Automatic adjusting device for fork tooth space of AGV forklift and intelligent AGV forklift

Abstract

The utility model discloses an automatic adjusting device for the fork tooth space of an AGV forklift and an intelligent AGV forklift, the automatic adjusting device for the fork tooth space comprises a fork tooth space adjusting unit, a fork tooth space detecting unit and a control unit which are arranged on the AGV forklift, the signal output end of the fork tooth space detecting unit is connected with the first signal input end of the control unit, and the signal output end of the fork tooth space detecting unit is connected with the second signal input end of the control unit. The signal output end of the control unit is connected with the signal input end of the prong space adjusting unit, the control unit controls the prong space adjusting unit to adjust the space between prongs of the AGV forklift, in the adjusting process, the prong space detecting unit detects a signal of the space between the prongs of the AGV forklift and feeds back the signal to the control unit, and the control unit controls the prong space adjusting unit to adjust the space between the prongs of the AGV forklift. And the control unit controls the fork tooth distance adjusting unit to stop working when the distance between the fork teeth of the AGV forklift is adjusted to the target distance. According to the utility model, the distance between the prongs of the AGV forklift is automatically adjusted, and the working efficiency of the AGV forklift is effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of AGV technology, and in particular to an automatic adjustment device for the fork tooth spacing of an AGV forklift and an intelligent AGV forklift. Background Technology

[0002] AGV forklifts, also known as driverless forklifts or forklift-type AGVs, combine forklift technology and AGV (Automated Guided Vehicle) technology. They are highly automated logistics equipment that can complete tasks such as material handling and warehousing through autonomous navigation technology without direct human control.

[0003] AGV forklifts perceive their surroundings through various built-in sensors (such as laser, infrared, and ultrasonic sensors), acquiring information such as the position and distance of objects. This information is then matched with preset landmarks, magnetic markers, and walls to determine the forklift's location and create an environmental map. For navigation, advanced technologies such as laser navigation, magnetic strip navigation, and visual navigation are employed. During cargo handling, sensors identify the position and height of the cargo and feed this information back to the control system. The control system then adjusts the forklift's trajectory accordingly, enabling automatic loading and unloading of palletized goods. Typically, two or more forks are used to retrieve and transport pallets carrying cargo.

[0004] There are many types of pallets, and the spacing between the multiple insertion holes for AGV forklift forks usually varies depending on the type of pallet. Therefore, when an AGV forklift is working, the spacing between its forks needs to be adjusted according to the spacing between the insertion holes on the pallet to ensure that each forklift forklift forklift forklift can smoothly insert into the corresponding insertion hole on the pallet. However, the spacing between the forklift forks of existing AGV forklifts can usually only be adjusted manually. Before each time a pallet with a different insertion hole spacing is moved, the spacing between the forklift forks must be manually adjusted first, which is time-consuming and labor-intensive, and affects the working efficiency of the AGV forklift.

[0005] Therefore, there is an urgent need to design an AGV forklift that can automatically adjust the spacing between the fork teeth. Utility Model Content

[0006] This utility model provides an automatic adjustment device for the fork tooth spacing of an AGV forklift and an intelligent AGV forklift, to solve the problem that the spacing between the fork teeth of existing AGV forklifts can only be adjusted manually, which is time-consuming and labor-intensive and affects the working efficiency of the AGV forklift.

[0007] The first objective of this invention is to provide an automatic adjustment device for the fork tooth spacing of an AGV forklift.

[0008] The first objective of this utility model is achieved through the following technical solution:

[0009] An automatic fork gap adjustment device for an AGV forklift includes a fork gap adjustment unit, a fork gap detection unit, and a control unit disposed on the AGV forklift. The signal output terminal of the fork gap detection unit is connected to a first signal input terminal of the control unit, and the signal output terminal of the control unit is connected to the signal input terminal of the fork gap adjustment unit.

[0010] The control unit is used to output a pitch adjustment signal to the fork tooth pitch adjustment unit;

[0011] The fork tooth spacing adjustment unit is connected to the fork tooth drive of the AGV forklift, and the fork tooth spacing adjustment unit is used to adjust the spacing between the fork teeth of the AGV forklift according to the spacing adjustment signal.

