Omnidirectional agv fork truck

Abstract

The application discloses an omnidirectional AGV forklift, and belongs to the technical field of forklifts. The omnidirectional AGV forklift comprises a controller, a chassis, a walking mechanism arranged at the bottom of the chassis, two forklifts slidingly connected to the chassis, a lifting mechanism slidingly connected to the chassis and connected with the two forklifts, a driving mechanism arranged on the chassis and connected with the lifting mechanism and used for driving the lifting mechanism and the forklifts to move forward or backward, and a load cell fixedly installed on the chassis and corresponding to the two forklifts. The walking mechanism, the lifting mechanism and the driving mechanism are all connected with the output end of the controller. Through the design of the universal wheel and the rudder wheel assembly, the omnidirectional AGV forklift solves the directional walking limitation of the traditional forklift, realizes 360-degree omnidirectional flexible movement, can easily adapt to complex operation scenes such as narrow channels and multiple turns to improve the space utilization, and can enhance the movement flexibility and scene adaptability of the equipment, and reduce the operation difficulty in narrow space.

Description

Technical Field

[0001] This application relates to the field of forklift technology, specifically to omnidirectional AGV forklifts. Background Technology

[0002] With the rapid development of intelligent manufacturing and logistics automation, AGV forklifts, as key equipment that combines handling and picking functions, directly affect the efficiency and safety of the entire logistics chain.

[0003] Chinese utility model patent CN220283509U discloses an adaptive forklift. Through a mast assembly that can extend and retract laterally along the chassis's direction of travel and an adjustable-height structural design, it achieves the functions of picking up and placing goods in narrow aisles and adapting to different heights of storage positions, thereby improving warehouse storage density and operational flexibility. Chinese invention patent CN120081320A discloses a double-extension forklift. This double-extension forklift achieves the effect of preventing tipping due to a forward-shifting center of gravity and eliminating the need for counterweights by using a moving support and fork assembly that move forward synchronously, with the front support wheels contacting the ground to provide support, and limiting the wheels on the moving support by a limiting strip. This reduces costs and energy consumption.

[0004] However, the existing forklifts mentioned above mostly use a combination of fixed wheels and steering wheels in their travel mechanism, which can only achieve forward, backward, and limited-angle steering movements. In production workshops with narrow passages, multiple turning stations, or scenarios where the direction needs to be adjusted on the spot, such forklifts often need to make multiple forward and backward adjustments to complete the steering or positioning. This not only occupies a lot of working space, resulting in low space utilization, but also easily causes collisions between the equipment and surrounding facilities due to inflexible steering, increasing operational risks. In addition, most equipment has difficulty judging whether the goods have been picked up properly during the picking process, often resulting in insufficient fork insertion depth or deviation, which ultimately leads to the goods falling during the handling process and affects the reliability of the operation.

[0005] Therefore, this application provides an omnidirectional AGV forklift to solve the above problems. Utility Model Content

[0006] This application provides an omnidirectional AGV forklift, which aims to solve the problems mentioned in the background art. Existing AGV forklifts generally adopt a walking mechanism that combines directional wheels and steering wheels, which can only achieve limited steering. They are not flexible enough in complex scenarios such as narrow passages, have low space utilization and are prone to collisions. At the same time, they lack a precise fork positioning detection mechanism, which can easily lead to insufficient insertion or deviation during fork picking, causing goods to fall and resulting in poor operational reliability.

