Fork for forklift type AGV and forklift type AGV

Abstract

The utility model belongs to the technical field of carrying equipment, and provides a fork for a forklift-type AGV and the forklift-type AGV, the fork for the forklift-type AGV comprises a support frame fixedly arranged on an AGV main body; the lifting seat is movably arranged on the supporting frame; the first ends of the telescopic fork rods are connected with the lifting base, the second ends of the telescopic fork rods extend in the X-axis direction, the number of the fork rods is two, and the two fork rods are arranged in the Y-axis direction in a spaced mode; the first driving assembly is arranged on the supporting frame, and the first driving assembly is in transmission connection with the lifting seat; and the second driving assembly is arranged on the lifting seat and the fork rod, and the second driving assembly is used for driving the fork rod to extend or shorten and can keep the fork rod at the target length. According to the pallet fork for the forklift type AGV and the forklift type AGV, the structure is simple, the length of the fork rod can be adjusted, and universality is higher.

Description

A forklift-type AGV fork and forklift-type AGV Technical Field

[0001] This utility model relates to the field of material handling equipment technology, specifically to a forklift-type AGV forklift and the forklift-type AGV. Background Technology

[0002] In modern logistics and industrial production, forklift-type AGVs are playing an increasingly important role as key equipment for automating material handling. With their automated operation, high-efficiency handling capabilities, and precise positioning, they significantly improve logistics efficiency and reduce labor costs.

[0003] However, existing forklift-type AGVs suffer from the limitation that the fork length cannot be adjusted. Therefore, they can only pick up shelves or pallets whose dimensions do not exceed the length of their fork arms. When faced with shelves or pallets exceeding the fork arm length, the forks of existing forklift-type AGVs cannot fully support the bottom of the shelf or pallet, making the center of gravity of the goods highly unstable during handling. This not only increases the risk of goods falling and being damaged but also poses a safety threat to surrounding equipment and personnel, resulting in poor versatility.

[0004] Furthermore, the requirements for forklift AGV forklift length vary greatly among companies in different industries and usage scenarios. Traditional non-adjustable forks cannot flexibly adapt to these diverse needs, which greatly limits companies' selection and use of forklift AGVs, preventing them from fully leveraging their advantages and increasing their equipment procurement and operating costs. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this utility model is to provide a forklift-type AGV fork and a forklift-type AGV with adjustable fork length, thereby improving its versatility.

[0006] To achieve the above objectives, this utility model provides a forklift-type AGV forklift, comprising:

[0007] The support frame is fixedly mounted on the AGV body.

[0008] A lifting seat is movably mounted on the support frame so that the lifting seat can reciprocate linearly along the Z-axis on the support frame;

[0009] The telescopic fork has a first end connected to the lifting seat and a second end extending along the X-axis. There are two forks, which are spaced apart along the Y-axis.

[0010] A first drive assembly, disposed on the support frame, is kinetically connected to the lifting seat to drive the lifting seat to reciprocate linearly along the Z-axis and to hold the lifting seat at a target position; and

[0011] A second drive assembly is disposed on the lifting seat and the fork, the second drive assembly being used to drive the fork to extend or retract and to hold the fork at a target length.

[0012] Furthermore, the fork includes:

[0013] A first rod, the first end of which is connected to the lifting seat, and the second end extending along the X-axis; and

[0014] The second rod is sleeved on the second end of the first rod and slidably connected to the first rod, so that the second rod can reciprocate linearly along the X-axis on the first rod.

[0015] The second drive assembly is connected to the second rod body via a transmission. The second drive assembly is used to drive the second rod body to perform reciprocating linear motion and to keep the second rod body in the target position.

[0016] Furthermore, the second driving component includes:

[0017] Two synchronous belt structures are provided, each corresponding to one of the two forks. Each synchronous belt structure includes:

[0018] The first synchronous pulley is disposed at the first end of the first rod and is rotatably connected to the first rod.

[0019] A second synchronous pulley is disposed at the second end of the first rod and rotatably connected to the first rod; and

[0020] A timing belt, fitted onto the first and second timing pulleys and rotating with the rotation of either the first or second timing pulley, is fixedly connected to the second rod body to drive the second rod body to move along the X-axis; and

[0021] A second drive structure is disposed on the lifting seat, and the second drive structure is used to drive the first synchronous wheel to rotate.