[0012] The fork tooth spacing detection unit is used to detect the spacing signal between the fork teeth of the AGV forklift during the process of the fork tooth spacing adjustment unit adjusting the spacing between the fork teeth of the AGV forklift, and feed the spacing signal back to the control unit so that the control unit controls the fork tooth spacing adjustment unit to stop working when the spacing between the fork teeth of the AGV forklift is adjusted to the target spacing.

[0013] Preferably, the automatic fork tooth spacing adjustment device of the AGV forklift further includes a socket spacing detection unit disposed on the AGV forklift, wherein the signal output terminal of the socket spacing detection unit is connected to the second signal input terminal of the control unit, wherein,

[0014] The socket spacing detection unit is used to detect the spacing signal between the sockets of the target tray and transmit the detected spacing signal between the sockets of the target tray to the control unit.

[0015] Preferably, the control unit is further configured to output the spacing adjustment signal to the fork tooth spacing adjustment unit based on the spacing signal between the holes of the target tray.

[0016] Preferably, the socket spacing detection unit uses a binocular vision sensor, and the detection surface of the binocular vision sensor faces directly in front of the AGV forklift.

[0017] Preferably, the AGV forklift includes a forklift body and two forks arranged side-by-side on the forklift body, the two forks being able to slide horizontally on the forklift body.

[0018] The fork tooth spacing adjustment unit includes a drive assembly mounted on the forklift body. The drive assembly is used to drive the two fork teeth to move closer or further apart to adjust the spacing between the two fork teeth.

[0019] Preferably, the drive assembly includes a horizontally arranged first telescopic cylinder and a second telescopic cylinder, wherein the first telescopic cylinder and the second telescopic cylinder are in the same vertical plane.

[0020] The cylinder end of the first telescopic cylinder is fixedly installed at the end of the first fork tooth, and the piston rod end of the first telescopic cylinder is fixedly installed at the end of the second fork tooth.

[0021] The cylinder end of the second telescopic cylinder is fixedly installed at the end of the second fork tooth, and the piston rod end of the second telescopic cylinder is fixedly installed at the end of the first fork tooth.

[0022] Preferably, the fork tooth spacing detection unit adopts a wire-type displacement sensor. The signal output end of the wire-type displacement sensor is connected to the first signal input end of the control unit as the signal output end of the fork tooth spacing detection unit. The free end of the wire-type displacement sensor is fixedly connected to the end of one of the fork teeth. The linear motion direction of the wire is parallel to the sliding direction of the fork tooth on the forklift body.

[0023] Preferably, the tooth spacing detection unit uses an ultrasonic ranging sensor, a laser ranging sensor, or an infrared ranging sensor. The ultrasonic ranging sensor, laser ranging sensor, or infrared ranging sensor is installed on one of the teeth, and the sensor's detection surface faces the other tooth.

[0024] Preferably, the control unit includes a comparator, one signal input terminal of the comparator is connected to the signal output terminal of the fork tooth spacing detection unit as the first signal input terminal of the control unit, and the signal output terminal of the comparator is connected to the signal input terminal of the fork tooth spacing adjustment unit as the signal output terminal of the control unit.

[0025] The second objective of this invention is to provide an intelligent AGV forklift.

[0026] The second objective of this utility model is achieved through the following technical solution:

[0027] An intelligent AGV forklift includes an automatic fork pitch adjustment device for the AGV forklift as described in any of the first objectives above.

[0028] The beneficial effects of this utility model are as follows:

[0029] This invention features a fork tooth spacing adjustment unit, a fork tooth spacing detection unit, and a control unit. The control unit outputs a spacing adjustment signal to the fork tooth spacing adjustment unit, which adjusts the spacing between the fork teeth of the AGV forklift according to the signal. During the adjustment process, the fork tooth spacing detection unit detects the spacing signal and feeds it back to the control unit. When the spacing between the fork teeth reaches the target distance, the control unit stops the fork tooth spacing adjustment unit, thus achieving automatic adjustment of the fork tooth spacing. This improves the efficiency of the AGV forklift and effectively solves the problem that the spacing between the fork teeth of existing AGV forklifts can only be adjusted manually, which is time-consuming, labor-intensive, and affects the efficiency of the AGV forklift. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a circuit diagram of the automatic adjustment device for the fork tooth spacing of an AGV forklift in one embodiment of the present invention.

