward, compressing the spring 217 and absorbing the impact energy. After the impact disappears, the restoring force of the spring 217 pushes the drive wheel 213 back to its original position, maintaining good contact between the drive wheel 213 and the ground. This elastic suspension structure effectively reduces the impact of vehicle vibration on the positioning accuracy of the fork arm end.

[0051] Example 2 The difference between this embodiment and Embodiment 1 is that the adjustment assembly is located above the six-degree-of-freedom motion platform 51. The fixed platform 511 of the six-degree-of-freedom motion platform 51 is detachably and directly fixed to the horizontal plate 322 of the lifting plate 32, and the mounting plate 523 of the adjustment assembly 52 is detachably fixed to the moving platform 512 of the six-degree-of-freedom motion platform 51. The longitudinal sliding plate 521 of the adjustment assembly 52 acts as a lifting component and directly contacts the goods to be transferred.

[0052] Other embodiments obtained by those skilled in the art based on the embodiments provided in this application by combining, splitting, or reorganizing the embodiments of this application do not exceed the protection scope of this application.

[0053] The above detailed embodiments have provided a detailed explanation of the purpose, technical solutions, and beneficial effects of the embodiments of this application. The above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. That is, any modifications, equivalent substitutions, improvements, etc., made on the basis of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A multi-platform AGV forklift with secondary positioning function, comprising a chassis (1) and a traveling assembly mounted on the chassis (1), wherein a mast (31) is mounted on the chassis (1), characterized in that: A lifting plate (32) is slidably provided on the front side of the gantry (31), and a vertical driving component for driving the lifting plate (32) to rise and fall along the gantry (31) is provided between the gantry (31) and the lifting plate (32); The lifting plate (32) is provided with at least two six-degree-of-freedom motion platforms (51), and an adjustment device (52) for adjusting the lifting position is provided below or above the six-degree-of-freedom motion platform (51). A vision camera (4) is provided at the top of the gantry (31), which is used to acquire the three-dimensional coordinates of the target point.

2. The multi-platform AGV forklift with secondary positioning function according to claim 1, characterized in that: The adjustment assembly (52) includes, from top to bottom, a longitudinal slide plate (521), a transverse slide plate (522), and a mounting plate (523). The mounting plate (523) is mounted on the lifting plate (32). The transverse slide plate (522) is slidably connected to the mounting plate (523). A transverse driving component for driving the transverse slide plate (522) to slide laterally is provided between the transverse slide plate (522) and the mounting plate (523). The longitudinal slide plate (521) is slidably connected to the transverse slide plate (522). A longitudinal driving component for driving the longitudinal slide plate (521) to slide longitudinally is provided between the longitudinal slide plate (521) and the transverse slide plate (522). The fixed platform (511) of the six-degree-of-freedom motion platform (51) is mounted on the longitudinal slide plate (521).

3. The multi-platform AGV forklift with secondary positioning function according to claim 1, characterized in that: The vertical drive component includes a vertical screw (331) rotatably mounted on the gantry (31) and a lifting motor (333) for driving the vertical screw (331) to rotate. The lifting plate (32) is provided with a vertical drive nut (332) that cooperates with the vertical screw (331).

4. A multi-platform AGV forklift with secondary positioning function according to claim 1, characterized in that: A linear encoder (341) is provided on one side of the gantry (31), and a sensing block (342) that cooperates with the linear encoder (341) is provided on the corresponding side of the lifting plate (32) through a bracket (343).

5. A multi-platform AGV forklift with secondary positioning function according to claim 1, characterized in that: The walking assembly includes two drive wheel systems (21) located at the rear end of the chassis (1) and two casters (22) located at the front end of the chassis (1). The drive wheel system (21) includes a support frame and a support seat (212) slidably mounted on the support frame. A drive wheel (213) is rotatably mounted on the outer side of the support seat (212). A walking motor (214) for driving the drive wheel (213) to rotate is mounted on the inner side of the support seat (212). An elastic element for preventing the support seat (212) from moving upward is provided between the support seat (212) and the support frame.

6. A multi-platform AGV forklift with secondary positioning function according to claim 5, characterized in that: The support frame includes a top plate (2111), a bottom plate (2112), and two guide columns (2113). The top plate (2111) and the bottom plate (2112) are connected by the guide columns (2113) to form a frame structure. The support seat (212) is located between the two guide columns (2113). Guide seats (215) that cooperate with the guide columns (2113) are respectively provided on both sides of the support seat (212). A positioning column (216) is provided at the upper end of the support seat (212). The top plate (2111) is provided with a clearance hole that allows the positioning column (216) to pass through. The elastic element is a spring (217) sleeved on the positioning column (216).

7. A multi-platform AGV forklift with secondary positioning function according to claim 5, characterized in that: A battery mounting bracket (61) is provided between the two drive wheel systems (21). The two ends of the battery mounting bracket (61) are respectively connected and fixed to the support frame of the two drive wheel systems (21). The battery (62) is placed on the battery mounting bracket (61).

8. A multi-platform AGV forklift with secondary positioning function according to claim 5, characterized in that: The chassis (1) includes a chassis body (11), and forward extension brackets (12) are respectively provided on the left and right sides of the front end of the chassis body (11). A caster wheel (22) is provided at the end of the forward extension bracket (12) away from the chassis body (11).

9. A multi-platform AGV forklift with secondary positioning function according to claim 8, characterized in that: The extended support (12) is provided with a mounting hole (121). A caster seat (221) is provided on the extended support (12) above the mounting hole (121). The upper end of the caster (22) is connected and fixed to the caster seat (221). The lower end of the caster (22) extends through the mounting hole (121) to the bottom of the extended support (12).

10. A multi-platform AGV forklift with secondary positioning function according to claim 9, characterized in that: When the lifting plate (32) is in the lower limit position, the suspended end of the lifting plate (32) is pressed against the universal wheel seat (221), and a shock-absorbing pad is provided on the upper side of the universal wheel seat (221).

Images