[0022] Furthermore, the second driving structure includes:

[0023] A drive shaft, rotatably mounted on the lifting seat, is connected to the first synchronous pulleys of the two synchronous belt structures; and

[0024] The second motor is fixedly mounted on the lifting base, and the power output shaft of the second motor is connected to the transmission shaft to drive the transmission shaft to rotate.

[0025] Further, the first driving component includes:

[0026] A lifting frame, movably connected to the support frame, so that the lifting frame can move vertically along the Z-axis on the support frame; and

[0027] A first drive structure is disposed on the support frame, and the first drive structure is used to drive the lifting frame to perform lifting and lowering movements.

[0028] Furthermore, the first drive structure includes a first telescopic device, which is mounted on the support frame. The power output end of the first telescopic device is connected to the lifting frame to drive the lifting frame to perform lifting movements.

[0029] Furthermore, it also includes a third drive assembly, wherein the first ends of the two forks are movably connected to the lifting seat so that the two forks can move closer to or further away from each other along the Y-axis direction;

[0030] The third drive assembly is disposed on the lifting seat, and the third drive assembly is used to drive the two forks to move closer or further apart to change the distance between the two forks.

[0031] On the other hand, this utility model also provides a forklift-type AGV, including an AGV body and forks as described in any one of the above.

[0032] Furthermore, the AGV body is provided with a mounting groove along the X-axis direction. The mounting groove is U-shaped and runs through the AGV body from top to bottom. The support frame is fixedly installed at one end of the mounting groove.

[0033] The beneficial effects of this utility model are:

[0034] The forklift-type AGV and forklift-type AGV provided by this utility model achieve the purpose of adjustable fork length by setting telescopic forks and a second drive component for driving the forks to extend or retract, thereby improving its versatility. Attached Figure Description

[0035] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0036] Figure 1 is a perspective view of a forklift-type AGV provided in an embodiment of the present invention in the first direction;

[0037] Figure 2 is an enlarged view of part A shown in Figure 1;

[0038] Figure 3 is an enlarged view of part B shown in Figure 1;

[0039] Figure 4 is a perspective view of the forklift-type AGV shown in Figure 1 in the second direction;

[0040] Figure 5 is an enlarged view of section C shown in Figure 4;

[0041] Figure 6 is an enlarged view of part D shown in Figure 4;

[0042] Figure 7 is another perspective view of the forklift-type AGV shown in Figure 1 in the first direction.

[0043] Figure label:

[0044] 100. Support frame; 110. First guide rail A; 120. First roller A; 200. Lifting seat; 210. Third roller; 300. Fork rod; 310. First rod body; 320. Second rod body; 330. Second roller A; 340. Second roller B; 410. Synchronous belt; 420. Rotating shaft; 430. Second motor; 510. Lifting frame; 511. First guide rail B; 520. First telescopic device; 530. Connecting belt; 610. Third telescopic device; 700. AGV body; 710. Mounting slot. Detailed Implementation

[0045] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0046] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this utility model pertains.

[0047] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0048] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly defined.

[0049] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0050] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0051] As shown in Figures 1-7, this utility model provides a forklift for a forklift-type AGV, including a support frame 100, a lifting seat 200, a fork rod 300, a first drive assembly, and a second drive assembly.

[0052] The support frame 100 is fixedly mounted on the AGV body 700. The lifting seat 200 is movably mounted on the support frame 100 so that the lifting seat 200 can reciprocate linearly along the Z-axis on the support frame 100. The fork 300 is telescopic, with its first end connected to the lifting seat 200 and its second end extending along the X-axis. There are two forks 300, which are spaced apart along the Y-axis.

[0053] The first drive assembly is mounted on the support frame 100 and is connected to the lifting seat 200 via a transmission connection. It drives the lifting seat 200 to reciprocate linearly along the Z-axis and holds it in the target position. During operation, the first drive assembly drives the lifting seat 200, along with the fork 300, to move along the Z-axis and holds it in the target position. This allows the height of the fork 300 to be flexibly adjusted as needed, adapting to shelves or pallets of different heights. Therefore, whether it's a high-level shelf or pallet, or a low-level shelf or pallet, the height of the fork 300 can be adjusted to complete the picking and handling, making it adaptable to various working scenarios and improving the versatility of the entire device.