[0032] Figure 2 This is a three-dimensional structural diagram of an intelligent AGV forklift in one embodiment of the present invention;

[0033] Figure 3 for Figure 2 Enlarged view of part A in the image. Detailed Implementation

[0034] To enable those skilled in the art to better understand the technical solutions of this utility model, the technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0035] In the embodiments provided by this utility model, it should be understood that the disclosed methods and systems can be implemented in other ways. The system embodiments described below are merely illustrative. For example, the division of units and modules is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or modules can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, and can be electrical, mechanical, or other forms.

[0036] In addition, each functional unit in the various embodiments of this utility model can be integrated into a single processor, or each unit can be a separate device, or two or more units can be integrated into a single device; each functional unit in the various embodiments of this utility model can be implemented in hardware or in the form of hardware plus software functional units.

[0037] Those skilled in the art will understand that all or part of the steps of the following method embodiments can be implemented by program instructions and related hardware. The aforementioned program instructions can be stored in a computer-readable storage medium. When the program instructions are executed, they perform the steps of the following method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0038] Furthermore, the terms "first" and "second" 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" or "several" means two or more, unless otherwise explicitly specified.

[0039] like Figures 1-3 As shown in the figure, this utility model embodiment provides an automatic fork tooth spacing adjustment device for an AGV forklift. The device may include a fork tooth spacing adjustment unit 1, a fork tooth spacing detection unit 2, and a control unit 3 installed on the AGV forklift. The signal output terminal of the fork tooth spacing detection unit 2 is connected to the first signal input terminal of the control unit 3, and the signal output terminal of the control unit 3 is connected to the signal input terminal of the fork tooth spacing adjustment unit 1.

[0040] Control unit 3 is used to output a pitch adjustment signal to fork tooth pitch adjustment unit 1;

[0041] The fork tooth spacing adjustment unit 1 is driven to the fork teeth 200 of the AGV forklift. The fork tooth spacing adjustment unit 1 is used to adjust the spacing between the fork teeth 200 of the AGV forklift according to the spacing adjustment signal.

[0042] The fork tooth spacing detection unit 2 is used to detect the spacing signal between the fork teeth 200 of the AGV forklift during the process of adjusting the spacing between the fork teeth 200 of the AGV forklift by the fork tooth spacing adjustment unit 1, and feed the spacing signal back to the control unit 3 so that the control unit 3 controls the fork tooth spacing adjustment unit 1 to stop working when the spacing between the fork teeth 200 of the AGV forklift is adjusted to the target spacing.

[0043] The working principle of the automatic fork tooth spacing adjustment device of the AGV forklift in this embodiment is as follows:

[0044] In use, the control unit 3 outputs a spacing adjustment signal to the fork tooth spacing adjustment unit 1. The fork tooth spacing adjustment unit 1 adjusts the spacing between the fork teeth 200 of the AGV forklift according to the spacing adjustment signal. During the process of the fork tooth spacing adjustment unit 1 adjusting the spacing between the fork teeth 200 of the AGV forklift, the fork tooth spacing detection unit 2 detects the spacing signal between the fork teeth 200 of the AGV forklift and feeds the spacing signal back to the control unit 3. The control unit 3 compares the spacing signal between the fork teeth 200 of the AGV forklift fed back by the fork tooth spacing detection unit 2 with the currently required target spacing. When the spacing between the fork teeth 200 of the AGV forklift is adjusted to the target spacing, the control unit 3 controls the fork tooth spacing adjustment unit 1 to stop working, thereby realizing the automatic adjustment of the spacing between the fork teeth 200 of the AGV forklift.

