A portal for an AGV

Abstract

The utility model discloses a door frame for AGV, belongs to the field of intelligent warehousing logistics equipment technology, it includes door frame, and the door frame includes inner door frame and outer door frame, and the inner door frame is located the inside of outer door frame, and with outer door frame sliding connection, and the hydraulic cylinder is fixed on the outer door frame, and the hydraulic cylinder output fixedly connected with the transverse board, and the pulley no.

Description

Technical Field

[0001] This utility model relates to the field of intelligent warehousing and logistics equipment technology, and in particular to an AGV vehicle gantry. Background Technology

[0002] Currently, AGV forklifts are an important piece of equipment for modern logistics automation. In traditional systems, the forks lift the goods and then move them upwards through the mast to transport them to the designated location. After the goods are transported to the designated location, the forks descend through the mast to place them in the designated position.

[0003] Related technology can be found in Chinese Patent No. CN222744000U, which discloses an AGV forklift. This utility model provides an AGV forklift comprising: a forklift frame, a fork assembly, a fork lifting system, and a differential drive system. The fork assembly, fork lifting system, and differential drive system are all mounted on the forklift frame. The differential drive system is located at the bottom of the forklift frame and includes two independent drive components. Each drive component includes a wheel carrier, a moving drive component, a reducer, a travel wheel, and a shock absorption mechanism. The moving drive component is fixed to the wheel carrier. The input end of the reducer is connected to the output end of the moving drive component, and the output end of the reducer is connected to the travel wheel. One end of the wheel carrier is hinged to the forklift frame, and the other end of the wheel carrier is connected to the forklift frame via the shock absorption mechanism. This AGV forklift improves the stability of the vehicle during operation.

[0004] Regarding the aforementioned technologies, the mast structure used to drive the forks to move up and down is susceptible to contaminants such as dust and debris during operation. As the forks move, this increases the friction between the forks and the mast, leading to accelerated wear of key components such as the mast guide rails and chains, and reducing the service life of the equipment. Utility Model Content

[0005] In order to reduce equipment wear and extend equipment service life, this application provides an AGV vehicle gantry.

[0006] This application provides an AGV vehicle gantry, which adopts the following technical solution: An AGV (Automated Guided Vehicle) mast includes a mast with a movable plate slidably connected to it vertically. A fork is fixedly connected to the side of the movable plate opposite to the mast. The mast includes an inner mast and an outer mast. The inner mast is located inside the outer mast and slidably connected to it vertically. The outer mast is provided with a drive component for moving the inner mast. A horizontal plate is fixedly provided at the upper end of the inner mast. A pulley is rotatably connected to the lower part of the horizontal plate vertically. A cable is wound around the outer side of the pulley. One end of the cable is fixedly connected to the movable plate, and the other end is fixedly connected to the outer mast. A fixed plate is fixedly provided above the inner mast. The fixed plate is located above the horizontal plate. A blocking component is provided between the fixed plate and the movable plate. The blocking component blocks the outer mast, and the blocking component retracts or expands as the fork rises and falls.

[0007] By adopting the above technical solution, under the support of the outer mast, the drive unit drives the horizontal plate to move vertically back and forth. When the horizontal plate moves upward, it pushes the fixed plate upward, causing the fixed plate to move the upper end of the shielding component. The horizontal plate drives pulley one to move vertically. The outer mast fixes one end of the cable. During the upward movement of pulley one, the cable rolls along the pulley, causing the other end of the cable to pull the moving plate up or down. The moving plate moves at twice the speed of the horizontal plate. When the moving plate moves, it drives the forks to move synchronously. The forks support and transport goods. The moving plate and the fixed plate work together to cause the shielding component to retract or expand, so that the shielding component blocks the guide rails and chains inside the outer mast, reducing the entry of external impurities and dust into the guide rails. This helps to reduce the friction between the forks and the mast, which leads to the probability of accelerated wear of key components such as mast guide rails and chains, and extends the service life of the equipment.

[0008] Optionally, the shielding component includes a bellows cover, which is parallel to the gantry. The upper end of the bellows cover is connected to a fixed plate, and the lower end is connected to a movable plate. The bellows cover has an observation opening along the lateral direction.

[0009] By adopting the above technical solution, when the forks rise, the fixed plate and the moving plate work together to drive the bellows cover to retract or expand vertically and slide with the outer mast. At the same time, the bellows cover covers the outer mast, and the operator can monitor and observe the loading and unloading of the forks through the observation port, which is conducive to the operator adjusting the handling state of the forks.

