An AGV vehicle

Abstract

The utility model relates to an AGV dolly, including fork arm subassembly and AGV car body, the fork arm subassembly includes first fork plate, second fork plate and elevating subassembly, the second fork plate is located the top of first fork plate, first fork plate with second fork plate all are connected with elevating subassembly, elevating subassembly is used for adjusting the interval between first fork plate and second fork plate, one of first fork plate and second fork plate is provided with first guide surface, and the other is provided with first sliding block, be provided with second sliding block and second guide surface on the AGV car body.

Description

Technical Field

[0001] This utility model relates to the field of fork arm assemblies, and in particular to an AGV trolley. Background Technology

[0002] The forklift mainly consists of two parts: the fork arm assembly and the AGV body. During the cargo handling process, the fork arm assembly first lifts the cargo, then transfers the cargo to the AGV body, and finally suspends the fork arm assembly on the AGV body, so that the fork arm assembly and the cargo move together with the AGV body.

[0003] During the suspension of the forklift assembly onto the AGV body, a lifting assembly mounted on the AGV body is required to elevate the forklift assembly. Consequently, the AGV body needs at least two power sources: one to drive the AGV body horizontally, and the other to lift the forklift assembly. The different power sources require coordinated programming. Due to the large number of power sources on the AGV body, the coordination between them becomes difficult, resulting in a complex structural design for the AGV body. Utility Model Content

[0004] Therefore, it is necessary to provide an AGV vehicle that addresses the issue of having a large number of power sources for the AGV vehicle body.

[0005] An AGV (Automated Guided Vehicle) includes a fork arm assembly and an AGV body;

[0006] The fork arm assembly includes a first fork plate, a second fork plate, and a lifting assembly. The second fork plate is located above the first fork plate. Both the first and second fork plates are connected to the lifting assembly. The lifting assembly is used to adjust the distance between the first and second fork plates. One of the first and second fork plates is provided with a first guide surface, and the other is provided with a first slider.

[0007] The AGV body is equipped with a second slider and a second guide surface;

[0008] The AGV has at least a first state. When the AGV is in the first state, the top edge of the first guide surface is located on the side of the bottom edge of the first guide surface close to the second guide surface, the top edge of the second guide surface is located on the side of the bottom edge of the second guide surface close to the first guide surface, the first guide surface is supported on the second slider, and the first slider is supported on the second guide surface.

[0009] In some embodiments, the first guide surface is located on the second fork plate, and the first slider is located on the first fork plate;

[0010] The AGV also has a second state. When the AGV is in the second state, the first slider is located at the bottom of the second guide surface, and the second slider is located at the bottom of the first guide surface.

[0011] When the AGV is in the first state, the first slider is located on top of the second guide surface, and the second slider is located on top of the first guide surface.

[0012] In some embodiments, the bottom of the second fork plate is provided with a first clearance groove, and the first guide surface is part of the side wall of the first clearance groove. When the AGV is in the first state, the second slider is located in the first clearance groove.

[0013] In some embodiments, the AGV body has a first protrusion along its side edge, and the second guide surface is part of the outer wall surface of the first protrusion.

[0014] In some embodiments, the first slider is disposed on the second fork plate, and the first guide surface is located on the first fork plate;

[0015] The AGV also has a second state. When the AGV is in the second state, the first slider is located at the top of the second guide surface, and the second slider is located at the top of the first guide surface.

[0016] When the AGV is in the first state, the first slider is located at the bottom of the second guide surface, and the second slider is located at the bottom of the first guide surface.

[0017] In some embodiments, the top of the first fork plate is provided with a second clearance groove, the first guide surface is part of the side wall of the second clearance groove, and when the AGV is in the first state, the second slider is located in the second clearance groove.

[0018] In some embodiments, the AGV body has a second protrusion along its side edge, and the second guide surface is part of the outer wall surface of the second protrusion.

[0019] In some embodiments, a bending rod is provided between the first slider and the second fork plate, the first slider is spaced apart from the second fork plate by the bending rod, and the bending rod is spaced apart from the second protrusion.

[0020] In some embodiments, there are at least two first guide surfaces, each corresponding one-to-one with a second slider. When the AGV is in a first state, the first guide surface rests on the corresponding second slider; and / or,

[0021] There are at least two first sliders, each corresponding to a second guide surface. When the AGV is in the first state, the first slider is supported on the corresponding second guide surface.

