AGV trolley for forking support shaped like Chinese character'tian '

Abstract

The utility model relates to the technical field of AGVs (Automatic Guided Vehicle), in particular to an AGV for forking a support shaped like a Chinese character'tian ', a lifting module adopts the design of a driving shear fork unit and a driven shear fork unit, so that the lifting of a single fork arm assembly can provide effective power only by a single driving source, the structure is simplified, the support of the fork arm assembly is more stable, and the lifting efficiency is improved. The shear forks in the lifting modules are shorter and can stretch out and draw back from gaps between cross beams at the bottoms of the matts, and the effect of forking the matts is achieved; in the forking process, a shear fork of the lifting module is supported by the ground, supporting is more stable through the structure, additional balance weights do not need to be added to an AGV body, and the size and the weight are smaller; through the design of the portal assembly, the telescopic movement of the multiple fork arm top plate modules connected with the portal assembly is synchronous, the telescopic movement of the multiple fork arm assemblies can be achieved only through one power source, and the cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV trolleys, and more specifically, to an AGV trolley used for picking up with a crossbar. Background Art

[0002] With the development of automated logistics and intelligent manufacturing, the application of automatic guided vehicles (AGV) in warehousing and logistics systems has become increasingly common. Especially in handling and warehousing operations, AGVs can greatly improve work efficiency. The design of traditional AGV bodies is usually not able to perform flexible fork-picking operations, especially in scenarios where cross-section support is required for handling, such as Figure 5 As shown, the insertion hole of the crossbar is narrow and is not suitable for the multi-stage fork-picking structure on the traditional AGV trolley; the crossbeam structure at the bottom of the crossbar makes it impossible for the upper and lower plates of the fork arm of the fork-picking structure in the traditional design to be opened as a whole. For example, an AGV forklift and fork arm cargo handling method with patent publication number CN115973968A has the above problems; therefore, we propose an AGV trolley for crossbar picking with a reasonable structure, strong stability and high operational flexibility. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the purpose of the present utility model is to provide an AGV trolley for picking up with a crossbar to solve the problems existing in the above-mentioned background technology.

[0004] The above-mentioned technical purpose of the present utility model is achieved through the following technical solutions: An AGV trolley for forking a field-shaped support, comprising: an AGV body; the AGV body is provided with: a fork arm assembly for forking a field-shaped support, a gantry assembly for driving the fork arm assembly to move in the X-axis direction and a moving assembly for driving the AGV body to move; the fork arm assembly comprises a fork arm top plate module for inserting and supporting the field-shaped support and a lifting module for driving the fork arm top plate module to lift in the Z-axis direction and be able to retract from the gap of the field-shaped support; the fork arm top plate module is hinged to the lifting module; the gantry assembly comprises a gantry support module for driving the fork arm top plate module to move in the X-axis direction and a driving module for driving the gantry support module to move in the X-axis direction; the driving module is fixedly connected to the gantry support module; the output end of the driving module abuts against the AGV body; the fork arm top plate module is slidably connected to the gantry support module; the moving assembly is rotatably connected to the bottom of the AGV body.

[0005] Optionally, the gantry support module includes: a support frame and a connecting frame; the support frame is detachably connected to the AGV body; the support frame is provided with at least one guide cavity for the fork arm assembly to move up and down; a guide groove for limiting the fork arm top plate module is provided in the guide cavity; the fork arm top plate module is slidably connected to the guide groove; the connecting frame is detachably connected to the support frame; and the connecting frame is fixedly connected to the drive module.

[0006] Optionally, the fork arm top plate module includes: at least one connecting plate corresponding to the guide cavity and at least one top plate corresponding to the connecting plate; the connecting plate is slidingly connected to the guide groove; the top plate is fixedly connected to the connecting plate; and the top plate is hinged to the lifting module.