[0010] Optionally, the shielding component includes a roller blind, with pulleys 2 connected vertically to both sides of the fixed plate. A linkage is provided between pulley 1 and pulley 2. Pulley 1 drives pulley 2 to rotate through the linkage. A round rod is coaxially connected between the two pulleys 2. The round rod is parallel to the fixed plate. The upper end of the roller blind is wrapped around and fixed to the round rod. The lower end of the roller blind is detachably connected to the sliding plate.

[0011] By adopting the above technical solution, during the upward or downward movement of pulley one, the cable contacts pulley one and causes pulley one to rotate vertically. When pulley one rotates, it drives pulley two to rotate vertically through the linkage. Pulley two rolls up or unrolls the roller shutter through the round rod, so that the roller shutter always keeps the outer mast covered during the operation of the device, reducing the possibility of dust entering the outer mast. This helps to reduce the probability that the forks will rub against the mast when working, which would lead to accelerated wear of key components such as mast guide rails and chains, and helps to extend the service life of the equipment.

[0012] Optionally, the upper ends of both the outer and inner door frames can be detachably connected with cleaning rods. The roller shutter is located between the two cleaning rods, the length of the cleaning rods covers the width of the roller shutter, and a cleaning brush is fixed on the side of the cleaning rods near the roller shutter. The length of the cleaning brush itself is longer than the distance between the cleaning rod and the roller shutter, and the cleaning brush is in contact with the surface of the roller shutter.

[0013] By adopting the above technical solution, the cleaning rod supports the cleaning brush. During the rolling of the shutter, both sides of the shutter come into contact with and adhere to the cleaning brush, and the cleaning brush cleans the shutter, which helps to keep the surfaces of both sides of the shutter clean.

[0014] Optionally, the end of the fork away from the moving plate is provided with a mounting box, and a sensor is fixedly installed inside the mounting box. A rectangular hole is opened on the side of the mounting box away from the fork, which is directly opposite the sensor. The sensor detects the space at the front end of the fork through the rectangular hole. When the front end of the fork presses against an external object, the sensor triggers and issues an alarm.

[0015] By adopting the above technical solution, the mounting box supports and fixes the sensor one. The sensor one detects the position of the goods through the rectangular hole, reducing the probability of collision between the forks and the goods. At the same time, it senses when the fork carriage reaches the goods and lifts the goods, which helps to improve the accuracy of fork handling and improve fork handling efficiency.

[0016] Optionally, straight rods are fixedly connected to both sides of the fork along the width direction. The straight rods are arranged along the length direction of the fork, pass through the inner wall of the mounting box and are slidably connected to the mounting box. An elastic element is provided on the straight rod. In its natural state, the elastic element has the tendency to push the mounting box away from the fork.

[0017] By adopting the above technical solution, the mounting box is connected to the fork via a straight rod. In its natural state, the elastic element pushes the mounting box away from the fork, so that after the mounting box touches the goods, it slides along the straight rod and approaches the moving plate, thereby avoiding the goods and reducing the probability of the fork colliding with external objects and causing damage to the sensor.

[0018] Optionally, mounting plates corresponding to the forks are fixed on both sides of the lower end of the movable plate along the width direction. The mounting plates are located above the corresponding forks, and a second sensor is fixed on the mounting plate. The second sensor is used to detect the designated placement position of the goods and drive the forks to place the goods at the designated location.

[0019] By adopting the above technical solution, the mounting plate supports and fixes the second sensor. If the goods fall off the forks before the forks have transported them to the designated position, the second sensor will be triggered and issue a warning, thereby prompting the operator. This helps to improve the accuracy and efficiency of the forks in handling goods.

[0020] Optionally, a fixing rod is fixedly provided at the upper end of the mounting plate, and a baffle is hinged to the fixing rod vertically. A support plate is fixedly provided on the side of the baffle close to the mounting plate. In its natural state, the baffle is inclined from top to bottom away from the mounting plate. The support plate is in contact with the mounting plate and is located below the second sensor.

[0021] By adopting the above technical solution, the fixed rod supports and limits the baffle. In the working state, the baffle is raised to prevent the goods from hitting the second sensor. When the device is not working, the baffle falls down, the support plate abuts against the mounting plate and supports the baffle. The baffle blocks the second sensor, reducing the probability of external objects touching the second sensor and causing damage to the second sensor. This helps to protect the device and reduce the probability of wear and tear on the device.