[0022] In some embodiments, the first slider is rotatably mounted on the fork arm assembly, and / or the second slider is rotatably mounted on the AGV body.

[0023] The beneficial effects of this utility model are as follows:

[0024] When the fork arm assembly is supported on the ground, and the first guide surface and the second slider are in contact, and the first slider and the second guide surface are in contact, the top edge of the first guide surface is located on the side of the bottom edge of the first guide surface closer to the second guide surface, and the top edge of the second guide surface is located on the side of the bottom edge of the second guide surface closer to the first guide surface. As the lifting assembly reduces the distance between the first fork plate and the second fork plate, relative sliding occurs between the first guide surface and the second slider. The first guide surface will be supported on the second slider, and at the same time, the first slider slides on the second guide surface and is supported on the second guide surface. Thus, the first fork plate can be separated from the ground and suspended on the AGV body.

[0025] The process of suspending the aforementioned fork arm assembly onto the AGV body eliminates the need for additional lifting components on the AGV body, effectively reducing the structural complexity and cost of the AGV body. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the fork arm assembly in Embodiment 1 of this utility model;

[0027] Figure 2 This is a schematic diagram of the AGV vehicle body in Embodiment 1 of this utility model;

[0028] Figure 3a This is a schematic diagram of the main structure of the AGV vehicle in step 101 of Embodiment 1 of this utility model;

[0029] Figure 3b This is a top view of the AGV trolley in step 101 of Embodiment 1 of this utility model;

[0030] Figure 4a This is a schematic diagram of the main structure of the AGV vehicle in step 102 of Embodiment 1 of this utility model;

[0031] Figure 4b This is a top view of the AGV trolley in step 102 of Embodiment 1 of this utility model;

[0032] Figure 5aThis is a schematic diagram of the main structure of the AGV vehicle in step 103 of Embodiment 1 of this utility model;

[0033] Figure 5b This is a top view of the AGV trolley in step 103 of Embodiment 1 of this utility model;

[0034] Figure 6a This is a schematic diagram of the main structure of the AGV vehicle in step 104 of Embodiment 1 of this utility model;

[0035] Figure 6b This is a top view of the AGV trolley in step 104 of Embodiment 1 of this utility model;

[0036] Figure 7 This is a schematic diagram of the main structure of the AGV vehicle in step 201 of Embodiment 1 of this utility model;

[0037] Figure 8 This is a schematic diagram of the main structure of the AGV vehicle in step 202 of Embodiment 1 of this utility model;

[0038] Figure 9 This is a schematic diagram of the main structure of the AGV vehicle in step 203 of Embodiment 1 of this utility model;

[0039] Figure 10 This is a schematic diagram of the main structure of the AGV vehicle in step 204 of Embodiment 1 of this utility model;

[0040] Figure 11 This is a schematic diagram of the fork arm assembly in Embodiment 2 of this utility model;

[0041] Figure 12 This is a schematic diagram of the AGV vehicle body in Embodiment 2 of this utility model;

[0042] Figure 13a This is a schematic diagram of the main structure of the AGV vehicle in step 301 of Embodiment 2 of this utility model;

[0043] Figure 13b This is a top view of the AGV trolley in step 301 of Embodiment 2 of this utility model;

[0044] Figure 14a This is a schematic diagram of the main structure of the AGV vehicle in step 302 of Embodiment 2 of this utility model;

[0045] Figure 14b This is a top view of the AGV trolley in step 302 of Embodiment 2 of this utility model;

[0046] Figure 15aThis is a schematic diagram of the main structure of the AGV trolley in step 303 of Embodiment 2 of this utility model;

[0047] Figure 15b This is a top view of the AGV trolley in step 303 of Embodiment 2 of this utility model;

[0048] Figure 16a This is a schematic diagram of the main structure of the AGV trolley in step 304 of Embodiment 2 of this utility model;

[0049] Figure 16b This is a top view of the AGV trolley in step 304 of Embodiment 2 of this utility model;

[0050] Figure 17 This is a schematic diagram of the main structure of the AGV vehicle in step 401 of Embodiment 2 of this utility model;

[0051] Figure 18 This is a schematic diagram of the main structure of the AGV trolley in step 402 of Embodiment 2 of this utility model;

[0052] Figure 19 This is a schematic diagram of the main structure of the AGV trolley in step 403 of Embodiment 2 of this utility model;

[0053] Figure 20 This is a schematic diagram of the main structure of the AGV trolley in step 404 of Embodiment 2 of this utility model.