[0007] Optionally, the lifting module includes: at least one active scissors-fork unit corresponding to the top plate, at least one driven scissors-fork unit corresponding to the active scissors-fork unit, and at least one first driving member corresponding to the active scissors-fork unit for driving the active scissors-fork unit to perform telescopic movement; the first driving member is fixedly connected to the top plate; the active scissors-fork unit is hinged to the top plate; the output end of the first driving member is hinged to the active scissors-fork unit; the driven scissors-fork unit is hinged to the top plate; and the driven scissors-fork unit is transmission-connected to the active scissors-fork unit.

[0008] Optionally, the active scissors fork unit includes: two first inner scissors forks arranged opposite to each other and two first outer scissors forks arranged opposite to each other and corresponding to the two first inner scissors forks one by one; the two first inner scissors forks are respectively hinged to the corresponding first outer scissors forks; one end of the two first inner scissors forks are respectively hinged to the top plate; the other ends of the two first inner scissors forks are hinged to each other; one end of the two first outer scissors forks are respectively hinged to the output end of the first driving member; the other ends of the two first outer scissors forks are hinged to each other; the two first outer scissors forks are respectively transmission connected to the driven scissors fork unit.

[0009] Optionally, the driven scissors unit includes: two second inner scissors forks arranged opposite to each other, two second outer scissors forks arranged opposite to each other and corresponding one-to-one to the two second inner scissors forks, and transmission rods corresponding one-to-one to the two second outer scissors forks and the two first outer scissors forks; the two second inner scissors forks are respectively hinged to the corresponding second outer scissors forks; one end of the two second inner scissors forks are respectively hinged to the top plate; the other ends of the two second inner scissors forks are hinged to each other; one end of the two second outer scissors forks are respectively hinged to the top plate; the other ends of the two second outer scissors forks are hinged to each other; the two second outer scissors forks are respectively hinged to one end of the corresponding transmission rod; the other ends of the two transmission rods are respectively hinged to the corresponding first outer scissors forks.

[0010] Optionally, the driving module includes: a connecting seat, a driving wheel and a second driving member for driving the driving wheel; the connecting seat is detachably connected to the connecting frame; the second driving member is fixedly connected to the connecting seat; the driving wheel is rotatably connected to the connecting seat; the output end of the second driving member is fixedly connected to the driving wheel; and the driving wheel abuts against the AGV body.

[0011] Optionally, support wheels are respectively provided at the mutual connection points of the two first outer scissors forks, the mutual connection points of the two first inner scissors forks, the mutual connection points of the two second outer scissors forks, and the connection points of the two second inner scissors forks.

[0012] Optionally, support plates are respectively provided at the mutual connection points of the two first outer scissors, the mutual connection points of the two first inner scissors, the mutual connection points of the two second outer scissors, and the connection points of the two second inner scissors.

[0013] Optionally, the moving component includes: a plurality of moving wheels and a third driving member for driving the plurality of moving wheels; the third driving member is fixedly connected to the AGV body; the plurality of moving wheels are respectively rotatably connected to the AGV body; and the output end of the third driving member is respectively transmission-connected to the plurality of moving wheels.

[0014] In summary, the present invention has the following beneficial effects:

[0015] 1. The lifting module adopts the design of active scissor fork unit and driven scissor fork unit, so that the lifting of a single fork arm assembly only requires a single driving source to provide effective power, which simplifies the structure. Not only does it make the support of the fork arm assembly more stable, but the length of the scissors in the lifting module is also shorter, which can be extended and retracted from the gap between the crossbeams at the bottom of the field support to achieve the effect of forking the field support. During the forking process, the scissors of the lifting module are supported by the ground. This part of the structure makes the support more stable. No additional counterweight is required on the AGV body, and the size and weight are smaller.

[0016] 2. Through the design of the gantry assembly, the telescopic movement of several fork arm top plate modules connected to the gantry assembly is synchronized, and only one power source is needed to achieve the telescopic movement of several fork arm assemblies, reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the main structure of the utility model;

[0018] Figure 2 It is a bottom view schematic diagram of the main structure of the utility model;

[0019] Figure 3This is a schematic diagram of the specific structure and installation of the door frame assembly of the utility model;

[0020] Figure 4 This is a schematic diagram of the specific structure and installation of the fork arm assembly of the utility model;

[0021] Figure 5 It is a schematic diagram of one embodiment of the present utility model;

[0022] Figure 6 It is a schematic diagram of another embodiment of the present utility model;

[0023] Figure 7 It is a schematic diagram of the utility model in which a fork is taken and supported on a vehicle body.

