Forklift type AGV integrating visual identification and adjustable electric tool

Abstract

The application discloses a forklift type AGV integrated with visual identification and adjustable electric tool, and relates to the technical field of automatic guided vehicles, which comprises a vehicle body, a portal, a driving mechanism, a lifting frame, a fork frame body and two groups of forks, the portal is rotatably connected to the vehicle body through a rotating shaft, and the rotating shaft extends along a first direction; one end of the driving mechanism is rotatably connected to the vehicle body, and the other end is rotatably connected to the portal; the driving mechanism can be extended or retracted to drive the portal to rotate relative to the vehicle body around the axis of the rotating shaft; the lifting frame is movably connected to the portal, and the lifting frame can move relative to the portal along a second direction; the fork frame body is movably connected to the lifting frame, and the fork frame body can move relative to the lifting frame along the first direction; each group of forks is connected to the fork frame body, and each group of forks can move relative to the fork frame body along the first direction. The safety in the cargo carrying process can be improved while realizing efficient fork picking of the two groups of forks.

Description

Technical Field

[0001] This invention relates to the field of automated guided vehicles (AGVs), and particularly to a forklift-type AGV that integrates visual recognition and adjustable electric attachments. Background Technology

[0002] Forklift-type AGVs integrating visual recognition and adjustable electric attachments are driven by the demand for industrial automation and intelligent logistics upgrades. Their core function is to replace manual labor in repetitive, high-intensity handling tasks, while improving efficiency, reducing costs, and mitigating safety risks. In multi-pallet cargo handling or dense warehousing operations, some forklift-type AGVs employ a dual-fork assembly design to simultaneously pick up two pallets or multiple goods, thereby increasing the efficiency of a single operation.

[0003] However, in the existing technology, most dual fork assemblies are connected to the lifting frame or fork frame body, and can only make lateral movement adjustment of the fork assembly alone. After the two pallets are picked up at the same time, there is often contact, squeezing or sticking between the goods and the stack behind. If they are moved out directly, the goods are prone to shifting, tilting or even falling, which affects the handling safety and operation efficiency.

[0004] Therefore, how to improve the safety of cargo handling while achieving efficient forklifting with dual forks is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] The purpose of this invention is to provide a forklift-type AGV that integrates visual recognition and adjustable electric attachments, which can improve the safety of cargo handling while achieving efficient picking up of goods with dual forks.

[0006] To achieve the above objectives, the present invention provides a forklift-type AGV integrating visual recognition and adjustable electric attachments, comprising: Vehicle body; The mast is rotatably connected to the vehicle body via a rotating shaft that extends in a first direction; The drive mechanism is rotatably connected to the vehicle body at one end and rotatably connected to the mast at the other end. The drive mechanism can extend and retract to drive the mast to rotate relative to the vehicle body about the axis of rotation. The lifting frame is movably connected to the gantry and is capable of moving relative to the gantry in a second direction, which is perpendicular to the first direction. The fork body is movably connected to the lifting frame, and the fork body is movable relative to the lifting frame in a first direction; Two sets of fork assemblies, each fork assembly is connected to the fork carriage, and each fork assembly is capable of moving relative to the fork carriage in a first direction.

[0007] In one possible implementation, the fork carriage is provided with a groove extending in a first direction, and each fork assembly includes a stop and a fork body connected to the stop. Each stop is provided with a guide beam adapted to the groove, and the guide beam can move in the groove along the extension direction of the groove to guide the movement of the stop.

[0008] In one possible implementation, the drive mechanism includes: The first fixing plate is connected to the vehicle body; The second fixing plate is connected to the side plate of the gantry; The first mounting base is connected to the second fixing plate; The first hydraulic cylinder includes a first cylinder body and a first piston rod connected to the first cylinder body. The first cylinder body is rotatably connected to a first fixed plate via a first pin, and the first piston rod is rotatably connected to a second fixed plate via a second pin. The axial directions of the first pin and the second pin are parallel to a first direction.

[0009] In one possible implementation, a displacement detection component is also included, comprising a clamp and a linear displacement sensor. The clamp is connected to the first cylinder block, the fixed end of the linear displacement sensor is connected to the clamp, and the movable end of the linear displacement sensor is connected to the first mounting base.

[0010] In one possible implementation, the rotating shaft is fixedly connected to the bottom of the mast, and a fixing assembly is provided between the rotating shaft and the vehicle body. The fixing assembly includes: Bearing bush, fitted onto the rotating shaft; A frame welding plate is connected to the vehicle body, and the frame welding plate is provided with a first semi-circular groove; The rotating shaft seal plate is connected to the frame welding plate. The rotating shaft seal plate is provided with a second semi-circular groove that corresponds to the first semi-circular groove to form an annular groove. The annular groove is used for the bearing bush to pass through.

[0011] In one possible implementation, a navigation lifting mechanism is also included, comprising: The second mounting bracket is connected to the vehicle body; The second hydraulic cylinder includes a second cylinder body connected to the second mounting base and a second piston rod connected to the second cylinder body; The inner tube is connected to the second piston rod; The outer tube is connected to the second mounting base and is sleeved with the inner tube. The second hydraulic cylinder is used to drive the inner tube to move relative to the outer tube in the second direction. The navigation laser assembly is attached to the top of the inner tube.

