AGV forklift, fork arm active cargo carrying method, and fork arm passive cargo carrying method

Abstract

The present application provides an AGV forklift, a fork arm active cargo handling method and a fork arm passive cargo handling method. The AGV forklift includes a frame and a fork arm mechanism. The frame is provided with a guide groove, and a groove wall of the guide groove is provided with a floating hook assembly. The fork arm mechanism includes a top cover. When the fork arm mechanism is lifted upward and the top cover contacts the floating hook assembly, the floating hook assembly retracts to avoid the top cover. When the fork arm mechanism continues to be lifted upward and the top cover detaches from the floating hook assembly, the floating hook assembly extends out and resets. The present application solves the problem of the rigid hook used in the traditional AGV trolley that, when the system is abnormal or human error occurs, a top cover of the fork arm is easy to collide directly with the hook to cause damage to the structural parts, and the fork arm cannot pick up and place short pallets, resulting in low versatility of the AGV trolley.

Description

CROSS REFERENCE TO RELATED APPLICATION

[0001] This application claims priority to Chinese Patent Application with the filing No. 2023106071438 filed with the Chinese Patent Office on May 26, 2023, entitled "AGV FORKLIFT, FORK ARM ACTIVE CARGO HANDING METHOD AND FORK ARM PASSIVE CARGO HANDING METHOD", the entire contents of which are incorporated herein by reference.TECHNICAL FIELD

[0002] The present invention relates to the technical field of AGV forklifts, and in particular to an AGV forklift, a fork arm active cargo handing method, and a fork arm passive cargo handing method.BACKGROUND ART

[0003] The prior art discloses an AGV trolley, which realizes hanging and lowering of a fork arm by lifting and lowering a lifting assembly of the fork arm itself and arranging a hook on a frame. The traditional hook is rigidly connected to the frame. Since the vehicle body is heavy, when an operator makes an error operation, a sensor misdetects, or a software is out of control, if an avoidance opening on a top cover of the fork arm is not aligned with the hook on the frame, the top cover of the fork arm will directly hit the hook when it is lifted, causing damage to the structural parts and extremely high maintenance costs. In addition, since the avoidance opening on the top cover of the fork arm must be aligned with the hook on the frame or the fork arm must be fully extended out of the frame before it can be lifted, for some short pallets, that is, when a spatial depth at a bottom of a pallet is less than a length of the fork arm itself, the fork arm cannot be completely moved away from the frame, making it impossible for the fork arm to lift and place these short pallets, resulting in reduced versatility of the AGV trolley.SUMMARY

[0004] In view of the above defects, the present invention proposes an AGV forklift, a fork arm active cargo handling method and a fork arm passive cargo handling method, the purpose of which is to solve the following problem, the rigid hook is used on the traditional AGV trolley, a top cover of a fork arm easily collides with the hook directly when the system is abnormal or human error occurs, causing damage to the structural parts, and the fork arm cannot be used to pick up and place short pallets, resulting in low versatility of the AGV trolley.

[0005] To achieve this purpose, the present application adopts the following technical solutions:

[0006] An AGV forklift, where the AGV forklift comprises a frame and a fork arm mechanism, the frame is provided with a guide groove, the guide groove is arranged in a front-rear direction, and the fork arm mechanism is arranged in the guide groove so as to be movable in the front-rear direction;

[0007] a groove wall of the guide groove is provided with a floating hook assembly, the fork arm mechanism comprises a bottom cover, a top cover, a lifting assembly, a driving wheel assembly and a driver, the driver and the driving wheel assembly are both mounted on the bottom cover, the lifting assembly is mounted between the bottom cover and the top cover, and a driving end of the driver is mounted on the lifting assembly;

[0008] a side wall of the top cover is provided with a hook guide groove and an avoidance opening, the hook guide groove is arranged adjacent to the avoidance opening, and the hook guide groove cooperates with the floating hook assembly; when the fork arm mechanism is lifted upward and the top cover contacts the floating hook assembly, the floating hook assembly retracts to avoid the top cover; when the fork arm mechanism continues to lift upward and the top cover detaches from the floating hook assembly, the floating hook assembly extends out and resets.

[0009] Optionally, the floating hook assembly comprises a first hook base, a first hook, a first limit screw, a first flat washer, a first pin shaft, a compression spring and a ball-headed pin, and the first hook base is provided with a first screw hole;

[0010] the compression spring is mounted inside the first hook base, the first hook is rotatably mounted on the first hook base through the first pin shaft, the first limit screw passes through the first flat washer and is mounted in the first screw hole, one end of the compression spring is connected to a side wall inside the first hook base, the other end of the compression spring is connected to the ball-headed pin, and the ball-headed pin abuts against the first hook.

