Forklift type AGV

Abstract

The utility model discloses a forklift type AGV, and relates to the field of AGVs. The forklift type AGV comprises a rack, a driving mechanism, a forking mechanism and a navigation mechanism. The displacement module drives the forklift type AGV to displace, and the steering module drives the displacement module to deflect so as to implement steering action; a forking driving part in the forking mechanism drives a forking transmission structure and a forking arm to enable the forking arm to ascend and descend so as to load or unload materials, a visual sensor in the navigation mechanism obtains positioning information of the materials, a laser navigation sensor senses the surrounding environment and calculates the distance, and then a displacement module drives the forklift type AGV to run. The distance between the forklift type AGV and the obstacle object is detected through the obstacle avoidance sensor and the obstacle sensor, the accuracy of distance detection is enhanced, and the forklift type AGV is prevented from being collided by the obstacle object in the driving stage. The forklift type AGV provided by the utility model can meet the requirements of high-efficiency and high-precision intelligent turnover in narrow channels and stations.

Description

Technical Field

[0001] The utility model relates to the field of AGV, in particular to a forklift type AGV. Background Art

[0002] With the rapid development of small material industries such as standard parts and the 3C industry, the accelerated pace of production and the introduction of smart factories, many new demands have been put forward for the turnover of small materials in different workshops and workstations, such as high efficiency, high precision, fast pace and compact space.

[0003] Traditional material handling often relies on manually operated forklifts, push carts, and other methods to transfer materials, resulting in significantly lower efficiency and poor docking accuracy. Therefore, a forklift-type AGV suitable for narrow aisle movement is urgently needed to address the needs of small material retrieving, feeding, and high-precision docking, which has become an urgent need for industry development. Utility Model Content

[0004] In order to solve the technical problems raised by the above background technology, the present invention provides a forklift-type AGV, comprising:

[0005] The frame comprises a shell and a bracket that are detachably connected, wherein the shell is suitable for being covered on the bracket;

[0006] The driving mechanism includes a mounting plate, a displacement module, and a steering module. The mounting plate and the bracket are movably connected. The displacement module is rotatably connected to the mounting plate. The mounting end of the steering module is fixedly connected to the mounting plate. The displacement module is transmission-disposed at the driving end of the steering module.

[0007] The fork lift mechanism comprises a fork lift drive member, a fork lift transmission structure, and a fork lift arm, wherein the fork lift drive member is fixedly mounted on the bracket, the fork lift transmission structure is disposed on a driving side of the fork lift drive member, and the fork lift arm is mounted on a driving side of the fork lift transmission structure, wherein the fork lift drive member is adapted to drive the fork lift arm to be raised or lowered via the fork lift transmission structure;

[0008] The navigation mechanism includes a laser navigation sensor, an obstacle avoidance sensor, a visual sensor, and an obstacle sensor. The laser navigation sensor is mounted on the upper end of the shell, the obstacle avoidance sensor is arranged on a side of the shell away from the fork lifting mechanism, the obstacle sensor is arranged at the bottom of the bracket close to the fork lifting mechanism, and the visual sensor is mounted on the fork lifting arm.

[0009] As a preferred technical solution, the bracket includes an assembly plate and an extension plate. The assembly plate and the mounting plate are slidably configured. The driving mechanism and the forklift mechanism are respectively arranged on two opposite side end faces of the assembly plate. One end of the extension plate is fixedly connected to the assembly plate, and the other end of the extension plate extends away from the assembly plate. The forklift arm is slidably arranged on the upper end of the extension plate.

[0010] As a preferred technical solution, the forklift AGV further includes a suspension mechanism. The suspension mechanism includes a connecting plate, a guide rail member, a sliding member, a guide rod, an elastic member, and a locking member. The connecting plate is fixedly connected to the assembly plate. The guide rail member is fixed on the side of the connecting plate facing the mounting plate. The sliding member is fixed on the side of the mounting plate facing the connecting plate. The guide rail member and the sliding member are slidably configured. A locking plate is fixedly arranged on the connecting plate. The locking plate and the mounting plate are spaced apart and arranged on the same side of the connecting plate. A guide rod is installed on the locking plate and the mounting plate. One end of the guide rod is fixed to the locking plate through the locking member, and the other end of the guide rod is fixed to the mounting plate. An elastic member is sleeved outside the guide rod, and both ends of the elastic member are abutted and arranged between the locking plate and the mounting plate.