[0007] To achieve the above objectives, this application provides the following technical solution: an omnidirectional AGV forklift, including a controller, a chassis, a traveling mechanism disposed at the bottom of the chassis, two forks slidably connected to the chassis, a lifting mechanism slidably connected to the chassis and connected to the two forks, a drive mechanism disposed on the chassis and connected to the lifting mechanism for driving the lifting mechanism and the forks forward or backward, and a weighing device fixedly installed on the chassis between the two forks. The traveling mechanism, the lifting mechanism, and the drive mechanism are all connected to the output end of the controller, and the weighing device is connected to the input end of the controller. The walking mechanism includes omnidirectional wheels that are rotatably connected to the four corners of the bottom of the chassis and steering wheel assemblies that are symmetrically arranged on both sides of the bottom of the chassis. The omnidirectional AGV forklift also includes distance sensors fixedly mounted at the ends of the two forks away from the lifting mechanism to detect the distance between the forks and the goods, and detection mechanisms respectively mounted on the two forks to confirm that the goods have been picked up in place. Both the distance sensors and the detection mechanisms are connected to the input of the controller. Through the design of the caster wheels and steering wheel assembly, it can overcome the limitations of traditional forklifts' directional movement and achieve 360-degree omnidirectional flexible movement. It can easily adapt to complex operating scenarios such as narrow passages and multiple turns, effectively improving space utilization. It can also enhance the equipment's movement flexibility and scenario adaptability, reducing the difficulty of operating in narrow spaces. At the same time, through the combined design of the distance sensors and detection mechanisms, it can avoid collisions between the forks and the goods and accurately confirm the goods' picking up status, preventing the goods from shifting or falling, thereby improving the accuracy and reliability of picking operations, reducing the error rate, and ensuring the overall operation process is efficient and stable.

[0008] Preferably, in order to provide autonomous navigation and environmental perception support for the omnidirectional AGV forklift, a navigation laser for real-time navigation is fixedly installed on the chassis. The navigation laser is connected to the input terminal of the controller. The navigation laser can detect the surrounding environment and path information in real time, and feed the data back to the controller to provide a basis for equipment positioning and path planning, thereby realizing autonomous and accurate navigation of the equipment, effectively avoiding obstacles, and ensuring stability and safety during 360-degree omnidirectional movement.

[0009] Preferably, to achieve steering, the steering wheel assembly includes a connecting seat rotatably connected to the bottom of the chassis, a connecting gear fixedly mounted on the top of the connecting seat, a reversing gear rotatably connected to the bottom of the chassis and meshing with one side of the connecting gear, a reversing motor fixedly mounted on the chassis for driving the reversing gear to rotate, a traveling wheel symmetrically rotatably connected to the bottom of the connecting seat, and a drive motor fixedly mounted on the connecting seat for driving the traveling wheel to rotate. Both the reversing motor and the drive motor are connected to the output terminal of the controller. The reversing motor drives the reversing gear to rotate, and the meshing of the reversing gear and the connecting gear can drive the connecting seat to turn, thereby driving the drive motor and the traveling wheel to change direction. The drive motor can provide moving power to the traveling wheel, thus achieving direction switching and smooth driving in a coordinated manner, making the equipment steering more flexible and adaptable to more complex operating scenarios.

[0010] Preferably, to achieve the lifting and lowering of goods, the lifting mechanism includes a movable frame slidably connected to the chassis at a position corresponding to the weighing device above it, a lifting frame that moves longitudinally on the movable frame, a cylinder fixedly installed on the movable frame and connected to the output end of the controller for driving the lifting frame to rise and fall, sprockets symmetrically rotatably connected to the lifting frame and located on both sides of the cylinder, a chain sleeved on the sprockets and meshing with the sprockets, and a connecting plate slidably connected to the movable frame and fixedly connected to the ends of the two forks away from the distance measuring sensor. The two ends of the chain are fixedly connected to the lifting frame and the connecting plate, respectively. By driving the lifting frame to move longitudinally through the cylinder, and utilizing the meshing transmission between the sprockets and the chain, the connecting plate and the two forks can be driven to rise and fall synchronously, thereby ensuring smooth and synchronous lifting of the forks, reducing the risk of goods shaking or damage, and improving the efficiency and reliability of goods lifting operations.

