A hydraulic automatic folding mechanism for AGV forks

Abstract

This utility model relates to the field of automated guided vehicles (AGVs), and more particularly to a hydraulic automatic folding mechanism for AGV forks. It includes a base mounted on the AGV body and fork arms hinged to the base, the fork arms being capable of flipping and folding relative to the base. Its key feature is that it further includes a hydraulic drive unit and a position detection unit. The hydraulic drive unit includes at least one drive cylinder and a control valve assembly. The cylinder body of the drive cylinder is hinged to the base, and its piston rod end is hinged to the fork arm. The control valve assembly is connected to the drive cylinder via an oil circuit. The position detection unit includes a first sensor positioned along the rotation path of the fork arm for detecting the folded and unfolded positions of the fork arm. This solution has the advantages of compact structure, high degree of automation, and real-time monitoring of the fork status.

Description

Technical Field

[0001] This utility model relates to the field of automated guided vehicles (AGVs), and in particular to a hydraulic automatic folding mechanism for AGV forks. Background Technology

[0002] With the rapid development of logistics automation technology, Automated Guided Vehicles (AGVs) are increasingly widely used in warehousing, workshops, and special freight scenarios (such as inside railway freight cars). In these applications, material handling operations often need to be carried out in narrow, confined spaces, which places extremely high demands on the mobility and operational flexibility of AGVs. Especially when operating in extremely confined spaces such as railway freight cars and containers, AGVs not only need good maneuverability but also the ability to precisely control the unfolding and folding of the forks to achieve efficient and safe material handling.

[0003] Traditional AGV forklifts typically feature fixed or simply manually adjustable forks. This design has significant limitations: when navigating narrow spaces like train carriages, the fixed width of the forks results in an excessively large turning radius for the AGV, hindering its ability to turn flexibly and operate close to side walls. This not only reduces operational efficiency but can also lead to collisions due to insufficient space. Furthermore, fixed forks occupy a considerable amount of space when not in use, making it difficult for the AGV to move and store in narrow passageways.

[0004] To address this issue, several foldable fork designs have emerged in the existing technology. These solutions primarily achieve fork folding through manual operation or simple mechanical linkage mechanisms. While this reduces storage space during non-operational periods to some extent, it still has several shortcomings. First, the folding and unfolding actions typically require manual intervention, failing to meet the demands of fully automated AGV operations, which contradicts the trend of modern logistics automation. Second, these designs lack automatic fork position detection and feedback functions. The control system cannot accurately and in real-time determine the actual state of the forks (whether they are folded or unfolded), posing not only operational safety hazards but also hindering precise automated process control. Furthermore, existing folding mechanisms often lack comprehensive monitoring capabilities for the fork's working status, such as detecting whether the forks have touched obstacles or whether the goods have reached the correct picking position. This further limits their application in complex operating environments. Summary of the Invention

[0005] To address the aforementioned problems, the purpose of this invention is to provide a hydraulic automatic folding mechanism for AGV forks, which has the advantages of compact structure, high degree of automation, and real-time monitoring of fork status.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This application provides a hydraulic automatic folding mechanism for AGV forks, the technical solution of which is as follows: It includes a base mounted on the AGV body and fork arms hinged to the base, the fork arms being capable of flipping and folding relative to the base; its key feature is that it further includes a hydraulic drive unit and a position detection unit; the hydraulic drive unit includes at least one drive cylinder and a control valve assembly, the cylinder body end of the drive cylinder is hinged to the base, its piston rod end is hinged to the fork arm, and the control valve assembly is connected to the drive cylinder via an oil circuit; the position detection unit includes a first sensor mounted on the rotation path of the fork arm for detecting the folding and unfolding positions of the fork arm.

[0008] Furthermore, this application also proposes that the control valve assembly is an electromagnetic control valve assembly, and is fixedly installed on the base or AGV body.