[0054] The second drive assembly is mounted on the lifting platform 200 and the fork 300. This assembly drives the fork 300 to extend or retract and maintain it at a target length. During operation, the extension or retraction of the fork 300 allows for flexible adjustment of its length. When handling smaller shelves or pallets, the second drive assembly retracts the fork 300 to prevent it from colliding with surrounding objects in confined spaces. When handling larger shelves or pallets, the second drive assembly extends the fork 300 to ensure stable handling of these larger items, enhancing the fork's adaptability to different shelf or pallet sizes and further improving the versatility of the forklift AGV. Simultaneously, the retraction of the fork 300 reduces unnecessary space occupation, allowing the forklift AGV to move and operate more flexibly in space-constrained work areas, improving space utilization and operational efficiency.

[0055] During operation, firstly, the first drive assembly drives the lifting platform 200 to move, so that the lifting platform 200, carrying the fork 300, moves to the target height and holds the fork 300 at the target height; then, the second drive assembly drives the fork 300 to extend, so that the fork 300 inserts into the socket of the target shelf or target pallet; next, the first drive assembly drives the lifting platform 200, carrying the fork 300, to rise, so that the fork 300 lifts the target shelf or target pallet, so that the target shelf moves above the AGV body 700; then, the second drive assembly drives the fork 300 to shorten, thereby moving the target shelf or target pallet directly above the AGV body 700; finally, the first drive assembly drives the lifting platform 200, carrying the fork 300, to descend, thereby placing the target shelf or target pallet on the AGV body 700.

[0056] In the forklift AGV provided in this embodiment, the support frame 100 serves as a basic fixed component, providing stable support for the lifting seat 200 and the forks 300, ensuring the stability of the entire fork during operation. The movement of the lifting seat 200 and the extension / retraction of the forks 300 work together, enabling the forklift AGV to efficiently complete various cargo handling tasks in complex working environments. Whether it's high-level picking, low-level handling, or processing goods of different sizes, this structure can easily handle them. Compared to traditional forks with fixed height and length of the forks 300, it greatly improves the versatility, flexibility, and operational efficiency of the forklift AGV, reduces operating costs for enterprises due to poor equipment applicability, and provides more reliable equipment support for the automation and intelligent development of modern logistics and industrial production.

[0057] Specifically, the fork lever 300 includes a first lever body 310 and a second lever body 320. The first end of the first lever body 310 is connected to the lifting seat 200, and the second end extends along the X-axis. The second lever body 320 is sleeved on the second end of the first lever body 310 and slidably connected to the first lever body 310, allowing the second lever body 320 to reciprocate linearly along the X-axis on the first lever body 310, thereby enabling the fork lever 300 to extend or retract. A second drive assembly is drively connected to the second lever body 320, and the second drive assembly is used to drive the second lever body 320 to reciprocate linearly and to hold the second lever body 320 in a target position.

[0058] In this embodiment, the coaxial sliding connection between the first rod 310 and the second rod 320 results in a compact and reasonable layout, occupying less space and facilitating integration into the overall structure of the forklift AGV. Simultaneously, this simple structure clarifies the connections and transmission relationships between components, enabling technicians to quickly locate problems and replace worn parts during routine maintenance and troubleshooting, reducing maintenance difficulty and costs, and extending the equipment's lifespan.

[0059] As shown in Figures 1, 3, and 4, in this embodiment, the second drive component includes a synchronous belt structure and a second drive structure.

[0060] Two synchronous belt structures are provided, each corresponding to one of the two fork levers 300. Each synchronous belt structure includes a first synchronous pulley (not shown in the attached diagram), a second synchronous pulley (not shown in the attached diagram), and a synchronous belt 410. The first synchronous pulley is located at the first end of the first lever 310 and is rotatably connected to it. The second synchronous pulley is located at the second end of the first lever 310 and is rotatably connected to it. The synchronous belt 410 is sleeved on the first and second synchronous pulleys and can rotate with the rotation of either the first or second synchronous pulley. The synchronous belt 410 is fixedly connected to the second lever 320 to drive the second lever 320 to move along the X-axis. A second drive structure is provided on the lifting seat 200 and is used to drive the first synchronous pulley to rotate.

