Fork device based on shelf unlocking and agv transportation equipment

Abstract

The utility model discloses a fork device and AGV transport equipment based on goods shelf unlocking, its characterized in that, including goods shelf, snatch mechanism and drive mechanism, the goods shelf includes a plurality of side -by -side clamp, be used for fixing the locking mechanism of clamp position, the clamp is used for clamping material, snatch mechanism is used for fetching goods shelf, drive mechanism is used for driving snatch mechanism moves to with the transport goods shelf, wherein, snatch mechanism is provided with the unlocking mechanism, and the unlocking mechanism is used for driving locking mechanism locking or unlocking. The utility model realizes the automation unlocking and locking material, improves the transport efficiency of goods shelf.

Description

Technical Field

[0001] This utility model relates to the technical field of battery cell production equipment, and in particular to a forklift device based on shelf unlocking and an AGV transportation device. Background Technology

[0002] During battery cell production, multiple battery cells are placed on a rack, allowing the rack and cells to be transported as a whole to the next process. Structurally, the rack includes multiple clamps, each holding a battery cell. Adjacent clamps are spaced apart and are locked. To prevent cell vibration during transport, the clamps must first be unlocked, then brought together tightly, and finally transported to the next process. Therefore, it is necessary to design a forklift unlocking device based on the rack to improve the rack's transport efficiency. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a forklift unlocking device based on a rack, which can automatically unlock and lock materials, improving the transport efficiency of the rack.

[0004] This utility model also proposes an AGV transport device with the above-mentioned forklift unlocking device based on the shelf.

[0005] According to a first aspect of the present invention, a forklift device based on shelf unlocking includes a shelf, a gripping mechanism, and a driving mechanism. The shelf includes a plurality of side-by-side clamps and a locking mechanism for fixing the position of the clamps. The clamps are used to clamp materials. The gripping mechanism is used to grip the shelf. The driving mechanism is used to drive the gripping mechanism to move so as to transfer the shelf. The gripping mechanism is provided with an unlocking mechanism, which is used to drive the locking mechanism to lock or unlock.

[0006] The shelf-unlocking forklift device according to the embodiments of the present utility model has at least the following beneficial effects: This invention features a gripping mechanism and a driving mechanism. The driving mechanism moves the gripping mechanism, enabling it to grasp the shelf and transfer it to the next process or workstation. To prevent material vibration during shelf transfer, the gripping mechanism can use an unlocking mechanism to unlock the clamps, facilitating the close contact and relocking of multiple clamps. This eliminates the need for manual unlocking and locking, achieving automated material unlocking and locking, improving shelf transport efficiency, reducing material vibration in the clamps, and minimizing damage to adjacent clamps due to collisions.

[0007] According to a first aspect of the present invention, a forklift unlocking device based on a shelf includes a locking mechanism comprising a first locking seat and a locking pin, the locking pin being capable of engaging or disengaging from the first locking seat, and an unlocking mechanism comprising a pushing member capable of moving the locking pin to engage or disengage from the first locking seat.

[0008] The advantages are: by pushing the locking pin with the pusher, the locking pin and the first locking seat can achieve locking and unlocking functions. This eliminates the need for a rigid connection between the pusher and the locking pin, preventing severe deformation and damage between the pusher and the locking pin due to force during locking or unlocking. It ensures that the locking pin and the first locking seat can lock or unlock quickly and accurately, improves the locking and unlocking efficiency of the fixture, and helps to speed up the transfer of the rack.

[0009] According to a first aspect embodiment of the present invention, a forklift device based on shelf unlocking is provided, wherein the pusher is provided with two abutment portions, the locking pin is provided with a toggle member, the two abutment portions are distributed along the moving direction of the locking pin away from and towards the first locking seat, and the toggle member is allowed to pass between the two abutment portions.

[0010] The advantage of this invention is that by setting two abutting parts, a larger space is formed between the two abutting parts, making it easier for the actuating part to pass between the two abutting parts, preventing the pushing part and the actuating part from failing to connect accurately, thereby improving the connection success rate between the pushing part and the actuating part.

[0011] According to a first aspect embodiment of the present invention, a forklift device based on shelf unlocking is provided, wherein the pusher has a latch, and the abutment portions are respectively provided on opposite sides inside the latch; the actuating member has a drive rod, the latch allows the drive rod to pass through, and the side wall of the drive rod abuts against the abutment portions to drive the locking pin to engage or disengage from the first locking seat.

