Fork leg and automatic guided vehicle

Abstract

The embodiment of the utility model provides a fork leg and an automatic guided vehicle. The fork leg comprises a leg frame; the differential modules are arranged on the leg frame and used for driving the fork leg to run and steer, the at least two differential modules are arranged at intervals in the first direction, each differential module comprises a first driving wheel and a second driving wheel which are arranged at intervals in the second direction, and the first driving wheels and the second driving wheels have different rotating speeds when the fork leg steers; the first direction intersects with the second direction; the fork plate is used for bearing goods; the lifting assembly is connected with the leg frame and the fork plate and used for driving the fork plate to move between the first position and the second position. According to the tray, the problems that fork holes of the tray are diversified and a roadway is too narrow can be solved.

Description

Technical Field

[0001] The present application relates to the field of AGV, and in particular to a fork leg and an automatic guided vehicle. Background Art

[0002] With the development of the mobile robotics industry, more and more industries are beginning to introduce automated guided vehicles (AGVs) to replace manual cargo handling. However, in actual application scenarios, there are problems such as the diversity of pallet fork holes and narrow aisles. Utility Model Content

[0003] The embodiments of the present application provide a fork leg and an automated guided vehicle, which aim to solve the problems of the diversity of fork holes in pallets and the overly narrow aisles.

[0004] An embodiment of the first aspect of the present application provides a fork leg, which is used to transport cargo, including: a leg frame; a differential module, which is arranged on the leg frame and is used to drive the fork leg to travel and turn, at least two differential modules are arranged at intervals along a first direction, and the differential module includes a first drive wheel and a second drive wheel arranged at intervals along a second direction, the first drive wheel and the second drive wheel have different rotational speeds when the fork leg turns, and the first direction intersects with the second direction; a fork plate, which is used to carry cargo; a lifting assembly, which connects the leg frame and the fork plate and is used to drive the fork plate to move between a first position and a second position.

[0005] According to an embodiment of the first aspect of the present application, the leg rack has a first surface and a second surface opposite to each other and a receiving cavity, the receiving cavity has a first opening on the side where the first surface is located, and the lifting assembly is arranged in the receiving cavity through the first opening, wherein when the fork plate is in the first position, the lifting assembly is received in the receiving cavity, and the fork plate covers the first opening.

[0006] According to an embodiment of the first aspect of the present application, the fork plate has a bearing surface opposite to the lifting assembly; wherein, when the fork plate is in the first position, the bearing surface and the first surface are coplanar; or / and, when the fork plate is in the second position, the distance between the bearing surface and the second surface is greater than the distance between the first surface and the second surface.

[0007] According to the implementation of the first aspect of the present application, the leg frame also has at least two accommodating cavities, each accommodating cavity has a second opening on the side where the second surface is located, and the first drive wheel and the second drive wheel of each differential module are arranged in each accommodating cavity through the second opening.

[0008] According to an embodiment of the first aspect of the present application, the lifting assembly includes a lifting mechanism connecting the leg frame and the fork plate and a driving mechanism connected to the lifting mechanism, and the driving mechanism is used to drive the lifting mechanism to extend and retract to drive the fork plate to move between the first position and the second position.

[0009] According to the implementation scheme of the first aspect of the present application, the lifting mechanism includes a plurality of fork rod groups arranged at intervals, each fork rod group includes a first fork rod and a second fork rod arranged crosswise and a hinge shaft hingedly connecting the first fork rod and the second fork rod, the first fork rod has a first hinged end hinged to the leg frame and a first sliding end connected to the fork plate, the second fork rod has a second hinged end hinged to the fork plate and a second sliding end connected to the leg frame, and the driving mechanism is connected to one of the first fork rod and the second fork rod and is used to drive the first fork rod and the second fork rod to move relative to each other.

[0010] According to the implementation scheme of the first aspect of the present application, the first hinged ends of the two adjacent first fork rods are connected via a first connecting axis, and a first support hinged to the first connecting axis is provided on the leg frame; the second hinged ends of the two adjacent second fork rods are connected via a second connecting axis, and a second support hinged to the second connecting axis is provided on the fork plate.