[0022] In summary, this application includes at least one of the following beneficial technical effects: 1. Under the support of the outer mast, the drive unit drives the horizontal plate to move vertically back and forth. When the horizontal plate moves upward, it pushes the fixed plate upward, causing the fixed plate to move the upper end of the shielding component. The horizontal plate drives the pulley to move vertically. The outer mast fixes one end of the cable. During the upward movement of the pulley, the cable rolls along the pulley, causing the other end of the cable to pull the moving plate up or down. The moving plate moves at twice the speed of the horizontal plate. When the moving plate moves, it drives the forks to move synchronously. The forks support and transport goods. The moving plate and the fixed plate work together to cause the shielding component to retract or expand, so that the shielding component can block the guide rails and chains inside the outer mast, reducing the entry of external impurities and dust into the guide rails. This helps to reduce the friction between the forks and the mast, which would increase the probability of wear on key components such as the mast guide rails and chains, and extend the service life of the equipment. 2. When the forks rise, the fixed plate and the moving plate work together to cause the bellows cover to retract or expand vertically and slide with the outer mast. At the same time, the bellows cover covers the outer mast. The operator can monitor and observe the loading and unloading of the forks through the observation port, which is conducive to the operator adjusting the handling state of the forks. 3. During the ascent or descent of pulley one, the cable contacts pulley one and causes pulley one to rotate vertically. When pulley one rotates, it drives pulley two to rotate vertically through the linkage. Pulley two, through the round rod, rolls up or unrolls the roller shutter, ensuring that the roller shutter always covers the outer mast during the operation of the device, reducing the possibility of dust entering the outer mast. This helps to reduce the probability of the forks rubbing against the mast when passing through dust during operation, which would lead to accelerated wear of key components such as mast guide rails and chains, and helps to extend the service life of the equipment. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of Example 1.

[0024] Figure 2 This is a schematic diagram designed to highlight the position of the pulley.

[0025] Figure 3 This is a schematic diagram designed to highlight the structure of the mounting box.

[0026] Figure 4 This is a schematic diagram designed to highlight the structure of the mounting plate.

[0027] Figure 5 Overall structural diagram of Example 2 Figure 6 This is a schematic diagram designed to highlight the structure of the linkage component.

[0028] Explanation of reference numerals in the attached drawings: 1. Inner mast; 11. Fixing plate; 12. Bellows cover; 121. Observation port; 2. Outer mast; 21. Drive component; 22. Horizontal plate; 23. Pulley 1; 24. Cable; 3. Moving plate; 31. Mounting plate; 311. Sensor 2; 312. Baffle; 313. Fixing rod; 314. Support plate; 4. Forks; 41. Mounting box; 411. Sensor 1; 412. Rectangular hole; 42. Straight rod; 43. Elastic component 1; 5. Roller shutter; 51. Dustproof box; 52. Linkage component; 521. Drive wheel 1; 522. Drive wheel 2; 523. Drive wheel 3; 524. Drive belt 2; 525. Drive belt 1; 53. Pulley 2; 54. Sweeping bar; 541. Sweeping brush; 55. Round rod. Detailed Implementation

[0029] The present application will be further described in detail below with reference to all the accompanying drawings.

[0030] This application discloses an AGV (Automated Guided Vehicle) gantry.

[0031] Example 1 Reference Figure 1An AGV (Automated Guided Vehicle) mast includes an inner mast 1 and an outer mast 2. The inner mast 1 is located inside the outer mast 2. A driving component 21 is provided on the outer mast 2. The driving component 21 is used to drive the inner mast 1 to slide along the length direction of the outer mast 2. The driving component 21 is a hydraulic cylinder, which is placed vertically. A horizontal plate 22 is fixedly connected to the output end of the hydraulic cylinder. A fixing plate 11 is fixedly installed on the upper end of the inner mast 1, located above the horizontal plate 22. When the hydraulic cylinder drives the horizontal plate 22 to move upward, the horizontal plate 22 pushes the fixing plate 11 to move upward. When the horizontal plate 22 descends, it supports the fixing plate 11, making the fixing plate 11 descend stably. This allows the fixing plate 11 to drive the inner mast 1 to slide along the length direction of the outer mast 2, which helps to improve the sliding stability of the inner mast 1.

