Gantry structure of AGV forklift and AGV forklift

Abstract

The utility model provides an AGV forklift gantry structure and an AGV forklift, the gantry structure comprises: a fixed gantry including a first gantry main body and two support legs, the two support legs are located at the bottom of the first gantry main body, the two support legs extend towards one side of the first gantry main body, the two support legs are arranged at an interval, and the first gantry main body and the second gantry main body are arranged at intervals; the end parts of the two supporting legs are provided with turnover wheel sets; the movable door frame comprises a second door frame main body and a pallet fork, the movable door frame is located between the two supporting legs, the second door frame main body and the first door frame main body are arranged in parallel, and the pallet fork is located on the side, away from the first door frame main body, of the second door frame main body; and the telescopic driving assembly comprises a telescopic driving part and a linear transmission mechanism, the linear transmission mechanism is arranged between the fixed door frame and the movable door frame, and the telescopic driving assembly is used for driving the movable door frame to linearly move along the supporting legs. According to the gantry structure of the AGV forklift and the AGV forklift, the gravity center position of the AGV forklift can be conveniently adjusted.

Description

Technical Field

[0001] The utility model relates to the technical field of handling equipment, in particular to a gantry structure of an AGV forklift and the AGV forklift. Background Art

[0002] With the rapid development of my country's manufacturing and logistics industries, storage in automated warehouses has become a basic need for all walks of life. With the widespread application of AGV products, AGV forklifts have gradually been used in the field of unmanned operations. AGV forklifts are used for the distribution of raw materials on production lines, the transportation of semi-finished products and finished products, and palletizing in factory warehouses. In industrial production, they can replace people to do certain monotonous, frequent, labor-intensive, repetitive, long-term, dangerous and harsh operations.

[0003] The existing AGV forklift generally has only one gantry, and the bottom of the gantry is provided with a steering wheel and a support wheel to achieve stable support for the forklift; currently, when adjusting the center of gravity of the AGV forklift, it is generally achieved by adding a counterweight or increasing the length of the vehicle body, but the current way to increase the length of the vehicle body is to lengthen the length of the legs during processing. After the AGV forklift is processed, the center of gravity of the forklift can only be changed by adding a counterweight. Although the existing AGV forklift can change the center of gravity of the AGV forklift, there is a technical problem of inconvenient center of gravity adjustment. Therefore, how to conveniently adjust the center of gravity of the AGV forklift is a technical problem that needs to be solved urgently. Utility Model Content

[0004] In view of this, the utility model provides a gantry structure of an AGV forklift and an AGV forklift to solve one or more technical problems existing in the prior art.

[0005] According to one aspect of the utility model, a gantry structure of an AGV forklift is disclosed, and the gantry structure includes:

[0006] A fixed gantry, comprising a first gantry body and two legs, wherein the two legs are located at the bottom of the first gantry body and extend toward one side of the first gantry body, the two legs are arranged at intervals, and the ends of the two legs are provided with a reversible wheel set;

[0007] A mobile gantry, comprising a second gantry body and a fork, wherein the mobile gantry is located between the two legs, the second gantry body is arranged parallel to the first gantry body, and the fork is located on a side of the second gantry body away from the first gantry body;

[0008] The telescopic drive assembly comprises a telescopic drive component and a linear transmission mechanism, wherein the linear transmission mechanism is arranged between the fixed gantry and the movable gantry, and the telescopic drive assembly is used to drive the movable gantry to move linearly along the support leg.

[0009] In some embodiments of the utility model, the telescopic driving component is fixed to the second gantry body;

[0010] The linear transmission mechanism is a rack and pinion mechanism, the rack is fixed on the supporting leg, and the gear is arranged on the second gantry body.

[0011] In some embodiments of the present invention, the flippable wheel set includes a rotating arm, a transmission mechanism and a universal wheel, the output end of the rotating arm is connected to the input end of the transmission mechanism, and the output end of the transmission mechanism is fixedly connected to the transverse support shaft of the universal wheel.