[0012] In one possible implementation, the outer tube is provided with a clearance hole, and the inner tube is provided with a first limiting hole and a second limiting hole spaced apart in a second direction. The navigation lifting mechanism also includes: Mounting bracket, connected to the outer tube; The third mounting bracket is connected to the mounting bracket; An electric actuator, connected to a third mounting base, has a telescopic end that can pass through a clearance hole to insert into a first or second limiting hole to restrict the movement of the inner tube relative to the outer tube.

[0013] In one possible implementation, the inner tube is provided with a first detection hole and a second detection hole spaced apart in a second direction. The first detection hole and the second detection hole are staggered in the first direction. The navigation lifting mechanism also includes a detection plate disposed on the top of the inner tube, and a first proximity switch, a second proximity switch and a third proximity switch disposed on the top of the outer tube. The first proximity switch is used to detect the first detection hole, the second proximity switch is used to detect the detection plate, and the third proximity switch is used to detect the second detection hole.

[0014] In one possible implementation, a vision component is also included, comprising: The first mounting plate is connected to the lifting frame; A mounting bracket is connected to the first mounting plate, and the mounting bracket is equipped with a slide rail; The power assembly includes a power source, a lead screw rotatably mounted on a fixed frame and connected to the output end of the power source, a ball sleeved on the lead screw, and a slider connected to the ball and capable of sliding relative to a slide rail, wherein the extension direction of the lead screw is parallel to a first direction. A sliding bracket, connected to the slider; Adapter bracket, connected to sliding bracket; Adapter plate, connected to the adapter bracket; The camera is connected to the adapter plate via the first fixed bracket.

[0015] In one possible implementation, it also includes: An obliquely directed laser beam connected to the outer tube; And / or, the first and second light strips are installed on the vehicle body; And / or, a first emergency stop switch and a second emergency stop switch are installed on the vehicle body; And / or, a first safety laser and a second safety laser installed on the vehicle body; And / or, a camera assembly mounted on the fork body.

[0016] Compared to existing technologies, the technical solution provided by this invention has at least the following beneficial effects: Two sets of fork assemblies are connected to the fork carriage body, and each fork assembly can move relative to the fork carriage body along a first direction, for individually adjusting the position of the fork assembly relative to the fork carriage body in the first direction. The fork carriage body is movably connected to the lifting frame, and the fork carriage body can move relative to the lifting frame along the first direction, for adjusting the position of the fork carriage body and the two sets of fork assemblies as a whole relative to the lifting frame in the first direction. After both sets of fork assemblies have picked up the goods, the goods on the fork assemblies are separated from the unpicked goods by the overall movement of the fork carriage body and the two sets of fork assemblies, avoiding the problem of goods shifting or falling due to contact or collision between the goods on the fork assemblies and the unpicked goods when the vehicle body moves. The drive mechanism is used to drive the mast, lifting frame, fork carriage body, and two sets of fork assemblies to rotate synchronously relative to the vehicle body around the axis of rotation, so that the goods are always in contact with the fork assemblies, preventing the goods from slipping during handling and unloading. This setup enables efficient picking up of goods with dual forks while improving safety during cargo handling. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the forklift-type AGV that integrates visual recognition and adjustable electric attachments provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the forklift-type AGV with integrated visual recognition and adjustable electric attachments provided in an embodiment of the present invention from another perspective. Figure 3 This is a schematic diagram of the drive mechanism provided in an embodiment of the present invention; Figure 4 for Figure 3 A magnified view of point A from another perspective; Figure 5 This is a schematic diagram of the navigation lifting mechanism provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the electric actuator provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the inner tube provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the inner tube provided in an embodiment of the present invention from another perspective; Figure 9 This is a schematic diagram of the proximity switch provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the structure of the two sets of fork assemblies provided in an embodiment of the present invention; Figure 11 This is a schematic diagram of the lifting frame provided in an embodiment of the present invention; Figure 12 for Figure 10 A magnified view of a section at point B in the middle; Figure 13 This is a schematic diagram of the fork frame provided in an embodiment of the present invention; Figure 14 This is a schematic diagram of the fork frame provided in an embodiment of the present invention from another perspective. Figure 15 This is a schematic diagram of the assembled lifting frame and fork frame provided in an embodiment of the present invention; Figure 16 This is a schematic diagram of the lifting frame and fork frame provided in an embodiment of the present invention after assembly, viewed from another perspective. Figure 17 This is a schematic diagram of the fork assembly provided in an embodiment of the present invention; Figure 18 This is a schematic diagram of the fork assembly provided in an embodiment of the present invention from another perspective. Figure 19 This is a schematic diagram of the structure of the vision component provided in an embodiment of the present invention; Figure 20 This is a schematic diagram of the oblique laser structure provided in an embodiment of the present invention; Figure 21 This is a schematic diagram of the structure of the laser protection area provided in an embodiment of the present invention; Figure 22 This is a schematic diagram of the double-row wheel structure provided in an embodiment of the present invention; Figure 23 This is a schematic diagram of the structure of the electrical component provided in an embodiment of the present invention.