[0009] Furthermore, this application also proposes that the first sensor is a proximity switch or an angle sensor, which is fixedly installed on the base; and that a trigger element that cooperates with the first sensor is provided on the fork arm.

[0010] Furthermore, this application also proposes that the inner end of the fork arm is hinged to the base via an L-shaped rocker arm; one end of the L-shaped rocker arm is fixedly connected to the inner end of the fork arm, and the other end is hinged to the base; the piston rod end of the drive cylinder is hinged to the rod body of the L-shaped rocker arm.

[0011] Furthermore, this application also proposes to include a second sensor for detecting whether the goods have reached the correct forklift position; the second sensor is disposed on an L-shaped rocker arm or fork arm on one side and is connected to a baffle mechanism that can be touched by the goods.

[0012] Furthermore, this application also proposes to include a third sensor for detecting whether the fork tip touches an obstacle; the third sensor is a contact or photoelectric sensor with a buffer rebound structure, disposed at the front end of the fork arm.

[0013] Furthermore, this application also proposes that it includes a built-in side shifter; two independent fork assemblies are fixedly mounted on the built-in side shifter, each fork assembly including a base, fork arms, a hydraulic drive unit and a position detection unit.

[0014] Furthermore, this application also proposes to include a fourth sensor for detecting the lateral displacement position of the built-in side shifter; the pull wire end of the fourth sensor is fixed to the moving part of the built-in side shifter through sensor bracket II, and its main body is fixed to the fork carriage through sensor bracket I.

[0015] Furthermore, this application also proposes that a retaining shelf be provided on the built-in side-shifting frame.

[0016] As can be seen from the above, the hydraulic automatic folding mechanism for AGV forks and its built-in side shift frame provided in this application realize the automatic folding and unfolding of the fork arm through the hydraulic drive unit, and combined with the position detection unit to provide real-time feedback on the fork status, which solves the problems of poor maneuverability and low degree of automation of traditional fixed forks in narrow spaces. It has the advantages of compact structure, safe operation and adaptability to complex working environments. Attached Figure Description

[0017] Figure 1 This application provides a schematic diagram of a hydraulic automatic folding mechanism for AGV forks.

[0018] Figure 2 This is a rear perspective view of a hydraulic automatic folding mechanism provided for this application.

[0019] Figure 3 This is a bottom perspective view of a hydraulic automatic folding mechanism provided in this application.

[0020] Figure 4 This is a schematic diagram of a gantry structure for a hydraulic automatic folding mechanism with AGV forks.

[0021] Figure 5 This is a diagram showing the forklift forks in the extended position.

[0022] Figure 6 This is a diagram showing the forklift forks in the extended position. Detailed Implementation

[0023] 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 intended to explain this utility model, and should not be construed as limiting this utility model.

[0024] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation 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.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0026] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0027] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0028] In existing technologies, when automated guided vehicles (AGVs) operate in confined spaces, the operation of traditional fixed forks is limited due to their large turning radius. Current foldable fork designs mostly rely on manual operation or simple mechanical linkages, resulting in low automation levels and a lack of position feedback, failing to meet the demands of unmanned operations. For example, in scenarios involving material handling inside train carriages, operators need to frequently adjust the fork positions and cannot confirm the fork's location in real time, easily leading to safety hazards.

[0029] To address these issues, researchers found that manual folding mechanisms were unsuitable for automated process control requirements, while mechanical linkage drives suffered from insufficient driving force and poor positioning accuracy. By analyzing the high-load characteristics and displacement controllability of hydraulic systems, they proposed using hydraulic drives to replace mechanical transmission. Furthermore, to address blind spots in position recognition, they considered incorporating detection devices along the rotation path to create a closed-loop control logic.