[0012] The advantages are: by using the bayonet and the drive rod in conjunction, the drive rod can abut against one of the abutting parts of the bayonet and drive through it, so that the locking pin is inserted into the first locking seat to realize the function of locking the clamp. The drive rod can abut against the other abutting part of the bayonet and drive through it, so that the locking pin is disengaged from the first locking seat to realize the function of unlocking the clamp. Furthermore, the drive rod is less likely to interfere with or collide with the bayonet during the process of passing through the bayonet, which greatly reduces the possibility of damage and deformation to the pushing and actuating parts.

[0013] According to a first aspect embodiment of the present invention, a forklift device based on shelf unlocking is provided at the end of the abutment portion, and the end of the drive rod abuts against the first guide wall and guides the drive rod through the bayonet so that the actuating member is connected to or separated from the pushing member.

[0014] The advantages are: by setting a first guide inclined wall, the present invention can guide the drive rod to be inserted into the bayonet, avoid the drive rod from being unable to be inserted into the bayonet due to the movement deviation of the pusher, and also reduce the collision between the pusher and the actuator.

[0015] According to a first aspect of the present invention, a forklift unlocking device based on a shelf includes an unlocking mechanism comprising a linear drive member for driving the push member to move, causing the push member to abut against the actuating member and thereby pushing the locking pin to engage or disengage from the first locking seat.

[0016] The advantages of this invention are: by setting a linear drive component, when locked, the linear drive component can drive the push component to move, and the push component and the actuating component abut against each other, so that the locking pin is inserted into the first lock seat. When unlocked, the linear drive component can drive the push component to move, and the push component and the actuating component abut against each other, so that the locking pin is disengaged from the first lock seat. There is no need to manually push the locking pin, which avoids the push component accidentally touching the locking pin, causing the locking pin to disengage or be inserted into the lock seat, and reduces the occurrence of equipment failure.

[0017] According to a first aspect embodiment of the present invention, a forklift unlocking device based on a shelf is provided between the locking pin and the actuating member. The safety component includes a connector, a ball bearing, and a spring. The connector is slidable relative to the clamp. The ball bearing is slidably disposed on the connector and is used to engage with the locking pin. The actuating member is slidably disposed on the connector and is used to drive the ball bearing to engage with the locking pin. The spring is used to drive the ball bearing to move away from the locking pin to release the engagement.

[0018] The advantages of this invention are: through the connector, ball bearing, and spring, when unlocking or locking, the pusher can drive the ball bearing, which overcomes the force of the spring, causing the ball bearing to engage with the locking pin and drive the locking pin to move, thereby realizing the function of unlocking or locking. Furthermore, it prevents the pusher from being interfered with by other structures during operation, which could lead to the locking pin being unlocked, thus improving the reliability of the equipment.

[0019] According to a first aspect embodiment of the present invention, a forklift device based on shelf unlocking is provided, wherein the driving mechanism includes a lifting drive and a telescopic drive, the lifting drive is connected to and drives the telescopic drive to move up and down, and the telescopic drive is connected to the gripping mechanism and drives the gripping mechanism to move laterally.

[0020] The advantages of this invention are: by setting up a lifting drive component and a telescopic drive component, the lifting drive component drives the gripping mechanism, enabling the gripping mechanism to move up and down, and the telescopic drive component drives the gripping mechanism, enabling the gripping mechanism to move laterally, thereby transferring the shelf to the designated location.

[0021] According to a first aspect embodiment of the present invention, a forklift unlocking device based on a rack is provided, wherein the unlocking mechanism has a push-pull assembly for driving a plurality of clamps to retract and compress, and a pusher is disposed on the push-pull assembly. Before the push-pull assembly pushes and pulls the clamps to move, the pusher drives the locking pin to disengage from the first locking seat to release the locking of the clamps.

[0022] The advantages are: by setting up a push-pull assembly, the push-pull assembly can drive multiple clamps to move and move closer together. Before the clamps move, the pusher drives the locking pin to disengage from the first locking seat. The push-pull assembly can push and pull the clamps, so that multiple clamps are in a compressed state. In addition, the locking pin and the first locking seat are inserted to lock the clamps. The clamps are in a certain position, which makes it easy for the push-pull assembly to push and pull the clamps accurately and avoids collision between the push-pull assembly and the clamps.

