Submerged AGV fork truck

Abstract

This utility model relates to the field of AGV (Automated Guided Vehicle) technology and discloses a concealed AGV forklift, including a vehicle body, a chassis, and a front end connected to the chassis; a fork module, including a fork support seat, two sets of fork arms arranged parallel to the fork support seat, and a support component disposed at the bottom of the fork arms, the fork support seat being housed in the front end, the fork arms being housed in a receiving groove of the chassis, and the ends of the fork arms slidingly engaging with the fork support seat in the vertical direction; a telescopic module, including a drive module connected to the bottom of the chassis, the fork support seat being connected to the output end of the drive module; and a moving module for driving the vehicle body to move.

Description

Technical Field

[0001] This utility model relates to the field of AGV (Automated Guided Vehicle) technology, and in particular to a stealthy AGV forklift. Background Technology

[0002] With the development of automated logistics and intelligent manufacturing, the application of automated guided vehicles (AGVs) in warehousing and logistics systems has become increasingly common. In particular, AGVs can significantly improve work efficiency in handling and warehousing operations. The design of traditional AGV bodies usually makes it difficult to perform flexible forking operations when handling pallets, cross pallets, or vehicles that require forks to be extended to the bottom for picking up goods. In addition, traditional AGVs cannot handle goods in narrow aisles. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide a hidden AGV forklift, which is convenient for transporting pallets such as zigzag pallets and grid pallets that require the forks to be extended into the bottom for picking.

[0004] The technical solution of this utility model is: a hidden AGV forklift, including a vehicle body, including a chassis and a vehicle head connected to the chassis, for carrying goods to be transported; The fork module includes a fork support base, two sets of fork arms arranged parallel to each other on the fork support base, and a support assembly disposed at the bottom of the fork arms. The fork support base is housed in the front of the vehicle, and the fork arms are housed in the receiving groove of the chassis. The ends of the fork arms slide in a vertical direction with the fork support base, and are used to lift the goods by driving the two sets of fork arms through the support assembly. The telescopic module includes a drive module connected to the bottom of the chassis, and the fork support is connected to the output end of the drive module for driving the fork module to move back and forth on the horizontal plane. The mobile module includes a first support mobile component, a second support mobile component, and a third support mobile component disposed at the bottom of the vehicle body. The first support mobile component and the second support mobile component are disposed parallel to each other on both sides of the bottom of the chassis, and the third support mobile component is disposed on the adjacent side of the first support mobile component, for driving the vehicle body to move.

[0005] As can be seen from the above scheme, the fork module is used to lift goods by inserting them with the fork arms and then supporting them on the ground with the support components. The telescopic module is used to drive the fork module to move back and forth on the horizontal plane, thereby causing the fork arms to extend to insert goods or retract after inserting goods. The moving module achieves three-point support through the first support moving component, the second support moving component, and the third support moving component, which provides high stability. This utility model uses the fork module to extend the fork arms into the bottom of vehicles such as zigzag pallets and grid pallets for transport. The moving module can rotate in place, making it suitable for transporting goods in narrow aisles. The fork module achieves vertical lifting through the telescopic module, and can be inserted into the bottom of the vehicle or pallet to lift the vehicle or pallet onto the AGV platform.

[0006] The drive module includes a drive motor, a transmission wheel assembly, and a conveyor belt wound around the transmission wheel assembly. Each transmission wheel of the transmission wheel assembly is connected to the output end of the drive motor. The fork support bracket is fixed to the conveyor belt via a connecting block. Therefore, the transmission belt is used to enable the fork support bracket to move relative to the vehicle body.

[0007] The support assembly includes a hydraulic cylinder, a first scissor unit connected to the output end of the hydraulic cylinder, and a second scissor unit that is pulsatorically connected to the first scissor unit. The hydraulic cylinder is fixedly connected to the bottom of the fork arm, and the tops of the first scissor unit and the second scissor unit are respectively hinged to the fork arm.