[0019] in: 10-Navigation lifting mechanism; 101-Navigation laser cover; 102-Navigation laser mounting base; 104-Outer tube; 105-Pull rod mounting base; 106-Connecting reinforcing rib; 107-Oil pipe outlet; 108-Second mounting base; 109-Lower cable cover; 110-Electric push rod cover; 111-Upper cable cover; 1102-Mounting bracket; 1103-Third mounting base; 1104-Electric push rod; 1105-Allowing hole; 1031-Upper guide block; 1032-Inner tube; 1033-Lower guide block; 1034-Hydraulic cylinder fixing bracket; 1035-Hydraulic cylinder fixing base; 1037-First detection hole; 1038-Second detection hole; 1039-First limit hole; 1040-Second limit hole; 1041-Second hydraulic cylinder; 1042-Oil pipe interface; 20-Car body; 201-Mass; 204-Rubber tire; 205-Frame; 206-Irregular front counterweight; 207-Car body panel; 30-Drive mechanism; 301-Second fixing plate; 302-First mounting base; 303-First hydraulic cylinder; 304-First fixing plate; 306-Clamp; 307-Linear displacement sensor; 308-Sensor bracket; 309-Reinforcing plate; 311-Side plate; 3101-Frame welding plate; 3102-Rotating shaft; 3103-Bearing bush; 3104-Rotating shaft sealing plate; 3105-Oil inlet; 40 - Visual components; 501-Side-shift cable chain for fork assembly; 502-Fork body; 504-Forward-facing camera; 505-Fork carriage body; 507-Vision assembly; 5021-First retaining pin; 5022-First fork; 5023-Mechanical collision mechanism; 5024-Second retaining pin; 5025-Second fork; 5026-Barrel rack; 5027-Guide beam; 5029-Fixed hook; 5051-Slide rail; 5052-Sixth mounting base; 5053-Seventh mounting base; 5054-Fixed mounting base; 5055-Upper hook; 5056-Lower hook; 5061-Fixed plate; 5062 - Upper horizontal plate; 5063 - Fourth mounting base; 5064 - First driver; 5065 - Second driver; 5072 - Second mounting plate; 5073 - Fourth driver; 5074 - Driver mounting bracket; 5075 - Camera; 5076 - Adapter plate; 5077 - First fixed bracket; 5078 - Adapter bracket; 5079 - Ranging photoelectric sensor; 5080 - Photoelectric sensor mounting bracket; 5081 - Camera side-shifting cable chain; 5082 - Cable chain rear end mounting bracket; 5083 - Cable chain front end mounting bracket; 5084 - Sliding bracket; 5085 - Power source; 602 - Proximity switch mounting bracket; 604 - First proximity switch; 603 - Second proximity switch; 605 - Detection board; 607 - Third proximity switch; 703-Second fixed bracket; 704-Second electric actuator; 706-Third fixed bracket; 707-Third electric actuator; 708-Fifth mounting base; 709-Transverse actuator connecting base; 710-First electric actuator; 711-First driver; 801 - Oblique laser; 802 - First light strip; 803 - First emergency stop switch; 804 - First safety laser; 805 - Second safety laser; 806 - Second emergency stop switch; 807 - Second light strip; 901 - Double row wheel; 905 - AC motor; 906 - Electrical component. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left" and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the position or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations of this invention.

[0023] The purpose of this invention is to provide a forklift-type AGV that integrates visual recognition and adjustable electric attachments, which can improve the safety of cargo handling while achieving efficient picking up of goods with dual forks.

[0024] It should be noted that in this embodiment, the X direction in the attached figure is defined as the first direction, and the Y direction is defined as the second direction. The first direction and the second direction are perpendicular to each other.

[0025] Please see Figures 1 to 23To achieve the above objectives, this invention provides a forklift-type AGV integrating visual recognition and adjustable electric attachments, including a body 20, a mast 201, a drive mechanism 30, a lifting frame, a fork carriage 505, and two sets of forks. The body 20 includes front double-row wheels 901, two rubber tires 204, a frame 205, a uniquely shaped front counterweight 206, and body panels 207. The uniquely shaped front counterweight 206 not only adjusts the center of gravity of the transport vehicle but also enhances its overall aesthetics. The body 20 is composed of multiple body panels 207, facilitating maintenance and repair of internal components and improving the overall appearance. Two Φ560mm rubber tires 204 are used as drive wheels. Compared to the polyurethane tires used in traditional forklift AGV drive wheels, these have a larger diameter, enabling the transport vehicle to have stronger load-bearing capacity and higher speed, better adapting to harsh ground environments, and significantly increasing the service life of the drive wheels. The front double-row wheels 901 are controlled by a steering servo motor and only have a steering function. The use of double-row wheels 901 allows for greater load-bearing capacity. Two rubber tires 204 are driven by AC motors 905. The tires 204 have a wheel width of 200mm, suitable for high-load, high-speed working environments. One of the advantages of this vehicle is its high speed, reaching 3m / s, and strong load capacity of 4T. Compared to the electromagnetic braking method used in conventional forklift-type AGVs, the transport vehicle provided in this application uses a hydraulic braking method to achieve optimal braking performance when the transport vehicle is running at high speeds.

[0026] The mast 201 is rotatably connected to the vehicle body 20 via a rotating shaft 3102 extending along a first direction perpendicular to the forward or reverse direction of the transport vehicle. A drive mechanism 30 is rotatably connected at one end to the vehicle body 20 and at the other end to the mast 201. The drive mechanism 30 is telescopic to rotate the mast 201 relative to the vehicle body 20 about the axis of the rotating shaft 3102. A lifting frame is movably connected to the mast 201 and can move relative to the mast 201 along a second direction perpendicular to the first direction. A fork carriage 505 is movably connected to the lifting frame and can move relative to the lifting frame along the first direction. Each fork assembly is connected to the fork carriage 505 and each fork assembly can move relative to the fork carriage 505 along the first direction.

