Fork structure with angle adjustment function and agv transportation equipment

Abstract

The utility model discloses a kind of fork structure and AGV transport equipment with angle adjusting function, wherein the fork structure with angle adjusting function includes telescopic mechanism, grabbing mechanism and adjusting mechanism, and wherein the grabbing mechanism is connected with the movable end of telescopic mechanism, and the grabbing mechanism is used to align and grab or release the goods. The adjusting mechanism is used to adjust the position of the grabbing mechanism and align the goods or the placement position of the goods. The adjusting mechanism includes a first adjusting assembly, and the first adjusting assembly includes two first adjusting power components, and the two first adjusting power components are respectively arranged on the two sides of the grabbing mechanism, used to connect and drive the grabbing mechanism to move longitudinally on one side, and the angle of the grabbing mechanism is adjusted by the stroke difference of the two sides.

Description

Technical Field

[0001] This utility model relates to the field of forklift technology, and in particular to a forklift structure with angle adjustment function and an AGV transportation device. Background Technology

[0002] In automated logistics systems, Automated Guided Vehicles (AGVs) are widely used in the handling and storage of goods due to their high efficiency and flexibility. The fork structure with angle adjustment function is a key actuator of the AGV, and its performance directly affects the accuracy and efficiency of goods handling.

[0003] Traditional forklift structures with angle adjustment functions often only perform simple extension and retraction movements when gripping goods, lacking effective adjustment capabilities. In practical applications, due to factors such as deviations in the placement of goods, errors in AGV navigation and positioning, and manufacturing and installation errors of the forks themselves, it is difficult for the forks to accurately align with the goods or their placement position when gripping them. This can easily lead to the forks failing to grip the goods accurately, requiring multiple attempts, severely impacting handling efficiency, and may even cause equipment failure or damage to the goods due to repeated gripping failures. Utility Model Content

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a fork structure with angle adjustment function, which can achieve precise gripping and positioning of goods by adjusting the longitudinal, lateral, and angular positions of the gripping mechanism, thereby improving the accuracy and efficiency of goods handling, reducing the risk of goods damage, and enhancing the stability and reliability of automated logistics systems.

[0005] This utility model also proposes an AGV transportation device with the above-mentioned fork structure having the angle adjustment function.

[0006] A forklift structure with angle adjustment function according to a first aspect embodiment of the present invention includes a telescopic mechanism, a gripping mechanism, and an adjustment mechanism. The gripping mechanism is connected to the movable end of the telescopic mechanism and is used to grip or release the cargo after alignment. The adjustment mechanism is used to adjust the position of the gripping mechanism and align it with the cargo or the placement position of the cargo. The adjustment mechanism includes a first adjustment component, which includes two first adjustment power components. The two first adjustment power components are respectively disposed on both sides of the gripping mechanism and are used to connect to and drive the gripping mechanism to move longitudinally on one side, adjusting the angle of the gripping mechanism by the difference in travel between the two sides.

[0007] The fork structure with angle adjustment function according to the embodiments of this utility model has at least the following beneficial effects: By setting a first adjustment component, the fork structure with angle adjustment function can achieve longitudinal adjustment of the gripping mechanism. Simultaneously, the first adjustment component enables unilateral displacement of the gripping mechanism, creating a stroke difference between the two sides of the gripping mechanism to adjust the angle of the gripping mechanism. This allows for multi-directional adjustment of both the longitudinal and angular aspects of the gripping mechanism, greatly improving the accuracy of cargo gripping. Because it enables precise gripping and positioning of goods, it reduces gripping failures and avoids wasting time on multiple gripping attempts, thereby improving the efficiency of cargo handling and shortening the logistics cycle. Precise gripping and positioning can prevent goods from being subjected to unnecessary squeezing, collisions, or other external forces during the gripping process, effectively reducing the risk of cargo damage and reducing logistics costs.