[0011] Optionally, the floating hook assembly comprises a second hook base, a second hook, a second limit screw, a second flat washer, a second pin shaft and a tension spring, and the second hook base is provided with a second screw hole;

[0012] the second hook is rotatably mounted on the second hook base through the second pin shaft, the second limit screw passes through the second flat washer and is mounted in the second screw hole, one end of the tension spring is connected to the second hook base, and the other end of the tension spring is connected to the second hook.

[0013] Optionally, the lifting assembly comprises active scissor lifts, passive scissor lifts, a push rod, a screw rod and a moving block, and two active scissor lifts and two passive scissor lifts are provided;

[0014] the driver is connected to the screw rod, the moving block is threadedly sleeved on the screw rod, one end of the push rod is connected to the moving block, and the other end of the push rod is connected to the two active scissor lifts, and the two active scissor lifts are respectively cross-hinged with their respective passive scissor lifts in an X shape.

[0015] Optionally, the driving wheel assembly comprises a main driving wheel and a slave driving wheel, and the main driving wheel and the slave driving wheel are both mounted on the bottom cover, and the main driving wheel is located in front of the slave driving wheel.

[0016] Optionally, the AGV forklift further comprises two frame driving wheels, and the two frame driving wheels are both mounted on the frame.

[0017] Another aspect of the present application provides a fork arm active cargo handling method, which specifically includes the following steps: step S0: suspending, in the initial state, the fork arm mechanism on the frame through a cooperation of the hook guide groove and the floating hook assembly; step S1: moving the bottom cover downward until the driving wheel assembly contacts the ground; step S2: moving the top cover upward until the top cover completely detaches from the floating hook assembly; step S3: moving the fork arm mechanism forward so that the avoidance opening is aligned with the floating hook assembly; step S4: moving the top cover downward to a lowest position, wherein the floating hook assembly passes through the avoidance opening during a descent of the top cover; step S5: continuing to move the fork arm mechanism forward to a bottom of a cargo pallet; step S6: moving the top cover upward to a highest position to lift the cargo pallet; step S7: moving the fork arm mechanism backward to an extreme end of the guide groove; step S8: moving the top cover downward, and placing the cargo pallet on the frame; step S9: continuing to move the top cover downward, so that the hook guide groove is suspended on the floating hook assembly, at this time, when the lifting assembly continues to descend, the top cover is prevented from continuing to move downward, and moving the bottom cover upward, so that the driving wheel assembly detaches from the ground; step S10: moving the frame to a designated position for placing cargos under a drive of the frame driving wheel; step S11: moving the bottom cover downward until the driving wheel assembly contacts the ground; step S12: moving the top cover upward, lifting the cargo pallet, and moving the cargo pallet to the highest position; step S13: moving the fork arm mechanism forward to a cargo placement position; step S14: moving the top cover downward to a lowest position, so that the cargo pallet is placed at the cargo placement position; step S15: moving the fork arm mechanism backward to an extreme end of the guide groove; step S16: moving the top cover upward until the top cover contacts the floating hook assembly, and retracting the floating hook assembly to avoid the top cover; step S17: continuing to move the top cover upward to a middle position, wherein the middle position refers to a position where the top cover completely detaches from the floating hook assembly; step S18: moving the top cover downward so that the hook guide groove cooperates with the floating hook assembly; and step S19: moving the bottom cover upward so that the driving wheel assembly detaches from the ground. Another aspect of the present application also provides a fork arm passive cargo handling method, which specifically includes the following steps: step S20: suspending, in the initial state, the fork arm mechanism on the frame through a cooperation of the hook guide groove and the floating hook assembly; step S21: moving the bottom cover downward until the driving wheel assembly contacts the ground; step S22: moving the top cover upward until the top cover completely detaches from the floating hook assembly; step S23: moving the fork arm mechanism forward so that the avoidance opening is aligned with the floating hook assembly; step S24: moving the top cover downward to a lowest position, wherein the floating hook assembly passes through the avoidance opening during a descent of the top cover; step S25: continuing to move the fork arm mechanism forward to a bottom of a cargo pallet; step S26: moving the top cover upward to a highest position; step S27: moving the frame forward to a position under the cargo pallet; step S28: continuing to move the top cover downward, so that the hook guide groove is suspended on the floating hook assembly, at this time, when the lifting assembly continues to descend, the top cover is prevented from continuing to move downward, and moving the bottom cover upward, so that the driving wheel assembly detaches from the ground; step S29: moving the frame to a designated position for placing cargos under a drive of the frame driving wheel; step S30: moving the bottom cover downward until the driving wheel assembly contacts the ground; step S31: moving the top cover upward to a highest position to lift the cargos; step S32: moving the frame backward out of the position under the cargo pallet; step S33: moving the top cover downward to a lowest position, while placing the cargos on the cargo placement position; step S34: moving the fork arm mechanism backward to an extreme end of the guide groove; step S35: moving the top cover upward until the top cover contacts the floating hook assembly, wherein the floating hook assembly retracts to avoid the top cover; step S36: continuing to move the top cover upward to a middle position, wherein the middle position refers to a position where the top cover completely detaches from the floating hook assembly; step S37: moving the top cover downward so that the hook guide groove cooperates with the floating hook assembly; and step S38: moving the bottom cover upward so that the driving wheel assembly detaches from the ground.