[0011] According to the implementation scheme of the first aspect of the present application, a first roller is provided on the first sliding end, a third support is provided on the fork plate, a first rolling groove is provided on the third support, the first roller is provided in the first rolling groove and can roll along the first rolling groove; a second roller is provided on the second sliding end, a fourth support is provided on the fork plate, a second rolling groove is provided on the fourth support, the second roller is provided in the second rolling groove and can roll along the second rolling groove.

[0012] According to an implementation scheme of the first aspect of the present application, the driving mechanism includes: a screw; a sliding member, which is provided on the screw; a push rod, which is hinged to the sliding member, and the push rod is also hinged to one of the first fork rod and the second fork rod; and a driver, which drives the screw to rotate around its axis to drive the sliding member to move along the screw; wherein the driving torque of the driver on the screw is less than the braking torque of the driver on the screw.

[0013] A second aspect of the present application further provides an automatic guided vehicle comprising one or more fork legs according to any one of the above-mentioned first aspect embodiments.

[0014] The fork leg of the present application is equipped with at least two differential modules mounted on a leg frame for driving the fork leg for travel and steering, a fork plate for carrying cargo, and a lifting assembly for driving the fork plate between a first position and a second position. This allows the fork leg to both travel and lift cargo. Consequently, multiple independent fork legs can be combined to form an automated guided vehicle (AGV) that can be inserted into the multiple fork holes of a pallet, addressing the issue of diverse pallet fork holes and reducing the size of the AGV. Furthermore, the first and second drive wheels of the differential module have different rotational speeds when the fork leg is steering, allowing the differential module to cause the fork leg to rotate around its center at a minimum radius to address the issue of narrow lanes. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings, in which the same or similar reference numerals represent the same or similar features.

[0016] Figure 1 This is a structural diagram of a fork leg in a non-working state provided by an embodiment of the first aspect of the present application;

[0017] Figure 2 is a cross-sectional view of a fork leg in a working state provided by an embodiment of the first aspect of the present application;

[0018] Figure 3 yes Figure 2 An enlarged view of section A of the fork leg shown;

[0019] Figure 4 yes Figure 1 The schematic diagram of the structure of the fork leg after the fork plate is removed;

[0020] Figure 5 This is a structural schematic diagram of a lifting assembly in a fork leg provided by an embodiment of the first aspect of the present application;

[0021] Figure 6 This is a structural diagram of an automatic guided vehicle provided in another embodiment of the second aspect of the present application.

[0022] Description of reference numerals:

[0023] 100, cross legs;

[0024] 1. Leg frame; 11. First surface; 13. Second surface; 15. Accommodation cavity; 151. First opening; 17. Accommodation cavity; 171. Second opening; 18. First support; 19. Fourth support; 191. Second rolling groove;

[0025] 2. Differential module; 21. First drive wheel; 23. Second drive wheel;

[0026] 3. Fork plate; 31. Bearing surface; 33. Second support; 35. Third support; 351. First rolling groove;

[0027] 4. Lifting assembly; 41. Lifting mechanism; 41A. Fork lever assembly; 411. First fork lever; 4111. First hinged end; 4113. First sliding end; 412. Hinge shaft; 413. Second fork lever; 4131. Second hinged end; 4133. Second sliding end; 415. First connecting shaft; 416. Connecting rod; 417. Second connecting shaft; 418. First roller; 419. Second roller; 43. Driving mechanism; 431. Lead screw; 432. Sliding member; 433. Push rod; 434. Driver; 435. Coupling; 437. Lead screw nut; 438. Sliding block; 439. Pulley; 45. Lead screw fixing seat; 46. Mounting plate; 47. Driver bracket;

[0028] 5. Navigation device;

[0029] 7. Obstacle avoidance device;

[0030] X, first direction; Y, second direction. DETAILED DESCRIPTION

[0031] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In the detailed description below, many specific details are set forth in order to provide a comprehensive understanding of the present application. However, it will be apparent to those skilled in the art that the present application can be implemented without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by illustrating examples of the present application. In the accompanying drawings and the following description, at least some of the well-known structures and technologies are not shown in order to avoid unnecessary ambiguity in the present application; and, for clarity, the sizes of some structures may be exaggerated. In addition, the features, structures, or characteristics described below may be combined in any suitable manner in one or more embodiments.