[0008] Both the first scissor lift unit and the second scissor lift unit include a support frame, a support plate, two sets of first fork arms and a second fork arm symmetrically arranged on the support plate. One end of each set of first fork arms is rotatably connected to the support frame via a first connecting rod, and the other end of each set of second fork arms is hinged to one end of the support plate and slidably engaged in a transverse groove. A third fork arm is hinged to the other end of the support plate, and a fourth fork arm is hinged to the third fork arm. The fourth fork arm is rotatably connected to the support frame via a second connecting rod. A first transverse sliding groove is provided on the support frame, and the first connecting rod is slidably disposed on the first transverse sliding groove.

[0009] The fork support base includes a base plate and two sets of telescopic supports connected to the base plate. Each telescopic support has vertically arranged guide grooves on its two inner sidewalls. A guide wheel seat is provided at the end of the fork arm, and at least one set of guide wheels is provided on each side of the guide wheel seat. The guide wheels are slidably engaged within the guide grooves. Therefore, the slidable engagement of the guide wheels with the guide grooves guides the fork arm as it is raised and lowered on the telescopic support by the support assembly.

[0010] A spring plate is inclinedly mounted above the fork arm on the guide wheel seat, and a positioning sensor is mounted on the rear side of the spring plate. Therefore, the spring plate is compressed upon contact with the goods, thereby enabling positioning detection via the positioning sensor.

[0011] The inner side of the vehicle head is provided with a receiving groove that is adapted to the fork support seat. A support frame is provided on the vehicle head. Antennas are provided on both sides of the support frame. Warning lights are provided on the outer side of the support frame. A radar is connected to the top of the support frame.

[0012] Both the first and second supporting moving components include a travel motor, drive wheels, a support arm plate, and casters fixed to the chassis. The casters are fixed to the bottom of the chassis via a fixed mounting base. The drive wheels are connected to the output end of the travel motor. One end of the support arm plate is connected to the fixed end of the travel motor, and the other end is connected to the fixed mounting base. The third supporting moving component includes a first auxiliary caster, a second auxiliary caster, and a bracket plate connecting the first and second auxiliary casters. Therefore, the travel motor drives the drive wheels to move the vehicle body, and the casters are used to assist in movement.

[0013] The chassis has recessed mounting grooves at its four corners, and obstacle avoidance sensors are installed in these grooves. Therefore, the obstacle avoidance sensors are used to achieve obstacle avoidance. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a structural schematic diagram from another perspective of the present invention; Figure 3 This is a bottom view of the present invention; Figure 4 This is a structural diagram of the forklift module; Figure 5 This is a structural schematic diagram of the forklift module from another perspective; Figure 6 This is a structural diagram of the supporting components; Figure 7 This is a structural diagram of the supporting components from another perspective; Figure 8 This is a structural schematic diagram of the first supporting moving component; Figure 9 This is a schematic diagram of the extended fork module structure; Figure 10 This is a schematic diagram of the lifting structure of the forklift module. Detailed Implementation

[0015] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0016] like Figures 1 to 10 As shown, this utility model is a hidden AGV forklift, with a vehicle body 1, including a chassis 11 and a front end 12 connected to the chassis 11, for carrying goods to be transported. The fork module includes a fork support base 3, two sets of fork arms 4 arranged parallel to each other on the fork support base 3, and a support assembly 5 disposed at the bottom of the fork arms 4. The fork support base 3 is housed in the front of the vehicle 12, and the fork arms 4 are housed in the through groove 111 of the chassis 11. The ends of the fork arms 4 slide in the vertical direction with the fork support base 3, and are used to lift the goods by driving the two sets of fork arms 4 through the support assembly 5. The telescopic module includes a drive module 6 connected to the bottom of the chassis 11, and the fork support 3 is connected to the output end of the drive module 6, which is used to drive the fork module to move back and forth on the horizontal plane. The mobile module includes a first support moving component 13, a second support moving component 14, and a third support moving component 15 disposed at the bottom of the vehicle body 1. The first support moving component 13 and the second support moving component 14 are disposed parallel to each other on both sides of the bottom of the chassis 11. The third support moving component 15 is disposed on the adjacent side of the first support moving component 13 and is used to drive the vehicle body 1 to move. In this embodiment, a plastic anti-collision strip is installed on the outer side wall of the vehicle body 1. The chassis 11 includes three parallel protrusions, and a through groove 111 is provided between adjacent protrusions. A guide rail is provided on the inner side of the protrusions, and the fork arm 4 slides with the guide rail.