[0018] The technical solution provided by the embodiment of the present application may include the following beneficial effects.

[0019] The present application provides with the floating hook assembly so that the fork arm mechanism can be lifted at any position in the guide groove, which can avoid damage to the structural parts under abnormal conditions. In addition, since the fork arm mechanism can be lifted at any position in the guide groove, it can be used for the picking up and placing of short pallets, thereby improving the versatility of AGV.BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structural top view of an AGV forklift provided by the present application; Figure 2 is a structural bottom view of an AGV forklift provided by the present application; Figure 3 is a structural schematic diagram of one of the embodiments in the present application; Figure 4 is a structural schematic diagram of one of the embodiments in the present application; Figure 5 is a sectional view of Figure 4; Figure 6 is a structural schematic diagram of one of the embodiments in the present application; Figure 7 is a structural schematic diagram of one of the embodiments in the present application; Figure 8 is a sectional view of Figure 7; and Figure 9 is a structural schematic diagram of one of the embodiments in the present application.

[0021] Among them, 1. frame; 2. fork arm mechanism; 3. floating hook assembly; 4. frame driving wheel; 11. guide groove; 21. bottom cover; 22. top cover; 23. lifting assembly; 24. driving wheel assembly; 25. driver; 30. first hook base; 31. first hook; 32. first limit screw; 33. first pin shaft; 34. compression spring; 35. second hook base; 36. second hook; 37. second limit screw; 38. second pin shaft; 39. tension spring; 221. hook guide groove; 222. avoidance opening; 231. active scissor lift; 232. passive scissor lift; 233. push rod; 234. screw rod; 235. moving block; 241. main driving wheel; 242. slave driving wheel; 300. first screw hole; 320. first flat washer; 340. ball-headed pin; 350. second screw hole; 370. second flat washer.DETAILED DESCRIPTION OF EMBODIMENTS

[0022] The technical solution of the present application is further described below with reference to the drawings and through specific embodiments.

[0023] In the description of the present application, it should be understood that the terms "length", "middle", "upper", "lower", "left", "right", "top", "bottom" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0024] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "multiple" is more than two.

[0025] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "mounting", "splicing" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary skilled in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0026] An AGV forklift includes a frame 1 and a fork arm mechanism 2. The frame 1 is provided with a guide groove 11. The guide groove 11 is arranged along a front-rear direction, and the fork arm mechanism 2 is arranged in the guide groove 11 in so as to be movable in the front-rear direction.

[0027] A groove wall of the guide groove 11 is provided with a floating hook assembly 3, and the fork arm mechanism 2 includes a bottom cover 21, a top cover 22, a lifting assembly 23, a driving wheel assembly 24 and a driver 25. The driver 25 and the driving wheel assembly 24 are both mounted on the bottom cover 21, the lifting assembly 23 is mounted between the bottom cover 21 and the top cover 22, and a driving end of the driver 25 is mounted on the lifting assembly 23.

[0028] A side wall of the top cover 22 is provided with a hook guide groove 221 and an avoidance opening 222. The hook guide groove 221 is arranged adjacent to the avoidance opening 222, and the hook guide groove 221 cooperates with the floating hook assembly 3. When the fork arm mechanism 2 is lifted upward and the top cover 22 contacts the floating hook assembly 3, the floating hook assembly 3 retracts to avoid the top cover 22. When the fork arm mechanism 2 continues to lift upward and the top cover 22 detaches from the floating hook assembly 3, the floating hook assembly 3 extends out and resets.