[0045] Specifically, in this embodiment, the control unit 3 can output a spacing adjustment signal according to the input command. The input command can be the target spacing of the fork teeth 200 required at present. The input command can be manually input to the AGV forklift remotely or locally, or it can be preset in the control unit 3, or it can be automatically generated by the relevant parameters of the target object (such as a pallet) to be forked automatically collected by the AGV forklift.

[0046] The automatic fork spacing adjustment device of the AGV forklift in this embodiment improves the working efficiency of the AGV forklift compared to the existing method of manually adjusting the spacing between the fork teeth 200 of the AGV forklift. It effectively solves the problem that the spacing between the fork teeth of the existing AGV forklift can only be adjusted manually, which is time-consuming and labor-intensive and affects the working efficiency of the AGV forklift.

[0047] In one embodiment, the automatic fork tooth spacing adjustment device of the AGV forklift further includes a socket spacing detection unit 4 installed on the AGV forklift. The signal output terminal of the socket spacing detection unit 4 is connected to the second signal input terminal of the control unit 3.

[0048] The socket spacing detection unit 4 is used to detect the spacing signal between the sockets of the target tray and transmit the detected spacing signal between the sockets of the target tray to the control unit 3.

[0049] In this embodiment, a socket spacing detection unit 4 is installed on the AGV forklift to detect the spacing signal between the sockets of the target pallet, and transmits the detected spacing signal to the control unit 3. The control unit 3 can then control the fork tooth spacing adjustment unit 1 to adjust the fork tooth spacing 200 based on the spacing signal detected by the socket spacing detection unit 4. The control unit 3 can also compare the spacing signal detected by the socket spacing detection unit 4 with the target spacing corresponding to a user-inputted or preset input command, thereby assisting the AGV forklift control system in determining whether the target pallet is the pallet to be forked.

[0050] In one embodiment, the control unit 3 is further configured to output a spacing adjustment signal to the fork tooth spacing adjustment unit 1 based on the spacing signal between the holes of the target tray.

[0051] Based on the previous embodiment, in this embodiment, after the socket spacing detection unit 4 detects the spacing signal between the sockets of the target pallet and transmits it to the control unit 3, the control unit 3 can output a spacing adjustment signal to the fork tooth spacing adjustment unit 1 according to the spacing signal between the sockets of the target pallet. Thus, with the cooperation of the socket spacing detection unit 4, the automatic fork tooth spacing adjustment device can realize the automatic acquisition of the target spacing of the fork teeth 200, further improving the automation level of the fork tooth 200 spacing adjustment of the AGV forklift.

[0052] In one embodiment, the socket spacing detection unit 4 uses a binocular vision sensor 41, with the detection surface of the binocular vision sensor 41 facing directly in front of the AGV forklift.

[0053] In this embodiment, a binocular vision sensor 41 is used as the socket spacing detection unit 4. The binocular vision sensor 41 captures and processes images of the pallet in front of the AGV forklift. Based on existing image processing algorithms such as edge detection and feature matching, various features of the pallet can be identified and measured, such as the spacing between the various sockets (usually two) of the pallet facing the AGV forklift. The detected spacing signal between the sockets of the target pallet is transmitted to the control unit 3 so that the control unit 3 can adjust the spacing of the fork teeth 200 of the AGV forklift accordingly based on the spacing between the sockets of the target pallet.

[0054] like Figure 2 , Figure 3As shown, in one embodiment, the AGV forklift includes a forklift body 100 and two fork teeth 200 arranged side by side on the forklift body 100, the two fork teeth 200 being able to slide horizontally on the forklift body 100.

[0055] The fork tooth spacing adjustment unit 1 includes a drive assembly 11, which is mounted on the forklift body 100. The drive assembly 11 is used to drive two fork teeth 200 to move closer or further apart to adjust the spacing between the two fork teeth 200.

[0056] In this embodiment, the fork tooth spacing adjustment unit 1 drives the two fork teeth 200 of the AGV forklift to move closer or further apart by setting the drive component 11, thereby realizing the spacing adjustment between the two fork teeth 200.