[0054] Figure label:

[0055] 1. Fork arm assembly; 11. First fork plate; 12. Second fork plate; 13. Lifting assembly; 131. First swing arm; 132. Second swing arm; 14. First guide surface; 141. First clearance groove; 142. Second clearance groove; 15. First slider; 151. Bending rod; 2. AGV body; 21. Second slider; 22. Second guide surface; 221. First protrusion; 222. Second protrusion; 23. Storage location; 3. Goods. Detailed Implementation

[0056] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0057] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0058] 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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0059] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0060] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0061] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0062] Example 1:

[0063] This embodiment provides an AGV (Automated Guided Vehicle) vehicle, including a fork arm assembly 1 and an AGV body 2.

[0064] like Figure 1 As shown, the forklift assembly 1 includes a first fork plate 11, a second fork plate 12, and a lifting assembly 13. The first fork plate 11 and the second fork plate 12 are generally horizontally arranged, with the second fork plate 12 located above the first fork plate 11. Both the first fork plate 11 and the second fork plate 12 are connected to the lifting assembly 13, which is used to adjust the distance between the first fork plate 11 and the second fork plate 12.

[0065] For example, the lifting assembly 13 includes a first swing arm 131 and a second swing arm 132. One end of the first swing arm 131 is hinged to the second fork plate 12, and the other end of the first swing arm 131 is slidably disposed on the first fork plate 11 along a straight line. One end of the second swing arm 132 is hinged to the first fork plate 11, and the other end of the second swing arm 132 is slidably disposed on the second fork plate 12 along a straight line. Furthermore, the middle portions of the first swing arm 131 and the second swing arm 132 are hinged together, allowing the first swing arm 131 and the second swing arm 132 to rotate relative to each other. The lifting assembly 13 adjusts the distance between the first fork plate 11 and the second fork plate 12 through the relative rotation between the first swing arm 131 and the second swing arm 132.

[0066] The above-described structure of the fork arm assembly 1 is all prior art, and will not be described again in this embodiment.

[0067] Specifically, such as Figure 1 and Figure 2 As shown, unlike the prior art, in this embodiment, a first guide surface 14 is provided on the second fork plate 12, and a first slider 15 is provided on the first fork plate 11. For example, the first guide surface 14 is a plane, and the first guide surface 14 is inclined relative to the horizontal plane. Figure 2As shown, the AGV body 2 is provided with a second slider 21 and a second guide surface 22. For example, the second guide surface 22 is a plane, and it is inclined relative to the horizontal plane. Thus, the AGV has at least a first state and a second state.

[0068] More specifically, in this embodiment, the bottom of the second fork plate 12 is provided with a first clearance groove 141, and the first guide surface 14 is part of the side wall of the first clearance groove 141; the side edge of the AGV body 2 is provided with a first protrusion 221, and the second guide surface 22 is part of the outer wall surface of the first protrusion 221.

[0069] The bottom of the first fork plate 11 and the bottom of the AGV body 2 are both equipped with wheels to allow the fork arm assembly 1 and the AGV body 2 to move on the bottom surface.

[0070] One of the processes by which the fork arm assembly 1 is suspended from the AGV body 2 in this embodiment is as follows:

[0071] Step 101: As Figure 3a and Figure 3b As shown, the fork arm assembly 1 and the AGV body 2 are both supported on the ground and have a certain distance in the horizontal direction. At this time, the goods 3 are placed on the top of the second fork plate 12, and the lifting assembly 13 controls the height of the second fork plate 12 to be higher than the AGV body 2.

[0072] Step 102: As Figure 4a and Figure 4b As shown, the fork arm assembly 1 moves horizontally a certain distance until the first slider 15 and the second guide surface 22 come into contact. At this time, the first guide surface 14 is located directly above the second slider 21, and the second fork plate 12 is located directly above the storage space 23 on the AGV body 2.

[0073] Step 103: As Figure 5a and Figure 5b As shown, the lifting assembly 13 controls the second fork plate 12 to descend until the first guide surface 14 and the second slider 21 come into contact. At this time, the AGV trolley is in the second state, and the cargo 3 separates from the second fork plate 12 and is instead supported on the top of the AGV body 2.