[0012] In some embodiments of the utility model, the transmission mechanism is a chain transmission mechanism, the driving sprocket of the chain transmission mechanism is fixed on the output shaft of the rotating arm, and the driven sprocket of the chain transmission mechanism is fixed on the transverse supporting shaft.

[0013] In some embodiments of the utility model, a swing arm slide groove is provided at a position of the second gantry body corresponding to the swing arm, and the swing arm slide groove includes an inclined portion. When the mobile gantry is extended, the end of the swing arm moves in the swing arm slide groove to drive the swing arm to rotate.

[0014] In some embodiments of the present invention, the flippable wheel set includes a locking block mechanism, which is disposed on the supporting leg and includes a locking block, a sliding block and an elastic component.

[0015] In some embodiments of the utility model, the locking block is fixed on the pivot arm output shaft, the slider can slide along the pivot arm output shaft to achieve engagement and disengagement with the locking block, one end of the elastic component is fixed on the support leg, and the other end of the elastic component is connected to the slider.

[0016] In some embodiments of the utility model, the flip wheel group also includes a stopper, which is fixed on the movable door frame, and the end of the stopper has an inclined surface. Under the movement of the movable door frame, the stopper can push the slider to move along the output shaft of the swing arm.

[0017] In some embodiments of the present invention, a guide assembly is provided between the fixed gantry and the movable gantry.

[0018] According to another aspect of the utility model, an AGV forklift is also disclosed, and the AGV forklift includes the gantry structure of the AGV forklift described in any of the above embodiments.

[0019] The gantry structure of the AGV forklift and the AGV forklift disclosed in the above-mentioned embodiment of the utility model, the ends of the two legs of the fixed gantry are both provided with reversible wheel groups, under the driving action of the telescopic drive assembly, the mobile gantry can move in a straight line along the legs, and when the mobile gantry moves to the ends of the legs, the reversible wheel groups at the ends of the legs are reversed (the wheels leave the ground), at this time the AGV forklift is supported by the support wheels at the bottom of the first gantry body and the support wheels at the bottom of the second gantry body; when the mobile gantry is retracted toward the first gantry body, the wheels of the reversible wheel group contact the ground, at this time the reversible wheel group, the support wheels at the bottom of the second gantry body and the support wheels at the bottom of the first gantry body support the AGV forklift. Therefore, the mobile gantry in the present application can move relative to the fixed gantry, and the reversible wheel group can be reversed when the mobile gantry moves, so that the AGV forklift can conveniently adjust the length of the entire AGV forklift by telescoping the mobile gantry, thereby changing the center of gravity of the AGV forklift.

[0020] Additional advantages, purposes, and features of the present invention will be partially described in the following description, and will become partially apparent to those skilled in the art after studying the following, or may be learned from the practice of the present invention. The purposes and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the written description and its claims and the drawings.

[0021] Those skilled in the art will understand that the purposes and advantages that can be achieved by the present invention are not limited to the above specific description, and the above and other purposes that can be achieved by the present invention will be more clearly understood based on the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of the present application, and do not constitute a limitation of the present invention. The components in the drawings are not drawn to scale, but are only for the purpose of illustrating the principles of the present invention. In order to facilitate the illustration and description of some parts of the present invention, the corresponding parts in the drawings may be enlarged, that is, they may become larger relative to other components in the exemplary device actually manufactured according to the present invention. In the drawings:

[0023] Figure 1 This is a schematic diagram of the state when the movable gantry of the gantry structure of an AGV forklift according to an embodiment of the utility model is retracted.

[0024] Figure 2 This is a schematic diagram of the state when the movable door frame of the door frame structure of the AGV forklift according to one embodiment of the utility model is extended.

[0025] Figure 3This is a schematic diagram of the positional relationship between the second gantry body and the legs when the movable gantry of one embodiment of the utility model is moved to the end of the legs.