[0030] like Figure 1-6As shown, this application proposes a hydraulic automatic folding mechanism for AGV forks, which includes a base 2, fork arms 3, a hydraulic drive unit, and a position detection unit. The base 2 is fixed to the vehicle body 1, and the fork arms 3 achieve folding action through a hinge structure. The hydraulic drive unit includes a drive cylinder 4 and a control valve group, which are connected by an oil circuit to achieve hydraulic drive. The position detection unit includes a first sensor 6 set on the rotation path for identifying the folded and unfolded states.

[0031] The system comprises the following components: Base 2 (fixed structure supporting fork arm 3), which can be implemented using a welded steel plate frame to provide a stable mounting base for fork arm 3; Fork arm 3 (load-bearing component for material handling), which can be formed into a fork-like structure by profile processing, with its hinge point designed near base 2 for rotational folding; Drive cylinder 4 (hydraulic actuator), which can be implemented using a double-acting hydraulic cylinder, with both ends hinged to base 2 and fork arm 3 respectively, driving rotational movement through piston rod extension and retraction; Control valve group (hydraulic system control unit), which can be implemented using a combination of solenoid directional valve and pressure regulating valve, used for precise control of oil flow direction and flow rate; and First sensor 6 (position detection device), which can be implemented using a Hall sensor in conjunction with a magnetic trigger 7, installed at a key position in the relative movement trajectory of base 2 and fork arm 3. Specifically, when the control system issues a folding command, the control valve group switches the oil circuit to retract drive cylinder 4, causing fork arm 3 to rotate around the hinge axis towards base 2. During the movement, when the trigger 7 on fork arm 3 passes the detection area of ​​first sensor 6, the sensor feeds back the position signal to the control system. When the fork arm 3 reaches the preset folding angle, the control valve group closes the oil circuit to maintain the position locked. During the unfolding operation, the control valve group reverses the oil supply to extend the drive cylinder 4, pushing the fork arm 3 to unfold to the working position. At this time, another set of sensor contacts is triggered to confirm the unfolded state. This process forms a closed-loop control circuit through real-time interaction between hydraulic drive and position detection.

[0032] Compared to existing technologies, traditional manual folding mechanisms require manual intervention, while this solution achieves fully automatic control through the integration of a hydraulic system and automatic detection. Existing mechanically driven folding devices suffer from insufficient driving force, leading to jamming. This solution, using hydraulic drive, provides greater pushing and pulling force, adapting to heavy-duty conditions. Compared to simple structures without position feedback, this solution uses a first sensor 6 to detect and achieve real-time monitoring of the operating status, effectively avoiding the risk of misoperation. Through the above technical solutions, this application achieves automated control of the fork folding action, solving the problem of low efficiency in manual operation, and is suitable for AGV vehicles.

[0033] In a further embodiment, the control valve assembly is an electromagnetic control valve assembly, fixedly mounted on the base 2 or the AGV body 1. The electromagnetic control valve assembly refers to a hydraulic control component that drives the valve core through an electromagnetic coil. Specifically, it can be implemented using a combination of a three-position four-way electromagnetic directional valve and a pressure compensation valve, capable of switching the oil circuit direction and adjusting the flow rate according to electrical signal commands. Fixed mounting on the base 2 or the AGV body 1 means fixing the electromagnetic control valve assembly to the rigid support surface of the fork base 2 or the electrical control area of ​​the AGV body 1 by bolts or welding. This can be achieved using a mounting bracket with shock-absorbing pads to prevent the valve assembly from loosening due to vibration. Specifically, after receiving an electrical signal from the AGV control system, the electromagnetic control valve assembly changes the hydraulic oil flow direction by switching the position of the internal valve core, thereby controlling the extension and retraction of the drive cylinder 4. During the fork folding process, the electromagnetic control valve assembly dynamically adjusts the cylinder movement speed by receiving feedback signals from the position detection unit in real time, ensuring a smooth transition of the fork arm 3 between the extended and folded positions.

[0034] In a further embodiment, the first sensor 6 is a limit switch, proximity switch, or angle sensor, which is fixedly mounted on the base 2; the fork arm 3 is provided with a trigger 7 that cooperates with the first sensor 6.