[0008] According to some embodiments of the present invention, the adjustment mechanism further includes a second adjustment component, which drives the gripping mechanism to make a lateral displacement, and the first adjustment component drives the gripping mechanism to make a longitudinal displacement.

[0009] According to some embodiments of the present invention, the first adjusting power component is connected to the movable end of the telescopic mechanism, including a first drive motor and a first drive gear connected to the first drive motor. The gripping mechanism is provided with a first driven rack along the telescopic direction of the telescopic mechanism, and the first drive gear meshes with the first driven rack.

[0010] Alternatively, the first adjusting power component is connected to the gripping mechanism and includes two first drive motors. Two first drive gears are horizontally arranged on the top surface of the gripping mechanism. The two drive motors drive the two first drive gears respectively. Two first driven racks are respectively arranged on both sides of the movable end of the telescopic mechanism along the telescopic direction. The teeth of the first driven racks are arranged on the side close to the gripping mechanism to mesh with the first drive gears.

[0011] According to some embodiments of the present invention, the telescopic mechanism includes a fixed section, a first telescopic section slidably connected to the fixed section, and a second telescopic section slidably connected to the first telescopic section. The gripping mechanism is connected to the second telescopic section, the first driven rack is connected to the side of the second telescopic section, and the first drive motor can drive the second telescopic section to extend and retract, and can drive the gripping mechanism to make longitudinal adjustments.

[0012] According to some embodiments of the present invention, there is a clearance adjustment gap between the gripping mechanism and the telescopic mechanism. When the first adjusting power member drives the gripping mechanism to move on one side, the clearance adjustment gap allows the gripping mechanism to make local displacements to adjust the angle.

[0013] According to some embodiments of the present invention, the adjustment mechanism further includes a controller and a position recognition component. The position recognition component is used to acquire the cargo placement position information and transmit it to the controller. The controller connects to and controls the second adjustment component and the first adjustment component to adjust the lateral and longitudinal positions of the gripping mechanism.

[0014] According to some embodiments of the present invention, the second adjustment component is provided with a second adjustment power component, which is connected to and drives the entire gripping mechanism to move laterally.

[0015] Alternatively, the second adjustment component may be provided with two second adjustment power components, which are respectively connected to and drive the two grippers of the gripping mechanism to drive the grippers to move laterally independently.

[0016] According to some embodiments of the present invention, the second adjusting power component includes two second drive motors, the gripper includes two second driven racks, a push rod connected to the second driven racks, and a support rod connected to the bottom of the push rods. The output end of the drive motor is connected to a second drive gear, and the second drive gear meshes with the second driven rack.

[0017] Alternatively, the second adjusting power component includes a second drive motor and a linkage component connected to the second drive motor. The linkage component is connected to two grippers respectively. The output end of the second drive motor is connected to and drives the linkage component, and the linkage component drives the two grippers to move laterally synchronously.

[0018] According to some embodiments of the present invention, the gripping mechanism includes two sets of grippers, each set of grippers includes two grippers, the two sets of grippers are arranged opposite to each other at the movable end of the telescopic mechanism, and two second adjusting power members are provided, which are respectively connected to the two sets of grippers.

[0019] According to a second aspect of this utility model, an AGV transport device is provided, including a fork structure with angle adjustment function as described in any of the preceding claims.

[0020] The AGV transport equipment according to the embodiments of this utility model has at least the following beneficial effects: Applying the fork structure with angle adjustment function to the AGV transport equipment fully leverages the advantages of the fork structure's precise gripping and adjustment, improving the AGV transport equipment's cargo handling capacity and efficiency. It can adapt to gripping cargo with different shapes and positional deviations, reducing errors and cargo damage during handling, lowering logistics costs, and enhancing the performance and competitiveness of the entire automated logistics system.

[0021] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0023] Figure 1 This is a schematic diagram of a fork structure with angle adjustment function according to an embodiment of the present utility model;

[0024] Figure 2 This is a front view schematic diagram of a fork structure with angle adjustment function according to an embodiment of the present utility model;

[0025] Figure 3 This is a partial schematic diagram of the second adjustment component of the fork structure with angle adjustment function according to an embodiment of the present invention.