[0032] Reference Figure 1 and Figure 2 Both sides of the lower end face of the horizontal plate 22 are vertically rotatably connected to pulleys 23. A cable 24 is wound around the outside of the pulleys 23. One end of the cable 24 is fixedly connected to the outer mast 2, and the other end is fixedly connected to a movable plate 3. The movable plate 3 is vertically slidably connected to the inner mast 1. Forks 4 are fixedly installed at both ends of the movable plate 3 on the side facing away from the inner mast 1. When the hydraulic cylinder drives the horizontal plate 22 to rise, it drives the pulleys 23 to rise synchronously. Under the fixing action of one end of the cable 24, the pulleys 23 rotate, and the cable 24 drives the movable plate 3 to move along the length of the inner mast 1. This causes the movable plate 3 to move the forks 4 up and down, allowing the forks 4 to support and transport goods. Furthermore, the moving speed of the movable plate 3 is twice that of the horizontal plate 22, which improves the ease of operation of the device.

[0033] Reference Figure 1 A pleated accordion cover 12, parallel to the mast, is detachably connected between the fixed plate 11 and the movable plate 3. The accordion cover 12 fits against the end face of the mast and blocks the side of the mast clamp near the forks 4. An observation port 121 is opened laterally at the upper end of the accordion cover 12, allowing the operator to observe the handling of the forks 4 through the observation port 121, facilitating real-time monitoring of the working status of the forks 4.

[0034] Reference Figure 1 When the fixed plate 11 and the movable plate 3 move, they drive the bellows cover 12 to slide along the same direction along the length of the outer gantry 2, causing the bellows cover 12 to contract or expand. During the movement of the bellows cover 12, it always blocks the outer gantry 2 and the inner gantry 1, reducing the probability of external impurities entering the inner gantry 1 and the outer gantry 2, which would cause the guide rails of the inner gantry 1 and the outer gantry 2 to wear more quickly, thus helping to extend the service life of the equipment.

[0035] Reference Figure 3The end of the fork 4 away from the moving plate 3 is slidably connected to the mounting box 41. The mounting box 41 is fixedly installed with a sensor 411. The side of the mounting box 41 away from the moving plate 3 has a useful rectangular hole 412. The sensor 411 detects the position of the goods through the rectangular hole 412, reducing the probability of the goods colliding with the fork 4. At the same time, when the fork 4 reaches the goods, it senses the position of the goods and lifts the goods, which helps the fork 4 to accurately transport the goods and improve the transport efficiency of the fork 4.

[0036] Reference Figure 3 Two straight rods 42 are fixedly connected to the side of the fork 4 away from the moving plate 3. The straight rods 42 are arranged along the width direction of the fork 4 and parallel to the length direction of the fork 4. The straight rods 42 pass through the mounting box 41 and are slidably connected to the mounting box 41. An elastic element 43 is provided on the straight rod 42. The elastic element 43 can be a spring. The spring is sleeved on the outside of the straight rod 42. In the initial state, the spring pushes the mounting box 41 away from the fork 4. When the mounting box 41 touches the goods, it slides along the straight rod 42 and the inner wall of the fork 4 towards the moving plate 3. The spring provides clearance for the mounting box 41, reducing the probability of the mounting box 41 colliding with external objects and causing damage to the sensor 411.

[0037] Reference Figure 1 and Figure 4 Two mounting plates 31 are fixedly installed on the side of the movable plate 3 away from the mast. The two mounting plates 31 are arranged along the width direction of the movable plate 3, and are located above the forks 4 and correspond one-to-one with the forks 4. Sensors 311 are fixedly installed on the mounting plates 31. If the goods deviate from the forks 4 during the transportation of goods, the sensors 311 will be triggered and issue a warning, thereby prompting the operator to alert that the goods have fallen. This helps to improve the accuracy and efficiency of the forks 4 in handling goods.

[0038] Reference Figure 4 A fixing rod 313 is horizontally fixedly installed on the upper end of the mounting plate 31. A baffle 312 is vertically hinged to the fixing rod 313. In its natural state, the baffle 312 tilts downwards towards the fork 4. A support plate 314 is fixedly installed on the inner wall of the baffle 312. When the sensor 311 is working, the baffle 312 rotates and lifts along the round rod 55, reducing the probability of the goods on the fork 4 colliding with the sensor 311. When the baffle 312 falls, the support plate 314 abuts against the mounting plate 31. The support plate 314 is located below the sensor 311 and supports the baffle 312. The baffle 312 shields the sensor 311, reducing the probability of external objects touching the sensor 311 and causing damage.