[0011] Preferably, in order to realize the forward and backward movement of the lifting mechanism and the forks, the driving mechanism includes connecting parts symmetrically fixedly connected to both sides of the moving frame, driving gears rotatably connected to the two connecting parts respectively, a servo motor fixedly installed on the moving frame and connected to the output end of the controller for driving the driving gears to rotate, and racks symmetrically fixedly installed on the chassis corresponding to the outer sides of the two forks, the driving gears meshing with the racks; by driving the driving gears to rotate through the servo motor, the moving frame and forks can be driven to move forward and backward along the chassis through the meshing transmission of the driving gears and racks, thereby realizing the forward or backward movement of the forks, adapting to the needs of picking up goods at different distances, and ensuring the accuracy of the picking action.

[0012] Preferably, in order to ensure the stability of the forks and the moving frame moving back and forth, support wheels are rotatably connected to the bottom of the forks and the bottom of the moving frame; support wheels are provided at the bottom of the forks and the moving frame, so that when the drive mechanism drives the forks and the moving frame to move back and forth, it can roll in contact with the chassis and the ground, which not only reduces the frictional resistance of movement, but also ensures that the forks and the moving frame move smoothly and improves the overall smoothness of operation.

[0013] Preferably, to accurately determine whether the goods have been picked up by the fork, the detection mechanism includes a pressure plate positioned above the end of the fork near the distance sensor, springs fixedly mounted on the fork and linearly distributed, and a detection switch fixedly mounted on the fork and located below the pressure plate for triggering when the pressure plate is pressed down. The end of the spring away from the fork is fixedly connected to the bottom of the pressure plate, and the detection switch is connected to the input terminal of the controller. When the fork picks up the goods, the goods compress the pressure plate, causing the spring to compress, and the pressure plate moves down to trigger the detection switch, sending a signal of arrival to the controller. This accurately confirms the goods have been picked up, preventing the goods from shifting or falling, providing safety assurance for lifting and handling operations, and improving operational reliability.

[0014] This omnidirectional AGV forklift, through the design of universal wheels and steering wheel components, can break through the limitations of traditional forklifts' directional movement and achieve 360-degree omnidirectional flexible movement. It can easily adapt to complex operation scenarios such as narrow passages and multiple turns, effectively improving space utilization, while also enhancing the equipment's movement flexibility and scenario adaptability, and reducing the difficulty of operation in narrow spaces. This omnidirectional AGV forklift, through the combined design of distance sensors and detection mechanisms, can avoid collisions between the forks and goods and accurately confirm the position of the goods being picked up, preventing goods from shifting or falling, thereby improving the accuracy and reliability of forklift operations, reducing the error rate, and ensuring the overall operation process is efficient and stable. Attached Figure Description

[0015] Figure 1 This is a structural diagram of an omnidirectional AGV forklift. Figure 2 This is a schematic diagram of the structure of an omnidirectional AGV forklift when the forks are moving forward; Figure 3 This is a schematic diagram of the drive mechanism in an omnidirectional AGV forklift. Figure 4 This is a schematic diagram of the traveling mechanism in an omnidirectional AGV forklift. Figure 5 This is a schematic diagram of the steering wheel assembly in an omnidirectional AGV forklift. Figure 6 This is a schematic diagram of the detection mechanism in an omnidirectional AGV forklift.