[0027] Two sets of fork assemblies are connected to the fork carriage 505, and each fork assembly can move relative to the fork carriage 505 in a first direction. This allows for individual adjustment of the position of the fork assembly relative to the fork carriage 505 in the first direction. The fork carriage 505 is movably connected to the lifting frame and can move relative to the lifting frame in the first direction. This allows for adjustment of the position of the fork carriage 505 and the two sets of fork assemblies as a whole relative to the lifting frame in the first direction. After both sets of fork assemblies have picked up the goods, the movement of the fork carriage 505 and the two sets of fork assemblies as a whole separates the goods on the fork assemblies from the goods that have not been picked up. This prevents the goods on the fork assemblies from contacting or colliding with the goods that have not been picked up when the vehicle body 20 moves, thus avoiding the problem of goods shifting or falling off. The drive mechanism 30 is used to drive the mast 201, lifting frame, fork carriage 505, and two sets of forks to rotate synchronously relative to the vehicle body 20 around the axis of rotation 3102, so that the goods are always in contact with the fork sets and the goods are prevented from slipping during handling and unloading. This configuration can improve the safety of goods handling while achieving efficient lifting with dual forks.

[0028] In one possible implementation, the fork carriage 505 is provided with a groove 5051 extending in a first direction. The groove 5051 may be, but is not limited to, a T-shaped groove. The number of grooves 5051 may be set to two, and the two grooves 5051 are spaced apart in a second direction. Each fork assembly includes a stop 5026 and a fork body 502 connected to the stop 5026. Each stop 5026 is provided with a guide beam 5027 adapted to the groove 5051. The guide beam 5027 can move within the groove 5051 along the extension direction of the groove 5051 to guide the movement of the stop 5026. A fork assembly side-shifting cable chain 501 is provided between the backrest 5026 and the fork carriage 505. Specifically, one end of the fork assembly side-shifting cable chain 501 is fixed on the backrest 5026 and the other end is fixed on the fork carriage 505. It is used to fix the cable during relative movement. A camera assembly is set on the fork carriage 505. The camera assembly includes a forward-looking camera 504. The forward-looking camera 504 can be located in the middle of the fork carriage 505 in the first direction to identify the pallet hole and ensure fork entry accuracy.

[0029] The lifting frame includes an upper horizontal plate 5062, a lower horizontal plate, a fixed plate 5061 welded to the upper horizontal plate 5062, and a fourth mounting base 5063 welded to the fixed plate 5061. The fork body 505 includes an upper hook 5055, a lower hook 5056, a fifth mounting base 5054, a sixth mounting base 5052, and a seventh mounting base 5053. The upper hook 5055 of the fork body 505 is hooked onto the upper horizontal plate 5062, and the lower hook 5056 of the fork body 505 is hooked onto the lower horizontal plate, serving as a mechanical connection and providing support and guidance for the sliding of the fork body 505 on the lifting frame. A first electric actuator 710 is provided between the lifting frame and the fork body 505. The first electric actuator 710 includes a first fixed body connected to the fourth mounting base 5063 and a first movable body connected to the first fixed body and the fifth mounting base 5054. Specifically, the first fixed body is connected to a second fixed bracket 703, and the support on the second fixed bracket 703 is fixed to the fourth mounting base 5063 by a pin connection. A transverse push rod connecting seat 709 is welded to the first movable body, and the transverse push rod connecting seat 709 is fixed to the fifth mounting base 5054 by a pin connection. The first movable body can extend and retract relative to the first fixed body in a first direction to drive the fork body 505 to move relative to the lifting frame in the first direction. The power drive component of the first electric actuator 710 can be a 1000W servo motor, and the power drive component of the first electric actuator 710 is connected to a first driver 5064.

[0030] A second electric actuator 704 is provided between the fork carriage body 505 and a backrest 5026. The second electric actuator 704 includes a second fixed body connected to a third fixed bracket 706 and a second movable body connected to the second fixed body and the backrest 5026. The third fixed bracket 706 is fixedly connected to a sixth mounting base 5052 via a pin. The second movable body is telescopic relative to the second fixed body in a first direction to move the backrest 5026 relative to the fork carriage body 505 in the first direction. The power drive of the second electric actuator 704 can be a 400W servo motor. A third electric actuator 707 is provided between the fork carriage body 505 and another backrest 5026. The third electric actuator 707 includes a third fixed body connected to a fourth fixed bracket and a third movable body connected to the third fixed body and the backrest 5026. The fourth fixed bracket is connected to a seventh mounting base 5053 via a pin. The third movable body is telescopic relative to the third fixed body in a first direction to move the backrest 5026 relative to the fork carriage body 505 in the first direction. The power drive of the third electric actuator 707 can be a 400W servo motor, the power drive of the second electric actuator 704 is connected to the second driver 5065, and the power drive of the third electric actuator 707 is connected to the third driver.