[0061] During operation, the second drive structure drives the first synchronous pulley to rotate in the forward direction, the first synchronous pulley drives the synchronous belt 410 to rotate in the forward direction, and the synchronous belt 410 drives the second rod 320 to move, so that the fork 300 extends; the second drive structure drives the first synchronous pulley to rotate in the reverse direction, the first synchronous pulley drives the synchronous belt 410 to rotate in the reverse direction, and the synchronous belt 410 drives the second rod 320 to move, so that the fork 300 shortens.

[0062] As shown in Figures 1, 3, and 4, the second drive structure includes a rotating shaft 420 and a second motor 430.

[0063] The drive shaft is rotatably mounted on the lifting base 200 and is connected to the first synchronous pulleys of the two synchronous belt structures, so that the drive shaft can simultaneously drive the first synchronous pulleys of the two synchronous belt structures to rotate. The second motor 430 is fixedly mounted on the lifting base 200, and the power output shaft of the second motor 430 is connected to the drive shaft to drive the drive shaft to rotate.

[0064] During operation, the second motor 430 drives the transmission shaft to rotate, which in turn drives the first synchronous pulley to rotate. This, in turn, drives the second rod 320 to move via the synchronous belt 410, thereby extending or shortening the fork 300. Specifically, the second motor 430 drives the first synchronous pulley to rotate in the forward direction, which in turn drives the synchronous belt 410 to rotate in the forward direction. The synchronous belt 410 then drives the second rod 320 to move, causing the fork 300 to extend. Conversely, the second motor 430 drives the first synchronous pulley to rotate in the reverse direction, which in turn drives the synchronous belt 410 to rotate in the reverse direction. The synchronous belt 410 then drives the second rod 320 to move, causing the fork 300 to shorten.

[0065] The second drive structure provided in this embodiment can drive the first synchronous pulleys of the two synchronous belt structures to rotate with a single motor. The structure is simple and can make the two forks 300 extend or shorten synchronously with high control precision.

[0066] As shown in Figures 1, 2, 4, 5, and 7, in this embodiment, the first drive assembly includes a lifting frame 510 and a first drive structure.

[0067] The lifting frame 510 is movably connected to the support frame 100, allowing the lifting frame 510 to move up and down along the Z-axis on the support frame 100. Specifically, the support frame 100 has symmetrically arranged first guide rails A110 on both sides, and the lifting frame 510 has symmetrically arranged first guide rails B511 on both sides, which cooperate with the first guide rails A110. During operation, the cooperation of the first guide rails A110 and B511 effectively suppresses the left-right swaying or front-back tilting of the lifting frame 510 during the lifting process, thereby improving the reliability of the operation.

[0068] Preferably, the first guide rail A110 and the first guide rail B511 are I-shaped to improve their strength and thus extend their service life. The first guide rail A110 and the first guide rail B511 are staggered and interlocked. A first roller A120 is rotatably mounted on the top of the first guide rail A110, and the outer diameter of the first roller A120 matches the groove of the first guide rail B511. A first roller B is rotatably mounted on the bottom of the first guide rail B511, and the outer diameter of the first roller B matches the groove of the first roller A120.

[0069] During operation, the first roller A120 and the first guide rail B511, and the first guide rail A110 and the first roller B form a "groove-roller" engagement, which precisely limits the movement of the lifting frame 510 in the Z-axis direction, thereby ensuring that the lifting frame 510 moves smoothly along a straight line and improving operational stability. Simultaneously, the engagement of the first roller A120 with the first guide rail B511 and the first guide rail A110 with the first roller B also reduces friction, thus shortening response time.

[0070] The lifting frame 510 is connected to the lifting seat 200 so that the lifting frame 510 can move together with the lifting seat 200. Specifically, third rollers 210 are rotatably arranged on both sides of the lifting seat 200. The outer diameter of the third rollers 210 is adapted to the groove of the first guide rail B511. The third rollers 210 are disposed in the groove of the first guide rail B511, and the lifting frame 510 and the lifting seat 200 are connected by a flexible connecting belt 530. Specifically, the first end of the connecting belt 530 is fixedly connected to the lifting frame 510 and the second end is fixedly connected to the sliding seat. During operation, the connecting belt 530 is elastic and can buffer the inertial impact force when the lifting frame 510 is raised and lowered, thereby reducing the instantaneous stress on components such as the first guide rail A110, the first guide rail B511, and the first drive structure, and thus extending the service life of the equipment. Meanwhile, the cooperation between the third roller 210 and the two first guide rails B511 not only limits the X-axis and Y-axis directions of the lifting seat 200, but also reduces friction, thus enabling it to respond more quickly when buffering inertial impact forces.