[0074] Specifically, when the AGV is in the second state, the top edge of the first guide surface 14 is located on the side of the bottom edge of the first guide surface 14 close to the second guide surface 22, the top edge of the second guide surface 22 is located on the side of the bottom edge of the second guide surface 22 close to the first guide surface 14, the first guide surface 14 is in contact with the second slider 21, and the first slider 15 is in contact with the second guide surface 22.

[0075] For example, in this embodiment, when the AGV is in the second state, the bottom edge of the second guide surface 22 is located to the left of the top edge of the second guide surface 22, the second guide surface 22 is located to the left of the first guide surface 14, and the top edge of the first guide surface 14 is located to the left of the bottom edge of the first guide surface 14.

[0076] It is particularly noteworthy that in this embodiment, when the AGV is in the second state, the first fork plate 11 is still supported on the ground, the first guide surface 14 has not yet been supported by the second slider 21, and the first slider 15 has not yet been supported by the second guide surface 22.

[0077] Preferably, in this embodiment, when the AGV is in the second state, the first slider 15 is located at the bottom of the second guide surface 22, and the second slider 21 is located at the bottom of the first guide surface 14.

[0078] Step 104: As Figure 6a and Figure 6b As shown, the lifting assembly 13 further reduces the distance between the first fork plate 11 and the second fork plate 12. During this process, due to gravity, the first guide surface 14 and the second slider 21 will slide relative to each other, and the first guide surface 14 will be supported by the second slider 21. At the same time, the first slider 15 will slide on the second guide surface 22 and be supported by the second guide surface 22. Thus, the fork arm assembly 1 can be separated from the ground and suspended on the AGV body 2.

[0079] Through step 104, the AGV vehicle switches from the second state to the first state. In this embodiment, when the AGV vehicle is in the first state, the top edge of the first guide surface 14 is located on the side of the bottom edge of the first guide surface 14 close to the second guide surface 22, and the top edge of the second guide surface 22 is located on the side of the bottom edge of the second guide surface 22 close to the first guide surface 14 (that is, the bottom edge of the second guide surface 22 is located to the left of the top edge of the second guide surface 22, the second guide surface 22 is located to the left of the first guide surface 14, and the top edge of the first guide surface 14 is located to the left of the bottom edge of the first guide surface 14). The first guide surface 14 is supported on the second slider 21, the second slider 21 is located in the first clearance groove 141, and the first slider 15 is supported on the second guide surface 22.

[0080] Preferably, in this embodiment, when the AGV is in the first state, the first slider 15 is located at the top of the second guide surface 22, and the second slider 21 is located at the top of the first guide surface 14.

[0081] Another process in this embodiment of suspending the fork arm assembly 1 to the AGV body 2 is as follows:

[0082] Step 201: As Figure 7As shown, the fork arm assembly 1 and the AGV body 2 are both supported on the ground and have a certain distance in the horizontal direction. The lifting assembly 13 controls the distance between the first fork plate 11 and the second fork plate 12 to be the smallest. At this time, the bottom edges of the first slider 15 and the second guide surface 22 are at the same height, and the first clearance groove 141 and the second slider 21 are at the same height.

[0083] Step 202: As Figure 8 As shown, the fork arm assembly 1 moves toward the AGV body 2, while the lifting assembly 13 raises the height of the second fork plate 12 so that the first clearance groove 141 is higher than the second slider 21.

[0084] Step 203: As Figure 9 As shown, the fork arm assembly 1 moves horizontally further until the bottom edge of the first slider 15 and the second guide surface 22 contacts. Then, the lifting assembly 13 lowers the height of the second fork plate 12 until the second slider 21 contacts the bottom edge of the first guide surface 14, thereby switching the AGV to the second state.

[0085] Step 204: As Figure 10 As shown, the lifting assembly 13 further reduces the distance between the first fork plate 11 and the second fork plate 12. During this process, due to gravity, the first guide surface 14 and the second slider 21 will slide relative to each other, and the first guide surface 14 will be supported by the second slider 21. At the same time, the first slider 15 will slide on the second guide surface 22 and be supported by the second guide surface 22. Thus, the fork arm assembly 1 can be separated from the ground and suspended on the AGV body 2, and the AGV trolley switches to the first state.

[0086] Preferably, in this embodiment, there are at least two first sliders 15, each corresponding to a second guide surface 22. When the AGV is in the first state, the first slider 15 is supported on the corresponding second guide surface 22. This allows the fork arm assembly 1 to have more support points when suspended on the AGV body 2, thereby making the suspension state of the fork arm assembly 1 more stable.