[0026] Figure 4 This is a schematic diagram of a state where a reversible wheel set according to an embodiment of the utility model is turned over.

[0027] Figure 5 This is a schematic diagram of a state of a reversible wheel set before being flipped according to an embodiment of the utility model.

[0028] Figure 6 The schematic diagram of the partial structure of the reversible wheel set of one embodiment of the utility model is as follows Figure 1 .

[0029] Figure 7 The schematic diagram of the partial structure of the reversible wheel set of one embodiment of the utility model is as follows Figure 2 .

[0030] Figure 8 An exploded view of a part of the structure of a reversible wheel set according to an embodiment of the utility model Figure 1 .

[0031] Fig. 9 An exploded view of a part of the structure of a reversible wheel set according to an embodiment of the utility model Figure 2 .

[0032] Fig.10 The figure is a schematic structural diagram of the stopper and the slider of the reversible wheel set in one embodiment of the utility model when they cooperate with each other.

[0033] Fig.11 It is a schematic structural diagram of the output shaft of the rotating arm of one embodiment of the utility model.

[0034] Fig.12 This is a schematic diagram of the state of the elastic component after the flippable wheel set according to one embodiment of the utility model is flipped.

[0035] Fig.13 This is a schematic diagram of the state of the elastic component of the flippable wheel set before being flipped over according to an embodiment of the utility model.

[0036] Fig.14 It is a schematic structural diagram of the second portal body.

[0037] Reference numerals:

[0038] First gantry body 110 Support leg 120 Second gantry body 210 Fork 220 Telescopic drive motor 211 Gear 212 Swivel arm 311 Driving sprocket 312 Driven sprocket 313 Universal wheel 321 Swivel arm output shaft 314 Transverse support shaft 322 Swivel arm slide 331 Lock block 341 Slider 342 Slider spring 345 Stopper 351 Swivel arm spring 361 DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiment of the utility model more clear, the embodiment of the utility model is further described in detail below in conjunction with the accompanying drawings. Here, the illustrative embodiment of the utility model and its description are used to explain the utility model, but are not used as a limitation of the utility model.

[0040] It should be noted here that in order to avoid obscuring the present invention due to unnecessary details, only the structures and / or processing steps closely related to the scheme according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0041] It should be emphasized that the terms “include / comprises / has” when used herein refer to the presence of features, elements, steps or components, but do not exclude the presence or addition of one or more other features, elements, steps or components.

[0042] It should also be noted that the directional nouns in this specification are relative to the position directions shown in the drawings; if there is no special explanation, the term "connection" in this article can refer to not only direct connection, but also indirect connection with an intermediate. Direct connection means that two parts are connected without the help of an intermediate part, and indirect connection means that two parts are connected with the help of other parts.

[0043] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components.

[0044] Figure 1 This is a schematic diagram of a state in which a movable gantry of a gantry structure of an AGV forklift according to an embodiment of the utility model is retracted. Figure 2 FIG. 1 is a schematic diagram of a state in which a movable gantry of a gantry structure of an AGV forklift according to an embodiment of the utility model is extended. Figure 1 and Figure 2As shown, the mobile gantry in the gantry structure of the AGV forklift can be telescopic along the fixed gantry. Specifically, the gantry structure of the AGV forklift at least includes a fixed gantry, a mobile gantry and a telescopic drive assembly. The fixed gantry includes a first gantry body 110 and two legs 120, the two legs 120 are located at the bottom of the first gantry body 110, and the two legs 120 extend toward one side of the first gantry body 110, the two legs 120 are arranged at intervals, and the ends of the two legs 120 have flippable wheel sets; the mobile gantry includes a second gantry body 210 and a fork 220, the mobile gantry is located between the two legs 120, the second gantry body 210 is arranged parallel to the first gantry body 110, and the fork 220 is located on the side of the second gantry body 210 away from the first gantry body 110; the telescopic drive assembly includes a telescopic drive component and a linear transmission mechanism, the linear transmission mechanism is arranged between the fixed gantry and the mobile gantry, and the telescopic drive assembly can drive the mobile gantry to move linearly along the legs 120.