[0017] In this embodiment, the present invention uses a fork module to transport vehicles such as zigzag pallets and grid pallets by extending the fork arms 4 into the bottom of the vehicle; the movable module can rotate in place, making it suitable for transporting in narrow aisles; the fork module adopts an E-shaped structure, so that after it is inserted into the bottom of the vehicle or pallet, the telescopic module drives the fork arms 4 to move up and down, thereby lifting the vehicle or pallet onto the AGV platform.

[0018] The drive module 6 includes a drive motor 61, a transmission wheel set 62, and a conveyor belt 63 wound around the transmission wheel set 62. Any transmission wheel 621 of the transmission wheel set 62 is connected to the output end of the drive motor 61. The fork support seat 3 is fixed to the conveyor belt 63 via a connecting block 64. In this embodiment, the bottom of the base plate 31 is provided with a connecting hole adapted to the connecting block 64. The transmission wheel set 62 includes a drive wheel and a driven wheel connected to the drive wheel via the transmission belt 63. When the drive module 6 drives the fork module, the drive motor 61 drives the drive wheel in the transmission wheel set 62 to rotate. The drive wheel drives the driven wheel to rotate via the transmission belt 63. The transmission belt 63 drives the fork arm 4 on the fork support seat 3 to extend and pick up goods via the connecting block 64.

[0019] The support assembly 5 includes a hydraulic cylinder 51, a first scissor unit 52 connected to the output end of the hydraulic cylinder 51, and a second scissor unit 53 drivenly connected to the first scissor unit 52. The hydraulic cylinder is fixedly connected to the bottom of the fork arm 4. The tops of the first scissor unit 52 and the second scissor unit 53 are respectively hinged to the fork arm 4. Both the first scissor unit 52 and the second scissor unit 53 include a support frame 521, a support plate 522, two sets of first fork arms 523 and second fork arms 524 symmetrically arranged on the support plate 522. One end of each set of first fork arms 523 is connected to a first... The connecting rod 525 is rotatably connected to the support frame 521, and one end of the second fork arm 524 is hinged to the other end. The other end of the second fork arm 524 is hinged to one end of the support plate 522 and slidably engaged in the transverse groove 520 on the support plate 522. The other end of the support plate 522 is hinged to a third fork arm 526, and the third fork arm 526 is hinged to a fourth fork arm 527. The fourth fork arm 527 is rotatably connected to the support frame 521 through the second connecting rod 528. The support frame 521 is provided with a first transverse sliding groove 529, and the first connecting rod 525 is slidably disposed on the first transverse sliding groove 529.

[0020] The fork support base 3 includes a base plate 31 and two sets of telescopic supports 32 connected to the base plate 31. Each of the two inner sidewalls of the telescopic supports 32 has a vertically arranged guide groove 321. A guide wheel seat 7 is provided at the end of the fork arm 4. At least one set of guide wheels 71 is provided on each side of the guide wheel seat 7, and the guide wheels 71 are slidably engaged within the guide groove 321. In this embodiment, two guide wheels 71 are vertically arranged on each side of the guide wheel seat 7. The guide wheels 71 move up and down within the guide groove 321 to guide the movement of the support assembly 5 along the Z-axis when it is supported on the ground.