[0032] In the description of this application, it should be noted that, unless otherwise specified, "plurality" means more than two; terms such as "upper," "lower," "left," "right," "inner," and "outer" indicating directions or positional relationships are merely for the purpose of facilitating the description of this application and simplifying the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting this application. Furthermore, terms such as "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of the embodiments of this application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation" 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 directly connected or indirectly connected. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0034] With the development of the mobile robotics industry, more and more industries are beginning to introduce automated guided vehicles (AGVs) to replace manual cargo handling. However, in actual application scenarios, there are problems such as the diversity of pallet fork holes and narrow aisles.

[0035] In the related art, although the solution of adding adjustable fork attachments to counterbalanced stackers can solve the problem of diversity of pallet fork holes, it cannot meet the requirements of use in narrow aisles; although carrier forklifts or lurking forklifts can meet the requirements of use in narrow aisles, they cannot solve the problem of diversity of pallet fork holes.

[0036] In order to solve the above technical problems, this application is proposed. Figures 1 to 6 The fork legs and the automated guided vehicle according to the embodiment of the present application are described in detail. The fork legs 100 of the automated guided vehicle are used to extend into the fork holes of the pallet and carry the goods on the pallet by supporting the pallet.

[0037] Please also refer to Figures 1 to 5 , Figure 1 This is a structural diagram of a fork leg in a non-working state provided by an embodiment of the first aspect of the present application; Figure 2 is a cross-sectional view of a fork leg in a working state provided by an embodiment of the first aspect of the present application; Figure 3 yes Figure 2 An enlarged view of section A of the fork leg shown; Figure 4 yes Figure 1 The schematic diagram of the structure of the fork leg after the fork plate is removed; Figure 5 This is a schematic diagram of the structure of a lifting assembly in a fork leg provided by the embodiment of the first aspect of the present application. Figure 1 The fork plate in the fork leg is shown in a first position. Figure 2 The fork plate in the fork leg is shown in the second position.

[0038] like Figure 1 and Figure 2As shown, an embodiment of the first aspect of the present application provides a fork leg 100, which is used to transport goods. The fork leg 100 includes a leg frame 1, a differential module 2, a fork plate 3 for carrying goods, and a lifting assembly 4. The differential module 2 is arranged on the leg frame 1 and is used to drive the fork leg 100 to travel and turn. The differential module 2 is arranged with at least two intervals along the first direction X. The differential module 2 includes a first drive wheel 21 and a second drive wheel 23 arranged at intervals along the second direction Y. The first drive wheel 21 and the second drive wheel 23 have different rotational speeds when the fork leg 100 turns. The first direction X intersects with the second direction Y. The lifting assembly 4 connects the leg frame 1 and the fork plate 3 and is used to drive the fork plate 3 to move between the first position and the second position.

[0039] In the fork leg 100 of the present application, the fork leg 100 is equipped with at least two differential modules 2 mounted on a leg frame 1 for driving the fork leg 100 for travel and steering, a fork plate 3 for carrying cargo, and a lifting assembly 4 for driving the fork plate 3 between a first position and a second position. This allows the fork leg 100 to both travel and lift cargo. Consequently, multiple independent fork legs 100 can be combined to form an automated guided vehicle (AGV) that can be inserted into the multiple fork holes of a pallet, thereby resolving the issue of diverse pallet fork holes and reducing the size of the AGV. Furthermore, the first and second drive wheels 21, 23 of the differential module 2 have different rotational speeds when the fork leg 100 is steering. This allows the differential module 2 to cause the fork leg 100 to spin around its center at a minimum radius to address the problem of narrow lanes.

[0040] Optionally, the first direction X is perpendicular to the second direction Y.

[0041] Optionally, the first direction X is the length direction of the leg frame 1 , and the second direction Y is the width direction of the leg frame 1 .

[0042] Optionally, two, three, four, etc. differential modules 2 may be arranged at intervals along the first direction X.

[0043] For example, two differential modules 2 may be provided along the first direction X at intervals.

[0044] Optionally, the differential module 2 may be a differential module in the prior art, and the differential module 2 will not be described in detail herein.

[0045] For example, the differential module 2 may be a planetary reducer integrated differential steering wheel module.

[0046] Optionally, the first position is a position where the fork plate 3 is lowered to release the cargo, and the second position is a position where the fork plate 3 is raised to lift the cargo.