[0024] In the figure: 1. AGV body; 2. fork arm assembly; 3. fork arm top plate module; 31. connecting plate; 32. top plate; 4. lifting module; 41. active scissors unit; 411. first inner scissors; 412. first outer scissors; 42. driven scissors unit; 421. second inner scissors; 422. second outer scissors; 423. transmission rod; 43. first driving member; 5. gantry assembly; 6. gantry support module; 61. support frame; 62. connecting frame; 63. guide cavity; 64. guide groove; 7. driving module; 71. connecting seat; 72. driving wheel; 73. second driving member; 8. moving assembly; 81. moving wheel; 82. third driving member; 9. supporting wheel; 10. supporting plate; 11. field support. DETAILED DESCRIPTION

[0025] To make the objectives, features, and advantages of the present invention more readily apparent, the following detailed description of the present invention is provided with reference to the accompanying drawings. The accompanying drawings illustrate several embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein.

[0026] In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. The terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features.

[0027] In the present invention, unless otherwise expressly specified and limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions are for illustrative purposes only and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present invention.

[0028] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0029] The utility model provides an AGV trolley for picking up a fork of a field support 11, such as Figure 1 As shown, it includes: an AGV body 1; the AGV body 1 is provided with: a fork arm assembly 2 for forking the field support 11, a door frame assembly 5 for driving the fork arm assembly 2 to move in the X-axis direction and a moving assembly 8 for driving the AGV body 1 to move; the fork arm assembly 2 includes a fork arm top plate module 3 for inserting and supporting the field support 11 and a lifting module 4 for driving the fork arm top plate module 3 to lift in the Z-axis direction and be able to retract from the gap of the field support 11; the fork arm top plate module 3 It is hinged to the lifting module 4; the gantry assembly 5 includes a gantry support module 6 for driving the fork arm top plate module 3 to move in the X-axis direction and a driving module 7 for driving the gantry support module 6 to move in the X-axis direction; the driving module 7 is fixedly connected to the gantry support module 6; the output end of the driving module 7 is in contact with the AGV body 1; the fork arm top plate module 3 is slidingly connected to the gantry support module 6; the moving assembly 8 is rotatably connected to the bottom of the AGV body 1.

[0030] Specifically, the references to the X-axis and the Z-axis are based on the AGV body 1 .

[0031] Specifically, the driving module 7 drives the gantry support module 6 to move in the X-axis direction, so that the gantry support module 6 drives the fork arm top plate module 3 to move in the X-axis direction, realizing the telescopic effect, so as to facilitate reaching into the socket of the field support 11 and forking the field support 11; one end of the lifting module 4 is hinged to the fork arm top plate module 3, and the other end can be extended from the gap between the crossbeams of the field support 11, so as to realize the ground or platform as the support point, thereby lifting the fork arm top plate module 3, so that the fork arm top plate module 3 drives the forked field support 11 to be lifted, realizing the effect of lifting the field support 11; the moving component 8 makes the AGV body 1 close to the fork arm component 2 after the fork arm component 2 forks the field support 11, thereby realizing the technical effect of placing the forked field support 11 on the AGV body 1. This forking method is more stable and convenient, ensures the stability during the forking process, and is less likely to cause accidents.

[0032] Optionally, the AGV body 1 is also provided with a receiving cavity for receiving the fork arm assembly 2. The fork arm assembly 2 can be received in the receiving cavity, making the appearance of the AGV body 1 more beautiful and more sophisticated, suitable for working conditions in narrow environments, and further improving the scene adaptability of the AGV body 1.