[0021] The guide wheel seat 7 is inclinedly provided with a spring plate 72 above the fork arm 4, and a positioning sensor is provided on the rear side of the spring plate 72. In this embodiment, the spring plate 72 corresponds to the positioning sensor, and the guide wheel seat 7 is provided with a through hole for connecting to the positioning sensor.

[0022] The inner side of the front of the vehicle 12 is provided with a receiving groove that is adapted to the fork support seat 3. A support frame 10 is provided on the front of the vehicle 12. Antennas 101 are provided on both sides of the support frame 10. A warning light 103 is provided on the outer side of the support frame 10. A radar 104 is connected to the top of the support frame 10. The four corners of the chassis 11 are recessed with mounting grooves 121. Obstacle avoidance sensors 18 are installed in the mounting grooves 121.

[0023] Both the first supporting moving assembly 13 and the second supporting moving assembly 14 include a walking motor 131, a drive wheel 132, a support arm plate 133, and a caster wheel 134 fixed to the chassis 11. The caster wheel 134 is fixed to the bottom of the chassis 11 by a fixed mounting base 135. The drive wheel 132 is connected to the output end of the walking motor 131. One end of the support arm plate 133 is connected to the fixed end of the walking motor 131, and the other end is connected to the fixed mounting base 135. The third supporting moving assembly 15 includes a first auxiliary caster wheel 151, a second auxiliary caster wheel 152, and a bracket plate 153 connecting the first auxiliary caster wheel 151 and the second auxiliary caster wheel 152. In this embodiment, the drive wheel 132 on the first supporting moving assembly 13 and the second supporting moving assembly 14 is used to drive the vehicle body 1 to move on the ground.

[0024] The working process of this utility model is as follows: The moving module moves the vehicle body 1 to the pallet to be inserted. The telescopic module 6 drives the transmission wheel set 62 to rotate through the drive motor 61. The transmission belt 63 wound on the transmission wheel set 62 drives the two sets of parallel fork arms 4 on the fork connecting seat 3 to be inserted into the grid pallet through the insertion hole of the grid pallet through the connecting block 64. The support component 5 extends out through the gap between the grid pallet crossbeams. With the ground as the support point, the first scissor unit 52 and the second scissor unit 53 are driven to unfold through the hydraulic cylinder 51, so that the angle between the first fork arm 523 and the second fork arm 524 increases and the fork arm 4 is lifted, so that the grid pallet is lifted. The telescopic module 6 drives the goods on the grid pallet to retract. The support component 5 is reset until the fork arm 4 is flush with the chassis 11, so that the lifted grid pallet is placed on the vehicle body 1. The moving module drives the vehicle body 1 to transport the goods to the designated location.

[0025] Finally, it should be emphasized that the above description is not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A stealthy AGV forklift, characterized in that, include: The vehicle body (1) includes a chassis (11) and a cab (12) connected to the chassis (11) for carrying goods to be transported; The fork module includes a fork support base (3), two sets of fork arms (4) arranged parallel to the fork support base (3), and a support assembly (5) disposed at the bottom of the fork arms (4). The fork support base (3) is housed in the front of the vehicle (12), and the fork arms (4) are housed in the through groove (111) of the chassis (11). The ends of the fork arms (4) slide in the vertical direction with the fork support base (3) and are used to lift the goods by driving the two sets of fork arms (4) through the support assembly (5). The telescopic module includes a drive module (6) connected to the bottom of the chassis (11), and the fork support seat (3) is connected to the output end of the drive module (6) to drive the fork module to move forward and backward on the horizontal plane; The mobile module includes a first support mobile component (13), a second support mobile component (14) and a third support mobile component (15) disposed at the bottom of the vehicle body (1). The first support mobile component (13) and the second support mobile component (14) are disposed parallel to each other on both sides of the bottom of the chassis (11). The third support mobile component (15) is disposed on the adjacent side of the first support mobile component (13) and is used to drive the vehicle body (1) to move.