[0047] In some embodiments, the leg stand 1 has a first surface 11 and a second surface 13 that are opposite to each other, and a receiving cavity 15. The receiving cavity 15 has a first opening 151 on the side where the first surface 11 is located. The lifting assembly 4 is disposed in the receiving cavity 15 through the first opening 151. When the fork plate 3 is in the first position, the lifting assembly 4 is received in the receiving cavity 15, and the fork plate 3 covers the first opening 151. Since the lifting assembly 4 is received in the receiving cavity 15 and the fork plate 3 covers the first opening 151 when the fork plate 3 is in the first position, when the fork plate 3 is in the first position, the fork plate 3 and the leg stand 1 can jointly protect the lifting assembly 4 in the receiving cavity 15.

[0048] In some embodiments, the fork plate 3 has a bearing surface 31 opposite to the lifting assembly 4. When the fork plate 3 is in the second position, the distance between the bearing surface 31 and the second surface 13 is greater than the distance between the first surface 11 and the second surface 13. When the fork plate 3 is in the second position, the distance between the bearing surface 31 and the second surface 13 is greater than the distance between the first surface 11 and the second surface 13, which ensures that the fork plate 3 can lift the pallet when it is raised.

[0049] Optionally, when the fork plate is in the first position, the fork plate may be in contact with the first surface and cover the first opening, or the fork plate may be received by the first opening. When the fork plate is received by the first opening, the thickness of the fork plate may be equal to the depth of the first opening, or the thickness of the fork plate may be less than the depth of the first opening.

[0050] In some embodiments, the fork plate 3 has a bearing surface 31 opposite the lifting assembly 4. When the fork plate 3 is in the first position, the bearing surface 31 and the first surface 11 are coplanar. Specifically, the fork plate 3 is received by the first opening 151, and the thickness of the fork plate 3 is equal to the depth of the first opening 151. Compared to a case where the fork plate is in contact with the first surface and covers the first opening, the coplanarity of the bearing surface 31 and the first surface 11 reduces the overall height of the fork leg 100, making it more suitable for pallets with smaller fork holes. Furthermore, while maintaining the same lifting height, the center of gravity of the fully loaded fork leg 100 is lowered, making the fork leg 100 safer and more efficient during travel and steering, thereby improving handling efficiency. Furthermore, compared to a case where the fork plate 3 is received by the first opening 151 and its thickness is less than the depth of the first opening 151, the fork plate 3 can move from the first position to the second position with a shorter stroke, thereby reducing the work performed by the lifting assembly 4 and lowering energy consumption.

[0051] In some embodiments, the leg frame 1 further comprises at least two accommodating cavities 17, each of which has a second opening 171 on the side of the second surface 13. The first drive wheel 21 and the second drive wheel 23 of each differential module 2 are disposed in each accommodating cavity 17 via the second opening 171. This reduces the thickness of the fork leg 100, making it suitable for pallets with smaller fork hole heights. Furthermore, it lowers the overall center of gravity of the fork leg 100 when fully loaded, thereby improving safety during travel and steering. Furthermore, this lowered center of gravity of the fork leg 100 when fully loaded also increases travel and steering speed, thereby enhancing handling efficiency.

[0052] Continue reading Figures 2 to 5 In some embodiments, the lifting assembly 4 includes a lifting mechanism 41 connecting the leg frame 1 and the fork plate 3 and a driving mechanism 43 connected to the lifting mechanism 41, and the driving mechanism 43 is used to drive the lifting mechanism 41 to extend and retract to drive the fork plate 3 to move between the first position and the second position.

[0053] In some embodiments, the lifting mechanism 41 includes a plurality of fork rod groups 41A arranged at intervals, each fork rod group 41A includes a first fork rod 411 and a second fork rod 413 arranged crosswise and a hinge shaft 412 that hinges the first fork rod 411 and the second fork rod 413, the first fork rod 411 has a first hinged end 4111 hinged to the leg frame 1 and a first sliding end 4113 connected to the fork plate 3, the second fork rod 413 has a second hinged end 4131 hinged to the fork plate 3 and a second sliding end 4133 connected to the leg frame 1, and the driving mechanism 43 is connected to one of the first fork rod 411 and the second fork rod 413 and is used to drive the first fork rod 411 and the second fork rod 413 to move relative to each other.