[0011] As a preferred technical solution, the forklift mechanism further includes a guiding structure. The guiding structure includes a track member, a moving member, and a positioning plate. The positioning plate is fixedly connected to the assembly plate. The track member is fixed on the side of the positioning plate facing away from the assembly plate. The moving member is fixedly connected to the forklift arm. The track member and the moving member are slidably configured.

[0012] As a preferred technical solution, the forklift mechanism further includes two limit blocks. The two limit blocks are spaced apart on the positioning plate. The two limit blocks are adjacent to the track member. The two limit blocks are used to limit the moving stroke of the moving member.

[0013] As a preferred technical solution, the forklift AGV further includes an auxiliary wheel assembly. The auxiliary wheel assembly includes a universal wheel and a directional wheel. The mounting end of the universal wheel is fixedly arranged at the bottom of the frame. The universal wheel and the displacement module are arranged in an avoidance manner. The directional wheel is rotatably connected to the bottom of the extension plate. The directional wheel and the obstacle sensor are spaced apart.

[0014] As a preferred technical solution, the forklift AGV further includes a blocking mechanism. The blocking mechanism includes a buffer block, a proximity switch, and a fixing plate. The fixing plate is fixedly connected to the forklift arm. The buffer block is arranged on the side of the fixing plate facing the forklift space of the forklift arm. The detection end of the proximity switch is fixedly connected to the buffer block; and / or

[0015] The forklift AGV further includes an RFID module, and the RFID module is installed on the fork arm; and / or

[0016] The navigation mechanism further includes a protective cover, a laser bracket, an adapter plate, and a buffer spring. The laser bracket is fixedly arranged at the upper end of the housing. The protective cover and the laser bracket are fixedly connected. The protective cover and the laser bracket jointly enclose a protection space. The laser navigation sensor, the adapter plate, and the buffer spring are arranged in the protection space. The laser navigation sensor is fixedly arranged at the upper end of the adapter plate. The adapter plate is fixedly connected to the laser bracket through a connecting rod. The buffer spring is sleeved on the connecting rod, and the buffer spring elastically abuts between the adapter plate and the laser bracket.

[0017] As a preferred technical solution, the forklift AGV further includes a control component. The control component includes a touch screen, an emergency stop button, an antenna, an operation panel, a light strip, a speaker, and a side charging brush installed on the housing. The touch screen, the antenna, and the operation panel are arranged in the upper end face area of the housing. The emergency stop button, the light strip, the speaker, and the side charging brush are arranged in the side end face area of the housing.

[0018] As a preferred technical solution, the frame further includes a battery box, and the battery box is fixedly arranged on the bracket; and / or

[0019] A safety edge is arranged in the bottom area of the outer side end face of the housing, and the safety edge and the obstacle avoidance sensor are arranged at intervals; and / or

[0020] At least one observation window is arranged on the side end face of the housing.

[0021] The technical solution provided by the present utility model has the following advantages:

[0022] The forklift AGV provided by the utility model includes a frame, a driving mechanism, a fork lifting mechanism and a navigation mechanism. The frame includes a shell and a bracket that are detachably connected, and the shell is suitable for covering the bracket; the driving mechanism includes a mounting plate, a displacement module and a steering module, the mounting plate and the bracket are movably connected, the displacement module is rotatably connected to the mounting plate, the mounting end of the steering module is fixedly connected to the mounting plate, and the displacement module transmission is arranged at the driving end of the steering module; the fork lifting mechanism includes a fork lifting drive member, a fork lifting transmission structure and a fork lifting arm, the fork lifting drive member is fixedly arranged on the bracket, the fork lifting transmission structure is arranged on the driving side of the fork lifting drive member, the fork lifting arm is arranged on the transmission side of the fork lifting transmission structure, and the fork lifting drive member is suitable for driving the fork lifting arm to be raised and lowered through the fork lifting transmission structure; the navigation mechanism includes a laser navigation sensor, an obstacle avoidance sensor, a visual sensor and an obstacle sensor, the laser navigation sensor is installed on the upper end of the shell, the obstacle avoidance sensor is arranged on the side of the shell away from the fork lifting mechanism, the obstacle sensor is arranged at the bottom of the bracket close to the fork lifting mechanism, and the visual sensor is installed on the fork lifting arm.