[0023] According to a first aspect embodiment of the present invention, a forklift device based on shelf unlocking is provided, wherein the locking mechanism has a second locking seat, and the first locking seat and the second locking seat are distributed along the moving direction of the push-pull assembly. When the plurality of clamps are retracted and compressed, the pusher drives the locking pin to engage with the second locking seat to lock the clamps.

[0024] The advantages are: when multiple clamps are in the retracted and compressed state, the pusher drives the locking pin to engage with the second locking seat, thereby locking the multiple clamps. This prevents the position of the clamps from shifting during the movement of the shelf, which could cause the battery cells to vibrate. Furthermore, the push-pull assembly does not need to keep multiple clamps clamped; the push-pull assembly can move and reset to its initial position, facilitating the next push-pull of the clamps.

[0025] This utility model also provides an AGV transportation device, which has the above-mentioned beneficial effects.

[0026] An AGV transport device according to a second aspect of the present invention includes the forklift unlocking device based on any one of the above-described embodiments.

[0027] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1This is a three-dimensional structural diagram of the forklift device based on shelf unlocking according to an embodiment of the present utility model; Figure 2 for Figure 1 A three-dimensional structural diagram of a rack based on a rack-unlocking forklift device is shown. Figure 3 for Figure 2 Side view of the unlocking mechanism; Figure 4 for Figure 2 A partial view of point A; Figure 5 for Figure 3 A partial sectional view.

[0030] Reference numerals: 100-support frame, 110-clamp, 120-first lock seat, 130-locking pin, 140-gripping mechanism, 150-push member, 160-abutment part, 170-pushing member, 180-first guide inclined wall, 220-linear drive member, 230-guide sleeve, 240-guide groove, 250-connector, 260-ball bearing, 270-spring, 280-arc groove, 290-telescopic drive member, 300-shelf, 310-push-pull assembly, 320-second lock seat. Detailed Implementation

[0031] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0032] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0033] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" and "second" are mentioned, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the order of the indicated technical features.

[0034] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation, connection, and linkage" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] The following describes, with reference to the accompanying drawings, a forklift device based on shelf unlocking and an AGV transport device according to an embodiment of the present invention.

[0036] Reference Figure 1 The present invention aims to provide embodiments of a forklift device and AGV transportation equipment based on shelf unlocking.

[0037] The forklift unlocking device based on the shelf in this embodiment of the utility model is described below. Figure 1 , Figure 2 and Figure 3 The device includes a shelf 300, a gripping mechanism 140, and a drive mechanism. The shelf 300 includes multiple side-by-side clamps 110 and a locking mechanism for fixing the position of the clamps 110. The clamps 110 are used to clamp materials. The gripping mechanism 140 is used to grip the shelf 300. The drive mechanism is used to move the gripping mechanism 140 to transfer the shelf 300.

[0038] Furthermore, the gripping mechanism 140 is equipped with an unlocking mechanism, which is used to drive the locking mechanism to lock or unlock.

[0039] It is understood that this embodiment, by setting up a gripping mechanism 140 and a driving mechanism, uses the driving mechanism to drive the gripping mechanism 140 to move, enabling the gripping mechanism 140 to grip the shelf 300 and transfer the shelf 300 to the next process or workstation. At the same time, in order to prevent the material from shaking during the transfer of the shelf 300, the gripping mechanism 140 can use an unlocking mechanism to unlock the clamps 110, making it easy to bring multiple clamps 110 together and lock them again. Thus, without the need for manual unlocking and locking, the material is automatically unlocked and locked, improving the transportation efficiency of the shelf 300, reducing the amplitude of material shaking in the clamps, and reducing damage to adjacent clamps caused by collisions.

[0040] In some embodiments of this utility model, reference is made to Figure 2 and Figure 3 The locking mechanism includes a first lock seat 120 and a locking pin 130, the locking pin 130 being able to be inserted into or disengaged from the first lock seat 120. The unlocking mechanism includes a pusher 150, the pusher 150 being able to drive the locking pin 130 to move, so that the locking pin 130 is inserted into or disengaged from the first lock seat 120.