[0054] Optionally, under the driving action of the driving mechanism 43, the first fork rod 411 rotates around the hinged connection between the first hinged end 4111 and the leg frame 1, and the second fork rod 413 rotates around the hinged connection between the second hinged end 4131 and the fork plate 3. During the rotation of the first fork rod 411 and the second fork rod 413, the first fork rod 411 and the second fork rod 413 move relative to each other.

[0055] Optionally, the relative movement includes movement toward and away from each other. When the driving mechanism 43 drives the first fork rod 411 and the second fork rod 413 to move toward each other, the lifting mechanism 41 contracts and drives the fork plate 3 to descend to the first position; when the driving mechanism 43 drives the first fork rod 411 and the second fork rod 413 to move away from each other, the lifting mechanism 41 extends and drives the fork plate 3 to rise to the second position.

[0056] Optionally, the fork lever group 41A is arranged along the first direction X, and the plurality of fork lever groups 41A are spaced apart along the second direction Y. The fork lever group 41A is arranged along the first direction X and the plurality of fork lever groups 41A are spaced apart along the second direction Y, which is conducive to reducing the width of the fork leg 100 .

[0057] Optionally, the first fork rods 411 in two adjacent fork rod groups 41A are arranged facing each other, that is, in two adjacent fork rod groups 41A, the two first fork rods 411 are located between the two second fork rods 413 .

[0058] Optionally, the driving mechanism 43 is disposed between two adjacent fork rod groups 41A, and the driving mechanism 43 is connected to the first fork rod 411 .

[0059] In some other embodiments, the second fork rods in two adjacent fork rod groups 41A may be arranged facing each other, that is, in two adjacent fork rod groups 41A, the two second fork rods are located between the two first fork rods; the driving mechanism 43 is arranged between the two adjacent fork rod groups 41A, and the driving mechanism 43 is connected to the second fork rods.

[0060] Optionally, the connection between the drive mechanism 43 and the first fork rod 411 is located between the hinge shaft 412 and the first sliding end 4113. When the driving torque exerted by the drive mechanism 43 on the first fork rod 411 is the same, the farther the connection between the drive mechanism 43 and the first fork rod 411 is from the first hinge end 4111, the smaller the driving force exerted by the drive mechanism 43 on the first fork rod 411.

[0061] Optionally, two fork rod groups 41A are provided, and one driving mechanism 43 is provided.

[0062] In some embodiments, the first hinged ends 4111 of two adjacent first fork rods 411 are connected via a first connecting shaft 415, and the leg frame 1 is provided with a first support 18 hinged to the first connecting shaft 415. The second hinged ends 4131 of two adjacent second fork rods 413 are connected via a second connecting shaft 417, and the fork plate 3 is provided with a second support 33 hinged to the second connecting shaft 417. In other words, the first hinged end 4111 is hinged to the leg frame 1 via the first connecting shaft 415 and the first support 18, and the second hinged end 4131 is hinged to the fork plate 3 via the second connecting shaft 417 and the second support 33.

[0063] Optionally, a first shaft hole into which the first connecting shaft 415 is inserted is provided on the first support 18 , and a second shaft hole into which the second connecting shaft 417 is inserted is provided on the second support 33 .

[0064] In some embodiments, a first roller 418 is provided on the first sliding end 4113, a third support 35 is provided on the fork plate 3, a first rolling groove 351 is provided on the third support 35, and the first roller 418 is disposed in the first rolling groove 351 and can roll along the first rolling groove 351. A second roller 419 is provided on the second sliding end 4133, a fourth support 19 is provided on the leg frame 1, a second rolling groove 191 is provided on the fourth support 19, and the second roller 419 is disposed in the second rolling groove 191 and can roll along the second rolling groove 191. That is, the first sliding end 4113 is connected to the fork plate 3 via the first roller 418 and the third support 35, and the second sliding end 4133 is connected to the fourth support 19 via the second roller 419 and the fourth support 19.

[0065] In some embodiments, the first sliding ends 4113 of two adjacent first fork rods 411 are further connected via a connecting rod 416. Since the first sliding ends 4113 of two adjacent first fork rods 411 are further connected via the connecting rod 416, the two adjacent first fork rods 411 can rotate synchronously.