[0033] Furthermore, the gantry support module 6 includes: a support frame 61 and a connecting frame 62; the support frame 61 is detachably connected to the AGV body 1; the support frame 61 is provided with at least one guide cavity 63 for the fork arm assembly 2 to move up and down; a guide groove 64 is provided in the guide cavity 63 for limiting the fork arm top plate module 3; the fork arm top plate module 3 is slidably connected to the guide groove 64; the connecting frame 62 is detachably connected to the support frame 61; the connecting frame 62 is fixedly connected to the driving module 7.

[0034] Specifically, the support frame 61 is detachably connected to the AGV body 1, so that the support frame 61 can be moved on the AGV body 1 under the drive module 7; the fork arm top plate module 3 connected to the support frame 61 can be moved in the Y-axis direction through the guide cavity 63 on the support frame 61, and a guide groove 64 is provided to limit the fork arm assembly 2 during the movement to prevent the fork arm assembly 2 from exceeding the maximum stroke during the movement; the connecting frame 62 is connected to the drive module 7 to achieve the effect of the drive module 7 driving the support frame 61 to move; the detachable design of the gantry support module 6 reduces maintenance costs and improves flexibility. At the same time, through the cooperation of the guide cavity 63 and the guide groove 64, the stability of the fork arm top plate module 3 is greatly improved, and errors in the forking process are reduced.

[0035] Furthermore, the fork arm top plate module 3 includes: at least one connecting plate 31 corresponding to the guide cavity 63 and at least one top plate 32 corresponding to the connecting plate 31; the connecting plate 31 is slidingly connected to the guide groove 64; the top plate 32 is fixedly connected to the connecting plate 31; and the top plate 32 is hinged to the lifting module 4.

[0036] Specifically, through the sliding connection between the connecting plate 31 and the guide groove 64 on the support frame 61, it can drive the top plate 32 and the support frame 61 to move synchronously in the X-axis direction. At the same time, the limiting guiding function of the guide groove 64 in the Z-axis direction ensures that the lifting module 4 will not exceed the maximum stroke during the process of lifting the top plate 32, thereby ensuring safety, realizing stable up and down movement of the top plate 32, and effectively improving the reliability and adaptability of forking.

[0037] Furthermore, the lifting module 4 includes: at least one active scissors-fork unit 41 corresponding to the top plate 32, at least one driven scissors-fork unit 42 corresponding to the active scissors-fork unit 41, and at least one first driving member 43 corresponding to the active scissors-fork unit 41 for driving the active scissors-fork unit 41 to perform telescopic movement; the first driving member 43 is fixedly connected to the top plate 32; the active scissors-fork unit 41 is hinged to the top plate 32; the output end of the first driving member 43 is hinged to the active scissors-fork unit 41; the driven scissors-fork unit 42 is hinged to the top plate 32; and the driven scissors-fork unit 42 is transmission-connected to the active scissors-fork unit 41.

[0038] Specifically, such as Figure 4 As shown, the active scissors fork unit 41 is driven to be extended and retracted by the first driving member 43, and the driven scissors fork unit 42 is transmission-connected to the active scissors fork unit 41, so that the active scissors fork unit 41 and the driven scissors fork unit 42 can be synchronously extended and retracted. Only a single power source is required, and there is no need to install power sources on the active scissors fork unit 41 and the driven scissors fork unit 42 respectively, which reduces the weight and size, so that the scissors of the active scissors fork unit 41 and the driven scissors fork unit 42 can be extended and retracted from the gap between the crossbeams of the field support 11, further improving the adaptability to the scene; the configuration of the active scissors fork unit 41 and the driven scissors fork unit 42 of the lifting module 4 can realize effective lifting action, so that the fork arm assembly 2 can realize accurate forking under various conditions, reducing the complexity of the forking action.