[0045] In this embodiment, the mobile gantry can telescope relative to the fixed gantry, that is, the length of the AGV forklift can be changed by the telescopic movement of the mobile gantry, thereby realizing the convenient adjustment of the center of gravity of the AGV forklift. In addition, a reversible wheel set is provided at the end of the support leg 120 of the fixed gantry. When the mobile gantry is retracted, the reversible wheel set serves as the support wheel of the AGV forklift; when the mobile gantry is extended to the end of the support leg 120, the reversible wheel set is flipped to the position as shown in the figure below under the push of the mobile gantry. Figure 2 and Figure 3 In the state shown, the support wheels at the bottom of the first gantry body 110 and the support wheels at the bottom of the second gantry body 210 support the AGV forklift. In addition, when the mobile gantry moves in a straight line along the support leg 120, it can stay at any position of the support leg 120. For example, when the second gantry body 210 of the mobile gantry is located in the middle of the support leg 120, the reversible wheel group at the end of the support leg 120 is not flipped, so that the reversible wheel group, the support wheels at the bottom of the first gantry body 110 and the support wheels at the bottom of the second gantry body 210 support the AGV forklift at the same time. Since the position of the mobile gantry affects the center of gravity of the AGV forklift, the gantry structure of the AGV forklift of the present application can adjust the position of the center of gravity of the forklift by adjusting the position of the mobile gantry, so that the gantry structure of the AGV forklift can conveniently adjust the center of gravity of the forklift.

[0046] Furthermore, the telescopic driving component is fixed on the second gantry body 210 (such as Fig.14As shown); the linear transmission mechanism is a gear rack mechanism, the rack is fixed on the leg 120, and the gear 212 is arranged on the second gantry body 210. Exemplarily, the telescopic drive component can be a telescopic drive motor 211, in which case the telescopic drive motor 211 is fixed on the second gantry body 210; the output end of the telescopic drive motor 211 can drive the mobile gantry to move linearly along the leg 120 of the fixed gantry through the gear rack structure. In this embodiment, the gear 212 is arranged on the second gantry body 210, and the rack is fixed on the leg 120 of the fixed gantry, so under the rotation of the telescopic drive motor 211, the gear 212 moves linearly along the rack, thereby driving the mobile gantry to move linearly along the leg 120.

[0047] It can be understood that in the above embodiment, the linear transmission mechanism is set as a gear rack mechanism is only an example. In addition, the linear transmission mechanism can also be other transmission mechanisms that can achieve linear movement, such as a screw nut mechanism, etc. In addition, in the above embodiment, the telescopic drive motor 211 and the gear 212 are arranged on the second gantry body 210, and the rack is arranged on the fixed gantry. It is also only an example. In addition, the rack can also be arranged on the second gantry body 210, and the telescopic drive motor 211 and the gear can be arranged on the fixed gantry.

[0048] In some embodiments of the utility model, the flip wheel group includes a rotating arm 311, a transmission mechanism and a universal wheel 321, the output end of the rotating arm 311 is connected to the input end of the transmission mechanism, the output end of the transmission mechanism is fixedly connected to the transverse support shaft of the universal wheel 321, and the transverse support shaft of the universal wheel 321 rotates synchronously with the output end of the transmission mechanism.