[0087] Similarly, in some other embodiments, there are at least two first guide surfaces 14 and they correspond one-to-one with the second sliders 21. When the AGV is in the first state, the first guide surface 14 is supported on the corresponding second slider 21.

[0088] In some embodiments, the first slider 15 is rotatably mounted on the first fork plate 11, and the second slider 21 is rotatably mounted on the AGV body 2. Specifically, the first slider 15 and the second slider 21 can be spherical or cylindrical. Thus, during the AGV's transition from the second state to the first state, the frictional force between the first guide surface 14 and the second slider 21 during relative sliding can be converted into rolling friction, and the frictional force of the first slider 15 sliding on the second guide surface 22 can also be converted into rolling friction. This reduces the resistance of the AGV during the transition from the second state to the first state.

[0089] Example 2:

[0090] This embodiment provides an AGV (Automated Guided Vehicle) vehicle, including a fork arm assembly 1 and an AGV body 2.

[0091] like Figure 11 As shown, the forklift assembly 1 includes a first fork plate 11, a second fork plate 12, and a lifting assembly 13. The first fork plate 11 and the second fork plate 12 are generally horizontally arranged, with the second fork plate 12 located above the first fork plate 11. Both the first fork plate 11 and the second fork plate 12 are connected to the lifting assembly 13, which is used to adjust the distance between the first fork plate 11 and the second fork plate 12.

[0092] The specific structure of the lifting assembly 13 is the same as in Embodiment 1, and will not be described again in this embodiment. Similarly, in this embodiment, wheels are provided at the bottom of the first fork plate 11 and the bottom of the AGV body 2 to allow the fork arm assembly 1 and the AGV body 2 to move on the bottom surface.

[0093] Specifically, such as Figure 11 and Figure 12 As shown, unlike the prior art, in this embodiment, a first slider 15 is provided on the second fork plate 12, and a first guide surface 14 is provided on the first fork plate 11. For example, the first guide surface 14 is a plane, and the first guide surface 14 is inclined relative to the horizontal plane. Figure 12 As shown, the AGV body 2 is provided with a second slider 21 and a second guide surface 22. For example, the second guide surface 22 is a plane, and it is inclined relative to the horizontal plane. Thus, the AGV has at least a first state and a second state.

[0094] More specifically, in this embodiment, the top of the first fork plate 11 is provided with a second clearance groove 142, the first guide surface 14 is part of the side wall of the second clearance groove 142, the first slider 15 is provided between the second fork plate 12 and the second fork plate 12, the first slider 15 is spaced on the second fork plate 12 through the bending rod 151, the side edge of the AGV body 2 is provided with a second protrusion 222, and the second guide surface 22 is part of the outer wall surface of the second protrusion 222.

[0095] One of the processes by which the fork arm assembly 1 is suspended from the AGV body 2 in this embodiment is as follows:

[0096] Step 301: As Figure 13a and Figure 13b As shown, the fork arm assembly 1 and the AGV body 2 are both supported on the ground and have a certain distance in the horizontal direction. At this time, the goods 3 are placed on the top of the second fork plate 12, and the lifting assembly 13 controls the height of the second fork plate 12 to be higher than the AGV body 2.

[0097] Step 302: As Figure 14a and Figure 14b As shown, the fork arm assembly 1 moves horizontally a certain distance until the second slider 21 contacts the first guide surface 14. At this time, the first slider 15 is located directly above the second guide surface 22, and the second fork plate 12 is located directly above the storage space 23 on the AGV body 2.

[0098] Step 303: As Figure 15a and Figure 15b As shown, the lifting assembly 13 controls the second fork plate 12 to descend until the first slider 15 and the second guide surface 22 come into contact. At this time, the AGV trolley is in the second state, and the cargo 3 separates from the second fork plate 12 and is instead supported on the top of the AGV body 2.

[0099] Specifically, when the AGV is in the second state, the top edge of the first guide surface 14 is located on the side of the bottom edge of the first guide surface 14 close to the second guide surface 22, the top edge of the second guide surface 22 is located on the side of the bottom edge of the second guide surface 22 close to the first guide surface 14, the first guide surface 14 is in contact with the second slider 21, and the first slider 15 is in contact with the second guide surface 22.

[0100] For example, in this embodiment, when the AGV is in the second state, the bottom edge of the first guide surface 14 is located to the left of the top edge of the first guide surface 14, the first guide surface 14 is located to the left of the second guide surface 22, and the top edge of the second guide surface 22 is located to the left of the bottom edge of the second guide surface 22.