[0039] Furthermore, the active scissors fork unit 41 includes: two first inner scissors forks 411 that are arranged opposite to each other and two first outer scissors forks 412 that are arranged opposite to each other and correspond one to one to the two first inner scissors forks 411; the two first inner scissors forks 411 are respectively hinged to the corresponding first outer scissors forks 412; one end of the two first inner scissors forks 411 are respectively hinged to the top plate 32; the other ends of the two first inner scissors forks 411 are hinged to each other; one end of the two first outer scissors forks 412 are respectively hinged to the output end of the first driving member 43; the other ends of the two first outer scissors forks 412 are hinged to each other; the two first outer scissors forks 412 are respectively transmission connected to the driven scissors fork unit 42.

[0040] Specifically, such as Figure 4 As shown, the first inner scissors fork 411 and the first outer scissors fork 412 are driven respectively by the first driving member 43 to realize the telescopic movement of the overall active scissors fork unit 41, providing greater torque and stability, ensuring the smoothness and safety of the forking action, and reducing the risk of material falling.

[0041] Furthermore, the driven scissors fork unit 42 includes: two second inner scissors forks 421 that are opposite to each other, two second outer scissors forks 422 that are opposite to each other and correspond one-to-one to the two second inner scissors forks 421, and a transmission rod 423 that corresponds one-to-one to the two second outer scissors forks 422 and the two first outer scissors forks 412; the two second inner scissors forks 421 are respectively hinged to the corresponding second outer scissors forks 422; one end of the two second inner scissors forks 421 are respectively hinged to the top plate 32; the other ends of the two second inner scissors forks 421 are hinged to each other; one end of the two second outer scissors forks 422 are respectively hinged to the top plate 32; the other ends of the two second outer scissors forks 422 are hinged to each other; the two second outer scissors forks 422 are respectively hinged to one end of the corresponding transmission rod 423; the other ends of the two transmission rods 423 are respectively hinged to the corresponding first outer scissors forks 412.

[0042] Specifically, such as Figure 4 As shown, the first external scissors fork 412 and the second external scissors fork 422 are connected by the transmission rod 423, so that when the first external scissors fork 412 is telescopically moved through the first driving member 43, the second external scissors fork 422 is simultaneously driven to telescopically move. The transmission design enhances the power transmission efficiency of the system, ensures that the scissors fork system can cooperate smoothly during the forking and moving process, and improves the overall operation fluency.

[0043] Furthermore, the driving module 7 includes: a connecting seat 71, a driving wheel 72 and a second driving member 73 for driving the driving wheel 72; the connecting seat 71 is detachably connected to the connecting frame 62; the second driving member 73 is fixedly connected to the connecting seat 71; the driving wheel 72 is rotatably connected to the connecting seat 71; the output end of the second driving member 73 is fixedly connected to the driving wheel 72; and the driving wheel 72 abuts against the AGV body 1.

[0044] Specifically, the connecting seat 71 is connected to the connecting frame 62, so that when the driving wheel 72 is in contact with the AGV body 1, the second driving member 73 drives the driving wheel 72 to rotate, thereby driving the gantry assembly 5 to move in the X-axis direction.

[0045] In other embodiments, Figure 3 As shown, a spring is provided at the connection between the connecting frame 62 and the connecting seat 71. The spring is in a normally compressed state so that the connecting seat 71 is subjected to a vertical downward elastic force, making the contact between the driving wheel 72 and the AGV body 1 more stable, avoiding idling.

[0046] In other embodiments, the driving module 7 can adopt a gear rack transmission method or a synchronous belt transmission method to realize the movement of the gantry support module 6 in the X-axis direction; the selection of multiple different driving methods further increases the scene adaptability of the AGV car.

[0047] Optionally, support wheels 9 are respectively provided at the mutual connection points of the two first outer scissors forks 412, the mutual connection points of the two first inner scissors forks 411, the mutual connection points of the two second outer scissors forks 422 and the connection points of the two second inner scissors forks 421.

[0048] In the first embodiment, Figure 4 As shown, the mutual connection of the two first outer scissors forks 412, the mutual connection of the two first inner scissors forks 411, the mutual connection of the two second outer scissors forks 422 and the connection of the two second inner scissors forks 421 are respectively provided with support wheels 9, which reduce the wear of the contact between the lifting module 4 and the ground, make the forking action smoother, and avoid the occurrence of unstable support; when the AGV trolley actively forks the field support 11, the gantry assembly drives the fork arm assembly to actively retract, which can provide better support force.