[0026] Reference numerals: Telescopic mechanism 100; Second telescopic section 110; Gripping mechanism 200; Gripper 210; Second driven rack 211; Push rod 212; Support rod 213; Second adjusting component 300; Second adjusting power component 310; Second drive gear 320; First adjusting component 400; First adjusting power component 410; First drive gear 420; First driven rack 430; Position recognition component 500. Detailed Implementation

[0027] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0028] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0029] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0030] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly. Those skilled in the art can reasonably determine the specific meaning of these terms in this utility model based on the specific content of the technical solution. In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. In the description of this specification, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0031] Reference Figure 1 , Figure 2 and Figure 3 A forklift structure with angle adjustment function includes a telescopic mechanism 100, a gripping mechanism 200 connected to the movable end of the telescopic mechanism 100, and an adjustment mechanism. The adjustment mechanism is used to adjust the position of the gripping mechanism 200 and align it with the goods or the placement position of the goods. The gripping mechanism 200 is used to grip or release the goods after alignment.

[0032] The adjustment mechanism includes a second adjustment component 300 and a first adjustment component 400. The second adjustment component 300 includes a second adjustment power component 310, which is connected to and drives the gripping mechanism 200 to make lateral displacement; the first adjustment component 400 includes a first adjustment power component 410, which drives the gripping mechanism 200 to make longitudinal displacement.

[0033] In some embodiments, the telescopic mechanism 100 adopts a common electric push rod 212 structure, with its fixed end mounted on the AGV body and its movable end connected to the gripping mechanism 200 and the adjustment mechanism. The electric push rod 212 can perform telescopic movement according to the instructions of the control system, thereby driving the gripping mechanism 200 to move closer to or away from the goods.

[0034] The gripping mechanism 200 is used to grip and release goods. In this embodiment, the gripping mechanism 200 is connected to the adjustment mechanism via a connector, allowing the adjustment mechanism to adjust the position of the gripping mechanism 200. The adjustment mechanism includes a second adjustment component 300 and a first adjustment component 400. The second adjustment power component 310 of the second adjustment component 300 is connected to the gripping mechanism 200, driving the gripping mechanism 200 to make a lateral displacement. The first adjustment power component 410 of the first adjustment component 400 is connected to the gripping mechanism 200. When the first adjustment power component 410 is working, it drives the gripping mechanism 200 to make a longitudinal displacement. In actual operation, when the AGV reaches the vicinity of the goods, the control system controls the second adjustment power component 310 and the first adjustment power component 410 to work based on the goods position information fed back by the sensors. The second adjustment power component 310 adjusts the lateral position of the gripping mechanism 200, and the first adjustment power component 410 adjusts the longitudinal position of the gripping mechanism 200, so that the gripping mechanism 200 is accurately aligned with the goods or the placement position of the goods. Then, the telescopic mechanism 100 extends, and the gripping mechanism 200 grips the goods, completing the gripping action.

[0035] Furthermore, the first adjustment component 400 proposed in this utility model can realize unilateral longitudinal displacement of the gripping mechanism 200. Specifically, after the gripping mechanism 200 grips the material, if there is an angular deviation in the material, the first adjustment component 400 starts to work. Taking the material being lower on the left side as an example, the first adjustment power component 420 pushes the gripping mechanism to move to the right along the left guide rail, so that the left side of the material is subjected to an upward squeezing force, thereby adjusting the angle of the material until the angular deviation is eliminated. By using the first adjustment component 400 to realize unilateral longitudinal movement of the gripping mechanism 200 to adjust the angle, the angular deviation generated by the material during the gripping process can be effectively eliminated, so that the material can be accurately positioned in subsequent processing or assembly processes. For example, in the surface mount processing of electronic components, if there is an angular deviation in the component, it will lead to inaccurate mounting and affect product quality. After using the adjustment component of this embodiment, the angular deviation of the component can be controlled, greatly improving the mounting accuracy and reducing the scrap rate.