[0016] In the picture: 1. Chassis; 11. Navigation laser; 2. Traveling mechanism; 21. Casters; 22. Steering wheel assembly; 221. Connecting seat; 222. Connecting gear; 223. Reversing gear; 224. Reversing motor; 225. Traveling wheel; 226. Drive motor; 3. Forks; 4. Lifting mechanism; 41. Moving frame; 42. Lifting frame; 43. Cylinder; 44. Sprocket; 45. Chain; 46. Connecting plate; 5. Drive mechanism; 51. Connecting component; 52. Drive gear; 53. Rack; 6. Distance sensor; 7. Weighing instrument; 8. Detection mechanism; 81. Pressure plate; 82. Spring; 83. Detection switch; 9. Support wheels. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] This embodiment provides an omnidirectional AGV forklift, such as Figures 1-6 As shown, the omnidirectional AGV forklift includes a controller, a chassis 1, a traveling mechanism 2 mounted on the bottom of the chassis 1, two forks 3 slidably connected to the chassis 1, a lifting mechanism 4 slidably connected to the chassis 1 and connected to the two forks 3, a drive mechanism 5 mounted on the chassis 1 and connected to the lifting mechanism 4 for driving the lifting mechanism 4 and the forks 3 forward or backward, and a weighing device 7 fixedly mounted on the chassis 1 between the two forks 3. The traveling mechanism 2, the lifting mechanism 4, and the drive mechanism 5 are all connected to the output end of the controller, and the weighing device 7 is connected to the input end of the controller. The traveling mechanism 2 includes casters 21 rotatably connected to the corners of the bottom of the chassis 1 and steering wheel assemblies 22 symmetrically arranged on both sides of the bottom of the chassis 1. The omnidirectional AGV forklift also includes a distance sensor 6 fixedly mounted on the end of the two forks 3 away from the lifting mechanism 4 for detecting the distance between the forks 3 and the goods, and a detection mechanism 8 respectively mounted on the two forks 3 for confirming that the goods have been picked up. The distance sensor 6 and the detection mechanism 8 are both connected to the input end of the controller.

[0019] In order to provide autonomous navigation and environmental perception support for the omnidirectional AGV forklift, a navigation laser 11 for real-time navigation is fixedly installed on the chassis 1. The navigation laser 11 is connected to the input terminal of the controller. The navigation laser 11 can detect the surrounding environment and path information in real time and feed the data back to the controller to provide a basis for equipment positioning and path planning, thereby realizing the equipment's autonomous and accurate navigation, effectively avoiding obstacles, and ensuring stability and safety during 360-degree omnidirectional movement.

[0020] In operation, the navigation laser 11 detects the surrounding environment and path information in real time and feeds it back to the controller. The controller plans the driving path based on this information and sends commands to the traveling mechanism 2. Then, the omnidirectional wheels 21 of the traveling mechanism 2 provide steering support. Upon receiving the command, the steering wheel assembly 22 drives the equipment to move 360 ​​degrees in all directions, bringing the chassis 1, forks 3, lifting mechanism 4, and other components closer to the goods. As the forks 3 gradually approach the goods, the distance sensor 6 at the end of the forks 3 furthest from the lifting mechanism 4 detects the distance to the goods in real time and feeds the data back to the controller. The controller then controls the drive mechanism 5 to start based on the distance signal. The drive mechanism 5 drives the lifting mechanism 4 and forks 3 forward precisely, allowing the forks 3 to extend under the goods. During the picking process of fork 3, the detection mechanism 8 comes into contact with the goods and is triggered by compression, sending a goods arrival signal to the controller. The controller then controls the drive mechanism 5 to stop forward drive and then controls the drive mechanism 5 to retreat until the goods are above the weighing device 7. The weighing device 7 collects the weight data of the goods in real time and feeds it back to the controller. The controller controls the drive mechanism 5 to stop retreating. If the goods are placed at a high or low position, the controller will start the lifting mechanism 4 to lift or lower the forks 3 according to the real-time detection of the distance sensor 6. After the forks 3 are adjusted to the appropriate height, the operation of the drive mechanism 5 driving the lifting mechanism 4 and the forks 3 to move forward accurately is repeated to complete the goods picking and finally realize the continuous operation of goods picking, detection and weighing.