[0049] Optionally, support plates 10 are respectively provided at the mutual connection points of the two first outer scissors 412, the mutual connection points of the two first inner scissors 411, the mutual connection points of the two second outer scissors 422 and the connection points of the two second inner scissors 421.

[0050] In the second embodiment, Figure 6 As shown, support plates 10 are respectively provided at the mutual connection points of the two first outer scissors forks 412, the mutual connection points of the two first inner scissors forks 411, the mutual connection points of the two second outer scissors forks 422 and the connection points of the two second inner scissors forks 421. The support using the support plates 10 is more stable, strengthens the stability of the scissors connection, provides additional support during load operation, and ensures the safety of materials during forking and handling; and provides better support when the AGV trolley performs passive forking of the field support 11.

[0051] Furthermore, the moving component 8 includes: a plurality of moving wheels 81 and a third driving member 82 for driving the plurality of moving wheels 81; the third driving member 82 is fixedly connected to the AGV body 1; the plurality of moving wheels 81 are respectively rotatably connected to the AGV body 1; and the output ends of the third driving member 82 are respectively transmission-connected to the plurality of moving wheels 81.

[0052] Specifically, the efficient design of the mobile component 8 enables the AGV to respond quickly to instructions and move flexibly, thereby improving operational efficiency and adaptability to meet ever-changing logistics needs. Figure 1-2 As shown, the position setting of the moving wheel 81 is more in line with the requirements for carrying the field support 11.

[0053] In a specific embodiment, taking the passive forking of the field support 11 as an example, the specific process is: the third driving member 82 drives the moving wheel 81 to move the AGV body 1 to the side of the field support 11 to be forked, and the second driving member 73 drives the driving wheel 72 to rotate, and the connecting plate 31 drives the support frame 61 to move, and at the same time, the fork arm assembly 2 connected to the support frame 61 is inserted into the socket of the field support 11; after the fork arm assembly 2 is fully inserted into the interior of the field support 11, the first driving member 43 drives the active scissors fork unit 41 to extend, and the driven scissors fork unit 42 connected to the active scissors fork unit 41 is extended synchronously, and the active scissors fork unit 41 and the driven scissors fork unit 42 extend from the gap between the crossbeams of the field support 11, and when one end of the active scissors fork unit 41 and the driven scissors fork unit 42 are respectively in contact with the ground for support, the drive extension is continued to make the active scissors fork unit 41 and the driven scissors fork unit 42 in contact with the ground for support. After the first drive member 43 stops driving and the third drive member 82 drives the moving wheel 81, the AGV body 1 moves to the bottom of the forked field support 11, and then stops the third drive member 82 to stop driving, and the first drive member 43 drives the active scissors fork unit 41 to retract, and the driven scissors fork unit 42 connected to the active scissors fork unit 41 retracts synchronously, and the active scissors fork unit 41 and the driven scissors fork unit 42 retract from the gap between the cross beams of the field support 11. During the retraction process, the forked field support 11 will first abut against the AGV body 1, thereby achieving the effect of forking the field support 11 onto the AGV body 1. After continuing to retract for a distance, one end of the active scissors fork unit 41 and the driven scissors fork unit 42 no longer abut against the ground for support, until they are fully retracted to the initial state. Figure 7 As shown, the process of forking the support 11 onto the AGV body 1 is completed;