[0041] It is understood that this embodiment, by setting a pusher 150, pushes the locking pin 130 to move, so that the locking pin 130 and the first locking seat 120 can achieve locking and unlocking functions. This eliminates the need for a rigid connection between the pusher 150 and the locking pin 130, preventing serious deformation and damage between the pusher 150 and the locking pin 130 due to force during locking or unlocking. It ensures that the locking pin 130 and the first locking seat 120 can be locked or unlocked quickly and accurately, improving the locking and unlocking efficiency of the clamp and helping to speed up the transfer of the shelf 300.

[0042] Furthermore, the shelf 300 has a support frame 100 and guide posts disposed on the support frame 100, and multiple clamps 110 can slide along the guide posts, so that several clamps 110 move and move closer together.

[0043] It should be noted that the material on the fixture 110 can be a battery cell.

[0044] It should be noted that the first lock seat 120 and the lock pin 130 can be disposed between the support frame 100 and the clamp 110.

[0045] In some embodiments of this utility model, reference is made to Figure 1 The drive mechanism includes a lifting drive component and a telescopic drive component 290. The lifting drive component connects to and drives the telescopic drive component 290 to move up and down. The telescopic drive component 290 connects to the gripping mechanism 140 and drives the gripping mechanism 140 to move laterally.

[0046] It is understood that in this embodiment, by setting up a lifting drive and a telescopic drive 290, the lifting drive drives the gripping mechanism 140, enabling the gripping mechanism 140 to move up and down, and the telescopic drive 290 drives the gripping mechanism 140, enabling the gripping mechanism 140 to move laterally, thereby transferring the shelf 300 to the designated position.

[0047] In some embodiments of this utility model, the unlocking mechanism includes a linear drive member 220, which drives the push member 150 to move, so that the push member 150 abuts against the actuating member 170 and thereby pushes the locking pin 130 to engage or disengage from the first locking seat 120.

[0048] It is understood that, in this embodiment, by setting a linear drive member 220, when locked, the linear drive member 220 can drive the push member 150 to move, and the push member 150 and the actuating member 170 abut against each other, so that the locking pin 130 is inserted into the first lock seat 120. When unlocked, the linear drive member 220 can drive the push member 150 to move, and the push member 150 and the actuating member 170 abut against each other, so that the locking pin 130 is disengaged from the first lock seat 120. Thus, there is no need to manually push the locking pin 130, avoiding the push member 150 from accidentally touching the locking pin, which would cause the locking pin 130 to disengage from or be inserted into the lock seat 120, thereby reducing the occurrence of equipment failure.

[0049] In some embodiments of this utility model, the pusher 150 is provided with two abutment portions 160, which are distributed along the moving direction of the locking pin 130 away from and towards the first locking seat 120, and the actuating member 170 is allowed to pass between the two abutment portions 160.

[0050] It is understood that by setting two abutment portions 160 in this embodiment, a large space is formed between the two abutment portions 160, making it easier for the actuating member 170 to pass between the two abutment portions 160, preventing the pusher member 150 and the actuating member 170 from failing to connect accurately, thereby improving the connection success rate between the pusher member 150 and the actuating member 170.

[0051] In some embodiments of this utility model, reference is made to Figure 3 The pusher 150 has a bayonet, and the bayonet has abutment portions 160 on opposite sides. The actuating member 170 has a drive rod, and the bayonet allows the drive rod to pass through. The side wall of the drive rod abuts against the abutment portion 160 to drive the locking pin 130 to engage or disengage from the first locking seat 120.

[0052] Understandably, by utilizing the bayonet and the drive rod, the drive rod can engage with one abutment part 160 of the bayonet, causing the locking pin 130 to insert into the first lock seat 120, thus locking the clamp 110. The drive rod can also engage with the other abutment part 160 of the bayonet, causing the locking pin 130 to disengage from the first lock seat 120, thus unlocking the clamp 110. Furthermore, the drive rod is less likely to interfere with or collide with the bayonet during its passage, greatly reducing the possibility of damage or deformation to the pusher 150 and the actuator 170.

[0053] In a further embodiment of the present invention, the end of the abutment portion 160 is provided with a first guide inclined wall 180, the end of the drive rod abuts against the first guide inclined wall 180 and guides the drive rod through the bayonet so that the actuating member 170 is connected to or separated from the pushing member 150.