[0035] The limit switch detects the trigger signal through physical contact. The proximity switch is a sensor that detects the approach of a metal object using electromagnetic induction; it can be implemented using inductive or capacitive proximity switches. Its function is to trigger the signal without physical contact, avoiding mechanical wear. The angle sensor is a device that outputs an electrical signal by measuring the rotation angle; it can be implemented using a rotary encoder or potentiometer sensor. Its function is to directly acquire the rotation angle data of the fork arm 3 to determine its position. The base 2 is a support structure fixedly connected to the AGV body 1; it can be manufactured using steel plate welding or casting processes. Its function is to provide a stable mounting reference for the first sensor 6, preventing the detection reference from shifting due to the movement of the fork arm 3. The trigger element 7 is a physical structure that matches the detection principle of the first sensor 6; it can be implemented using a part of the fork arm 3, a metal protrusion, a magnet, or an encoder disk. Its function is to form a directional fit with the first sensor 6, ensuring that the signal is triggered only when the fork arm 3 reaches a preset position. Specifically, when the fork arm 3 rotates around the base 2, a limit switch, proximity switch, or angle sensor fixed on the base 2 continuously monitors the position of the fork arm 3. The limit switch is activated by contact with a metal protrusion on the fork arm 3; the proximity switch outputs an electrical signal when the metal component of the trigger 7 enters its detection range; and the angle sensor generates position data by measuring the rotation angle of the fork arm 3. The position of the trigger 7 is calibrated so that when the fork arm 3 reaches the fully folded or unfolded position, the trigger 7 is precisely within the effective detection area of ​​the first sensor 6. After the signal from the first sensor 6 is transmitted to the control system, logical judgment is used to determine the actual position of the fork arm 3, thereby controlling the hydraulic drive unit to stop operating.

[0036] like Figure 1-3As shown, the inner end of the fork arm 3 is hinged to the base 2 via an L-shaped rocker arm 9. One end of the L-shaped rocker arm 9 is fixedly connected to the inner end of the fork arm 3, and the other end is hinged to the base 2. The piston rod end of the drive cylinder 4 is hinged to the rod body of the L-shaped rocker arm 9. The L-shaped rocker arm 9 is a rigid connecting piece with two mutually perpendicular arm segments. It can be implemented using welding or a one-piece metal component. Its bending angle can be adjusted according to the folding trajectory of the fork arm 3 to change the position of the rotation axis of the fork arm 3. The rod body hinge means that the piston rod end of the drive cylinder 4 forms a hinge point with the middle area of ​​the L-shaped rocker arm 9. This can be achieved using a pin connection to convert the linear motion of the cylinder into the rotational motion of the L-shaped rocker arm 9. The fixed connection means that there is no relative movement between the L-shaped rocker arm 9 and the inner end of the fork arm 3. This can be achieved using bolt fastening or welding to ensure that the fork arm 3 and the L-shaped rocker arm 9 rotate synchronously. Specifically, the fork arm 3 forms a double-hinged structure with the base 2 via an L-shaped rocker arm 9. When the drive cylinder 4 pushes the piston rod to extend or retract, the piston rod end acts on the body of the L-shaped rocker arm 9, causing the L-shaped rocker arm 9 to rotate around the hinge point of the base 2. Since the fork arm 3 is fixedly connected to the L-shaped rocker arm 9, the rotational motion of the L-shaped rocker arm 9 is directly converted into the flipping motion of the fork arm 3. During this process, the leverage effect of the L-shaped rocker arm 9 amplifies the driving torque of the cylinder, and the separation design of the rotation axis of the fork arm 3 from the hinge point of the base 2 optimizes the spatial adaptability of the folding path. The position detection unit indirectly obtains the position information of the fork arm 3 by detecting the rotation angle of the L-shaped rocker arm 9, and the fixed transmission ratio between the L-shaped rocker arm 9 and the fork arm 3 ensures the detection accuracy. Through the above technical solution, this application solves the problem of poor motion stability caused by unreasonable hinge structure during the folding process of the fork arm 3, reduces the hydraulic drive load through the leverage effect of the L-shaped rocker arm 9, and achieves precise angle control by utilizing the rigid connection between the L-shaped rocker arm 9 and the fork arm 3. The position detection unit indirectly obtains the fork position by detecting the rotation angle of the L-shaped rocker arm 9, avoiding the potential accumulation of installation errors that may occur when directly detecting the fork end. The double hinge structure between the fork arm 3 and the base 2 disperses the stress distribution under load, extending the service life of the mechanism.