[0031] Each fork 502 includes a first fork 5022 and a second fork 5025 spaced apart in a first direction. The first fork 5022 is connected to a first predetermined position of the backstop 5026 via a first fixing pin 5021, and the second fork 5025 is connected to a second predetermined position of the backstop 5026 via a second fixing pin 5024. The first and second predetermined positions can be adjusted as needed, that is, the distance between the first fork 5022 and the second fork 5025 in the first direction can be adjusted manually. The backstop 5026 is provided with a fixing hook 5029 and a mechanical collision mechanism 5023. The fixing hook 5029 is used to connect with a second or third moving body, and the mechanical collision mechanism 5023 is used for goods arrival detection. The backstop 5026 is used to prevent goods of a certain height from tipping over during movement.

[0032] In one possible implementation, the forklift-type AGV integrating visual recognition and adjustable electric attachments further includes a vision component 40. The vision component 40 includes a first mounting plate, a fixed frame, a fourth driver 5073, a power component, a sliding bracket 5084, an adapter bracket 5078, an adapter plate 5076, and a camera 5075. The fourth driver 5073 is fixed to the second mounting plate 5072 of the lifting frame via the driver mounting bracket 5074. The first mounting plate is connected to the second mounting plate 5072 of the lifting frame; the fixed frame is connected to the first mounting plate and has a slide rail; the power component includes a power source 5085, a lead screw rotatably passing through the fixed frame and connected to the output end of the power source 5085, a ball sleeved on the lead screw, and a slider connected to the ball and capable of sliding relative to the slide rail. The extension direction of the lead screw is parallel to a first direction. A sliding bracket 5084 is connected to a slider. A front-end mounting bracket 5083 of the cable chain is fixed to the sliding bracket 5084 with bolts. A rear-end mounting bracket 5082 of the cable chain is provided on the second mounting plate 5072. One end of the camera side-shifting cable chain 5081 is connected to the front-end mounting bracket 5083, and the other end is connected to the rear-end mounting bracket 5082. An adapter bracket 5078 is fixedly connected to the sliding bracket 5084. An adapter plate 5076 is connected to the adapter bracket 5078. The adapter bracket 5078 has a first arc-shaped hole, and the adapter plate 5076 has a first connecting hole. Bolts are connected to different positions of the first arc-shaped hole and then connected to the first connecting hole, which can adjust the position of the adapter plate 5076. The adapter plate 5076 has a second arc-shaped hole, and the first fixed bracket 5077 has a second connecting hole. Bolts are connected to different positions of the second arc-shaped hole and then connected to the second connecting hole, which can adjust the position of the first fixed bracket 5077. This allows for fine-tuning of the horizontal and vertical tilt angles of the camera 5075, ensuring its operational accuracy. The photoelectric mounting bracket 5080 is installed on the lower part of the first fixed bracket 5077, and the ranging photoelectric sensor 5079 is installed on the photoelectric mounting bracket 5080.

[0033] In one possible implementation, the drive mechanism 30 includes a first fixing plate 304, a second fixing plate 301, a first mounting base 302, and a first hydraulic cylinder 303. The first fixing plate 304 is connected to the vehicle body 20, specifically welded to the frame 205. The second fixing plate 301 is connected to the side plate 311 of the mast 201; this connection method can be, but is not limited to, welding. The first mounting base 302 is connected to the second fixing plate 301. The first hydraulic cylinder 303 includes a first cylinder body and a first piston rod connected to the first cylinder body. The first cylinder body is rotatably connected to the first fixing plate 304 via a first pin, and the first piston rod is rotatably connected to the second fixing plate 301 via a second pin. The axial directions of the first and second pins are parallel to a first direction. The extension and retraction of the first hydraulic cylinder 303 causes the mast 201 to tilt forward relative to the frame 205, wherein the mast 201 is mounted at the rear of the vehicle body 20. There are two drive mechanisms 30, and the two drive components are spaced apart in the first direction to improve the movement stability of the gantry 201. The two first mounting seats 302 in the two drive mechanisms 30 are connected by a reinforcing plate 309. Specifically, the two ends of the reinforcing plate 309 are welded to the two first mounting seats 302 respectively to increase the structural strength between the two first mounting seats 302.

[0034] In one possible implementation, the forklift-type AGV integrating visual recognition and adjustable electric attachments also includes a displacement detection component. The displacement detection component includes a clamp 306 and a linear displacement sensor 307. The clamp 306 is connected to the first cylinder body. The fixed end of the linear displacement sensor 307 is connected to the clamp 306 by bolts, and the movable end of the linear displacement sensor 307 is connected to the first mounting base 302 by a sensor bracket 308. This connection method can be, but is not limited to, welding.

[0035] In one possible implementation, the rotating shaft 3102 is fixedly connected to the bottom of the mast 201. This connection method can be, but is not limited to, welding. A fixing assembly is provided between the rotating shaft 3102 and the vehicle body 20. The fixing assembly includes a bearing bush 3103, a frame welding plate 3101, and a rotating shaft sealing plate 3104. The bearing bush 3103 is sleeved on the rotating shaft 3102. The frame welding plate 3101 is connected to the vehicle body 20. The frame welding plate 3101 has a first semi-circular groove. The rotating shaft sealing plate 3104 is connected to the frame welding plate 3101 by two high-strength long bolts. The rotating shaft sealing plate 3104 has a second semi-circular groove that corresponds to the first semi-circular groove to form an annular groove. The annular groove is used for the bearing bush 3103 to pass through. The positioning of the bearing bush 3103 is achieved by connecting the rotating shaft sealing plate 3104 and the frame welding plate 3101. The rotating shaft seal plate 3104 is provided with an oil injection port 3105, and the bearing bush 3103 is provided with small holes. After adding lubricating oil to the oil injection port 3105, it can ensure that the inner and outer sides of the bearing bush 3103 are fully lubricated.