[0036] Understandably, the forklift structure with angle adjustment function, through the setting of the second adjustment component 300 and the first adjustment component 400, can respectively realize the lateral and longitudinal adjustment of the gripping mechanism 200. Simultaneously, by achieving unilateral displacement of the gripping mechanism 200 through the first adjustment component 400, the angle of the gripping mechanism 200 can also be adjusted. This allows for comprehensive adjustment of the gripping mechanism 200 in terms of longitudinal, lateral, and angular aspects, greatly improving the accuracy of cargo gripping. Because precise gripping and positioning of goods can be achieved, gripping failures are reduced, avoiding the waste of time from multiple gripping attempts, thereby improving the efficiency of cargo handling and shortening the logistics cycle. Precise gripping and positioning can prevent goods from being subjected to unnecessary squeezing, collisions, or other external forces during the gripping process, effectively reducing the risk of cargo damage and reducing logistics costs.

[0037] In some embodiments, to further achieve angle adjustment, an angle adjustment component can be added to the adjustment mechanism. This angle adjustment component includes an angle adjustment power element and a transmission mechanism. The angle adjustment power element is connected to the gripping mechanism 200 via the transmission mechanism, and can drive the gripping mechanism 200 to rotate around its own central axis, thereby adjusting the angle of the gripping mechanism 200.

[0038] Furthermore, the second adjustment component 300 includes two embodiments, specifically including:

[0039] A single power component drives the entire gripping mechanism 200 to move laterally: The second adjustment assembly 300 is equipped with only one second adjustment power component 310, which is a linear motor. The linear motor is fixedly mounted on the fixed frame of the fork structure with angle adjustment function, and its mover is connected to the entire gripping mechanism 200 through a connecting plate. When the control system issues a lateral adjustment command, the linear motor starts, and the mover moves laterally along the linear guide rail, thereby driving the entire gripping mechanism 200 to move laterally, realizing the adjustment of the lateral position of the gripping mechanism 200. The single power component has a simple structure and low cost, and is suitable for scenarios where the requirements for lateral adjustment accuracy are not particularly high and the shape of the goods is relatively regular, enabling rapid adjustment of the overall lateral position of the gripping mechanism 200.

[0040] The gripper 210 is driven by two power components for independent lateral movement: The second adjustment assembly 300 is equipped with two second adjustment power components 310. The gripping mechanism 200 has two grippers 210, each of which is connected to a servo motor. A synchronous pulley is mounted on the output shaft of each servo motor, which is connected to a connecting block on the gripper 210 via a synchronous belt. When lateral adjustment of a particular gripper 210 is required, the corresponding servo motor rotates, driving the gripper 210 to move independently along the lateral guide rail via the synchronous belt drive. This allows for independent lateral position adjustment of the two grippers 210, accommodating gripping of goods with different shapes and positional deviations. The dual power components offer high flexibility, enabling precise lateral adjustment for goods with different shapes and positional deviations. For example, for irregularly shaped goods, the lateral positions of the two grippers 210 can be adjusted separately, allowing the grippers 210 to better fit the goods and improving gripping stability and accuracy.

[0041] Reference Figure 2 and Figure 3 Specifically, the second adjusting power component 310 includes two second drive motors, respectively mounted on both sides of the gripping mechanism 200. Each gripper 210 includes two second driven racks 211, a push rod 212 connecting the second driven racks 211, and a support rod 213 connecting the bottom of the push rod 212. The output end of the second drive motor is connected to a second drive gear 320, which meshes with the second driven racks 211. When the second drive motor on the left rotates, it drives the second drive gear 320 on the left to rotate, thereby causing the second driven rack 211 on the left to move laterally, which in turn drives the gripper 210 on the left to move laterally via the push rod 212 and the support rod 213; the same applies to the right side. The two motors work independently, realizing the independent lateral movement of the two grippers 210. Two second drive motors drive two grippers 210 to move independently, which can precisely control the lateral movement distance and speed of each gripper 210. This is suitable for scenarios with extremely high grasping accuracy requirements and complex cargo shapes that require individual adjustment of the gripper 210 position, effectively improving the accuracy and stability of cargo grasping.