[0037] In addition, the solution includes a second sensor 117 for detecting whether the goods have reached the correct forklift position. The second sensor 117 is mounted on an L-shaped rocker arm 9 or fork arm 3 on one side and is connected to a baffle mechanism that can be touched by the goods. The second sensor 117 is a detection device for sensing the contact state between the goods and the forks. It can be implemented using a photoelectric sensor or a contact sensor, generating an electrical signal by detecting changes in the displacement of the baffle mechanism. The baffle mechanism is a mechanical triggering device that can be touched by the goods. It can be implemented using a combination of a spring-return baffle and a linkage mechanism. When the goods contact the baffle, it pushes the linkage to trigger the second sensor 117. Specifically, when the forks perform a forklift action, the goods contact the fork arm 3 and push the baffle mechanism to produce displacement. The baffle mechanism triggers the second sensor 117 through mechanical linkage, and the second sensor 117 transmits the detection signal to the control system. The control system determines whether the goods have reached the preset forklift position based on this signal. If not, it continues to adjust the fork posture; if they have reached the position, it stops the action and locks the fork state. This process uses mechanical triggering and electrical signal feedback to form a closed-loop control, ensuring that the goods are accurately picked up and placed in the target position. Through the above technical solution, this application achieves automated detection and closed-loop control of the goods picking position, effectively eliminating the risk of picking failure or goods falling due to goods deviation, and ensuring that the AGV completes high-precision handling operations in confined spaces.

[0038] In addition, a third sensor 115 is included to detect whether the fork tip touches an obstacle. The third sensor 115 is a contact or photoelectric sensor with a buffer rebound structure, installed at the front end of the fork arm 3. Specifically, the third sensor 115 is a detection device installed at the front end of the fork arm 3 to detect physical contact or optical signals. It can be implemented using a microswitch or photoelectric switch with an elastic reset structure, triggering a signal output when the fork tip contacts an obstacle. The buffer rebound structure is a mechanical component with elastic deformation capability, specifically implemented using a spring-supported contact rod or a flexible mounting base, used to absorb collision impacts and maintain the structural integrity of the third sensor 115. The contact or photoelectric sensor refers to a detection method based on physical contact or optical principles, specifically implemented using a limit switch with a trigger rod or an infrared beam sensor, suitable for obstacle detection needs in different operating environments. Specifically, when the fork arm 3 moves in a confined space, the third sensor 115 monitors obstacles on the operating path in real time through its front-end mounting position. When the fork tip comes into physical contact with an obstacle, the contact sensor triggers an internal switch signal after the trigger rod is compressed. Simultaneously, the buffer rebound structure absorbs the impact force through spring deformation and automatically resets after contact is released. The photoelectric sensor generates a detection signal by blocking the optical path at the transmitter and receiver. The electrical signals output by both sensors are transmitted to the control system, triggering an emergency stop or path adjustment command, thereby preventing equipment damage or operational interruption caused by continuous collisions between the forks and obstacles.