[0029] In an embodiment, an AGV trolley is provided, as shown in Figure 1 to Figure 3. When the fork arm mechanism 2 actively moves cargos, in the initial state, the fork arm mechanism 2 is suspended on the frame 1 through the cooperation of the hook guide groove 221 and the floating hook assembly 3, and the fork arm mechanism 2 begins to lift. Since the position of the top cover 22 remains unchanged, the driver 25 is actuated. In this embodiment, the driver 25 is a motor, which drives the lifting assembly 23 to move, specifically drives the bottom cover 21 to move downward so that the driving wheel assembly 24 can contact the ground. When the driving wheel assembly 24 begins to contact the ground and the fork arm mechanism 2 continues to lift, a height of the driving wheel assembly 24 remains unchanged, and the top cover 22 begins to detach from the floating hook assembly 3.

[0030] After the detachment is completed, the fork arm mechanism 2 moves forward along the guide groove 11 under the drive of the driving wheel assembly 24, so that the avoidance opening 222 is aligned with the floating hook assembly 3. The fork arm mechanism 2 is lowered to the lowest position, and the avoidance opening 222 can pass through the position where the floating hook assembly 3 is mounted, so that the fork arm mechanism 2 can completely detach from the floating hook assembly 3 when it is at the lowest position. At this time, the fork arm mechanism 2 continues to move forward under the drive of the driving wheel assembly 24, extends to a bottom of the cargo pallet (not shown in the figures), and the driver 25 is activated to drive the lifting assembly 23 to move, specifically to drive the top cover 22 to move upward, and lift the cargo pallet to a highest position. Subsequently, the fork arm mechanism 2 moves backward under the drive of the driving wheel assembly 24, and moves to an extreme end of the guide groove 11. At this time, the driver 25 is activated to drive the lifting assembly 23 to move, specifically to drive the top cover 22 to move downward, so as to lower the cargo pallet, so that the cargos can fall on the frame 1 to complete the pickup. The top cover 22 continues to move downward, so that the hook guide groove 221 cooperates with the floating hook assembly 3 to support the fork arm mechanism 2, and then the bottom cover 21 moves upward to make the driving wheel assembly 24 leave the ground, thereby realizing the folding of the fork arm mechanism 2.

[0031] After picking up of cargos is completed on the frame 1, the frame 1 first moves to the designated position for placing the cargos under the drive of the frame driving wheel 4. Then the bottom cover 21 moves downward until the driving wheel assembly 24 contacts the ground. Then the top cover 22 moves upward to lift the cargo pallet and move it to a highest position. The fork arm mechanism 2 moves forward to a cargo placement position. The top cover 22 moves downward to a lowest position, so that the cargo pallet is placed at the cargo placement position. The fork arm mechanism 2 moves backward to the extreme end of the guide groove 11. The top cover 22 moves upward until the top cover 22 contacts the floating hook assembly 3, and the floating hook assembly 3 retracts to avoid the top cover 22. The top cover 22 continues to move upward until the top cover 22 completely detaches from the floating hook assembly 3. The top cover 22 moves downward so that the hook guide groove 221 cooperates with the floating hook assembly 3. Finally, the bottom cover 21 moves upward so that the driving wheel assembly 24 is separated from the ground.

[0032] Further explanation, two fork arm mechanisms 2 and two guide grooves 11 are provided. The two fork arm mechanisms 2 can be respectively arranged in their respective guide grooves 11 so as to be movable in a front-rear direction. The arrangement of the two fork arm mechanisms 2 is benefit to make the picking up and placing of cargos more stable.

[0033] By arranging the floating hook assembly 3, this solution enables the fork arm mechanism 2 to be lifted at any position in the guide groove 11, which can avoid damage to the structural parts under abnormal conditions. In addition, since the fork arm mechanism 2 can be lifted at any position in the guide groove 11, it can be applied to the picking up and placing of short pallets, thereby improving the versatility of the AGV.

[0034] Optionally, the floating hook assembly 3 includes a first hook base 30, a first hook 31, a first limit screw 32, a first flat washer 320, a first pin shaft 33, a compression spring 34 and a ball-headed pin 340, and the first hook base 30 is provided with a first screw hole 300.

[0035] The compression spring 34 is mounted inside the first hook base 30, the first hook 31 is rotatably mounted on the first hook base 30 through the first pin shaft 33. The first limit screw 32 passes through the first flat washer 320 and is mounted in the first screw hole 300. One end of the compression spring 34 is connected to the side wall inside the first hook base 30, and the other end of the compression spring 34 is connected to the ball-headed pin 340, and the ball-headed pin 340 abuts against the first hook 31.