[0049] Further, the transmission mechanism is a chain transmission mechanism, the driving sprocket 312 of the chain transmission mechanism is fixed on the swing arm output shaft 314, the universal wheel 321 is fixed on the support shaft of the driven sprocket 313, and the support shaft of the driven sprocket 313 is also the lateral support shaft of the universal wheel 321, which can also be understood as the driven sprocket of the chain transmission mechanism is fixed on the lateral support shaft. Figure 6The end of the rotating arm 311 is connected to the driving sprocket 312 through the rotating arm output shaft 314, and the driven sprocket 313 is fixed on the lateral support shaft 322 at the top of the universal wheel 321. In this embodiment, as the rotating arm 311 rotates, the driving sprocket 312 and the rotating arm output shaft 314 rotate synchronously. Further, the driving sprocket 312 drives the driven sprocket 313 to rotate through the chain, and since the driven sprocket 313 is fixed on the lateral support shaft at the top of the universal wheel 321, the driven sprocket 313 drives the universal wheel 321 as a whole to rotate around the lateral support shaft at the top to achieve flipping. It can be understood that in this embodiment, setting the transmission mechanism as a chain transmission mechanism is only an example. In other embodiments, the transmission mechanism can also be other transmission mechanisms except the chain transmission mechanism.

[0050] In one embodiment, a rotating arm slot 331 is provided at a position of the second gantry body 210 corresponding to the rotating arm 311, and the rotating arm slot 331 includes an inclined portion. When the mobile gantry extends relative to the fixed gantry, the end of the rotating arm 311 slides in the rotating arm slot 331 to drive the rotating arm and the driving sprocket 312 to rotate synchronously. In this embodiment, the end of the rotating arm 311 slides in the rotating arm slot 331 to realize the rotation of the rotating arm, such as Figure 6 As shown, a pulley may be provided at the end of the rotating arm 311. When the pulley moves along the slide groove in the slide groove, the rotating arm 311 is rotated, so that the rotating arm 311 drives the driving sprocket 312 to rotate through the rotating arm output shaft 314. Figure 7 As can be seen in the figure, the arm slide 331 includes an inclined portion and a horizontal portion, the inclined portion is inclined upward from left to right, and the horizontal portion is parallel to the moving direction of the mobile gantry. When the universal wheel 321 of the reversible wheel group contacts the ground, the pulley at the end of the arm 311 is located at the lowest end of the inclined portion of the arm slide 331. As the second gantry body 210 moves, the arm slide 331 located on the second gantry body 210 pushes the arm 311 to rotate, thereby realizing the rotation of the driving sprocket 312.

[0051] In some embodiments, the reversible wheel assembly includes a locking block mechanism, which is disposed on the supporting leg 120, and the locking block 341 mechanism includes a locking block 341, a slider 342, and an elastic component. The locking block 341 and the slider 342 in this embodiment cooperate with each other to achieve the locking of the rotating arm output shaft 314.

[0052] Furthermore, the locking block 341 is fixed on the rotating arm output shaft 314, and the slider 342 can slide along the rotating arm output shaft 314 to achieve engagement and separation with the locking block 341, one end of the elastic component is fixed on the supporting leg 120, and the other end of the elastic component is connected to the slider. Fig.11As shown, the locking block 341, the driving sprocket 312 and the rotating arm 311 are all fixed on the rotating arm output shaft 314, so the locking block 341, the driving sprocket 312 and the rotating arm 311 can rotate synchronously. Figure 8 and Fig. 9 The slider 342 is also sleeved on the rotating arm output shaft 314. In addition, the slider 342 is provided with a plurality of protrusions, and the locking block 341 is provided with a plurality of concave portions correspondingly. When the slider 342 moves along the rotating arm output shaft 314 toward the locking block 341, the protrusions on the slider 342 and the concave portions on the locking block 341 are engaged with each other to achieve the locking of the rotating arm output shaft 314. When the slider 342 moves in a direction away from the locking block 341, the protrusions on the slider 342 and the concave portions on the locking block 341 are loosened, and the rotating arm output shaft 314 can rotate under the rotation drive of the rotating arm 311. Specifically, the number of protrusions on the slider 342 can be three, and at this time, the three protrusions are evenly and spacedly arranged along the circumference of the slider 342.