[0039] like Figure 4As shown, this solution also includes a built-in side-shifting frame 11, on which two independent fork assemblies are fixedly mounted. Each fork assembly includes a base 2, fork arms 3, a hydraulic drive unit, and a position detection unit. The built-in side-shifting frame 11 is a laterally movable support frame, which can be implemented using a combination of linear guides and a drive motor. Its lateral displacement range can be set according to the width limitations of the AGV's operating scenario, used to adjust the overall lateral position of the two fork assemblies. The two independent fork assemblies mean that each fork assembly has complete folding drive and status detection functions, which can be implemented using a split hydraulic circuit and independent sensor layout, allowing the two forks to perform folding or unfolding actions separately. Specifically, the built-in side-shifting frame 11 is connected to the AGV body 1 through a lateral movement mechanism. When operating in narrow spaces, the two fork assemblies can simultaneously retract inward to reduce the overall width, thereby reducing the AGV's turning radius. When close-to-side-wall operation is required, the built-in side-shift bracket 11 can drive the entire fork assembly to extend outward, ensuring that the fork arms 3 reach the designated working position. The hydraulic drive unit of each fork assembly independently controls the folding action of the corresponding fork arm 3, and the position detection unit provides real-time feedback on the unfolded or folded state of the fork arm 3. The actions of the two fork assemblies can be executed synchronously or asynchronously according to the operation requirements.

[0040] Furthermore, it also includes a fourth sensor 16 for detecting the lateral displacement position of the built-in side shifter 11; the pull wire end of the fourth sensor 16 is fixed to the moving part of the built-in side shifter 11 through the sensor bracket II 25, and its main body is fixed to the fork carriage 13 through the sensor bracket I 24.

[0041] The fourth sensor 16 is a device that detects the movement of the built-in side-shifting frame 11 using the principle of wire displacement measurement. Specifically, it can be implemented using a wire encoder or a wire potentiometer, and the wire extension / retraction directly reflects the displacement distance of the built-in side-shifting frame 11. Sensor bracket II 25 is an installation structure used to fix the wire end of the fourth sensor 16 to the moving part of the built-in side-shifting frame 11. Specifically, it can be implemented using a metal bracket with locking bolts to ensure a rigid connection between the wire end and the moving part. Sensor bracket I 24 is an installation structure used to fix the body of the fourth sensor 16 to the stationary part of the fork carriage 13. Specifically, it can be implemented using a welded or bolted L-shaped bracket to form a stable reference between the body of the fourth sensor 16 and the fork carriage 13. The fork carriage 13 is a fixed frame structure that supports the built-in side-shifting frame 11 and the fork assembly. Specifically, it can be implemented using a rectangular frame welded from steel plates, serving as a static reference for side-movement. In detail, when the built-in side-shifting frame 11 performs side-movement, its moving part drives the sensor bracket II 25 to move synchronously, and the wire end of the fourth sensor 16 subsequently extends or retracts. Since the main body of the fourth sensor 16 is fixed to the stationary part of the fork carriage 13 via sensor bracket I 24, the change in the length of the pull wire is converted into an electrical signal and transmitted to the control system. This signal is compared with a preset lateral displacement threshold in real time. When the displacement exceeds the allowable range, the control system immediately triggers a shutdown protection action. The separate installation method of sensor bracket I 24 and sensor bracket II 25 ensures that there is no direct mechanical interference between the dynamic moving part and the static reference part, avoiding measurement deviations caused by vibration or assembly errors.

[0042] In addition, a stop rack 15 is added to the built-in side shift rack 11, and the stop rack 15 is located on the rear side of the forks.

[0043] The built-in side-shift frame 11 refers to a laterally movable frame structure that supports two independent fork assemblies. Specifically, it can be implemented using a metal frame with guide rails and a drive motor. Its function is to provide lateral movement for the fork assemblies to accommodate goods of different widths. The stop 15 refers to a limiting component perpendicular to the rear side of the fork arm 3. Specifically, it can be implemented using an adjustable-height metal rod or a folding fence structure. Its function is to physically restrain the displacement of the goods during lateral movement. Specifically, when the forks pick up goods, the stop 15, through its vertically mounted rigid structure, directly contacts the rear end face of the goods, forming a mechanical limiting barrier. This ensures that when the bottom of the goods is lifted by the fork arm 3, its end face contacts and restrains the goods with the stop 15. This passive protection method does not rely on sensors to detect the position of the goods; it maintains the stability of the goods during movement solely through structural interference.