[0023] In this forklift AGV structure, the shell and bracket in the frame serve as the fixed foundation of the driving mechanism, fork lifting mechanism and navigation mechanism. The displacement module drives the forklift AGV to move, and the steering module drives the displacement module to deflect to implement the steering action of the forklift AGV; the fork lifting drive member in the fork lifting mechanism drives the fork lifting transmission structure and the fork lifting arm to make the fork lifting arm perform a vertical lifting stroke to load or unload materials, and the positioning information of the materials is obtained through the visual sensor in the navigation mechanism, and the laser navigation sensor perceives the surrounding environment and calculates the distance, and then the displacement module drives the forklift AGV to move to approach or move away from the materials, and avoid obstacles through the obstacle avoidance sensor and obstacles. The sensor detects the distance between the forklift AGV and obstacles, enhances the accuracy of distance detection, and avoids the forklift AGV from being hit by obstacles during the driving phase. The obstacle avoidance sensors and obstacle sensors are arranged front and back on the forklift AGV, which can travel reliably in narrow channel usage scenarios. The navigation mechanism can improve the movement accuracy of the forklift AGV itself, and improve the docking and conveying accuracy between the forklift AGV and materials. The driving mechanism and the fork lifting mechanism cooperate to automatically load or unload materials, and implement turnover operations to improve work efficiency. The forklift AGV provided by the utility model can meet the needs of efficient, high-precision intelligent turnover in narrow channels and workstations. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 Schematic structural diagram of a forklift AGV provided by the present utility model;

[0026] Figure 2 External schematic diagram of a forklift AGV provided by the present utility model;

[0027] Figure 3 Three-dimensional schematic diagram of a forklift AGV provided by the present utility model;

[0028] Figure 4 Schematic structural diagram of a bracket in a forklift AGV provided by the present utility model;

[0029] Figure 5 Schematic connection diagram of a driving mechanism and a suspension mechanism in a forklift AGV provided by the present utility model;

[0030] Figure 6 Partial schematic diagram of a driving mechanism and a suspension mechanism in a forklift AGV provided by the present utility model;

[0031] Figure 7 Schematic structural diagram of a fork-lifting mechanism in a forklift AGV provided by the present utility model;

[0032] Figure 8 Partial schematic diagram of a fork-lifting mechanism in a forklift AGV provided by the present utility model;

[0033] Figure 9 Schematic structural diagram of a laser navigation component in a forklift AGV provided by the present utility model;

[0034] Figure 10 Schematic structural diagram of a blocking mechanism in a forklift AGV provided by the present utility model;

[0035] Figure 11 Schematic structural diagram of the bottom of a forklift AGV provided by the present utility model;

[0036] Description of reference numerals:

[0037] 1 - Frame; 11 - Housing; 111 - Safety edge; 112 - Observation window; 12 - Bracket; 121 - Assembly plate; 122 - Extension plate; 13 - Battery box;

[0038] 2 - Driving mechanism; 21 - Mounting plate; 22 - Displacement module; 23 - Steering module;

[0039] 3 - Suspension mechanism; 31 - Connection plate; 32 - Guide rail member; 33 - Sliding member; 34 - Guide rod; 35 - Elastic member; 36 - Locking member; 37 - Locking plate;

[0040] 4-Fork lifting mechanism; 41 - Fork lifting drive; 42 - Fork lifting transmission structure; 43 - Fork lifting arm; 44 - Track member; 45 - Moving member; 46 - Positioning plate; 47 - Limit block;

[0041] 51 - Laser navigation sensor; 52 - Protective cover; 53 - Laser frame; 54 - Adapter plate; 55 - Buffer spring; 56 - Obstacle avoidance sensor; 57 - Vision sensor; 58 - Obstacle sensor; 59 - Connecting rod;

[0042] 61 - Buffer block; 62 - Proximity switch; 63 - Fixed plate;

[0043] 71 - Touch screen; 72 - Emergency stop button; 73 - Antenna; 74 - Operation panel; 75 - Light strip; 76 - Speaker; 77 - Side charging brush; 78 - RFID module;

[0044] 81 - Universal wheel; 82 - Directional wheel. Detailed implementation mode

[0045] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work shall fall within the protection scope of the present invention.