[0071] Preferably, the lifting frame 510 is provided with a guide wheel (not shown in the figure), and the first end of the connecting belt 530 is fixedly connected to the lifting frame 510 and the first end is fixedly connected to the lifting seat 200 after passing around the guide wheel, so as to improve the reliability of the whole device.

[0072] The first drive structure is mounted on the support frame 100 and is used to drive the lifting frame 510 to perform lifting and lowering movements.

[0073] During operation, when the first drive structure drives the lifting frame 510 to rise, the height of the lifting frame 510 increases, and the lifting frame 510 carries the lifting seat 200 to rise; when the first drive structure drives the lifting frame 510 to fall, the height of the lifting frame 510 decreases, thereby carrying the lifting seat 200 to fall.

[0074] Specifically, in this embodiment, the first driving structure includes a first telescopic device 520, which is mounted on the support frame 100. The power output end of the first telescopic device 520 is connected to the lifting frame 510 to drive the lifting frame 510 to perform lifting movements. Specifically, the first telescopic device 520 is one of an electric push rod, an electro-hydraulic push rod, a pneumatic cylinder, or a hydraulic cylinder.

[0075] During operation, the first telescopic device 520 extends, thereby driving the lifting frame 510 to rise, and then driving the lifting seat 200 to rise; the first telescopic device 520 retracts, thereby driving the lifting frame 510 to fall, and then driving the lifting seat 200 to fall.

[0076] As shown in Figures 1, 3, and 7, this embodiment also includes a third driving component.

[0077] The first ends of the two forks 300 are movably connected to the lifting seat 200, so that the two forks 300 can move closer to or further away from each other along the Y-axis. Specifically, the forks 300 are provided with a second roller A330 and a second roller B340. The axis of the second roller A330 extends along the X-axis, and the circumferential wall of the second roller A330 abuts against the upper and lower side walls of the lifting seat 200. The circumferential wall of the second roller B340 abuts against the front and rear side walls of the lifting seat 200.

[0078] During operation, the cooperation of the second roller A330 with the upper and lower side walls of the lifting seat 200 not only reduces friction but also limits the Z-axis movement of the fork 300, preventing it from moving along the Z-axis on the lifting seat 200 and forcing it to move synchronously with the lifting seat 200 along the Z-axis. Similarly, the cooperation of the second roller B340 with the front and rear side walls of the lifting seat 200 reduces friction and limits the X-axis movement of the fork 300, preventing it from moving in the opposite direction along the X-axis.

[0079] The third drive assembly is mounted on the lifting seat 200. The third drive assembly is used to drive the two forks 300 to move closer or further apart to change the distance between the two forks 300.

[0080] During operation, the distance between the two forks 300mm can be adjusted to accommodate different sizes of shelves or pallets, ensuring stable support for different shelves or pallets and preventing goods from tilting or slipping. At the same time, this adjustability improves the versatility of the AGV, reduces the need for different models of equipment, and thus achieves the goal of reducing costs.

[0081] Specifically, the third drive assembly includes a third telescopic device 610, which is mounted on the lifting seat 200. Two third telescopic devices 610 are provided, and their power output ends are respectively connected to two forks 300. Specifically, the first end of the third telescopic device 610 is fixedly connected to the lifting seat 200, and the second end is fixedly connected to the fork 300. Preferably, the first end of the third telescopic device 610 is fixedly connected to one side of the lifting seat 200, and the other end is fixedly connected to the fork 300 located on the other side of the lifting seat 200, to achieve a more compact overall fork structure.

[0082] The third telescopic device 610 is one of an electric push rod, an electro-hydraulic push rod, a pneumatic cylinder, or a hydraulic cylinder.

[0083] In addition, as shown in Figures 1-7, this utility model also provides a forklift-type AGV, including an AGV body 700 and the forks described in any of the above embodiments.

[0084] The AGV body 700 has a mounting groove 710 along the X-axis. The mounting groove 710 is U-shaped and runs through the AGV body 700 from top to bottom. The support frame 100 is fixedly installed at one end of the mounting groove 710.