[0066] In some embodiments, the driving mechanism 43 includes a lead screw 431, a sliding member 432, a push rod 433, and a driver 434. The sliding member 432 is disposed on the lead screw 431. The push rod 433 is hinged to the sliding member 432. The push rod 433 is also hinged to one of the first fork rod 411 and the second fork rod 413. The driver 434 drives the lead screw 431 to rotate about its axis to drive the sliding member 432 to move along the lead screw 431. The driving torque of the driver 434 on the lead screw 431 is less than the braking torque of the driver 434 on the lead screw 431. As the sliding member 432 moves along the lead screw 431, the push rod 433 drives one of the first fork rod 411 and the second fork rod 413 to rotate. The other fork rod rotates synchronously and in the opposite direction driven by the fork plate 3, thereby achieving the extension and retraction of the lifting mechanism 41. At the same time, the driving torque of the driver 434 on the screw 431 is less than the braking torque of the driver 434 on the screw 431, so that the fork plate 3 can be maintained in the second position when it is lifted to the second position, so there is no need to set up an additional locking structure to keep the fork plate 3 in the second position.

[0067] Optionally, the hinge point between the push rod 433 and the first fork rod 411 is located between the hinge shaft 412 and the first sliding end 4113, thereby reducing the required driving torque of the driver 434.

[0068] Optionally, the driver 434 is a reduction motor.

[0069] Optionally, the driver 434 is connected to the screw 431 via a coupling 435 .

[0070] Optionally, the driving mechanism 43 is fixed on one of the fork plate 3 and the leg frame 1 .

[0071] In some embodiments, both ends of the lead screw 431 are fixed to a mounting plate 46 via two lead screw fixing seats 45, the mounting plate 46 is fixed to the leg frame 1 and is located in the receiving cavity 15, the driver 434 is fixed to the leg frame 1 via a driver bracket 47 and is located in the receiving cavity 15, and the sliding member 432 moves along the lead screw 431 along the mounting plate 46.

[0072] Optionally, the sliding member 432 includes a screw nut 437 provided on the screw 431, a slider 438 connected to the screw nut 437, and a pulley 439 provided on the slider 438, wherein the pulley 439 contacts the mounting plate 46. When the driver 434 drives the screw 431 to rotate about its axis, the mounting plate 46 blocks the sliding member 432 in the circumferential direction of the screw 431 via the pulley 439. As a result, the sliding member 432 and the screw 431 rotate relative to each other, thereby causing the screw 431 to drive the sliding member 432 to move along the screw 431. Moreover, during the movement, the pulley 439 rotates to reduce the movement resistance of the sliding member 432.

[0073] In some embodiments, the fork leg 100 further includes a navigation device 5 disposed on the leg frame 1 , and at least two differential modules 2 are used to drive the fork leg 100 to travel and steer according to the first information obtained by the navigation device 5 .

[0074] Optionally, the navigation device 5 may be a laser SLAM navigation device, a visual SLAM navigation device, or a QR code navigation device.

[0075] Optionally, the guidance method of the navigation device 5 may be the guidance method of a conventional automatic guided vehicle, which will not be described in detail here.

[0076] In some embodiments, the fork leg 100 further includes an obstacle avoidance device 7 provided on the leg frame 1 , and the at least two differential modules 2 further drive the fork leg 100 to travel and turn according to the second information obtained by the obstacle avoidance device 7 .

[0077] Optionally, the obstacle avoidance device 7 may be a TOF camera, an obstacle avoidance laser, a photoelectric sensor, an ultrasonic sensor, etc.

[0078] Optionally, the obstacle avoidance method of the obstacle avoidance device 7 may be the obstacle avoidance method of a conventional automatic guided vehicle, which will not be described in detail here.

[0079] Optionally, the navigation device 5 and the obstacle avoidance device 7 are respectively arranged at two opposite ends of the leg frame 1 along the first direction X.

[0080] Continue reading Figure 6 , Figure 6 This is a structural diagram of an automatic guided vehicle provided in another embodiment of the second aspect of the present application.

[0081] like Figure 6As shown, the second embodiment of the present application further provides an automated guided vehicle, comprising one or more fork legs 100 according to any of the first embodiments. Since the automated guided vehicle of the present embodiment comprises one or more fork legs 100 according to any of the first embodiments, the automated guided vehicle of the present application has the beneficial effects of the fork legs 100 according to any of the first embodiments, which will not be further described here.

[0082] Optionally, the automatic guided vehicle includes a plurality of fork legs 100 , and the plurality of fork legs 100 are spaced apart along the second direction Y.