[0042] In other embodiments, the second adjusting power component 310 includes a second drive motor and a linkage mechanism, wherein the linkage mechanism is a linkage. The second drive motor is installed at the middle position of the fork structure with angle adjustment function, and its output end is connected to and drives the linkage mechanism. The two ends of the linkage mechanism are respectively connected to two grippers 210. When the second drive motor rotates, the linkage mechanism drives the two grippers 210 to move laterally synchronously along the transverse guide rail, thereby realizing the synchronous lateral position adjustment of the two grippers 210. The structure of a single second drive motor driving two grippers 210 to move laterally synchronously is relatively simple and low in cost, and can ensure the synchronous movement of the two grippers 210. It is suitable for scenarios with high requirements for the synchronization of cargo gripping and less stringent requirements for lateral adjustment accuracy, thus improving adjustment efficiency.

[0043] Reference Figure 2 and Figure 3 The gripping mechanism 200 includes two sets of grippers 210, with two grippers in each set. The two sets of grippers 210 are arranged opposite each other at the movable end of the telescopic mechanism 100. Two second adjusting power components 310 are provided, each connected to one of the two sets of grippers 210. Each second adjusting power component 310 is a linear module, with its slider connected to the corresponding set of grippers 210. When lateral adjustment of the left set of grippers 210 is required, the left linear module is activated, and the slider drives the left set of grippers 210 to move laterally; the same applies to the right side. The two linear modules work independently, allowing for lateral position adjustment of the two sets of grippers 210 to accommodate goods with different positions and shapes. This arrangement increases the flexibility and adaptability of the gripping mechanism 200, enabling independent lateral adjustment of both sets of grippers 210 simultaneously. It better handles goods with complex shapes and large positional deviations, improving the success rate and stability of goods gripping and expanding the applicability of forklift structures with angle adjustment capabilities.

[0044] It should be noted that the two grippers 210 can be used to clamp the goods in an inward supporting manner, that is, the two grippers 210 move and clamp in opposite directions; or the two grippers 210 can be used to clamp the goods in an inward clamping manner, that is, the two grippers 210 move and clamp in opposite directions.

[0045] The first adjustment component 400 includes at least two embodiments, specifically including:

[0046] A single power component drives the longitudinal movement of the entire gripping mechanism 200: The first adjustment assembly 400 includes a first adjustment power component 410. The fixed end of the first adjustment power component 410 is mounted on the telescopic mechanism 100 of the fork structure with angle adjustment function, and its output end is connected to the entire gripping mechanism 200. When longitudinal adjustment is required, the output end of the first adjustment power component 410 extends or retracts, driving the entire gripping mechanism 200 to move linearly along the extension / retraction direction, thereby adjusting the longitudinal position of the gripping mechanism 200. This structure is simple, easy to control, and suitable for scenarios where longitudinal adjustment requirements are relatively conventional and angle adjustment is not required. It can quickly achieve changes in the overall longitudinal position of the gripping mechanism 200.

[0047] The dual-powered gripping mechanism 200 can move longitudinally on one or both sides.

[0048] The first adjustment component 400 includes two first adjustment power components 410, respectively disposed on both sides of the gripping mechanism 200. When it is necessary to adjust the angle of the gripping mechanism 200, the two first adjustment power components 410 are controlled to extend and retract asynchronously. For example, the left first adjustment power component 410 extends while the right first adjustment power component 410 shortens, causing the gripping mechanism 200 to rotate around its central axis by a certain angle. When it is necessary to adjust the longitudinal position of the gripping mechanism 200, the two first adjustment power components 410 are controlled to extend and retract synchronously, driving the gripping mechanism 200 to move longitudinally as a whole. This structure is highly flexible, enabling both longitudinal position adjustment of the gripping mechanism 200 and angle adjustment through unilateral movement. It can better adapt to goods with different shapes and positional deviations, improving the accuracy and adaptability of goods gripping.