[0036] In one possible implementation, the forklift-type AGV integrating visual recognition and adjustable electric attachments also includes a navigation lifting mechanism 10. The navigation lifting mechanism 10 includes a second mounting base 108, a second hydraulic cylinder 1041, an inner tube 1032, an outer tube 104, connecting reinforcing ribs 106, and a navigation laser assembly. The second mounting base 108 is connected to the vehicle body 20; this connection method can be, but is not limited to, welding. The second hydraulic cylinder 1041 includes a second cylinder body connected to the second mounting base 108 and a second piston rod connected to the second cylinder body. The second piston rod is capable of extending and retracting relative to the second cylinder body in a second direction. The inner tube 1032 is connected to the second piston rod; specifically, a hydraulic cylinder fixing bracket 1034 is connected to the bottom of the inner tube 1032. A hydraulic cylinder fixing seat 1035 is welded to the hydraulic cylinder fixing bracket 1034 and is used to connect to the second piston rod via a fourth pin. The outer tube 104 is connected to the second mounting base 108. This connection method can be, but is not limited to, welding. The connecting reinforcing rib 106 is welded between the second mounting base 108 and the outer tube 104 to provide better mechanical strength. The outer tube 104 is sleeved with the inner tube 1032. The outer tube 104 is used to provide external support for the inner tube 1032. The upper part of the inner tube 1032 is provided with an upper guide block 1031, and the lower part of the inner tube 1032 is provided with a lower guide block 1033. The upper guide block 1031 is bolted to the inner tube 1032, and the lower guide block 1033 is bolted to the inner tube 1032. Both the upper guide block 1031 and the lower guide block 1033 are clearance-fitted with the outer tube 104. The movement of the inner tube 1032 can be guided by the sliding of the upper guide block 1031 and the lower guide block 1033 relative to the outer tube 104. Both the inner tube 1032 and the outer tube 104 are square aluminum profiles. There are four upper guide blocks 1031 and four lower guide blocks 1033, which are set on the four edges of the inner tube 1032.

[0037] The second cylinder body is equipped with an oil pipe interface 1042 for connecting hydraulic oil pipes. The bottom of the outer pipe 104 has an oil pipe outlet 107, a square hole cut for the oil pipe to connect to the second hydraulic cylinder 1041. The outer pipe 104 also has a tie rod mounting seat 105, an upper cable routing cover 111, and a lower cable routing cover 109 for mounting diagonal tie rods. The other end of the diagonal tie rod is fixed to the frame 205 to prevent the entire navigation lifting mechanism 10 from shaking during transport vehicle operation. The upper cable routing cover 111 and lower cable routing cover 109 prevent cable exposure and improve overall aesthetics. The second hydraulic cylinder 1041 drives the inner pipe 1032 to move relative to the outer pipe 104 in a second direction. The navigation laser assembly is connected to the top of the inner tube 1032. The navigation laser assembly includes a navigation laser mounting base 102 connected to the top of the inner tube 1032, a navigation laser connected to the navigation laser mounting base 102, and a navigation laser shield 101 connected to the navigation laser mounting base 102. The navigation laser is used to provide guidance for the driving path of the forklift-type AGV. The navigation laser shield 101 is at least partially located above the navigation laser to prevent objects falling from the air from damaging the navigation laser.

[0038] In one possible implementation, the outer tube 104 is provided with a clearance hole 1105, and the inner tube 1032 is provided with a first limiting hole 1039 and a second limiting hole 1040 spaced apart in a second direction. The navigation lifting mechanism 10 also includes a mounting bracket 1102, a third mounting base 1103, an electric push rod 1104, and an electric push rod cover 110. The mounting bracket 1102 is bolted to the outer tube 104, and the third mounting base 1103 is connected to the mounting bracket 1102. This connection method can be, but is not limited to, welding. The electric push rod 1104 is connected to the third mounting base 1103 via a third pin. The telescopic end of the electric push rod 1104 can pass through the clearance hole 1105 to insert into the first limiting hole 1039 or the second limiting hole 1040 to restrict the movement of the inner tube 1032 relative to the outer tube 104, thereby achieving locking and preventing the navigation laser from sliding downwards due to internal leakage in the hydraulic system, which would lead to a decrease in navigation quality. The inner tube 1032 is provided with a first detection hole 1037 and a second detection hole 1038 spaced apart in the second direction. The first detection hole 1037 and the second detection hole 1038 are staggered in the first direction. The navigation lifting mechanism 10 also includes a detection plate 605 disposed on the top of the inner tube 1032, and a first proximity switch 604, a second proximity switch 603 and a third proximity switch 607 respectively connected to the top of the outer tube 104 through a proximity switch mounting bracket 602. The connection between the proximity switch mounting bracket 602 and the outer tube 104 can be achieved by bolts. The first proximity switch 604 is used to detect the first detection hole 1037, the second proximity switch 603 is used to detect the detection plate 605, and the third proximity switch 607 is used to detect the second detection hole 1038.