[0101] It is particularly noteworthy that in this embodiment, when the AGV is in the second state, the first fork plate 11 is still supported on the ground, the first guide surface 14 has not yet been supported by the second slider 21, and the first slider 15 has not yet been supported by the second guide surface 22.

[0102] Preferably, in this embodiment, when the AGV is in the second state, the first slider 15 is located at the top of the second guide surface 22, and the second slider 21 is located at the top of the first guide surface 14.

[0103] Step 304: As Figure 16a and Figure 16b As shown, the lifting assembly 13 further reduces the distance between the first fork plate 11 and the second fork plate 12. During this process, due to gravity, the first slider 15 will slide on the second guide surface 22 and be supported by the second guide surface 22. At the same time, relative sliding will occur between the first guide surface 14 and the second slider 21, and the first guide surface 14 will be supported by the second slider 21. Thus, the fork arm assembly 1 can be separated from the ground and suspended on the AGV body 2.

[0104] During the sliding process of the first slider 15 on the second guide surface 22, the bending rod 151 is always spaced apart from the second protrusion 222. The first slider 15 avoids the non-second guide surface 22 part of the second protrusion 222 by bending rod 151, thereby achieving contact with the second guide surface 22.

[0105] Through step 304, the AGV vehicle switches from the second state to the first state. In this embodiment, when the AGV vehicle is in the first state, the top edge of the first guide surface 14 is located on the side of the bottom edge of the first guide surface 14 close to the second guide surface 22, and the top edge of the second guide surface 22 is located on the side of the bottom edge of the second guide surface 22 close to the first guide surface 14 (that is, the bottom edge of the first guide surface 14 is located to the left of the top edge of the first guide surface 14, the first guide surface 14 is located to the left of the second guide surface 22, and the top edge of the second guide surface 22 is located to the left of the bottom edge of the second guide surface 22). The first guide surface 14 is supported on the second slider 21, the second slider 21 is located in the second clearance groove 142, and the first slider 15 is supported on the second guide surface 22.

[0106] Preferably, in this embodiment, when the AGV is in the first state, the first slider 15 is located at the bottom of the second guide surface 22, and the second slider 21 is located at the bottom of the first guide surface 14.

[0107] Another process in this embodiment of suspending the fork arm assembly 1 to the AGV body 2 is as follows:

[0108] Step 401: As Figure 17 As shown, the fork arm assembly 1 and the AGV body 2 are both supported on the ground and have a certain distance in the horizontal direction. The lifting assembly 13 controls the distance between the first fork plate 11 and the second fork plate 12 to be the smallest. At this time, the top edge of the first guide surface 14 and the second slider 21 are at the same height, and the first slider 15 and the second protrusion 222 are at the same height.

[0109] Step 402: As Figure 18 As shown, the fork arm assembly 1 moves toward the AGV body 2, while the lifting assembly 13 raises the height of the second fork plate 12 so that the first slider 15 is higher than the second protrusion 222.

[0110] Step 403: As Figure 19 As shown, the fork arm assembly 1 moves horizontally further until the second slider 21 contacts the top edge of the first guide surface 14, and then the lifting assembly 13 lowers the height of the second fork plate 12 until the first slider 15 contacts the top edge of the second guide surface 22, thereby switching the AGV to the second state.

[0111] Step 404: As Figure 20 As shown, the lifting assembly 13 further reduces the distance between the first fork plate 11 and the second fork plate 12. During this process, due to gravity, the first slider 15 will slide on the second guide surface 22 and be supported by the second guide surface 22. At the same time, relative sliding will occur between the first guide surface 14 and the second slider 21, and the first guide surface 14 will be supported by the second slider 21. Thus, the fork arm assembly 1 can be separated from the ground and suspended on the AGV body 2, and the AGV trolley switches to the first state.

[0112] Preferably, in other embodiments, there are at least two first sliders 15, each corresponding to a second guide surface 22, and at least two first guide surfaces 14, each corresponding to a second slider 21. When the AGV is in the first state, the first slider 15 is supported on the corresponding second guide surface 22, and the first guide surface 14 is supported on the corresponding second slider 21. This allows the fork arm assembly 1 to have more support points when suspended on the AGV body 2, thereby making the suspension state of the fork arm assembly 1 more stable.