[0036] In this embodiment, as shown in Figure 4 to Figure 6, when the top cover 22 moves upward and contacts the floating hook assembly 3, the first hook 31 swings to the right, driving the ball-headed pin 340 to move to the right. At this time, the compression spring 34 is in a compressed state. The arrangement of the ball-headed pin 340 can effectively prevent the compression spring 34 from damaging the first hook 31 for a long time, thereby improving a service life of the first hook 31. When the top cover 22 continues to move upward and completely detaches from the floating hook assembly 3, the compression spring 34 is in an expanded state, driving the first hook 31 to swing to the left to achieve reset. In addition, since the first limit screw 32 passes through the first flat washer 320 and is mounted in the first screw hole 300, the first flat washer 320 can effectively block the first pin shaft 33 to prevent the first pin shaft 33 from falling off easily.

[0037] Optionally, the floating hook assembly 3 includes a second hook base 35, a second hook 36, a second limit screw 37, a second flat washer 370, a second pin shaft 38 and a tension spring 39, and the second hook base 35 is provided with a second screw hole 350.

[0038] The second hook 36 is rotatably mounted on the second hook base 35 through the second pin shaft 28, the second limit screw 37 passes through the second flat washer 370 and is mounted on the second screw hole 350, one end of the tension spring 39 is connected to the second hook base 35, and the other end of the tension spring 39 is connected to the second hook 36.

[0039] In this embodiment, as shown in Figure 7 to Figure 9, when the top cover 22 moves upward and contacts the floating hook assembly 3, the second hook 36 swings upward, and at this time, the tension spring 39 is in an expanded state. When the top cover 22 continues to move upward and completes the detachment from the floating hook assembly 3, the tension spring 39 is in a compressed state, so that the second hook 36 swings downward to achieve reset. In addition, since the second limit screw 37 passes through the second flat washer 370 and is mounted in the second screw hole 350, the second flat washer 370 can effectively block the second pin shaft 28 to prevent the second pin shaft 28 from falling off easily.

[0040] Optionally, the lifting assembly 23 includes active scissor lifts 231, passive scissor lifts 232, a push rod 233, a screw rod 234 and a moving block 235, and two active scissor lifts 231 and two passive scissor lifts 232 are provided.

[0041] The driver 25 is connected to the screw rod 234, and the moving block 235 is threadedly sleeved on the screw rod 234. One end of the push rod 233 is connected to the moving block 235, and the other end of the push rod 233 is connected to the two active scissor lifts 231, and the two active scissor lifts 231 are respectively cross-hinged with their respective passive scissor lifts 232 in an X shape.

[0042] In this embodiment, as shown in Figure 3, the driver 25 is activated. The driver 25 drives the screw rod 234 to rotate. The rotation of the screw rod 234 enables the moving block 235 to move on the screw rod 234. Since one end of the push rod 233 is connected to the moving block 235, and the other end of the push rod 233 is connected to the two active scissor lifts 231, the movement of the moving block 235 drives the push rod 233 to swing, thereby driving the hinge points of the active scissor lifts 231 and the passive scissor lifts 232 to rotate, thereby realizing the lifting of the active scissor lifts 231 and the passive scissor lifts 232.

[0043] Optionally, the driving wheel assembly 24 includes a main driving wheel 241 and a slave driving wheel 242, the main driving wheel 241 and the slave driving wheel 242 are both mounted on the bottom cover 21, and the main driving wheel 241 is located in front of the slave driving wheel 242. In this embodiment, as shown in Figure 2, the arrangement of the main driving wheel 241 and the slave driving wheel 242 facilitates the extension and retraction of the fork arm mechanism 2 along the guide groove 11.

[0044] Optionally, the AGV forklift also includes two frame driving wheels 4, and the two frame driving wheels 4 are both mounted on the frame 1. In this embodiment, as shown in Figure 2, the arrangement of the frame driving wheel 4 facilitates the movement of the frame 1. Since the fork arm mechanism 2 needs to be drilled under the insert hole of the cargo pallet, the space is limited, and the ability of the fork arm mechanism 2 to actively move cargos is limited by space. When the weight of the cargos increases further, the stability of the fork arm mechanism 2 in moving cargos will decrease. Therefore, the fork arm mechanism 2 can also be left unmoved after lifting the cargos, and the cargos can be picked up and placed by actively drilling in or out of the cargos under the cargos by the frame 1.