[0021] Specifically, the steering wheel assembly 22 includes a connecting seat 221 rotatably connected to the bottom of the chassis 1, a connecting gear 222 fixedly mounted on the top of the connecting seat 221, a reversing gear 223 rotatably connected to the bottom of the chassis 1 and meshing with one side of the connecting gear 222, a reversing motor 224 fixedly mounted on the chassis 1 for driving the reversing gear 223 to rotate, a traveling wheel 225 symmetrically rotatably connected to the bottom of the connecting seat 221, and a drive motor 226 fixedly mounted on the connecting seat 221 for driving the traveling wheel 225 to rotate. Both the reversing motor 224 and the drive motor 226 are connected to the output terminal of the controller. When the forklift needs to change direction, the controller sends instructions to the reversing motor 224 and drive motor 226 of the steering wheel assembly 22 based on the information fed back by the navigation laser 11. After the reversing motor 224 starts, it drives the reversing gear 223 to rotate. Since the reversing gear 223 meshes with the connecting gear 222 on the top of the connecting seat 221, the connecting gear 222 can rotate with the reversing gear 223 and drive the connecting seat 221 to rotate at the bottom of the chassis 1, realizing the switching of the walking direction. At the same time, the drive motor 226 starts, which can provide power to the walking wheels 225 symmetrically connected to the bottom of the connecting seat 221, drive the walking wheels 225 to rotate, and drive the chassis 1 to move in the direction after the reversing adjustment. Then, the universal wheels 21 set on the chassis 1 can freely rotate to the required direction with the direction of movement of the chassis 1, which can drive the chassis 1, forks 3, and lifting mechanism 4 to move, completing the omnidirectional walking action of the equipment.

[0022] Furthermore, the lifting mechanism 4 includes a movable frame 41 slidably connected to the position above the weighing device 7 on the chassis 1, a lifting frame 42 that moves longitudinally on the movable frame 41, a cylinder 43 fixedly installed on the movable frame 41 and connected to the output end of the controller for driving the lifting frame 42 to lift, sprockets 44 symmetrically rotatably connected to the lifting frame 42 and located on both sides of the cylinder 43, a chain 45 sleeved on the sprockets 44 and meshing with the sprockets 44, and a connecting plate 46 slidably connected to the movable frame 41 and fixedly connected to the end of the two forks 3 away from the distance sensor 6. The two ends of the chain 45 are fixedly connected to the lifting frame 42 and the connecting plate 46 respectively. When the goods are placed at a high or low position, the controller sends a lifting command to the cylinder 43 of the lifting mechanism 4 based on the real-time detection of the distance sensor 6. After the cylinder 43 is started, it drives the lifting frame 42 connected to it to move longitudinally on the moving frame 41. At this time, the movement of the lifting frame 42 will drive the sprockets 44 connected to it on both sides to move synchronously. Since the sprockets 44 drive the chain 45 that meshes with them when they rotate, and the two ends of the chain 45 are fixedly connected to the lifting frame 42 and the connecting plate 46 respectively, the chain 45 drives the connecting plate 46 to slide on the moving frame 41 through the transmission action. The connecting plate 46 is fixedly connected to the end of the two forks 3 away from the distance sensor 6. Finally, through the coordinated transmission of the cylinder 43, the lifting frame 42, the sprockets 44 and the chain 45, the connecting plate 46 and the forks 3 can be driven to lift and lower synchronously, realizing the lifting or lowering action of the forks 3 and the goods.

[0023] Furthermore, the drive mechanism 5 includes connecting parts 51 that are symmetrically fixedly connected to both sides of the moving frame 41, drive gears 52 that are rotatably connected to the two connecting parts 51 respectively, a servo motor that is fixedly installed on the moving frame 41 and connected to the output end of the controller for driving the drive gears 52 to rotate, and racks 53 that are symmetrically fixedly installed on the chassis 1 corresponding to the outer sides of the two forks 3, with the drive gears 52 meshing with the racks 53.