[0053] The elastic component is specifically located between the slider 342 and the support leg 120. The elastic component can be exemplarily a slider spring 345. One end of the slider spring 345 is connected to the slider 342, and the other end of the slider spring 345 is connected to the side wall of the support leg 120. When the slider 342 moves in a direction away from the locking block 341, the slider spring 345 is compressed. When the force pushing the slider 342 disappears, the slider spring 345 returns to its natural state. At this time, the slider spring 345 pushes the slider 342 to move in a direction close to the locking block 341 until the slider 342 and the locking block 341 are engaged with the locking arm output shaft 314.

[0054] In addition, an elastic component may also be provided between the rotating arm 311 and the supporting leg 120, and the elastic component is specifically a rotating arm spring 361. In this embodiment, when the rotating arm 311 is rotated clockwise, the rotating arm spring 361 is stretched, and the reversible wheel set is flipped to Figure 4 and further when the stretched arm spring 361 returns to its natural state, the arm spring 361 drives the arm to rotate counterclockwise to its initial position, ie, returns to Figure 5 The reversible wheel set is shown in the unreversed state.

[0055] Further, the reversible wheel set further comprises a stopper 351, wherein the stopper 351 is fixed on the moving gantry, and the end of the stopper 351 has an inclined surface. Under the movement of the moving gantry, the stopper 351 can push the slider 342 to move along the swing arm output shaft 314. In this embodiment, the stopper 351 is located on the moving gantry, and as the moving gantry moves in a direction away from the first gantry body 110 (also referred to as the moving gantry moving forward), the stopper 351 pushes the slider 342 to separate from the lock block 341, and then as the moving gantry moves, the inclined portion on the swing arm slide slot 331 will push the swing arm 311 to rotate, and the rotation of the swing arm 311 will drive the swing arm output shaft 314 and the driving sprocket 312 located on the swing arm output shaft 314 to rotate synchronously, and further the driven sprocket 313 also rotates under the drive of the chain, and the driven sprocket 313 drives the universal wheel 321 to flip to the position through the transverse support shaft 322 at the top of the universal wheel 321. Fig.12 The state shown; at this time, the swing arm spring 361 located between the swing arm 311 and the support leg 120 is stretched. When the mobile door frame retracts, the mobile door frame moves toward the direction close to the first door frame body 110 (also called the mobile door frame moves backward). At this time, the block 351 located on the mobile door frame moves backward synchronously with the mobile door frame, and the slider 342 moves along the swing arm output shaft 314 under the action of the slider spring 345. At this time, the swing arm spring 361 shrinks, and the swing arm 311 rotates counterclockwise as the swing arm spring 361 shrinks, and the universal wheel 321 flips counterclockwise to Fig.13 In the state shown, the universal wheel 321 is in contact with the ground; until the universal wheel 321 is in contact with the ground, the stopper 351 on the movable door frame is separated from the slider 342, and the slider 342 is combined with the locking block 341 under the push of the slider spring 345, thereby locking the swing arm output shaft 314, thereby locking the flip wheel assembly.

[0056] Fig.10 FIG. 3 is a schematic diagram of the structure of the stopper 351 of the reversible wheel assembly and the slider 342 when they cooperate with each other according to an embodiment of the utility model. Fig.10 As shown, the end of the stopper 351 is provided with an inclined surface, and the position of the slider 342 corresponding to the end of the stopper 351 is also provided with an inclined surface. When the stopper 351 pushes the slider 342 to slide, the stopper 351 is located between the slider 342 and the locking block 341.

[0057] Furthermore, in order to improve the movement stability of the mobile gantry relative to the fixed gantry, a guide assembly is provided between the fixed gantry and the mobile gantry; exemplarily, the guide component may be a pulley and slot mechanism, in which case the pulley may be arranged on the mobile gantry, and the slot is arranged on the support leg 120 of the fixed gantry.

[0058] According to another aspect of the utility model, an AGV forklift is also disclosed. The AGV forklift includes the gantry structure of the AGV forklift as described in any of the above embodiments.