[0046] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0047] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0049] Example

[0050] See also Figures 1 to 11 The present embodiment provides a forklift-type AGV, including a frame 1, a driving mechanism 2, a forklift mechanism 4, and a navigation mechanism. The frame 1 includes a detachably connected housing 11 and a bracket 12, and the housing 11 is suitable for covering the bracket 12; the driving mechanism 2 includes a mounting plate 21, a displacement module 22, and a steering module 23. The mounting plate 21 and the bracket 12 are movably connected, the displacement module 22 is rotatably connected to the mounting plate 21, the mounting end of the steering module 23 is fixedly connected to the mounting plate 21, and the displacement module 22 is transmission-set at the driving end of the steering module 23; the forklift mechanism 4 includes a forklift driving member 41, a forklift transmission structure 42, and a forklift arm 43. The forklift driving member 4 The forklift transmission structure 42 is fixedly mounted on the bracket 12, the forklift transmission structure 42 is mounted on the driving side of the forklift driver 41, and the forklift arm 43 is mounted on the driving side of the forklift transmission structure 42. The forklift driver 41 is adapted to drive the forklift arm 43 to move up and down via the forklift transmission structure 42. The navigation mechanism includes a laser navigation sensor 51, an obstacle avoidance sensor 56, a visual sensor 57, and an obstacle sensor 58. The laser navigation sensor 51 is mounted on the upper end of the housing 11, the obstacle avoidance sensor 56 is mounted on a side of the housing 11 away from the forklift mechanism 4, the obstacle sensor 58 is mounted on the bottom of the bracket 12 on the side close to the forklift mechanism 4, and the visual sensor 57 is mounted on the forklift arm 43.

[0051] The forklift-type AGV provided in this embodiment has the housing 11 and the bracket 12 in the frame 1 as the fixed bases for the driving mechanism 2, the forklift mechanism 4, and the navigation mechanism. The displacement module 22 drives the forklift-type AGV to displace, and the steering module 23 drives the displacement module 22 to deflect to implement the steering action of the forklift-type AGV. The forklift driving part 41 in the forklift mechanism 4 drives the forklift transmission structure 42 and the forklift arm 43, so that the forklift arm 43 performs a vertical lifting stroke to load or unload materials. The visual sensor 57 in the navigation mechanism obtains the positioning information of the materials, and the laser navigation sensor 51 senses the surrounding environment and calculates the distance. Then, the displacement module 22 drives the forklift-type AGV to travel to approach or move away from the materials. The obstacle avoidance sensor 56 and the obstacle sensor 58 detect the distance between the forklift-type AGV and the obstacle, enhancing the accuracy of distance detection and avoiding the collision of the forklift-type AGV with the obstacle during the driving stage. The obstacle avoidance sensor 56 and the obstacle sensor 58 are arranged front and back on the forklift-type AGV, enabling reliable travel in the use scenario of a narrow passage. The navigation mechanism can improve the movement accuracy of the forklift-type AGV itself and the docking and conveying accuracy between the forklift-type AGV and the materials. The driving mechanism 2 and the forklift mechanism 4 cooperate to automatically load or unload materials and implement the turnover operation to improve the operation efficiency. The forklift-type AGV provided by the present utility model can meet the requirements of efficient and high-precision intelligent turnover in narrow passages and workstations.

[0052] In a specific implementation manner, referring to Figure 4 , the bracket 12 includes an assembly plate 121 and an extension plate 122. The assembly plate 121 and the mounting plate 21 are slidably configured. The driving mechanism 2 and the forklift mechanism 4 are respectively arranged on two opposite side end faces of the assembly plate 121. One end of the extension plate 122 is fixedly connected to the assembly plate 121, and the other end of the extension plate 122 extends in a direction away from the assembly plate 121. The forklift arm 43 is slidably arranged on the upper end of the extension plate 122.

[0053] In some implementation manners, an assembly cavity can be recessed on one side of the assembly plate 121 to assemble the forklift mechanism 4. Of course, another assembly cavity can be recessed on the other side of the assembly plate 121 to assemble the driving mechanism 2.