[0049] It should be noted that there is a clearance adjustment gap between the gripping mechanism 200 and the telescopic mechanism 100. When the angle of the gripping mechanism 200 needs to be adjusted, the output end of the first adjusting power component 410 extends or retracts, driving the gripping mechanism 200 to move unilaterally. Due to the clearance adjustment gap, the gripping mechanism 200 can be displaced within a local range, thereby achieving angle adjustment for better alignment with the goods. The clearance adjustment gap provides greater flexibility for the gripping mechanism 200 during angle adjustment, avoiding the problem of angle adjustment being impossible due to structural interference. At the same time, this design is simple and easy to implement, requiring no complex mechanical structure, reducing manufacturing costs, and improving the reliability and stability of the forklift structure with angle adjustment function.

[0050] Regarding the installation position of the first adjusting power component 410, at least two embodiments are included, specifically encompassing:

[0051] The first adjusting power component 410 is connected to the gripping mechanism 200. The first adjusting power component 410 includes a first drive motor and a first drive gear 420 connected to the first drive motor. A first driven rack 430 is provided at the movable end of the telescopic mechanism 100 along the telescopic direction, and the first drive gear 420 meshes with the first driven rack 430. The first drive motor is fixedly mounted on the gripping mechanism 200. When longitudinal adjustment is required, the first drive motor rotates, driving the first drive gear 420 to rotate. Since the first drive gear 420 meshes with the first driven rack 430, the gripping mechanism 200 moves longitudinally along the telescopic direction of the telescopic mechanism 100. This structure is compact, with direct transmission, and can quickly respond to longitudinal adjustment commands, improving the timeliness and accuracy of adjustment. It is suitable for scenarios requiring high longitudinal adjustment speed.

[0052] The first adjusting power component 410 is connected to the movable end of the telescopic mechanism 100. This component includes a first drive motor and a first drive gear 420 connected to the first drive motor. The gripping mechanism 200 has a first driven rack 430 along the telescopic direction of the telescopic mechanism 100, and the first drive gear 420 meshes with the first driven rack 430. The first drive motor is mounted on the movable end of the telescopic mechanism 100. When the first drive motor is started, the first drive gear 420 drives the first driven rack 430 to move, thereby enabling the gripping mechanism 200 to move longitudinally. This connection method makes power transmission more stable, reduces the impact of the gripping mechanism 200's own movement on the transmission, and improves the accuracy and reliability of longitudinal adjustment, making it suitable for scenarios with strict requirements for longitudinal adjustment accuracy.

[0053] Reference Figure 1 In a specific embodiment, the first adjusting power component 410 is connected to the gripping mechanism 200 and includes two first drive motors. Two first drive gears 420 are horizontally arranged on the top surface of the gripping mechanism 200, and the two drive motors drive the two first drive gears 420 respectively. Two first driven racks 430 are respectively arranged on both sides of the movable end of the telescopic mechanism 100 along the telescopic direction. The teeth of the first driven racks 430 are arranged on the side closest to the gripping mechanism 200 to mesh with the first drive gears 420. When longitudinal or angular adjustment is required, the two first drive motors can work independently or collaboratively. When working independently, they can drive the two first drive gears 420 respectively, causing the gripping mechanism 200 to move on one side to achieve angular adjustment; when working collaboratively, the two motors rotate synchronously, driving the gripping mechanism 200 to move longitudinally as a whole. This design offers greater flexibility and control precision. By allowing the two motors to work independently or in tandem, the longitudinal position and angle of the gripping mechanism 200 can be adjusted simultaneously. This enables it to better adapt to gripping goods with complex shapes and positional deviations, greatly improving the accuracy and success rate of gripping.