[0039] The first proximity switch 604 and the third proximity switch 607 detect the side of the inner tube 1032, and coordinate with the first detection hole 1037 and the second detection hole 1038 on it to achieve position detection. When the first proximity switch 604 changes from the triggered state to the non-triggered state, it indicates that the navigation laser has risen to the middle position. At this time, the first proximity switch 604 corresponds to the first detection hole 1037, and the electric push rod 1104 corresponds to the first limit hole 1039. When the third proximity switch 607 changes from the triggered state to the non-triggered state, it indicates that the navigation laser has risen to the upper limit position. At this time, the third proximity switch 607 corresponds to the second detection hole 1038, and the electric push rod 1104 corresponds to the second limit hole 1040. When the second proximity switch 603 changes from the non-triggered state to the triggered state, it indicates that the navigation laser has fallen to the lower limit position. At this time, the second proximity switch 603 corresponds to the detection plate 605. The detection range of the first proximity switch 604, the second proximity switch 603, and the third proximity switch 607 is between 4-8mm. After the signals from the first proximity switch 604, the second proximity switch 603, and the third proximity switch 607 are transmitted to the DIO module of the transport vehicle, the transport vehicle proceeds to the next step.

[0040] In one possible implementation, the forklift-type AGV integrating visual recognition and adjustable electric attachments further includes: an oblique laser 801 connected to the outer tube 104, which can provide safety protection for the height space in front of the vehicle head to prevent the transport vehicle from colliding with obstacles in the space; a first light bar 802 and a second light bar 807 set on the vehicle body 20, the first light bar 802 being located in front of the transport vehicle and the second light bar 807 being located behind the transport vehicle, both the first light bar 802 and the second light bar 807 being tri-color light bars, providing transport vehicle status indication. A first emergency stop switch 803 and a second emergency stop switch 806 are installed on the vehicle body 20. The first emergency stop switch 803 is located at the front of the transport vehicle, and the second emergency stop switch 806 is located at the rear of the transport vehicle. Two first safety lasers 804 and two second safety lasers 805 are installed on the vehicle body 20. The two first safety lasers 804 are located at the front of the transport vehicle, and the two second safety lasers 805 are located at the rear of the transport vehicle, providing laser protection without blind spots. Corresponding electrical components 906 are installed inside the vehicle body 20.

[0041] Here's a brief explanation of the AGV's workflow for the complex scenario of loading goods: The AGV needs to pick up two loads of goods from the cargo buffer area and stack them on the truck bed. First, before the AGV reaches the cargo buffer area, the forks 502 face the cargo pallets. At this point, the forward-facing camera 504 takes a picture and processes it to obtain an image of the pallet holes. The two fork assemblies are then adjusted to the appropriate spacing, and fork entry preparation is complete. The AGV then begins to move forward and enter the forks. When the photoelectric sensor in the mechanical collision mechanism 5023 at the base of the forks 502 is triggered, it indicates that the goods have been properly inserted into the forks. At this point, the pressure plate of the mechanical collision mechanism 5023 does not move, indicating that the goods have not been over-inserted. The vision component 40 is in a retracted state, and the two left and right ranging photoelectric sensors 5079 illuminate the two loads of goods. The measurement difference between the two ranging photoelectric sensors 5079 should be within the set range, indicating that the two loads are aligned and not severely tilted horizontally. At this point, the AGV transport vehicle picks up two loads of goods and heads to the truck station. Assuming the loading sequence is from left to right, the AGV first raises its forks above the truck bed, activating the overall lateral movement function of the forklift body 505. This moves the two loads to the right, leaving sufficient space on the left. The vision component 40 then extends the camera 5075, takes a picture, processes it, and obtains the distance between the right edge of the obstacle and the left edge of the picked-up goods. After allowing for a clearance, the offset is calculated. The transport vehicle then moves forward until the goods are deep inside the cargo box. Based on the offset obtained from the camera 5075, the forklift body 505 is moved to the left, and the lifting frame is lowered to place the two loads of goods onto the truck bed. Pressure sensors connected to the hydraulic system ports on the forklift AGV are used for cargo separation detection, thus completing the loading task.

[0042] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0043] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0044] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. A forklift-type AGV integrating visual recognition and adjustable electric attachments, characterized in that, include: Vehicle body (20); The mast (201) is rotatably connected to the vehicle body (20) via a rotating shaft (3102) extending in a first direction; The drive mechanism (30) is rotatably connected at one end to the vehicle body (20) and rotatably connected at the other end to the mast (201). The drive mechanism (30) is telescopic to drive the mast (201) to rotate relative to the vehicle body (20) about the axis of the rotation shaft (3102). A lifting frame is movably connected to the gantry (201), and the lifting frame is movable relative to the gantry (201) in a second direction, the second direction being perpendicular to the first direction; The fork body (505) is movably connected to the lifting frame, and the fork body (505) is movable relative to the lifting frame along the first direction; Two sets of fork assemblies, each of which is connected to the fork carriage (505) and each of which is movable relative to the fork carriage (505) in the first direction.

2. The forklift-type AGV integrating visual recognition and adjustable electric attachments according to claim 1, characterized in that, The fork carriage (505) is provided with a slide groove (5051) extending along the first direction. Each fork assembly includes a stop (5026) and a fork body (502) connected to the stop (5026). Each stop (5026) is provided with a guide beam (5027) adapted to the slide groove (5051). The guide beam (5027) can move within the slide groove (5051) along the extension direction of the slide groove (5051) to guide the movement of the stop (5026).