[0054] As a specific implementation manner, in the driving mechanism 2, referring to Figure 5 and Figure 6, the displacement module 22 includes a vertical servo and a vertical idler wheel. The vertical idler wheel is drivingly arranged at the driving end of the vertical servo. The vertical servo is rotatably arranged on the mounting plate 21. The vertical idler wheel is adapted to be in contact with the ground side. The steering module 23 includes a steering servo, a first steering gear, and a second steering gear. The steering servo is fixedly arranged on the mounting plate 21. The first steering gear is drivingly arranged at the driving end of the steering servo. The first steering gear and the second steering gear are in meshing transmission. The vertical idler wheel and the second steering gear are fixedly connected.

[0055] As a preferred embodiment, the forklift AGV further includes a suspension mechanism 3 to improve the stability of the forklift AGV in the driving form stage. Specifically, referring to Figure 5 [[ID=A]]and Figure 6 , the suspension mechanism 3 includes a connecting plate 31, a guide rail member 32, a sliding member 33, a guide rod 34, an elastic member 35, and a locking member 36. The connecting plate 31 is fixedly connected to the assembly plate 121. The guide rail member 32 is fixed on the side of the connecting plate 31 facing the mounting plate 21. The sliding member 33 is fixed on the side of the mounting plate 21 facing the connecting plate 31. The guide rail member 32 and the sliding member 33 are slidably configured. A locking plate 37 is fixedly provided on the connecting plate 31. The locking plate 37 and the mounting plate 21 are spaced apart and arranged on the same side of the connecting plate 31. A guide rod 34 is installed on the locking plate 37 and the mounting plate 21. One end of the guide rod 34 is fixed to the locking plate 37 through the locking member 36. The other end of the guide rod 34 is fixed to the mounting plate 21. An elastic member 35 is sleeved outside the guide rod 34. Both ends of the elastic member 35 are abutted and arranged between the locking plate 37 and the mounting plate 21. By elastically buffering the up-and-down floating between the driving mechanism 2 and the frame 1, the elastic member 35 absorbs the floating vibration kinetic energy to reduce the adverse vibration occurring during the driving stage, thereby improving the running stability of the forklift AGV.

[0056] In a specific embodiment, there are two groups of corresponding guide rail members 32 and sliding members 33. The two guide rail members 32 are arranged in parallel at intervals. There are two groups of corresponding guide rods 34, elastic members 35, and locking members 36. The two guide rods 34 are arranged in parallel at intervals. The elastic member 35 can be set as a rectangular spring, which has high anti-fatigue performance and is adapted to the use requirements of the forklift AGV for load turnover. The round nut can be set as a round nut, which has good locking and fixing effects and structural connection strength.

[0057] As a specific embodiment, in the fork-lifting mechanism 4, referring to Figure 7 and Figure 8The fork-lifting drive member 41 is set as a reduction DC motor, and the fork-lifting transmission structure 42 includes a coupling, a screw fixing seat, a ball screw, a screw nut, a nut fixing seat and a screw support seat; one end of the coupling is connected to the driving side of the reduction DC motor, and the other end of the coupling is connected to the ball screw transmission. The screw nut is installed on the ball screw, the nut fixing seat and the fork-lifting arm 43 are fixedly connected, the screw fixing seat and the screw support seat are respectively fixedly connected to the positioning plate 46, and the two ends of the ball screw are respectively corresponding to the rotation connection screw fixing seat and the screw support seat.

[0058] As a preferred embodiment, the fork lifting mechanism 4 further includes a guide structure, see Figure 8 The guide structure includes a track member 44, a moving member 45 and a positioning plate 46; the positioning plate 46 is fixedly connected to the assembly plate 121, the track member 44 is fixed to the side of the positioning plate 46 away from the assembly plate 121, the moving member 45 and the fork arm 43 are fixedly connected, and the track member 44 and the moving member 45 are slidingly configured.

[0059] In a specific embodiment, two groups of track members 44 and moving members 45 are provided, and the two track members 44 are arranged in parallel with each other, which is beneficial to enhancing the vertical accuracy of the fork lifting arm 43 in loading and unloading materials.

[0060] In some embodiments, see Figure 8 The fork-lift mechanism 4 also includes two limit blocks 47 , which are spaced apart and disposed on the positioning plate 46 and adjacent to the track member 44 . These limit blocks 47 are used to limit the travel of the movable member 45 . In a specific implementation, a proximity sensor can be positioned at each of the two limit blocks 47 to respond to the position of the movable member 45 on the track member 44 and provide feedback indicating the limit position of the movable member 45 . When the movable member 45 reaches the end of the track member 44 , the fork-lift driver 41 immediately stops driving.