[0057] In one embodiment, the drive assembly 11 includes a horizontally arranged first telescopic cylinder 111 and a second telescopic cylinder 112, wherein the first telescopic cylinder 111 and the second telescopic cylinder 112 are in the same vertical plane.

[0058] The cylinder end of the first telescopic cylinder 111 is fixedly installed at the end of the first fork tooth 200, and the piston rod end of the first telescopic cylinder 111 is fixedly installed at the end of the second fork tooth 200.

[0059] The cylinder end of the second telescopic cylinder 112 is fixedly installed at the end of the second fork tooth 200, and the piston rod end of the second telescopic cylinder 112 is fixedly installed at the end of the first fork tooth 200.

[0060] In this embodiment, the synchronous extension and retraction of the first telescopic cylinder 111 and the second telescopic cylinder 112 are used to drive the two forks 200 to move closer or further apart. The structure is simple and the drive control is reliable.

[0061] Specifically, the first telescopic cylinder 111 and the second telescopic cylinder 112 can be electric push rods or electro-hydraulic cylinders. The signal input terminals of the first telescopic cylinder 111 and the second telescopic cylinder 112 are connected in parallel and then connected to the signal output terminal of the control unit 3. The control unit 3 outputs a spacing adjustment signal to the first telescopic cylinder 111 and the second telescopic cylinder 112, so that the first telescopic cylinder 111 and the second telescopic cylinder 112 work synchronously, thereby adjusting the spacing of the fork teeth 200. During the spacing adjustment process, the fork tooth spacing detection unit 2 detects the spacing signal between the fork teeth 200 of the AGV forklift and feeds the spacing signal back to the control unit 3. When the spacing between the fork teeth 200 of the AGV forklift is adjusted to the target spacing, the control unit 3 controls the first telescopic cylinder 111 and the second telescopic cylinder 112 to stop working.

[0062] In some other embodiments, the drive assembly 11 may also employ a rack and pinion mechanism. The gear is rotatably mounted on the forklift body, and two racks are arranged parallel to each other and mesh with the gear. The first end of the first rack is fixedly connected to the first fork tooth, and the second end is a free end extending towards the second fork tooth. The first end of the second rack is fixedly connected to the second fork tooth, and the second end is a free end extending towards the first fork tooth. Thus, the rotation of the gear drives the meshing racks to move, thereby causing the fork teeth fixedly connected to the two racks to move closer or further apart, thereby adjusting the distance between the two fork teeth.

[0063] In some other embodiments, the drive assembly 11 may also employ a ball screw mechanism. The ball screw is a double-threaded screw with the two threads arranged in opposite directions. The middle of the ball screw is connected to the forklift body via a bearing housing. A first rotating nut and a second rotating nut are respectively fitted onto the threads on both sides of the ball screw, and the first and second rotating nuts are respectively connected to the two fork teeth. The motor end of the ball screw mechanism is mounted on the forklift body. Thus, the motor drives the ball screw to rotate, which in turn drives the first and second rotating nuts to move linearly along the screw, changing their positions on the screw, i.e., changing the distance between them, and consequently changing the distance between the two fork teeth.

[0064] like Figure 2 , Figure 3 As shown, in one embodiment, the fork tooth spacing detection unit 2 adopts a wire-type displacement sensor 21. The signal output end of the wire-type displacement sensor 21 is connected to the first signal input end of the control unit 3 as the signal output end of the fork tooth spacing detection unit 2. The free end of the pull rope 211 of the wire-type displacement sensor 21 is fixedly connected to the end of one of the fork teeth 200. The linear motion direction of the pull rope 211 is parallel to the sliding direction of the fork tooth 200 on the forklift body 100.

[0065] During the operation of this device, when the two forks 200 of the AGV forklift approach each other, the pull rope 211 of the pull-wire displacement sensor 21, which is exposed outside the pull wheel 212, retracts and shortens. When the two forks 200 of the AGV forklift move away from each other, the pull rope 211 of the pull-wire displacement sensor 21, which is exposed outside the pull wheel 212, extends. Thus, the pull-wire displacement sensor 21 can determine the position of the fork 200 connected to the pull rope 211 based on the extent to which the pull rope 211 extends, thereby calculating the distance between the two fork 200 at the current moment.