[0054] It is understood that by setting the first guide inclined wall 180 in this embodiment, the first guide inclined wall 180 can guide the drive rod to be inserted into the bayonet, avoid the drive rod from being unable to be inserted into the bayonet due to the movement deviation of the pusher 150, and also reduce the situation where the pusher 150 and the toggle 170 collide.

[0055] In some embodiments of this utility model, reference is made to Figure 5 A safety assembly is provided between the locking pin 130 and the actuating member 170. The safety assembly includes a connector 250, a ball 260, and a spring 270. The connector 250 can slide relative to the clamp 110. The ball 260 is slidably disposed on the connector 250 and is used to engage with the locking pin 130. The actuating member 170 is slidably disposed on the connector 250 and is used to drive the ball 260 to engage with the locking pin 130. The spring 270 is used to drive the ball 260 to move away from the locking pin 130 to release the engagement.

[0056] Specifically, the connector 250 is provided with a guide hole for accommodating the actuating member 170, and the ball 260 is slidably disposed in the guide hole.

[0057] It is understood that in this embodiment, through the connector 250, ball bearing 260, and spring 270, when unlocking or locking, the gripping mechanism 140 descends, allowing the pusher 150 to descend and drive the ball bearing 260. The ball bearing 260 overcomes the force of the spring 270, causing the ball bearing 260 to engage with the locking pin 130, and driving the locking pin 130 to move. This achieves the function of unlocking or locking, and prevents the pusher 150 from being interfered with by other structures during operation, which could cause the locking pin 130 to unlock, thereby improving the reliability of the equipment.

[0058] In a further embodiment of the present invention, the locking pin 130 is provided with an arc-shaped groove 280 for engaging with the ball 260. Therefore, the ball 260 is positioned by the arc-shaped groove 280, so that the locking pin 130 and the connecting member 250 move together.

[0059] In some embodiments of this utility model, the clamp 110 has a guide sleeve 230, a guide groove 240 disposed in the guide sleeve 230, a locking pin 130 slidingly matching the inside of the guide sleeve 230, and the guide groove 240 accommodating the passage of the actuating member 170.

[0060] In this embodiment, the locking pin 130 is embedded in the guide sleeve 230 and the guide groove 240. The guide sleeve 230 can restrict the movement of the locking pin 130, prevent the guide sleeve 230 from deviating during movement, and ensure that the locking pin 130 is successfully locked with the first lock seat 120. In addition, the guide groove 240 can guide the moving member 170 to move through, ensuring that the pushing member 150 and the moving member 170 accurately abut.

[0061] In some embodiments of this utility model, the unlocking mechanism has a push-pull assembly 310, which is used to drive multiple clamps 110 to retract and compress. A pusher 150 is disposed on the push-pull assembly 310. Before the push-pull assembly 310 pushes and pulls the clamps 110 to move, the pusher 150 drives the locking pin 130 to disengage from the first locking seat 120 to release the lock on the clamps 110.

[0062] By setting the push-pull assembly 310, the push-pull assembly 310 can drive multiple clamps 110 to move and move closer together. Before the clamps 110 move, the pusher 150 drives the locking pin 130 to disengage from the first locking seat 120. The push-pull assembly 310 can push and pull the clamps 110, so that the multiple clamps 110 are in a compressed state. The locking pin 130 and the first locking seat 120 are inserted to lock the clamps 110. The clamps 110 are in a certain position, which makes it easy for the push-pull assembly 310 to accurately push and pull the clamps 110 and avoids collision between the push-pull assembly 310 and the clamps 110.

[0063] In some embodiments of this utility model, the locking mechanism has a second locking seat 320. The first locking seat 120 and the second locking seat 320 are distributed along the moving direction of the push-pull assembly 310. When the multiple clamps 110 are retracted and compressed, the pusher 150 drives the locking pin 130 to insert into the second locking seat 320 to lock the clamps 110.

[0064] When the multiple clamps 110 are in the retracted and compressed state, the pusher 150 drives the locking pin 130 to insert into the second locking seat 320, thereby locking the multiple clamps 110. This prevents the position of the clamps 110 from shifting during the movement of the shelf 300, which could cause the battery cells to vibrate. Furthermore, the push-pull assembly 310 does not need to keep the multiple clamps clamped; the push-pull assembly 310 can move and reset to its initial position, making it convenient for the next push-pull of the clamps 110.

[0065] This embodiment also proposes an AGV transport device, including a fork device for unlocking the rack 300.