[0061] As a further embodiment, see Figure 3 The forklift AGV also includes an RFID module 78 mounted on the forklift arm 43. The RFID module 78 can be used to read and identify signals of the loaded material. When the forklift arm 43 approaches the material, the RFID module 78 reads the signal of the loaded material. If the signal is read successfully, the forklift arm 43 can be moved closer to the material, so that the material reaches the desired area for the forklift operation.

[0062] In a specific embodiment, the obstacle avoidance sensor 56 and the obstacle sensor 58 are configured as infrared sensors, and visual detection-assisted positioning is established through the obstacle avoidance sensor 56 and the obstacle sensor 58 to enhance the accuracy of positioning and navigation.

[0063] In some embodiments, see Figure 9, the navigation mechanism further includes a protective cover 52, a laser bracket 53, an adapter plate 54, and a buffer spring 55. The laser bracket 53 is fixedly arranged at the upper end of the housing 11. The protective cover 52 and the laser bracket 53 are fixedly connected. The protective cover 52 and the laser bracket 53 jointly enclose a protective space. A laser navigation sensor 51, an adapter plate 54, and a buffer spring 55 are arranged in the protective space. The laser navigation sensor 51 is fixedly arranged at the upper end of the adapter plate 54. The adapter plate 54 is fixedly connected to the laser bracket 53 through a connecting rod 59. The buffer spring 55 is sleeved on the connecting rod 59. The buffer spring 55 elastically abuts between the adapter plate 54 and the laser bracket 53. The protective cover 52 and the laser bracket 53 provide peripheral protection for the laser navigation sensor 51. Through the arrangement of the adapter plate 54 and the buffer spring 55, the laser navigation sensor 51 works stably, reducing the influence of vibration during driving on the laser navigation sensor 51, which is beneficial to improving the accuracy of navigation and positioning.

[0064] As a preferred embodiment, the forklift AGV further includes a blocking mechanism. Refer to Figure 10 , the blocking mechanism includes a buffer block 61, a proximity switch 62, and a fixing plate 63. The fixing plate 63 is fixedly connected to the forklift arm 43. The buffer block 61 is arranged on one side of the forklift space of the fixing plate 63 facing the forklift arm 43. The detection end of the proximity switch 62 is fixedly connected to the buffer block 61. The buffer block 61 is used to contact the material loaded on the forklift arm 43. After the material contacts and presses the buffer block 61, when the detection end of the proximity switch 62 responds to the force, it is determined that the material reaches the desired area for forklift operation, and then the forklift driving member 41 can be used to drive the forklift arm 43 to rise to carry the material.

[0065] As a preferred embodiment, the forklift AGV further includes an auxiliary wheel assembly. Refer to Figure 11 , the auxiliary wheel assembly includes a universal wheel 81 and a directional wheel 82. The installation end of the universal wheel 81 is fixedly arranged at the bottom of the frame 1. The universal wheel 81 and the displacement module 22 are arranged in an avoiding manner. The directional wheel 82 is rotatably connected to the bottom of the extension plate 122. The directional wheel 82 and the obstacle sensor 58 are arranged at an interval. In a specific embodiment, two universal wheels 81 are provided, and the two universal wheels 81 are arranged at an interval. The vertical steering wheel of the driving mechanism 2 is arranged between the two universal wheels 81; two directional wheels 82 are provided, and the two directional wheels 82 are both rotatably arranged at the bottom of the extension plate 122 in the bracket 12.

[0066] As a preferred embodiment, the forklift AGV further includes a control component. Refer to Figure 2, The control components include a touch screen 71, an emergency stop button 72, an antenna 73, an operation panel 74, a light strip 75, a speaker 76, and a side charging brush 77 installed on the housing 11. The touch screen 71, the antenna 73, and the operation panel 74 are arranged in the upper end face area of the housing 11, and the emergency stop button 72, the light strip 75, the speaker 76, and the side charging brush 77 are arranged in the side end face area of the housing 11. The touch screen 71 is used for displaying the working parameters of the forklift AGV and the user's touch operations; the emergency stop button 72 is used for the user to trigger to cut off the power supply and make the forklift AGV stop urgently; the antenna 73 is used for the forklift AGV to exchange working data with external communication devices; the operation panel 74 is used for the user to implement control operations on the forklift AGV; the light strip 75 is used for marking the position of the forklift AGV to facilitate warning personnel; the speaker 76 is used for the forklift AGV to output audio data and feedback the working status; the side charging brush 77 is used as the charging interface of the forklift AGV.