[0066] In some other embodiments, the tooth spacing detection unit 2 may also employ an ultrasonic ranging sensor, a laser ranging sensor, or an infrared ranging sensor, with the ultrasonic ranging sensor, laser ranging sensor, or infrared ranging sensor mounted on one of the teeth 200 and the sensor's detection surface facing the other tooth 200.

[0067] Ultrasonic ranging sensors, laser ranging sensors, or infrared ranging sensors can conveniently and reliably measure the distance signal between two fork teeth 200 by calculating the time from the emission of ultrasonic waves, lasers, or infrared rays to the reception of the reflected waves / light, and by combining this with the speed of sound / light.

[0068] In one embodiment, the control unit 3 includes a comparator 31. One signal input terminal of the comparator 31 is connected to the signal output terminal of the fork tooth pitch detection unit 2 as the first signal input terminal of the control unit 3, and the signal output terminal of the comparator 31 is connected to the signal input terminal of the fork tooth pitch adjustment unit 1 as the signal output terminal of the control unit 3.

[0069] In this embodiment, the control unit 3 uses a comparator 31 to take the spacing signal between the fork teeth 200 detected by the fork tooth spacing detection unit 2 as one input signal of the comparator 31. The other input signal of the comparator 31 can be a target spacing manually input by the user remotely or locally, a target spacing preset in the threshold memory of the control unit 3, or the spacing signal between the sockets of the target tray detected by the socket spacing detection unit 4. The comparator 31 compares the two input signals. When the spacing signal between the fork teeth 200 detected by the fork tooth spacing detection unit 2 at one input terminal is greater than the target spacing / spacing signal between the sockets of the target tray input at the other input terminal, the comparator 31 outputs a high signal. The signal level is sent to the fork tooth spacing adjustment unit 1, which controls the spacing between the two fork teeth 200 to decrease. When the spacing signal between the fork teeth 200 detected by the fork tooth spacing detection unit 2 at one signal input terminal is less than the target spacing / target tray hole spacing signal input at the other signal input terminal, the signal output terminal of the comparator 31 outputs a low level to the fork tooth spacing adjustment unit 1, which controls the spacing between the two fork teeth 200 to increase. When the spacing signal between the fork teeth 200 detected by the fork tooth spacing detection unit 2 at one signal input terminal is equal to the target spacing / target tray hole spacing signal input at the other signal input terminal, the signal output terminal of the comparator 31 does not output, and the fork tooth spacing adjustment unit 1 stops working.

[0070] In this embodiment, the fork tooth 200 spacing of the AGV forklift is adjusted by using comparator 31 as control unit 3. The automatic adjustment of the fork tooth 200 spacing can be achieved through pure hardware circuit, without the need for control program. The circuit structure is simple and the cost is low.

[0071] In some other embodiments, the control unit 3 may also employ a control module with comparator 31, such as an MCU control chip.

[0072] like Figure 2 , Figure 3 As shown, this utility model embodiment also provides an intelligent AGV forklift, including the automatic adjustment device for the fork tooth spacing of the AGV forklift described in any of the above embodiments.

[0073] It should be noted that since the intelligent AGV forklift in this embodiment includes the automatic fork pitch adjustment device of the AGV forklift in the above embodiment, the working principle and technical effect of the intelligent AGV forklift in this embodiment are the same as those of the automatic fork pitch adjustment device of the AGV forklift in the above embodiment, and will not be repeated here.

[0074] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0075] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this invention.