[0024] In addition, to ensure the stability of the fork 3 and the moving frame 41 in the back and forth movement, support wheels 9 are rotatably connected to the bottom of the fork 3 and the bottom of the moving frame 41. The support wheels 9 are provided at the bottom of the fork 3 and the moving frame 41, so that when the drive mechanism 5 drives the fork 3 and the moving frame 41 to move back and forth, it can roll in contact with the chassis 1 and the ground, which not only reduces the frictional resistance of movement, but also ensures that the fork 3 and the moving frame 41 move smoothly and improves the overall smoothness of operation.

[0025] When the distance sensor 6 detects the distance to the goods in real time and feeds back the data to the controller, the controller will send a drive command to the servo motor of the drive mechanism 5 when the controller starts the drive mechanism 5 according to the distance signal. After the servo motor starts, it drives the drive gear 52 connected to it to rotate. Since the drive gear 52 is rotatably connected to both sides of the moving frame 41 through the connector 51 and meshes with the rack 53 symmetrically fixed on the chassis 1, the drive gear 52 rotates along the rack 53 and translates when it rotates. Then, the drive gear 52 will drive the moving frame 41 to move synchronously on the chassis 1. The movement of the moving frame 41 will drive the connecting plate 46 and the fork 3 connected to it to move forward or backward together. However, while the fork 3 and the moving frame 41 are moving, the support wheel 9 rotatably connected to the bottom of the fork 3 and the bottom of the moving frame 41 can roll along with it. This effectively reduces the frictional resistance between the fork 3 and the moving frame 41 and the contact surface when they move, and also maintains the stability of the movement of the fork 3 after it picks up the goods. Finally, the fork 3 can accurately move closer to or away from the goods so as to pick up the goods.

[0026] Furthermore, the detection mechanism 8 includes a pressure plate 81 positioned above the end of the fork 3 near the distance sensor 6, a spring 82 fixedly mounted on the fork 3 and linearly distributed, and a detection switch 83 fixedly mounted on the fork 3 and positioned below the pressure plate 81 for triggering when the pressure plate 81 is pressed down. The end of the spring 82 away from the fork 3 is fixedly connected to the bottom of the pressure plate 81, and the detection switch 83 is connected to the input terminal of the controller. During the process of the forks 3 picking up goods, when the goods gradually come into contact with the pressure plate 81 above the end of the forks 3 near the distance sensor 6, the goods will exert downward pressure on the pressure plate 81. The spring 82, which is fixed to the bottom of the pressure plate 81 and linearly distributed on the forks 3, is compressed under the pressure. At this time, the pressure plate 81 moves downward with the compression of the spring 82. When the pressure plate 81 moves down to contact the detection switch 83 located below it on the forks 3, the detection switch 83 is triggered. The detection switch 83 then sends a goods arrival signal to the controller to complete the detection confirmation that the goods have been picked up. Conversely, when the forks 3 put down the goods, the spring 82 extends under its own elasticity and drives the pressure plate 81 to return to its original position, releasing the trigger state of the detection switch 83 and restoring the detection switch 83 to its initial state so that it can be reused in subsequent picking operations.

[0027] It should be noted that a battery compartment is fixedly installed on the chassis 1, and a suitable power battery is installed in the battery compartment. It is electrically connected to the controller, walking mechanism 2, lifting mechanism 4, drive mechanism 5 and other electrical components through the wiring, providing stable and continuous power support for all electrical components and actuators of the entire forklift equipment, ensuring the normal operation of components such as navigation laser 11, distance sensor 6, detection mechanism 8, weighing device 7 and the smooth operation of each work process.

[0028] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this application, based on the technical solution and concept of this application, should be included within the scope of protection of this application.