[0066] Understandably, the forklift device uses a drive mechanism to move the gripping mechanism 140, enabling the gripping mechanism 140 to grip the rack 300 and transfer the rack 300 to the next process or workstation. At the same time, in order to prevent the clamps 110 from shaking during the transfer of the rack 300, the gripping mechanism 140 can use an unlocking mechanism to unlock the clamps 110, making it easier to bring multiple clamps 110 together and lock them again. Thus, without manual unlocking and locking, the rack 300 can be automatically unlocked and locked, improving the transportation efficiency of the rack 300.

[0067] In the description of this specification, references to terms such as "an embodiment," "some embodiments," "illustrative 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, 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.

[0068] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A forklift unlocking device based on a rack, characterized in that, The device includes a shelf (300), a gripping mechanism (140), and a drive mechanism. The shelf (300) includes a plurality of side-by-side clamps (110) and a locking mechanism for fixing the position of the clamps (110). The clamps (110) are used to clamp materials. The gripping mechanism (140) is used to grip the shelf (300). The drive mechanism is used to drive the gripping mechanism (140) to move in order to transfer the shelf (300). The gripping mechanism (140) is provided with an unlocking mechanism, which is used to drive the locking mechanism to lock or unlock. The locking mechanism includes a first lock seat (120) and a locking pin (130), the locking pin (130) being able to engage or disengage from the first lock seat (120), and the unlocking mechanism includes a pusher (150), the pusher (150) being able to drive the locking pin (130) to move so that the locking pin (130) engages or disengages from the first lock seat (120).

2. The forklift unlocking device based on a shelf according to claim 1, characterized in that, The pusher (150) is provided with two abutment portions (160), and the locking pin (130) is provided with a toggle member (170). The two abutment portions (160) are distributed along the moving direction of the locking pin (130) away from and towards the first locking seat (120), and the toggle member (170) is allowed to pass between the two abutment portions (160).

3. The forklift unlocking device based on a shelf according to claim 2, characterized in that, The pusher (150) has a bayonet, and the abutment (160) is provided on opposite sides inside the bayonet. The actuating member (170) has a drive rod, and the bayonet allows the drive rod to pass through. The side wall of the drive rod abuts against the abutment (160) to drive the locking pin (130) to engage or disengage from the first locking seat (120).

4. The forklift unlocking device based on a shelf according to claim 3, characterized in that, The end of the abutment (160) is provided with a first guide inclined wall (180), the end of the drive rod abuts against the first guide inclined wall (180) and guides the drive rod through the bayonet so that the actuating member (170) is connected or separated from the pushing member (150).

5. The forklift unlocking device based on a rack according to claim 2, characterized in that, The unlocking mechanism includes a linear drive (220) for driving the pusher (150) to move, so that the pusher (150) abuts against the actuating member (170) and thereby pushes the locking pin (130) to engage or disengage from the first lock seat (120).

6. The forklift unlocking device based on a shelf according to claim 2, characterized in that, A safety assembly is provided between the locking pin (130) and the actuating member (170). The safety assembly includes a connector (250), a ball (260), and a spring (270). The connector (250) can slide relative to the clamp (110). The ball (260) is slidably disposed on the connector (250) and is used to engage with the locking pin (130). The actuating member (170) is slidably disposed on the connector (250) and is used to drive the ball (260) to engage with the locking pin (130). The spring (270) is used to drive the ball (260) to move away from the locking pin (130) to release the engagement.

7. The forklift unlocking device based on a shelf according to claim 1, characterized in that, The unlocking mechanism has a push-pull assembly (310) for driving multiple clamps (110) to retract and compress. The pusher (150) is disposed on the push-pull assembly (310). Before the push-pull assembly (310) pushes and pulls the clamp (110) to move, the pusher (150) drives the locking pin (130) to disengage from the first locking seat (120) to release the locking of the clamp (110).

8. The forklift unlocking device based on a shelf according to claim 7, characterized in that, The locking mechanism has a second locking seat (320), and the first locking seat (120) and the second locking seat (320) are distributed along the moving direction of the push-pull assembly (310). When the plurality of clamps (110) are closed and compressed, the pusher (150) drives the locking pin (130) to insert into the second locking seat (320) to lock the clamps (110).

9. An AGV transportation device, characterized in that, Includes the rack-based unlocking fork unit as described in any one of claims 1 to 8.

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