[0054] The process of placing the field support 11: the third driving member 82 drives the moving wheel 81 to move the AGV body 1 to the position where the field support 11 on the AGV body 1 needs to be placed; the first driving member 43 drives the active scissors fork unit 41 to extend, and the driven scissors fork unit 42 connected to the active scissors fork unit 41 extends synchronously, and the active scissors fork unit 41 and the driven scissors fork unit 42 extend from the gap between the crossbeams of the field support 11, and when one end of the active scissors fork unit 41 and the driven scissors fork unit 42 are respectively supported against the ground, the driving extension is continued, so that the active scissors fork unit 41 and the driven scissors fork unit 42 use the end supported against the ground as the support point to lift the top plate 32, thereby achieving the effect of lifting the field support 11; after completing the lifting of the field support 11, the third driving member 82 is used to drive the moving wheel 81 to move the AGV body 1 to the position where the field support 11 on the AGV body 1 needs to be placed; the first driving member 43 drives the active scissors fork unit 41 to extend, and the driven scissors fork unit 42 connected to the active scissors fork unit 41 extends synchronously, and the active scissors fork unit 41 and the driven scissors fork unit 42 extend from the gap between the crossbeams of the field support 11, and when one end of the active scissors fork unit 41 and the driven scissors fork unit 42 are respectively supported against the ground, the driving extension is continued, so that the active scissors fork unit 41 and the driven The driving member 82 drives the moving wheel 81 to move the AGV body 1 to the side, and the first driving member 43 drives the active scissors-fork unit 41 to retract, and the driven scissors-fork unit 42 connected to the active scissors-fork unit 41 retracts synchronously, and the active scissors-fork unit 41 and the driven scissors-fork unit 42 retract from the gap between the crossbeams of the field support 11. During the retraction process, until the field support 11 is in firm contact with the ground, one end of the active scissors-fork unit 41 and the driven scissors-fork unit 42 no longer contact the ground for support respectively; until the fork arm assembly 2 is in the initial state, the placement of the field support 11 is completed, and the driving wheel 72 is driven to rotate by the second driving member 73, and the support frame 61 is driven to move through the connecting plate 31, and the fork arm assembly 2 is reset to the initial position on the AGV body 1, completing the unloading process.

[0055] The utility model relates to an AGV trolley and a forking method for a field support 11. The lifting module 4 is designed with an active scissor unit 41 and a driven scissor unit 42, so that the lifting of a single fork arm assembly 2 only requires a single driving source to provide effective power, which simplifies the structure. Not only does the support of the fork arm assembly 2 become more stable, but the length of the scissors in the lifting module 4 is shorter and can be extended and retracted from the gap between the cross beams at the bottom of the field support 11 to achieve the effect of forking the field support 11; during the forking process, the scissors of the lifting module 4 are supported by the ground, and this part of the structure makes the support more stable. No additional counterweight is required on the AGV body 1, and the size and weight are smaller; through the design of the gantry assembly 5, the telescopic movement of several fork arm top plate modules 3 connected to the gantry assembly 5 is synchronized, and only one power source is needed to realize the telescopic movement of several fork arm assemblies 2, which reduces the cost; the AGV trolley has two different forking methods, a passive forking method and an active forking method, which are suitable for most usage scenarios, further improving the scene adaptability of the AGV trolley.

[0056] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, certain improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An AGV trolley for picking up goods with a fork, characterized in that: include: AGV body; the AGV body is provided with: a fork arm assembly for forking the field support, a gantry assembly for driving the fork arm assembly to move in the X-axis direction, and a moving assembly for driving the AGV body to move; The fork arm assembly includes a fork arm top plate module for inserting and supporting the crossbar and a lifting module for driving the fork arm top plate module to lift in the Z-axis direction and be able to extend and retract from the gap of the crossbar; the fork arm top plate module is hinged to the lifting module; The gantry assembly includes a gantry support module for driving the fork arm top plate module to move in the X-axis direction and a drive module for driving the gantry support module to move in the X-axis direction; the drive module is fixedly connected to the gantry support module; the output end of the drive module abuts against the AGV body; the fork arm top plate module is slidably connected to the gantry support module; The moving assembly is rotatably connected to the bottom of the AGV body.

2. The AGV trolley for picking up goods with a crossbar according to claim 1, characterized in that: The gantry support module includes: a support frame and a connecting frame; The support frame is detachably connected to the AGV body; The support frame is provided with at least one guide cavity for the fork arm assembly to move up and down; a guide groove for limiting the fork arm top plate module is provided in the guide cavity; the fork arm top plate module is slidably connected to the guide groove; The connecting frame is detachably connected to the supporting frame; and the connecting frame is fixedly connected to the driving module.