[0067] In some embodiments, referring to Figure 1 , the frame 1 further includes a battery box 13, and the battery box 13 is fixedly arranged on the bracket 12; the battery box 13 is used for loading the power supply to provide power conditions for the forklift AGV through the power supply.

[0068] In some embodiments, referring to Figure 1 , a safety touch edge 111 is arranged in the bottom area of the outer side end face of the housing 11, and the safety touch edge 111 and the obstacle avoidance sensor 56 are arranged at intervals; in the specific implementation process, the safety touch edge 111 can be set as a contact type induction for safety protection. When it senses the set pressure, the system will stop the movement of the forklift AGV.

[0069] In some embodiments, referring to Figure 1 , one or more observation windows 112 are arranged on the side end face of the housing 11, and the user can view the internal structure of the housing 11 through the observation windows 112, which is convenient for troubleshooting during the maintenance stage.

[0070] The forklift AGV provided in this embodiment is equipped with a driving mechanism 2, a suspension mechanism 3, a fork-lifting mechanism 4, and a navigation mechanism. The movement position and driving path of the forklift AGV are accurately positioned by laser navigation and infrared vision, and it can realize arbitrary movement in narrow lanes. The overall size is compact, and it can obtain a smaller turning radius, which can meet the automatic handling and docking operations of small materials.

[0071] Obviously, the above embodiments are only examples clearly described and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or variations derived therefrom are still within the protection scope of the present invention.

Claims

1. A forklift-type AGV, characterized in that, Comprising: A frame (1), comprising a detachably connected housing (11) and a bracket (12), wherein the housing (11) is adapted to cover the bracket (12); A driving mechanism (2), comprising a mounting plate (21), a displacement module (22) and a steering module (23), wherein the mounting plate (21) is movably connected to the bracket (12), the displacement module (22) is rotatably connected to the mounting plate (21), the mounting end of the steering module (23) is fixedly connected to the mounting plate (21), and the displacement module (22) is drivingly arranged at the driving end of the steering module (23); A forklift mechanism (4), comprising a forklift driving member (41), a forklift transmission structure (42) and a forklift arm (43), wherein the forklift driving member (41) is fixedly arranged on the bracket (12), the forklift transmission structure (42) is arranged on the driving side of the forklift driving member (41), the forklift arm (43) is mounted on the transmission side of the forklift transmission structure (42), and the forklift driving member (41) is adapted to drive the forklift arm (43) to be lifted and lowered through the forklift transmission structure (42); A navigation mechanism, comprising a laser navigation sensor (51), an obstacle avoidance sensor (56), a vision sensor (57) and an obstacle sensor (58), wherein the laser navigation sensor (51) is mounted on the upper end of the housing (11), the obstacle avoidance sensor (56) is arranged on a side of the housing (11) away from the forklift mechanism (4), the obstacle sensor (58) is arranged at the bottom of the bracket (12) on a side close to the forklift mechanism (4), and the vision sensor (57) is mounted on the forklift arm (43).

2. The forklift AGV according to claim 1, characterized in that, The bracket (12) comprises an assembly plate (121) and an extension plate (122), the assembly plate (121) and the mounting plate (21) are slidably configured, the driving mechanism (2) and the forklift mechanism (4) are respectively arranged on two opposite side end faces of the assembly plate (121), one end of the extension plate (122) is fixedly connected to the assembly plate (121), the other end of the extension plate (122) extends in a direction away from the assembly plate (121), and the forklift arm (43) is slidably arranged on the upper end of the extension plate (122).