[0039] The implementation principle of Embodiment 1 of this application is as follows: The starting device and the hydraulic cylinder drive the horizontal plate 22 to move vertically. The horizontal plate 22 drives the fixed plate 11 to move. During the movement of the fixed plate 11, the pulley 23 rises or falls with the fixed plate 11. The cable 24 rolls along the pulley 23 and drives the moving plate 3 to move vertically. The moving plate 3 drives the fork 4 to rise and fall vertically. Under the detection of the sensor 411, the fork 4 transports the designated goods to the designated position. Under the detection of the sensor 311, the operator can monitor the transportation status of the goods remotely. The bellows cover 12 is pulled together or unfolded along the outer mast 2 by the fixed plate 11 and the moving plate 3 and is always in contact with the outer mast 2 to shield the outer mast 2. This helps to reduce the probability of the fork 4 rubbing against the mast when working due to dust, which would lead to increased wear of key components such as mast guide rails and chains, and extend the service life of the equipment.

[0040] Example 2 The difference between this embodiment and embodiment 1 is that the gantry does not have an accordion cover 12.

[0041] Reference Figure 5 and Figure 6 A dustproof box 51 is fixedly installed below the fixed plate 11. A round rod 55 is rotatably connected to both sides of the dustproof box 51 along the width direction. A roller blind 5 is wrapped around the outside of the round rod 55 in the circumferential direction. A pulley 2 53 is rotatably connected to both sides of the round rod 55 on the same axis. A linkage 52 is provided between the pulley 1 23 and the pulley 2 53. The pulley 1 23 drives the pulley 2 53 to rotate through the linkage 52. The pulley 2 53 drives the round rod 55 to rotate, so as to realize the rolling up and unrolling of the roller blind 5.

[0042] Reference Figure 5 and Figure 6 The linkage 52 includes a first transmission wheel 521, a second transmission wheel 522, and a third transmission wheel 523. The first transmission wheel 521 is rotatably connected to the first pulley 23 on the same axis. The second transmission wheel 522 is rotatably connected to the inner wall of the inner frame 1. A rotating rod is coaxially fixed to the second transmission wheel 522. The rotating rod passes through the inner frame 1 and is coaxially fixed to the third transmission wheel 523. A first transmission belt 525 is provided between the first transmission wheel 521 and the second transmission wheel 522. The first transmission belt 525 is sleeved on the outside of the first transmission wheel 521 and the second transmission wheel 522 and is rotatably connected to the first transmission wheel 521 and the first pulley 23. A second transmission belt 524 is provided between the third transmission wheel 523 and the second pulley 53. The second transmission belt 524 is sleeved on the third transmission wheel 523 and the second pulley 53 and is rotatably connected to the third transmission wheel 523 and the second pulley 53.

[0043] Reference Figure 5 and Figure 6When pulley 1 23 rotates, it drives transmission wheel 1 521 to rotate via transmission belt 1 525. When transmission wheel 1 521 rotates, transmission wheel 2 522 rotates. Transmission wheel 2 522 drives transmission wheel 3 523 to rotate via a rotating shaft. Transmission wheel 3 523 drives pulley 2 53 to rotate via transmission belt 2 524. Pulley 2 53 drives round rod 55 to rotate, thereby realizing the winding and unwinding of the roller shutter 5.

[0044] Reference Figure 5 The upper end of the movable plate 3 is provided with a vertical rod, and the vertical rod is provided with an elastic element 2, which can be a spring. In its natural state, the spring pushes the roller blind 5 away from the movable plate 3. The spring is sleeved on the outside of the vertical rod 32. One end of the spring is fixedly connected to the movable plate 3, and the other end is fixedly provided with a straight plate. The lower end of the roller blind 5 is fixedly connected to the straight plate. The movable plate 3 and the fixed plate 11 cooperate to drive the roller blind 5 to roll up and down. The spring provides a buffer space for the vertical movement of the roller blind 5, reducing the probability of the roller blind 5 tearing due to excessive rolling speed, which is conducive to improving the safety of the roller blind 5 during operation.

[0045] Reference Figure 5 During the rolling up or unrolling process, the outer gantry 2 is always covered, which helps to reduce the probability of dust rubbing against the gantry when the inner gantry 1 moves up and down, thus reducing the wear and tear on key components such as the gantry guide rail and chain, and extending the service life of the equipment.

[0046] Reference Figure 6 Two cleaning rods 54 are fixed at the upper end of the outer frame 2. The cleaning rods 54 are placed horizontally, and the roller shutter 5 is located between the two cleaning rods 54. A cleaning brush 541 is arranged along the length of the side of the cleaning rod 54 near the roller shutter 5. During the rolling or unrolling process of the roller shutter 5, it comes into full contact with the cleaning brush 541. The cleaning brush 541 cleans the dust on the roller shutter 5, which helps to reduce the probability of external dust contaminating the roller shutter 5 during the rolling process and extends the service life of the roller shutter 5.