3. The AGV trolley for picking up goods with a crossbar according to claim 2, characterized in that: The fork arm top plate module includes: at least one connecting plate corresponding to the guide cavity and at least one top plate corresponding to the connecting plate; The connecting plate is slidably connected to the guide groove; the top plate is fixedly connected to the connecting plate; and the top plate is hinged to the lifting module.

4. The AGV trolley for picking up goods with a crossbar according to claim 3, characterized in that: The lifting module includes: at least one active scissor fork unit corresponding to the top plate, at least one driven scissor fork unit corresponding to the active scissor fork unit, and at least one first driving member corresponding to the active scissor fork unit for driving the active scissor fork unit to perform telescopic movement; The first driving member is fixedly connected to the top plate; the active scissor unit is hinged to the top plate; the output end of the first driving member is hinged to the active scissor unit; The driven scissor-fork unit is hinged to the top plate; the driven scissor-fork unit is transmission-connected to the active scissor-fork unit.

5. The AGV trolley for picking up items with a crossbar according to claim 4, characterized in that: The active scissor lift unit comprises: two first inner scissor lifts arranged opposite to each other and two first outer scissor lifts arranged opposite to each other and corresponding to the two first inner scissor lifts one by one; The two first inner scissors are respectively hinged to the corresponding first outer scissors; One end of the two first inner scissors is hinged to the top plate respectively; the other ends of the two first inner scissors are hinged to each other; One end of the two first external scissors is respectively hinged to the output end of the first driving member; the other ends of the two first external scissors are hinged to each other; and the two first external scissors are respectively transmission-connected to the driven scissors unit.

6. The AGV trolley for picking up materials with a crossbar according to claim 5, characterized in that: The driven scissor fork unit comprises: two second inner scissor forks arranged opposite to each other, two second outer scissor forks arranged opposite to each other and corresponding one-to-one with the two second inner scissor forks, and a transmission rod corresponding one-to-one with the two second outer scissor forks and the two first outer scissor forks; The two second inner scissors are respectively hinged to the corresponding second outer scissors; One end of the two second inner scissors is hinged to the top plate respectively; the other ends of the two second inner scissors are hinged to each other; One end of the two second external scissors is hinged to the top plate respectively; the other ends of the two second external scissors are hinged to each other; The two second external scissors are respectively hinged to one end of the corresponding transmission rod; the other ends of the two transmission rods are respectively hinged to the corresponding first external scissors.

7. The AGV trolley for picking up goods with a crossbar according to claim 2, characterized in that: The driving module includes: a connecting seat, a driving wheel and a second driving member for driving the driving wheel; The connecting seat is detachably connected to the connecting frame; the second driving member is fixedly connected to the connecting seat; the driving wheel is rotatably connected to the connecting seat; and the output end of the second driving member is fixedly connected to the driving wheel; The driving wheel is in contact with the AGV body.

8. The AGV trolley for picking up goods with a crossbar according to claim 6, characterized in that: Support wheels are respectively provided at the mutual connection points of the two first outer scissors, the mutual connection points of the two first inner scissors, the mutual connection points of the two second outer scissors and the connection points of the two second inner scissors.

9. The AGV trolley for picking up items with a crossbar according to claim 6, characterized in that: Support plates are respectively provided at the mutual connection points of the two first outer scissors, the mutual connection points of the two first inner scissors, the mutual connection points of the two second outer scissors and the connection points of the two second inner scissors.

10. The AGV trolley for picking up items with a crossbar according to claim 1, characterized in that: The moving assembly includes: a plurality of moving wheels and a third driving member for driving the plurality of moving wheels; The third driving member is fixedly connected to the AGV body; the plurality of moving wheels are rotationally connected to the AGV body; and the output end of the third driving member is transmission-connected to the plurality of moving wheels.

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