[0054] It should be noted that the telescopic mechanism 100 includes a fixed section, a first telescopic section slidably connected to the fixed section, and a second telescopic section 110 slidably connected to the first telescopic section. The gripping mechanism 200 is connected to the second telescopic section 110. A first driven rack 430 is connected to the side of the second telescopic section 110. A first drive motor is mounted on the gripping mechanism 200, and its output end is connected to a first drive gear 420, which meshes with the first driven rack 430. When the first drive motor rotates, it can drive the second telescopic section 110 to extend and retract through the rack and pinion transmission, realizing the overall telescopic function of the forks. On the other hand, when longitudinal adjustment is required, the gripping mechanism 200 can be moved longitudinally relative to the telescopic mechanism 100 by controlling the rotation direction and angle of the first drive motor, thus realizing longitudinal adjustment. Integrating the telescopic and longitudinal adjustment functions together, and using a single first drive motor to switch and control the two functions, simplifies the mechanical design of forks with angle adjustment functions, reducing costs and complexity. At the same time, this design improves the overall coordination and working efficiency of the equipment, enabling faster completion of cargo gripping and handling tasks.

[0055] Reference Figure 1 and Figure 2 Furthermore, the adjustment mechanism also includes a controller and a position recognition component 500, which employs a combination of LiDAR and a camera. The LiDAR is installed in front of the fork structure with angle adjustment function to acquire real-time distance information of the goods; the camera is installed above the fork structure with angle adjustment function to acquire image information of the goods. The position recognition component 500 transmits the acquired goods placement information to the controller. The controller processes and analyzes the information according to a preset algorithm, and then connects and controls the motors or power components of the second adjustment component 300 and the first adjustment component 400 to adjust the lateral and longitudinal positions of the gripping mechanism 200, achieving precise goods gripping. Through the combination of the controller and the position recognition component 500, automated adjustment control of the fork structure with angle adjustment function is achieved. The position recognition component 500 can accurately acquire the position information of the goods, and the controller can quickly and accurately control the adjustment components to make adjustments based on this information, greatly improving the automation and accuracy of goods gripping, reducing manual intervention, and improving the operating efficiency and reliability of the logistics system.

[0056] This utility model also proposes an AGV transportation device, including a fork structure with angle adjustment function as described in any of the preceding claims. The fork structure with angle adjustment function is installed at the front end of the vehicle body. The navigation system adopts laser navigation or visual navigation to provide path planning and positioning information for the AGV transportation device. The drive system drives the AGV transportation device to move according to the instructions of the navigation system. When the AGV transportation device arrives near the goods, the adjustment mechanism of the fork structure with angle adjustment function starts to work. Based on the goods position information obtained by the position recognition component 500, the controller controls the second adjustment component 300 and the first adjustment component 400 to adjust the position of the gripping mechanism 200, so as to achieve precise gripping of the goods, and then transport the goods to the designated location. Applying this fork structure with angle adjustment function to the AGV transportation device fully utilizes the advantages of the fork structure with angle adjustment function in precise gripping and adjustment, improving the goods handling capacity and efficiency of the AGV transportation device. It can adapt to the gripping of goods with different shapes and positional deviations, reducing errors and damage to goods during the handling process, reducing logistics costs, and improving the performance and competitiveness of the entire automated logistics system.

[0057] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A fork structure with angle adjustment function, characterized in that, include: Telescopic mechanism (100); A gripping mechanism (200) is connected to the movable end of the telescopic mechanism (100), and the gripping mechanism (200) is used to grip or release goods after alignment; An adjustment mechanism is used to adjust the position of the gripping mechanism (200) and align it with the goods or the placement position of the goods; The adjustment mechanism includes a first adjustment component (400), which includes two first adjustment power components (410). The two first adjustment power components (410) are respectively disposed on both sides of the gripping mechanism (200) for connecting and driving the gripping mechanism (200) to move longitudinally on one side, and adjusting the angle of the gripping mechanism (200) by means of the travel difference between the two sides.