[0047] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An AGV (Automated Guided Vehicle) mast, comprising a mast, wherein a movable plate (3) is slidably connected to the mast along a vertical direction, and a fork (4) is fixedly connected to the side of the movable plate (3) opposite to the mast, characterized in that: The mast includes an inner mast (1) and an outer mast (2). The inner mast (1) is located inside the outer mast (2) and is slidably connected to the outer mast (2) in the vertical direction. The outer mast (2) is provided with a drive (21) for pushing the inner mast (1) to move. A horizontal plate (22) is fixedly provided at the upper end of the inner mast (1). A pulley (23) is rotatably connected to the lower part of the horizontal plate (22) in the vertical direction. A cable (24) is wound around the outer side of the pulley (23). One end of the cable (24) is fixedly connected to the moving plate (3), and the other end is fixedly connected to the outer mast (2). A fixed plate (11) is fixedly provided above the inner mast (1). The fixed plate (11) is located above the horizontal plate (22). A shielding member is provided between the fixed plate (11) and the moving plate (3). The shielding member shields the outer mast (2), and the shielding member retracts or unfolds with the lifting and lowering of the forks (4).

2. The AGV vehicle gantry according to claim 1, characterized in that: The shielding component includes a bellows cover (12), which is parallel to the gantry. The upper end of the bellows cover (12) is connected to the fixed plate (11), and the lower end is connected to the movable plate (3). The bellows cover (12) has an observation port (121) in the transverse direction.

3. The AGV vehicle gantry according to claim 1, characterized in that: The shielding component includes a roller blind (5), and two pulleys (53) are vertically rotatably connected on both sides of the fixed plate (11). A linkage (52) is provided between the pulley (23) and the pulley (53). The pulley (23) drives the pulley (53) to rotate through the linkage (52). A round rod (55) is coaxially rotatably connected between the two pulleys (53). The round rod (55) is parallel to the fixed plate (11). The upper end of the roller blind (5) is wrapped around and fixed to the round rod (55). The lower end of the roller blind (5) is detachably connected to the movable plate (3).

4. The AGV vehicle gantry according to claim 3, characterized in that: A cleaning rod (54) is horizontally arranged on the outer frame (2). The two ends of the cleaning rod (54) are located at the two ends of the outer frame (2) and are detachably connected to the outer frame (2). The length of the cleaning rod (54) covers the width of the roller shutter (5). A cleaning brush (541) is fixed on the side of the cleaning rod (54) near the roller shutter (5). The cleaning brush (541) is in contact with the roller shutter (5).

5. The AGV vehicle gantry according to claim 1, characterized in that: The fork (4) is provided with a mounting box (41) at the end away from the moving plate (3). A sensor (411) is fixedly installed inside the mounting box (41). A rectangular hole (412) is opened on the side of the mounting box (41) away from the fork (4) and is directly opposite to the sensor (411). The sensor (411) detects the space at the front end of the fork (4) through the rectangular hole (412). When the front end of the fork (4) approaches an external object, the sensor (411) is triggered and an alarm is issued.

6. The AGV vehicle gantry according to claim 5, characterized in that: The fork (4) is fixedly connected to two straight rods (42) on both sides along the width direction. The straight rods (42) are arranged along the length direction of the fork (4). The straight rods (42) pass through the inner wall of the mounting box (41) and are slidably connected to the mounting box (41). An elastic element (43) is provided on the straight rod (42). In its natural state, the elastic element (43) has the tendency to push the mounting box (41) away from the fork (4).

7. The AGV vehicle gantry according to claim 1, characterized in that: The lower end of the movable plate (3) is fixed with mounting plates (31) corresponding to the forks (4) on both sides along the width direction. The mounting plates (31) are located above the corresponding forks (4). Sensors (311) are fixed on the mounting plates (31) to detect whether the goods have reached the designated position.

8. The AGV vehicle gantry according to claim 7, characterized in that: A fixing rod (313) is fixedly provided at the upper end of the mounting plate (31). A baffle (312) is vertically hinged to the fixing rod (313). A support plate (314) is fixedly provided on the side of the baffle (312) near the mounting plate (31). In its natural state, the baffle (312) is inclined from top to bottom away from the mounting plate (31). The support plate (314) is in contact with the mounting plate (31) and is located below the sensor (311).

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