Claims

1. An omnidirectional AGV forklift, comprising a controller, a chassis (1), a traveling mechanism (2) disposed at the bottom of the chassis (1), two forks (3) slidably connected to the chassis (1), a lifting mechanism (4) slidably connected to the chassis (1) and connected to the two forks (3), a drive mechanism (5) disposed on the chassis (1) and connected to the lifting mechanism (4) for driving the lifting mechanism (4) and the forks (3) forward or backward, and a weighing device (7) fixedly installed on the chassis (1) between the two forks (3), wherein the traveling mechanism (2), the lifting mechanism (4) and the drive mechanism (5) are all connected to the output end of the controller, and the weighing device (7) is connected to the input end of the controller; Its features are: The walking mechanism (2) includes omnidirectional wheels (21) rotatably connected to the corners of the bottom of the chassis (1) and steering wheel assemblies (22) symmetrically arranged on both sides of the bottom of the chassis (1). The omnidirectional AGV forklift also includes a distance sensor (6) fixedly installed at one end of the two forks (3) away from the lifting mechanism (4) for detecting the distance between the forks (3) and the goods, and a detection mechanism (8) respectively installed on the two forks (3) for confirming that the goods have been picked up. The distance sensor (6) and the detection mechanism (8) are both connected to the input end of the controller.

2. The omnidirectional AGV forklift according to claim 1, characterized in that: A navigation laser (11) for real-time navigation is fixedly installed on the chassis (1), and the navigation laser (11) is connected to the input terminal of the controller.

3. The omnidirectional AGV forklift according to claim 1, characterized in that: The steering wheel assembly (22) includes a connecting seat (221) rotatably connected to the bottom of the chassis (1), a connecting gear (222) fixedly disposed on the top of the connecting seat (221), a reversing gear (223) rotatably connected to the bottom of the chassis (1) and meshing with one side of the connecting gear (222), a reversing motor (224) fixedly mounted on the chassis (1) for driving the reversing gear (223) to rotate, a traveling wheel (225) symmetrically rotatably connected to the bottom of the connecting seat (221), and a drive motor (226) fixedly mounted on the connecting seat (221) for driving the traveling wheel (225) to rotate. The reversing motor (224) and the drive motor (226) are both connected to the output end of the controller.

4. The omnidirectional AGV forklift according to claim 1, characterized in that: The lifting mechanism (4) includes a movable frame (41) slidably connected to the chassis (1) at a position above the weighing device (7), a lifting frame (42) that moves longitudinally on the movable frame (41), a cylinder (43) fixedly installed on the movable frame (41) and connected to the output end of the controller for driving the lifting frame (42) to lift, sprockets (44) symmetrically rotatably connected to the lifting frame (42) and located on both sides of the cylinder (43), a chain (45) sleeved on the sprocket (44) and meshing with the sprocket (44), and a connecting plate (46) slidably connected to the movable frame (41) and fixedly connected to one end of the two forks (3) away from the distance sensor (6). The two ends of the chain (45) are fixedly connected to the lifting frame (42) and the connecting plate (46) respectively.

5. The omnidirectional AGV forklift according to claim 4, characterized in that: The drive mechanism (5) includes connectors (51) symmetrically fixedly connected to both sides of the moving frame (41), drive gears (52) rotatably connected to the two connectors (51), a servo motor fixedly installed on the moving frame (41) and connected to the output end of the controller for driving the drive gears (52) to rotate, and racks (53) symmetrically fixedly installed on the chassis (1) corresponding to the outer sides of the two forks (3), wherein the drive gears (52) mesh with the racks (53).

6. The omnidirectional AGV forklift according to claim 5, characterized in that: Both the bottom of the fork (3) and the bottom of the moving frame (41) are rotatably connected to support wheels (9).

7. The omnidirectional AGV forklift according to claim 1, characterized in that: The detection mechanism (8) includes a pressure plate (81) located above the end of the fork (3) near the distance sensor (6), a spring (82) fixedly mounted on the fork (3) and linearly distributed, and a detection switch (83) fixedly mounted on the fork (3) and located below the pressure plate (81) for triggering when the pressure plate (81) is pressed down. The end of the spring (82) away from the fork (3) is fixedly connected to the bottom of the pressure plate (81), and the detection switch (83) is connected to the input terminal of the controller.

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