2. The fork structure with angle adjustment function according to claim 1, characterized in that, The adjustment mechanism further includes a second adjustment component (300), which drives the gripping mechanism (200) to make a lateral displacement, and the first adjustment component (400) drives the gripping mechanism (200) to make a longitudinal displacement.

3. The fork structure with angle adjustment function according to claim 1, characterized in that, The first adjusting power component (410) is connected to the movable end of the telescopic mechanism (100) and includes a first drive motor and a first drive gear (420) connected to the first drive motor. The gripping mechanism (200) is provided with a first driven rack (430) along the telescopic direction of the telescopic mechanism (100). The first drive gear (420) meshes with the first driven rack (430). Alternatively, the first adjusting power component (410) is connected to the gripping mechanism (200) and includes two first drive motors. Two first drive gears (420) are horizontally arranged on the top surface of the gripping mechanism (200). The two drive motors drive the two first drive gears (420) respectively. Two first driven racks (430) are respectively arranged on both sides of the movable end of the telescopic mechanism (100) along the telescopic direction. The teeth of the first driven racks (430) are arranged on the side close to the gripping mechanism (200) to mesh with the first drive gears (420).

4. The fork structure with angle adjustment function according to claim 3, characterized in that, The telescopic mechanism (100) includes a fixed section, a first telescopic section slidably connected to the fixed section, and a second telescopic section (110) slidably connected to the first telescopic section. The gripping mechanism (200) is connected to the second telescopic section (110). The first driven rack (430) is connected to the side of the second telescopic section (110). The first drive motor can drive the second telescopic section (110) to extend and retract, and can drive the gripping mechanism (200) to make longitudinal adjustments.

5. The fork structure with angle adjustment function according to claim 1, characterized in that, There is a clearance adjustment gap between the gripping mechanism (200) and the telescopic mechanism (100). When the first adjusting power member (410) drives the gripping mechanism (200) to move on one side, the clearance adjustment gap allows the gripping mechanism (200) to make local displacement to adjust the angle.

6. The fork structure with angle adjustment function according to claim 2, characterized in that, The adjustment mechanism also includes a controller and a position recognition component (500). The position recognition component (500) is used to acquire the cargo placement position information and transmit it to the controller. The controller connects to and controls the second adjustment component (300) and the first adjustment component (400) to adjust the lateral and longitudinal positions of the gripping mechanism (200).

7. The fork structure with angle adjustment function according to claim 2, characterized in that, The second adjustment component (300) is provided with a second adjustment power component (310), which is connected to and drives the entire gripping mechanism (200) to move laterally; Alternatively, the second adjustment component (300) is provided with two second adjustment power components (310), which are respectively connected to and drive the two grippers (210) of the gripping mechanism (200) to drive the grippers (210) to move laterally independently.

8. The fork structure with angle adjustment function according to claim 7, characterized in that, The second adjusting power component (310) includes two second drive motors. The gripper (210) includes two second driven racks (211), a push rod (212) connected to the second driven racks (211), and a support rod (213) connected to the bottom of the push rod (212). The output end of the drive motor is connected to a second drive gear (320), and the second drive gear (320) meshes with the second driven racks (211). Alternatively, the second adjusting power component (310) includes a second drive motor and a linkage component connected to the second drive motor. The linkage component is connected to two grippers (210) respectively. The output end of the second drive motor is connected to and drives the linkage component. The linkage component drives the two grippers (210) to move laterally synchronously.

9. The fork structure with angle adjustment function according to claim 8, characterized in that, The gripping mechanism (200) includes two sets of grippers (210), each set of grippers (210) includes two grippers, and the two sets of grippers (210) are arranged opposite to each other at the movable end of the telescopic mechanism (100). The second adjusting power member (310) is provided in two parts and is connected to the two sets of grippers (210) respectively.

10. An AGV transportation device, characterized in that, Includes a fork structure with angle adjustment function as described in any one of claims 1 to 9.

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