[0076] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly using hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0077] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic adjustment device for the fork tooth spacing of an AGV forklift, characterized in that, The system includes a fork tooth spacing adjustment unit, a fork tooth spacing detection unit, and a control unit, all mounted on the AGV forklift. The signal output terminal of the fork tooth spacing detection unit is connected to the first signal input terminal of the control unit, and the signal output terminal of the control unit is connected to the signal input terminal of the fork tooth spacing adjustment unit. The control unit is used to output a pitch adjustment signal to the fork tooth pitch adjustment unit; The fork tooth spacing adjustment unit is connected to the fork tooth drive of the AGV forklift, and the fork tooth spacing adjustment unit is used to adjust the spacing between the fork teeth of the AGV forklift according to the spacing adjustment signal. The fork tooth spacing detection unit is used to detect the spacing signal between the fork teeth of the AGV forklift during the process of the fork tooth spacing adjustment unit adjusting the spacing between the fork teeth of the AGV forklift, and feed the spacing signal back to the control unit so that the control unit controls the fork tooth spacing adjustment unit to stop working when the spacing between the fork teeth of the AGV forklift is adjusted to the target spacing.

2. The AGV fork-lift truck's tine spacing automatic adjustment device according to claim 1, characterized in that, It also includes a socket spacing detection unit installed on the AGV forklift, wherein the signal output terminal of the socket spacing detection unit is connected to the second signal input terminal of the control unit. The socket spacing detection unit is used to detect the spacing signal between the sockets of the target tray and transmit the detected spacing signal between the sockets of the target tray to the control unit.

3. The AGV fork-lift truck fork spacing automatic adjustment device according to claim 2, characterized in that, The control unit is also configured to output the spacing adjustment signal to the fork tooth spacing adjustment unit based on the spacing signal between the holes of the target tray.

4. The AGV fork-lift truck fork spacing automatic adjustment device according to claim 2, characterized in that, The socket spacing detection unit uses a binocular vision sensor, and the detection surface of the binocular vision sensor faces directly in front of the AGV forklift.

5. The automatic fork tooth spacing adjustment device for AGV forklifts according to claim 2, characterized in that, The AGV forklift includes a forklift body and two forks arranged side-by-side on the forklift body, the two forks being able to slide horizontally on the forklift body. The fork tooth spacing adjustment unit includes a drive assembly mounted on the forklift body. The drive assembly is used to drive the two fork teeth to move closer or further apart to adjust the spacing between the two fork teeth.

6. The automatic fork tooth spacing adjustment device for AGV forklifts according to claim 5, characterized in that, The drive assembly includes a horizontally arranged first telescopic cylinder and a second telescopic cylinder, which are located in the same vertical plane. The cylinder end of the first telescopic cylinder is fixedly installed at the end of the first fork tooth, and the piston rod end of the first telescopic cylinder is fixedly installed at the end of the second fork tooth. The cylinder end of the second telescopic cylinder is fixedly installed at the end of the second fork tooth, and the piston rod end of the second telescopic cylinder is fixedly installed at the end of the first fork tooth.

7. The automatic fork tooth spacing adjustment device for AGV forklifts according to claim 5, characterized in that, The fork tooth spacing detection unit adopts a wire-type displacement sensor. The signal output end of the wire-type displacement sensor is connected to the first signal input end of the control unit as the signal output end of the fork tooth spacing detection unit. The free end of the wire-type displacement sensor is fixedly connected to the end of one of the fork teeth. The linear motion direction of the wire is parallel to the sliding direction of the fork tooth on the forklift body.

8. The automatic fork tooth spacing adjustment device for AGV forklifts according to claim 5, characterized in that, The tooth spacing detection unit uses an ultrasonic ranging sensor, a laser ranging sensor, or an infrared ranging sensor. The ultrasonic ranging sensor, laser ranging sensor, or infrared ranging sensor is installed on one of the teeth, and the sensor's detection surface faces the other tooth.

9. The fork spacing automatic adjustment device of the AGV fork truck according to any one of claims 1-8, characterized in that, The control unit includes a comparator. One signal input terminal of the comparator is connected to the signal output terminal of the fork tooth spacing detection unit as the first signal input terminal of the control unit, and the signal output terminal of the comparator is connected to the signal input terminal of the fork tooth spacing adjustment unit as the signal output terminal of the control unit.

10. An intelligent AGV fork truck characterized by, The automatic fork tooth spacing adjustment device for the AGV forklift as described in any one of claims 1-9.

Images