[0044] In summary, the hydraulic automatic folding mechanism for AGV forks and its built-in side shifter 11 provided in this application realize the automatic folding and unfolding of the fork arms 3 through the hydraulic drive unit, and combined with the position detection unit to provide real-time feedback on the fork status, which solves the problems of poor maneuverability and low degree of automation of traditional fixed forks in narrow spaces. It has the advantages of compact structure, safe operation and adaptability to complex working environments.

[0045] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. 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.

[0046] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. A hydraulic automatic folding mechanism for AGV forks, comprising a base (2) disposed on an AGV body (1), and fork arms (3) hinged to the base (2), wherein the fork arms (3) are capable of flipping and folding relative to the base (2); characterized in that: It also includes a hydraulic drive unit and a position detection unit; The hydraulic drive unit includes at least one drive cylinder (4) and a control valve group. The cylinder body end of the drive cylinder (4) is hinged to the base (2), and its piston rod end is hinged to the fork arm (3). The control valve group is connected to the drive cylinder (4) through an oil circuit. The position detection unit includes a first sensor (6) disposed on the rotation path of the fork arm (3) for detecting the folded position and unfolded position of the fork arm (3).

2. The hydraulic automatic folding mechanism for AGV forks according to claim 1, characterized in that: The control valve group is an electromagnetic control valve group and is fixedly installed on the base (2) or the AGV body (1).

3. The hydraulic automatic folding mechanism for AGV forks according to claim 1, characterized in that: The first sensor (6) is a limit switch, proximity switch or angle sensor, which is fixedly installed on the base (2); the fork arm (3) is provided with a trigger (7) that cooperates with the first sensor (6).

4. The hydraulic automatic folding mechanism for AGV forks according to claim 1, characterized in that: The inner end of the fork arm (3) is hinged to the base (2) via an L-shaped rocker arm (9); one end of the L-shaped rocker arm (9) is fixedly connected to the inner end of the fork arm (3), and the other end is hinged to the base (2); the piston rod end of the drive cylinder (4) is hinged to the rod body of the L-shaped rocker arm (9).

5. The hydraulic automatic folding mechanism for AGV forks according to claim 4, characterized in that: It also includes a second sensor (117) for detecting whether the goods have reached the correct fork position; the second sensor (117) is disposed on the L-shaped rocker arm (9) or the fork arm (3) on one side and is connected to a baffle mechanism that can be touched by the goods.

6. The hydraulic automatic folding mechanism for AGV forks according to claim 1, characterized in that: It also includes a third sensor (115) for detecting whether the front end of the fork touches an obstacle; the third sensor (115) is a contact or photoelectric sensor with a buffer rebound structure, and is located at the front end of the fork arm (3).

7. The hydraulic automatic folding mechanism for AGV forks according to claim 1, characterized in that: It also includes a built-in side shifter (11); two sets of independent fork assemblies are fixedly installed on the built-in side shifter (11), each set of fork assemblies includes the base (2), the fork arm (3), the hydraulic drive unit and the position detection unit.

8. The hydraulic automatic folding mechanism for AGV forks according to claim 7, characterized in that: It also includes a fourth sensor (16) for detecting the lateral displacement position of the built-in side shifter (11); the pull wire end of the fourth sensor (16) is fixed to the moving part of the built-in side shifter (11) through sensor bracket II (25), and its main body is fixed to the fork carriage (13) through sensor bracket I (24).

9. A hydraulic automatic folding mechanism for AGV forks according to claim 7 or 8, characterized in that: The built-in side-shifting frame (11) is also equipped with a baffle (15).

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