3. The forklift-type AGV according to claim 2, characterized in that, The forklift-type AGV further includes a suspension mechanism (3), which includes a connecting plate (31), a guide rail member (32), a sliding member (33), a guide rod (34), an elastic member (35) and a locking member (36); the connecting plate (31) and the assembly plate (121) are fixedly connected, the guide rail member (32) is fixed on a side of the connecting plate (31) facing the mounting plate (21), the sliding member (33) is fixed on a side of the mounting plate (21) facing the connecting plate (31), the guide rail member (32) and the sliding member (33) are slidably arranged, and the A locking plate (37) is fixedly provided on the connecting plate (31), and the locking plate (37) and the mounting plate (21) are arranged at intervals on the same side of the connecting plate (31). A guide rod (34) is installed on the locking plate (37) and the mounting plate (21), one end of the guide rod (34) is fixed to the locking plate (37) through a locking member (36), and the other end of the guide rod (34) is fixed to the mounting plate (21). An elastic member (35) is provided on the outer sleeve of the guide rod (34), and both ends of the elastic member (35) are abutted and arranged between the locking plate (37) and the mounting plate (21).

4. The forklift AGV according to claim 2, wherein, The fork-lifting mechanism (4) further comprises a guide structure, which comprises a track member (44), a moving member (45) and a positioning plate (46); the positioning plate (46) and the assembly plate (121) are fixedly connected, the track member (44) is fixed on a side of the positioning plate (46) away from the assembly plate (121), the moving member (45) and the fork-lifting arm (43) are fixedly connected, and the track member (44) and the moving member (45) are slidably arranged.

5. The forklift AGV according to claim 4, characterized in that, The fork-lifting mechanism (4) further comprises two limit blocks (47), the two limit blocks (47) being arranged on the positioning plate (46) at intervals, the two limit blocks (47) being arranged adjacent to the track member (44), and the two limit blocks (47) being used to limit the moving stroke of the moving member (45).

6. The forklift AGV according to any one of claims 2-5, characterized in that, The forklift-type AGV further includes an auxiliary wheel assembly, the auxiliary wheel assembly including a universal wheel (81) and a directional wheel (82), the mounting end of the universal wheel (81) is fixedly arranged at the bottom of the frame (1), the universal wheel (81) and the displacement module (22) are arranged to avoid each other, the directional wheel (82) is rotatably connected to the bottom of the extension plate (122), and the directional wheel (82) and the obstacle sensor (58) are arranged at intervals.

7. The forklift AGV according to any one of claims 1-5, characterized in that The forklift-type AGV further comprises a blocking mechanism, the blocking mechanism comprising a buffer block (61), a proximity switch (62) and a fixed plate (63), the fixed plate (63) and the fork-lifting arm (43) are fixedly connected, the buffer block (61) is arranged on a side of the fixed plate (63) facing the fork-lifting space of the fork-lifting arm (43), and the detection end of the proximity switch (62) and the buffer block (61) are fixedly connected; and / or The forklift AGV further includes an RFID module (78), and the RFID module (78) is installed on the fork arm (43).

8. The forklift AGV according to any one of claims 1-5, characterized in that, The navigation mechanism further includes a protective cover (52), a laser bracket (53), an adapter plate (54), and a buffer spring (55). The laser bracket (53) is fixedly arranged at the upper end of the housing (11). The protective cover (52) and the laser bracket (53) are fixedly connected. The protective cover (52) and the laser bracket (53) jointly enclose a protection space. The laser navigation sensor (51), the adapter plate (54), and the buffer spring (55) are arranged in the protection space. The laser navigation sensor (51) is fixedly arranged at the upper end of the adapter plate (54). The adapter plate (54) is fixedly connected to the laser bracket (53) through a connecting rod (59). The buffer spring (55) is sleeved on the connecting rod (59), and the buffer spring (55) elastically abuts between the adapter plate (54) and the laser bracket (53).

9. The forklift-type AGV according to any one of claims 1-5, characterized in that, The forklift AGV further includes a control component, and the control component includes a touch screen (71), an emergency stop button (72), an antenna (73), an operation panel (74), a light strip (75), a speaker (76), and a side charging brush (77) installed on the housing (11). The touch screen (71), the antenna (73), and the operation panel (74) are arranged in the upper end face area of the housing (11). The emergency stop button (72), the light strip (75), the speaker (76), and the side charging brush (77) are arranged in the side end face area of the housing (11).

10. The forklift AGV according to any one of claims 1-5, characterized in that, The frame (1) further includes a battery box (13), and the battery box (13) is fixedly arranged on the bracket (12); and / or A safety touch edge (111) is arranged in the bottom area of the outer side end face of the housing (11), and the safety touch edge (111) is arranged at an interval from the obstacle avoidance sensor (56); and / or At least one observation window (112) is arranged on the side end face of the housing (11).

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