[0045] Another aspect of the present application provides a fork arm active handing method, which specifically includes the following steps: step S0: suspending, in the initial state, the fork arm mechanism 2 on the frame 1 through the cooperation of the hook guide groove 221 and the floating hook assembly 3; step S1: moving the bottom cover 21 downward until the driving wheel assembly 24 contacts the ground; step S2: moving the top cover 22 upward until the top cover 22 completely detaches from the floating hook assembly 3; step S3: moving the fork arm mechanism 2 forward so that the avoidance opening 222 is aligned with the floating hook assembly 3; step S4: moving the top cover 22 downward to the lowest position, where the floating hook assembly 3 passes through the avoidance opening 222 during the descent of the top cover 22; step S5: continuing to move the fork arm mechanism 2 forward to the bottom of the cargo pallet; step S6: moving the top cover 22 upward, and placing the highest position to lift the cargo pallet; step S7: moving the fork arm mechanism 2 backward to the extreme end of the guide groove 11; step S8: moving the top cover 22 downward to place the cargo pallet on the frame 1; step S9: continuing to move the top cover 22 downward, so that the hook guide groove 221 is suspended on the floating hook assembly 3, at this time, when the lifting assembly 23 continues to descend, the top cover 22 is prevent from continuing to move downward, and moving the bottom cover 21 upward, so that the driving wheel assembly 24 detaches from the ground; step S10: moving the frame 1 to the designated position for placing the cargos under the drive of the frame driving wheel 4; step S11: moving the bottom cover 21 downward until the driving wheel assembly 24 contacts the ground; step S12: moving the top cover 22 upward, lifting the cargo pallet, and moving the cargo pallet to the highest position; step S13: moving the fork arm mechanism 2 forward to the cargo placement position; step S14: moving the top cover 22 downward to the lowest position, so that the cargo pallet is placed at the cargo placement position; step S15: moving the fork arm mechanism 2 backward to the extreme end of the guide groove 11; step S16: moving the top cover 22 upward until the top cover 22 contacts the floating hook assembly 3, and retracting the floating hook assembly 3 to avoid the top cover 22; step S17: continuing to move the top cover 22 upward to the middle position, where the middle position refers to a position where the top cover 22 completely detaches from the floating hook assembly 3; step S18: moving the top cover 22 downward so that the hook guide groove 221 cooperates with the floating hook assembly 3; and step S19: moving the bottom cover 21 upward so that the driving wheel assembly 24 detaches from the ground.

[0046] According to a fork arm active cargo handling method of this solution, due to the use of the floating hook assembly 3, when the fork arm mechanism 2 is lifted upward at the lowest position, and when the top cover 22 contacts the floating hook assembly 3, the floating hook assembly 3 can swing to avoid the top cover 22. When the top cover 22 continues to lift and detach, the floating hook assembly 3 can be reset under the action of a compression spring or a tension spring. When the top cover 22 continues to be lowered, the floating hook assembly 3 can contact the hook guide groove 221 on the top cover 22 to support the fork arm mechanism 2. Therefore, compared with the AGV trolley using a rigid hook, when the fork arm mechanism 2 is retracted, it is not necessary to first retract to a position where the avoidance opening 222 aligns with the floating hook assembly 3, but can be directly retracted to the end, then lifted to the middle position and then lowered to complete the retracting action of the fork arm mechanism 2, which can improve an efficiency of the retracting action of the fork arm mechanism 2.

[0047] Another aspect of the present application provides a fork arm passive cargo handling method, which specifically includes the following steps: step S20: suspending, in the initial state, the fork arm mechanism 2 on the frame 1 through the cooperation of the hook guide groove 221 and the floating hook assembly 3; step S21: moving the bottom cover 21 downward until the driving wheel assembly 24 contacts the ground; step S22: moving the top cover 22 upward until the top cover 22 completely detaches from the floating hook assembly 3; step S23: moving the fork arm mechanism 2 forward so that the avoidance opening 222 is aligned with the floating hook assembly 3; step S24: moving the top cover 22 downward to a lowest position, wherein the floating hook assembly 3 passes through the avoidance opening 222 during a descent of the top cover 22; step S25: continuing to move the fork arm mechanism 2 forward to the bottom of the cargo pallet; step S26: moving the top cover 22 upward to the highest position; step S27: moving the frame 1 forward to a position under the cargo pallet; step S28: continuing to move the top cover 22 downward, so that the hook guide groove 221 is suspended on the floating hook assembly 3, at this time, when the lifting assembly 23 continues to descend, the top cover 22 is prevented from continuing to move downward, and moving the bottom cover 21 upward, so that the driving wheel assembly 24 detaches from the ground; step S29: moving the frame 1 to the designated position for placing the cargos under the drive of the frame driving wheel 4; step S30: moving the bottom cover 21 downward until the driving wheel assembly 24 contacts the ground; step S31: moving the top cover 22 upward to the highest position to lift the cargos; step S32: moving the frame 1 backward out of the position under the cargo pallet; step S33: moving the top cover 22 downward to the lowest position, while placing the cargos on a cargo placement position; step S34: moving the fork arm mechanism 2 backward to the extreme end of the guide groove 11; step S35: moving the top cover 22 upward until the top cover 22 contacts the floating hook assembly 3, wherein the floating hook assembly 3 retracts to avoid the top cover 22; step S36: continuing to move the top cover 22 upward to a middle position, wherein the middle position refers to a position where the top cover 22 completely detaches from the floating hook assembly 3; step S37: moving the top cover 22 downward so that the hook guide groove 221 cooperates with the floating hook assembly 3; and step S38: moving the bottom cover 21 upward so that the driving wheel assembly 24 detaches from the ground.