3. The forklift-type AGV integrating visual recognition and adjustable electric attachments according to claim 1, characterized in that, The drive mechanism (30) includes: The first fixing plate (304) is connected to the vehicle body (20); The second fixing plate (301) is connected to the side plate (311) of the gantry (201). The first mounting base (302) is connected to the second fixing plate (301); The first hydraulic cylinder (303) includes a first cylinder body and a first piston rod connected to the first cylinder body. The first cylinder body is rotatably connected to the first fixed plate (304) via a first pin, and the first piston rod is rotatably connected to the second fixed plate (301) via a second pin. The axial directions of the first pin and the second pin are parallel to the first direction.

4. The forklift-type AGV integrating visual recognition and adjustable electric attachments according to claim 3, characterized in that, It also includes a displacement detection component, which includes a clamp (306) and a linear displacement sensor (307). The clamp (306) is connected to the first cylinder body, the fixed end of the linear displacement sensor (307) is connected to the clamp (306), and the movable end of the linear displacement sensor (307) is connected to the first mounting base (302).

5. The forklift-type AGV integrating visual recognition and adjustable electric attachments according to claim 1, characterized in that, The rotating shaft (3102) is fixedly connected to the bottom of the gantry (201), and a fixing assembly is provided between the rotating shaft (3102) and the vehicle body (20). The fixing assembly includes: Bearing bush (3103) is sleeved on the rotating shaft (3102). A frame welding plate (3101) is connected to the vehicle body (20), and a first semi-circular groove is provided on the frame welding plate (3101); A rotating shaft sealing plate (3104) is connected to the frame welding plate (3101). The rotating shaft sealing plate (3104) is provided with a second semi-circular groove that corresponds to the first semi-circular groove to form an annular groove. The annular groove is used for the bearing bush (3103) to pass through.

6. The forklift-type AGV integrating visual recognition and adjustable electric attachments according to claim 1, characterized in that, It also includes a navigation lifting mechanism (10), which includes: The second mounting bracket (108) is connected to the vehicle body (20); The second hydraulic cylinder (1041) includes a second cylinder body connected to the second mounting base (108) and a second piston rod connected to the second cylinder body; The inner tube (1032) is connected to the second piston rod; An outer tube (104) is connected to the second mounting base (108), and the outer tube (104) is sleeved with the inner tube (1032). The second hydraulic cylinder (1041) is used to drive the inner tube (1032) to move relative to the outer tube (104) in the second direction. A navigation laser assembly is attached to the top of the inner tube (1032).

7. The forklift-type AGV integrating visual recognition and adjustable electric attachments according to claim 6, characterized in that, The outer tube (104) is provided with a clearance hole (1105), and the inner tube (1032) is provided with a first limiting hole (1039) and a second limiting hole (1040) spaced apart in the second direction. The navigation lifting mechanism (10) also includes: Mounting bracket (1102) is connected to the outer tube (104). The third mounting base (1103) is connected to the mounting bracket (1102); An electric actuator (1104) is connected to the third mounting base (1103). The telescopic end of the electric actuator (1104) can pass through the clearance hole (1105) to insert into the first limiting hole (1039) or the second limiting hole (1040) to restrict the movement of the inner tube (1032) relative to the outer tube (104).

8. The forklift-type AGV integrating visual recognition and adjustable electric attachments according to claim 6, characterized in that, The inner tube (1032) is provided with a first detection hole (1037) and a second detection hole (1038) spaced apart in the second direction. The first detection hole (1037) and the second detection hole (1038) are staggered in the first direction. The navigation lifting mechanism (10) also includes a detection plate (605) disposed on the top of the inner tube (1032), and a first proximity switch (604), a second proximity switch (603) and a third proximity switch (607) disposed on the top of the outer tube (104). The first proximity switch (604) is used to detect the first detection hole (1037), the second proximity switch (603) is used to detect the detection plate (605), and the third proximity switch (607) is used to detect the second detection hole (1038).

9. The forklift-type AGV integrating visual recognition and adjustable electric attachments according to any one of claims 1 to 8, characterized in that, It also includes a visual component (40), which includes: The first mounting plate is connected to the lifting frame; A mounting bracket is connected to the first mounting plate, and the mounting bracket is provided with a slide rail; The power assembly includes a power source (5085), a lead screw rotatably passing through the fixed frame and connected to the output end of the power source (5085), a ball sleeved on the lead screw, and a slider connected to the ball and capable of sliding relative to the slide rail, wherein the extension direction of the lead screw is parallel to the first direction. A sliding bracket (5084) is connected to the slider; The adapter bracket (5078) is connected to the sliding bracket (5084). The adapter plate (5076) is connected to the adapter bracket (5078). The camera (5075) is connected to the adapter plate (5076) via a first fixed bracket (5077).

10. The forklift-type AGV integrating visual recognition and adjustable electric attachments according to any one of claims 1 to 8, characterized in that, Also includes: An oblique laser (801) is connected to the outer tube (104); And / or, a first light bar (802) and a second light bar (807) disposed on the vehicle body (20); And / or, a first emergency stop switch (803) and a second emergency stop switch (806) are provided on the vehicle body (20). And / or, a first safety laser (804) and a second safety laser (805) disposed on the vehicle body (20); And / or, a camera assembly disposed on the fork body (505).

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