2. The lurking AGV forklift according to claim 1, characterized in that: The drive module (6) includes a drive motor (61), a transmission wheel set (62), and a conveyor belt (63) wound around the transmission wheel set (62). Any transmission wheel (621) of the transmission wheel set (62) is connected to the output end of the drive motor (61), and the fork support seat (3) is fixed on the conveyor belt (63) by a connecting block (64).

3. The lurking AGV forklift according to claim 1, characterized in that: The support assembly (5) includes a hydraulic cylinder (51), a first scissor unit (52) connected to the output end of the hydraulic cylinder (51), and a second scissor unit (53) that is pulsatorically connected to the first scissor unit (52). The hydraulic cylinder is fixedly connected to the bottom of the fork arm (4), and the tops of the first scissor unit (52) and the second scissor unit (53) are respectively hinged to the fork arm (4).

4. A stealthy AGV forklift according to claim 3, characterized in that: Both the first scissor lift unit (52) and the second scissor lift unit (53) include a support frame (521), a support plate (522), two sets of first fork arms (523) and second fork arms (524) symmetrically arranged on the support plate (522). One end of each set of first fork arms (523) is rotatably connected to the support frame (521) via a first connecting rod (525), and the other end is hinged to one end of the second fork arm (524). The other end of the second fork arm (524) is connected to the support plate. One end of the support plate (522) is hinged and slidably fitted in the transverse groove (520). The other end of the support plate (522) is hinged to a third fork arm (526). The third fork arm (526) is hinged to a fourth fork arm (527). The fourth fork arm (527) is rotatably connected to the support frame (521) through a second connecting rod (528). The support frame (521) is provided with a first transverse sliding groove (529). The first connecting rod (525) is slidably disposed on the first transverse sliding groove (529).

5. A stealthy AGV forklift according to claim 2, characterized in that: The fork support base (3) includes a base plate (31) and two sets of telescopic supports (32) connected to the base plate (31). The telescopic supports (32) have guide grooves (321) vertically arranged on both inner side walls. The fork arm (4) is provided with a guide wheel seat (7). At least one set of guide wheels (71) is provided on both sides of the guide wheel seat (7). The guide wheels (71) slide in the guide groove (321).

6. A stealthy AGV forklift according to claim 5, characterized in that: The guide wheel seat (7) is inclinedly provided with a spring plate (72) above the fork arm (4), and a positioning sensor is provided on the rear side of the spring plate (72).

7. A stealthy AGV forklift according to claim 1, characterized in that: The inner side of the front (12) is provided with a receiving groove that is adapted to the fork support seat (3). The front (12) is provided with a support frame (10). Antennas (101) are provided on both sides of the support frame (10). Warning lights (103) are provided on the outer side of the support frame (10). A radar (104) is connected to the top of the support frame (10).

8. A stealthy AGV forklift according to claim 1, characterized in that: The first support moving assembly (13) and the second support moving assembly (14) both include a walking motor (131), a drive wheel (132), a support arm plate (133), and a caster wheel (134) fixed on the chassis (11). The caster wheel (134) is fixed to the bottom of the chassis (11) by a fixed mounting base (135). The drive wheel (132) is connected to the output end of the walking motor (131). One end of the support arm plate (133) is connected to the fixed end of the walking motor (131), and the other end is connected to the fixed mounting base (135). The third support moving assembly (15) includes a first auxiliary caster wheel (151), a second auxiliary caster wheel (152), and a bracket plate (153) connected between the first auxiliary caster wheel (151) and the second auxiliary caster wheel (152).

9. A hidden AGV forklift according to claim 1, characterized in that: The chassis (11) has recessed mounting grooves (121) at its four corners, and obstacle avoidance sensors (18) are installed in the mounting grooves (121).

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