[0113] In some embodiments, the first slider 15 is rotatably mounted on the bending rod 151, and the second slider 21 is rotatably mounted on the AGV body 2. Specifically, the first slider 15 and the second slider 21 can be spherical or cylindrical. Thus, during the transition from the second state to the first state, the frictional force between the first guide surface 14 and the second slider 21 during relative sliding can be converted into rolling friction, and the frictional force of the first slider 15 sliding on the second guide surface 22 can also be converted into rolling friction. This reduces the resistance of the AGV during the transition from the second state to the first state.

[0114] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0115] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. An AGV (Automated Guided Vehicle) trolley, characterized in that, Includes a fork arm assembly (1) and an AGV body (2); The fork arm assembly (1) includes a first fork plate (11), a second fork plate (12), and a lifting assembly (13). The second fork plate (12) is located above the first fork plate (11). Both the first fork plate (11) and the second fork plate (12) are connected to the lifting assembly (13). The lifting assembly (13) is used to adjust the distance between the first fork plate (11) and the second fork plate (12). One of the first fork plate (11) and the second fork plate (12) is provided with a first guide surface (14), and the other is provided with a first slider (15). The AGV body (2) is provided with a second slider (21) and a second guide surface (22); The AGV has at least a first state. When the AGV is in the first state, the top edge of the first guide surface (14) is located on the side of the bottom edge of the first guide surface (14) close to the second guide surface (22), the top edge of the second guide surface (22) is located on the side of the bottom edge of the second guide surface (22) close to the first guide surface (14), the first guide surface (14) is supported on the second slider (21), and the first slider (15) is supported on the second guide surface (22).

2. The AGV trolley according to claim 1, characterized in that, The first guide surface (14) is located on the second fork plate (12), and the first slider (15) is located on the first fork plate (11); The AGV also has a second state. When the AGV is in the second state, the first slider (15) is located at the bottom of the second guide surface (22), and the second slider (21) is located at the bottom of the first guide surface (14). When the AGV is in the first state, the first slider (15) is located on top of the second guide surface (22), and the second slider (21) is located on top of the first guide surface (14).

3. The AGV trolley according to claim 2, characterized in that, The bottom of the second fork plate (12) is provided with a first clearance groove (141), and the first guide surface (14) is part of the side wall of the first clearance groove (141). When the AGV is in the first state, the second slider (21) is located in the first clearance groove (141).

4. The AGV trolley according to claim 2, characterized in that, The AGV body (2) has a first protrusion (221) on its side edge, and the second guide surface (22) is part of the outer wall surface of the first protrusion (221).

5. The AGV trolley according to claim 1, characterized in that, The first slider (15) is disposed on the second fork plate (12), and the first guide surface (14) is located on the first fork plate (11); The AGV also has a second state. When the AGV is in the second state, the first slider (15) is located on top of the second guide surface (22), and the second slider (21) is located on top of the first guide surface (14). When the AGV is in the first state, the first slider (15) is located at the bottom of the second guide surface (22), and the second slider (21) is located at the bottom of the first guide surface (14).

6. The AGV trolley according to claim 5, characterized in that, The first fork plate (11) is provided with a second clearance groove (142) at the top. The first guide surface (14) is part of the side wall of the second clearance groove (142). When the AGV is in the first state, the second slider (21) is located in the second clearance groove (142).

7. The AGV trolley according to claim 5, characterized in that, The AGV body (2) is provided with a second protrusion (222) along its side edge, and the second guide surface (22) is part of the outer wall surface of the second protrusion (222).

8. The AGV trolley according to claim 7, characterized in that, A bending rod (151) is provided between the first slider (15) and the second fork plate (12). The first slider (15) is spaced apart from the second fork plate (12) by the bending rod (151). The bending rod (151) is spaced apart from the second protrusion (222).

9. The AGV trolley according to claim 1, characterized in that, There are at least two first guide surfaces (14) that correspond one-to-one with the second sliders (21). When the AGV is in the first state, the first guide surface (14) is supported on the corresponding second slider (21); and / or, There are at least two first sliders (15) and they correspond one-to-one with the second guide surface (22). When the AGV is in the first state, the first slider (15) is supported on the corresponding second guide surface (22).

10. The AGV trolley according to claim 1, characterized in that, The first slider (15) is rotatably mounted on the fork arm assembly (1), and / or the second slider (21) is rotatably mounted on the AGV body (2).

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