[0048] According to a fork arm passive cargo handling method of this solution, since the fork arm mechanism 2 needs to drill under the insert hole of the cargo pallet, the space is limited, and the ability of the fork arm mechanism 2 to actively carry cargo is limited by space. When the weight of the cargos increases further, the stability of the fork arm mechanism 2 in carrying cargos will decrease. Therefore, the fork arm mechanism 2 can also not move after lifting the cargos, and the frame 1 can actively drill into or exit under the cargo to realize the picking up and placing of cargo.

[0049] The technical principle of the present application is described above in combination with specific embodiments. These descriptions are only for explaining the principles of the present application and cannot be interpreted as limiting the scope of protection of the present application in any way. Based on the explanations here, those skilled in the art can assume other specific embodiments of the present application without creative labor, and these embodiments will fall within the scope of protection of the present application.INDUSTRIAL APPLICABILITY

[0050] The AGV forklift provided by the present application includes a frame and a fork arm mechanism, the frame is provided with a guide groove, the groove wall of the guide groove is provided with a floating hook assembly, and the fork arm mechanism includes a top cover. When the fork arm mechanism is lifted upward and the top cover contacts the floating hook assembly, the floating hook assembly retracts to avoid the top cover; and when the fork arm mechanism continues to lift upward and the top cover detaches from the floating hook assembly, the floating hook assembly extends and resets, which can avoid damage to the structural parts under abnormal conditions. In addition, since the fork arm mechanism can be lifted at any position in the guide groove, it can be used for picking up and placing short pallets, which improves the versatility of the AGV.

Claims

1. An AGV forklift, characterized in that the AGV forklift comprises a frame and a fork arm mechanism, the frame is provided with a guide groove, the guide groove is arranged in a front-rear direction, and the fork arm mechanism is arranged in the guide groove so as to be movable in the front-rear direction; a groove wall of the guide groove is provided with a floating hook assembly, the fork arm mechanism comprises a bottom cover, a top cover, a lifting assembly, a driving wheel assembly and a driver, the driver and the driving wheel assembly are both mounted on the bottom cover, the lifting assembly is mounted between the bottom cover and the top cover, and a driving end of the driver is mounted on the lifting assembly; a side wall of the top cover is provided with a hook guide groove and an avoidance opening, the hook guide groove is arranged adjacent to the avoidance opening, and the hook guide groove cooperates with the floating hook assembly; when the fork arm mechanism is lifted upward and the top cover contacts the floating hook assembly, the floating hook assembly retracts to avoid the top cover; and when the fork arm mechanism continues to lift upward and the top cover detaches from the floating hook assembly, the floating hook assembly extends out and resets.

2. The AGV forklift according to claim 1, characterized in that the floating hook assembly comprises a first hook base, a first hook, a first limit screw, a first flat washer, a first pin shaft, a compression spring and a ball-headed pin, and the first hook base is provided with a first screw hole, wherein the compression spring is mounted inside the first hook base, the first hook is rotatably mounted on the first hook base through the first pin shaft, the first limit screw passes through the first flat washer and is mounted in the first screw hole, one end of the compression spring is connected to a side wall inside the first hook base, the other end of the compression spring is connected to the ball-headed pin, and the ball-headed pin abuts against the first hook.

3. The AGV forklift according to claim 1 or 2, characterized in that the floating hook assembly comprises a second hook base, a second hook, a second limit screw, a second flat washer, a second pin shaft and a tension spring, and the second hook base is provided with a second screw hole, wherein the second hook is rotatably mounted on the second hook base through the second pin shaft, the second limit screw passes through the second flat washer and is mounted in the second screw hole, one end of the tension spring is connected to the second hook base, and the other end of the tension spring is connected to the second hook.

4. The AGV forklift according to any one of claims 1 to 3, characterized in that the lifting assembly comprises active scissor lifts, passive scissor lifts, a push rod, a screw rod and a moving block, and two active scissor lifts and two passive scissor lifts are provided, wherein the driver is connected to the screw rod, the moving block is threadedly sleeved on the screw rod, one end of the push rod is connected to the moving block, and the other end of the push rod is connected to the two active scissor lifts, and the two active scissor lifts are respectively cross-hinged with their respective passive scissor lifts in an X shape.