[0083] Further optionally, the automatic guided vehicle comprises three fork legs 100. This automatic guided vehicle is suitable for a pallet in a Sichuan shape.

[0084] The present application can be implemented in other specific forms without departing from its spirit and essential characteristics. For example, the algorithm described in the specific embodiment can be modified, and the system architecture does not depart from the basic spirit of the present application. Therefore, the current embodiment is considered to be exemplary and not restrictive in all aspects, and the scope of the present application is defined by the appended claims rather than the above description, and all changes that fall within the scope of the meaning and equivalents of the claims are thereby included within the scope of the present application.

Claims

1. A fork leg for carrying goods, characterized in that: include: leg rack; a differential module, disposed on the leg frame and used to drive the fork leg to travel and steer, wherein at least two differential modules are spaced apart along a first direction, and the differential module includes a first drive wheel and a second drive wheel spaced apart along a second direction, wherein the first drive wheel and the second drive wheel have different rotational speeds when the fork leg steers, and the first direction intersects the second direction; Fork plate, used to carry goods; A lifting assembly connects the leg frame and the fork plate and is used to drive the fork plate to move between a first position and a second position.

2. The fork leg according to claim 1, characterized in that The leg stand has a first surface and a second surface opposite to each other and a receiving cavity, wherein the receiving cavity has a first opening on the side where the first surface is located, and the lifting assembly is arranged in the receiving cavity through the first opening, wherein when the fork plate is in the first position, the lifting assembly is received in the receiving cavity, and the fork plate covers the first opening.

3. The fork leg according to claim 2, characterized in that The fork plate has a bearing surface opposite to the lifting assembly; wherein, When the fork plate is in the first position, the bearing surface and the first surface are coplanar; or / and, When the fork plate is in the second position, the distance between the bearing surface and the second surface is greater than the distance between the first surface and the second surface.

4. The fork leg according to claim 2, characterized in that The leg frame further has at least two accommodating cavities, each of which has a second opening on the side where the second surface is located, and the first driving wheel and the second driving wheel of each differential module are arranged in each of the accommodating cavities through the second opening.

5. The fork leg according to claim 1, characterized in that The lifting assembly includes a lifting mechanism connecting the leg frame and the fork plate and a driving mechanism connected to the lifting mechanism, wherein the driving mechanism is used to drive the lifting mechanism to extend and retract to drive the fork plate to move between a first position and a second position.

6. The fork leg according to claim 5, characterized in that The lifting mechanism includes a plurality of fork rod groups arranged at intervals, each fork rod group includes a first fork rod and a second fork rod arranged crosswise and a hinge shaft hingedly connecting the first fork rod and the second fork rod, the first fork rod has a first hinged end hinged to the leg frame and a first sliding end connected to the fork plate, the second fork rod has a second hinged end hinged to the fork plate and a second sliding end connected to the leg frame, the driving mechanism is connected to one of the first fork rod and the second fork rod and is used to drive the first fork rod and the second fork rod to move relative to each other.

7. The fork leg according to claim 6, characterized in that The first hinged ends of two adjacent first fork rods are connected via a first connecting shaft, and a first support hinged to the first connecting shaft is provided on the leg frame; the second hinged ends of two adjacent second fork rods are connected via a second connecting shaft, and a second support hinged to the second connecting shaft is provided on the fork plate.

8. The fork leg according to claim 6, characterized in that A first roller is provided on the first sliding end, a third support is provided on the fork plate, a first rolling groove is provided on the third support, the first roller is provided in the first rolling groove and can roll along the first rolling groove; a second roller is provided on the second sliding end, a fourth support is provided on the leg frame, a second rolling groove is provided on the fourth support, the second roller is provided in the second rolling groove and can roll along the second rolling groove.

9. The fork leg according to claim 6, characterized in that The driving mechanism comprises: Lead screw; a sliding member, provided on the lead screw; a push rod hinged to the sliding member, the push rod further hinged to one of the first fork rod and the second fork rod; and a driver, driving the lead screw to rotate about its axis to drive the sliding member to move along the lead screw; The driving torque of the driver on the lead screw is smaller than the braking torque of the driver on the lead screw.

10. An automatic guided vehicle, characterized in that: Comprising one or more fork legs according to any one of claims 1-9.

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