[0059] Through the above embodiments, it can be found that the gantry structure of the AGV forklift disclosed in the utility model and the AGV forklift having the same can adjust the position of the center of gravity of the AGV forklift by moving the gantry, so that the center of gravity of the AGV forklift can be conveniently adjusted without adding counterweight. Compared with the existing method of stabilizing the body by lengthening the body or adding counterweight to balance the center of gravity, it not only improves the convenience of center of gravity adjustment, but also reduces the weight of the body, and improves the structural compactness of the AGV forklift.

[0060] In the present invention, features described and / or illustrated for one embodiment may be used in the same manner or in a similar manner in one or more other embodiments, and / or combined with features of other embodiments or replace features of other embodiments.

[0061] The above-listed embodiments show and describe the basic principles and main features of the utility model, but the utility model is not limited to the above-mentioned embodiments. Any modifications, equivalent changes and modifications made to the utility model by those skilled in the art without making any creative work should fall within the scope of protection of the technical solution of the utility model.

Claims

1. A gantry structure of an AGV forklift, characterized in that: The portal frame structure comprises: A fixed gantry, comprising a first gantry body and two legs, wherein the two legs are located at the bottom of the first gantry body and extend toward one side of the first gantry body, the two legs are arranged at intervals, and the ends of the two legs are provided with a reversible wheel set; A mobile gantry, comprising a second gantry body and a fork, wherein the mobile gantry is located between the two legs, the second gantry body is arranged parallel to the first gantry body, and the fork is located on a side of the second gantry body away from the first gantry body; The telescopic drive assembly comprises a telescopic drive component and a linear transmission mechanism, wherein the linear transmission mechanism is arranged between the fixed gantry and the movable gantry, and the telescopic drive assembly is used to drive the movable gantry to move linearly along the support leg.

2. The gantry structure of the AGV forklift according to claim 1, characterized in that: The telescopic driving component is fixed on the second gantry body; The linear transmission mechanism is a rack and pinion mechanism, the rack is fixed on the supporting leg, and the gear is arranged on the second gantry body.

3. The gantry structure of the AGV forklift according to claim 2, characterized in that: The reversible wheel set comprises a rotating arm, a transmission mechanism and a universal wheel. The output end of the rotating arm is connected to the input end of the transmission mechanism, and the output end of the transmission mechanism is fixedly connected to the transverse support shaft of the universal wheel.

4. The gantry structure of the AGV forklift according to claim 3, characterized in that: The transmission mechanism is a chain transmission mechanism, the driving sprocket of the chain transmission mechanism is fixed on the output shaft of the rotating arm, and the driven sprocket of the chain transmission mechanism is fixed on the transverse supporting shaft.

5. The gantry structure of the AGV forklift according to claim 4, characterized in that: A swing arm slot is provided at a position of the second gantry body corresponding to the swing arm, and the swing arm slot includes an inclined portion. When the movable gantry is extended, the end of the swing arm moves in the swing arm slot to drive the swing arm to rotate.

6. The gantry structure of the AGV forklift according to claim 5, characterized in that: The flippable wheel set comprises a locking block mechanism, which is arranged on the supporting leg and comprises a locking block, a sliding block and an elastic component.

7. The gantry structure of the AGV forklift according to claim 6, characterized in that: The locking block is fixed on the rotating arm output shaft, and the sliding block can slide along the rotating arm output shaft to achieve engagement and separation with the locking block. One end of the elastic component is fixed on the supporting leg, and the other end of the elastic component is connected to the sliding block.

8. The gantry structure of the AGV forklift according to claim 7, characterized in that: The reversible wheel set also includes a stopper, which is fixed on the movable door frame. The end of the stopper has an inclined surface. Under the movement of the movable door frame, the stopper can push the slider to move along the output shaft of the rotating arm.

9. The gantry structure of the AGV forklift according to claim 1, characterized in that: A guide assembly is provided between the fixed door frame and the movable door frame.

10. An AGV forklift, characterized in that: The AGV forklift comprises the portal structure of the AGV forklift according to any one of claims 1 to 9.

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