[0085] When installing the support frame 100, because the mounting slot 710 runs through the entire AGV body 700, the installation height of the support frame 100 can be minimized, thereby minimizing the minimum working height and installation height of the fork 300 and the overall height of the AGV. This allows it to be adapted to low warehouses, shelves, or pallets, improving space accessibility. At the same time, the low center of gravity structure enhances the stability of the AGV during movement, especially reducing the risk of tipping over when picking up heavy objects, thus improving the stability of picking up shelves or pallets.

[0086] Finally, it should be noted that in all embodiments of this utility model, the X-axis direction refers to the length direction of the AGV body 700, the Y-axis direction refers to the width direction of the AGV body 700, and the Z-axis direction refers to the longitudinal direction.

[0087] Numerous specific details are set forth in this specification. However, it will be understood that embodiments of this invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model, and they should all be covered within the scope of the claims and specification of this utility model.

Claims

1. A forklift-type AGV forklift, characterized in that, include: A support frame is fixedly mounted on the AGV body; a lifting seat is movably mounted on the support frame so that the lifting seat can reciprocate linearly along the Z-axis on the support frame. A telescopic fork, with its first end connected to the lifting seat and its second end extending along the X-axis, comprises two forks spaced apart along the Y-axis; a first drive assembly mounted on the support frame and connected to the lifting seat, which drives the lifting seat to reciprocate linearly along the Z-axis and holds the lifting seat at a target position; and a second drive assembly mounted on the lifting seat and the fork, which drives the fork to extend or retract and holds the fork at a target length.

2. The forklift forklifts used in AGVs according to claim 1, characterized in that, The fork includes: a first rod body, with a first end connected to the lifting seat and a second end extending along the X-axis; and a second rod body, which is sleeved on the second end of the first rod body and slidably connected to the first rod body, so that the second rod body can reciprocate linearly along the X-axis on the first rod body; and a second drive assembly is drivenly connected to the second rod body, the second drive assembly being used to drive the second rod body to reciprocate linearly and to hold the second rod body at a target position.

3. The forklift forklifts used in AGVs according to claim 2, characterized in that, The second drive assembly includes: two timing belt structures, each corresponding to one of the two forks; each timing belt structure includes: a first timing pulley disposed at a first end of the first rod and rotatably connected to the first rod; a second timing pulley disposed at a second end of the first rod and rotatably connected to the first rod; a timing belt sleeved on the first and second timing pulleys and rotating with the rotation of either the first or second timing pulley, and the timing belt being fixedly connected to the second rod to drive the second rod to move along the X-axis; and a second drive structure disposed on the lifting seat, the second drive structure being used to drive the first timing pulley to rotate.

4. The forklift forklift of the AGV according to claim 3, characterized in that, The second drive structure includes: a drive shaft rotatably mounted on the lifting seat, the drive shaft being drivenly connected to the first synchronous pulleys of the two synchronous belt structures; and a second motor fixedly mounted on the lifting seat, the power output shaft of the second motor being drivenly connected to the drive shaft to drive the drive shaft to rotate.

5. The forklift forklift of a forklift-type AGV according to any one of claims 1-4, characterized in that, The first drive assembly includes: a lifting frame movably connected to the support frame so that the lifting frame can move up and down along the Z-axis on the support frame; and a first drive structure disposed on the support frame, the first drive structure being used to drive the lifting frame to move up and down.

6. The forklift forklift of a forklift-type AGV according to claim 5, characterized in that, The first drive structure includes a first telescopic device, which is mounted on the support frame. The power output end of the first telescopic device is connected to the lifting frame to drive the lifting frame to perform lifting and lowering movements.

7. The forklift forklift of a forklift-type AGV according to any one of claims 1, 2, 3, 4 or 6, characterized in that, It also includes a third drive assembly, wherein the first ends of the two forks are movably connected to the lifting seat so that the two forks can move closer or further apart along the Y-axis; the third drive assembly is disposed on the lifting seat and is used to drive the two forks to move closer or further apart to change the distance between the two forks.

8. A forklift-type AGV, characterized in that, Includes the AGV body and the forks as described in any one of claims 1-7.

9. The forklift-type AGV according to claim 8, characterized in that, The AGV body has a mounting groove along the X-axis. The mounting groove is U-shaped and runs through the AGV body from top to bottom. The support frame is fixedly installed at one end of the mounting groove.

Images