5. The AGV forklift according to any one of claims 1 to 4, characterized in that the driving wheel assembly comprises a main driving wheel and a slave driving wheel, the main driving wheel and the slave driving wheel are both mounted on the bottom cover, and the main driving wheel is located in front of the slave driving wheel.

6. The AGV forklift according to any one of claims 1 to 5, characterized in that the AGV forklift further comprises two frame driving wheels, and the two frame driving wheels are both mounted on the frame.

7. A fork arm active cargo handling method, characterized in that the fork arm active cargo handling method uses the AGV forklift according to any one of claims 1 to 6, and specifically comprises steps of: step S0: suspending, in an initial state, the fork arm mechanism on the frame through a cooperation of the hook guide groove and the floating hook assembly; step S1: moving the bottom cover downward until the driving wheel assembly contacts the ground; step S2: moving the top cover upward until the top cover completely detaches from the floating hook assembly; step S3: moving the fork arm mechanism forward so that the avoidance opening is aligned with the floating hook assembly; step S4: moving the top cover downward to a lowest position, wherein the floating hook assembly passes through the avoidance opening during a descent of the top cover; step S5: continuing to move the fork arm mechanism forward to a bottom of a cargo pallet; step S6: moving the top cover upward to a highest position to lift the cargo pallet; step S7: moving the fork arm mechanism backward to an extreme end of the guide groove; step S8: moving the top cover downward, and placing the cargo pallet on the frame; step S9: continuing to move the top cover downward, so that the hook guide groove is suspended on the floating hook assembly, at this point, when the lifting assembly continues to descend, the top cover is prevented from continuing to move downward, and moving the bottom cover upward, so that the driving wheel assembly detaches from the ground; step S10: moving the frame to a designated position for placing cargos under a drive of the frame driving wheel; step S11: moving the bottom cover downward until the driving wheel assembly contacts the ground; step S12: moving the top cover upward, lifting the cargo pallet, and moving the cargo pallet to the highest position; step S13: moving the fork arm mechanism forward to a cargo placement position; step S14: moving the top cover downward to a lowest position, so that the cargo pallet is placed at the cargo placement position; step S15: moving the fork arm mechanism backward to an extreme end of the guide groove; step S16: moving the top cover upward until the top cover contacts the floating hook assembly, and retracting the floating hook assembly to avoid the top cover; step S17: continuing to move the top cover upward to a middle position, wherein the middle position refers to a position where the top cover completely detaches from the floating hook assembly; step S18: moving the top cover downward so that the hook guide groove cooperates with the floating hook assembly; and step S19: moving the bottom cover upward so that the driving wheel assembly detaches from the ground.

8. A fork arm passive cargo handling method, characterized in that the fork arm passive cargo handling method uses the AGV forklift according to any one of claims 1 to 6, and specifically comprises steps of: step S20: suspending, in an initial state, the fork arm mechanism on the frame through a cooperation of the hook guide groove and the floating hook assembly; step S21: moving the bottom cover downward until the driving wheel assembly contacts the ground; step S22: moving the top cover upward until the top cover completely detaches from the floating hook assembly; step S23: moving the fork arm mechanism forward so that the avoidance opening is aligned with the floating hook assembly; step S24: moving the top cover downward to a lowest position, wherein the floating hook assembly passes through the avoidance opening during a descent of the top cover; step S25: continuing to move the fork arm mechanism forward to a bottom of a cargo pallet; step S26: moving the top cover upward to a highest position; step S27: moving the frame forward to a position under the cargo pallet; step S28: continuing to move the top cover downward, so that the hook guide groove is suspended on the floating hook assembly, at this point, when the lifting assembly continues to descend, the top cover is prevented from continuing to move downward; and moving the bottom cover upward, so that the driving wheel assembly detaches from the ground; step S29: moving the frame to a designated position for placing cargos under a drive of the frame driving wheel; step S30: moving the bottom cover downward until the driving wheel assembly contacts the ground; step S31: moving the top cover upward to a highest position to lift the cargos; step S32: moving the frame backward out of the position under the cargo pallet; step S33: moving the top cover downward to a lowest position, while placing the cargos on a cargo placement position; step S34: moving the fork arm mechanism backward to an extreme end of the guide groove; step S35: moving the top cover upward until the top cover contacts the floating hook assembly, wherein the floating hook assembly retracts to avoid the top cover; step S36: continuing to move the top cover upward to a middle position, wherein the middle position refers to a position where the top cover completely detaches from the floating hook assembly; step S37: moving the top cover downward so that the hook guide groove cooperates with the floating hook assembly; and step S38: moving the bottom cover upward so that the driving wheel assembly detaches from the ground.

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