Material transport vehicle

Abstract

The present application discloses a material transport vehicle, comprising a vehicle body and a cantilever shaft. The cantilever shaft protrudes from a front side plate of the vehicle body, and an accommodating cavity is formed in the vehicle body. The material transport vehicle further comprises a leveling assembly, a first material pushing assembly, a second material pushing assembly, and a material pushing plate. The front side plate of the vehicle body comprises a front side plate body and a cantilever shaft mounting plate; a cantilever mounting opening is formed on the front side plate body; the cantilever shaft mounting plate is hinged at the top edge of the cantilever mounting opening; the cantilever shaft is mounted on the cantilever shaft mounting plate; and the leveling assembly is arranged in the accommodating cavity, and the leveling assembly is used for driving the cantilever shaft mounting plate to rotate around a hinge position. The top edge of the cantilever mounting opening is the edge of the cantilever mounting opening facing away from a movable chassis; and the first material pushing assembly is capable of driving the second material pushing assembly to move along the cantilever shaft, and the material pushing plate is connected to the second material pushing assembly.

Description

Material transport vehicle TECHNICAL FIELD

[0001] The present application relates to the field of material transportation, in particular, to a material transport vehicle. BACKGROUND

[0002] In modern factories, material transport vehicles (for example, automated guided vehicles (AGV)) are usually used to transfer materials. The material transport vehicles that transport roll-shaped materials or barrel-shaped materials are provided with cantilever shafts, the roll-shaped materials or barrel-shaped materials can be sleeved on the cantilever shafts, and after being transported to a target position, the materials can be unloaded by pushing them out of the cantilever shafts. SUMMARY

[0003] The present application provides a material transport vehicle, which can stably transport materials.

[0004] The present application provides a material transport vehicle, which comprises a vehicle body and a cantilever shaft, the cantilever shaft protrudes from a front side plate of the vehicle body, wherein a containing cavity is formed in the vehicle body, the material transport vehicle further comprises a leveling assembly, a first material pushing assembly, a second material pushing assembly and a material pushing plate; the front side plate of the vehicle body comprises a front side plate main body and a cantilever shaft mounting plate, a cantilever mounting opening is formed on the front side plate main body, the cantilever shaft mounting plate is hinged at a top edge of the cantilever mounting opening, the cantilever shaft is mounted on the cantilever shaft mounting plate, the leveling assembly is arranged in the containing cavity, and the leveling assembly is used to drive the cantilever shaft mounting plate to rotate about the hinge, wherein the top edge of the cantilever mounting opening is an edge of the cantilever mounting opening that faces away from a moving chassis of the material transport vehicle; the first material pushing assembly can drive the second material pushing assembly to move along the cantilever shaft, the material pushing plate is connected with the second material pushing assembly, and the second material pushing assembly can drive the material pushing plate to move along the cantilever shaft.

[0005] Optionally, the first material pushing assembly comprises a guide rack, a material pushing gear and a gear mounting rack, the material pushing gear is rotatably mounted on the gear mounting rack, the guide rack is arranged on the cantilever shaft, and the length direction of the guide rack is consistent with the length direction of the cantilever shaft, the material pushing gear is engaged with the guide rack, the gear mounting rack can move along the cantilever shaft with the material pushing gear, and the second material pushing assembly is connected with the gear mounting rack to move along the cantilever shaft with the gear mounting rack.

[0006] Optionally, the first pushing assembly further comprises a guide frame and at least one guide rod, the guide frame is connected with the gear mounting frame to move with the gear mounting frame, the guide frame is formed with a guide hole corresponding to the guide rod, one end of the guide rod can pass through the cantilever shaft mounting plate into the accommodating cavity, the other end of the guide rod passes through the guide hole and is connected with the pushing plate; the guide frame is formed with a sliding block, the cantilever shaft is formed with a limiting guide groove matched with the sliding block, the limiting guide groove extends along the length direction of the cantilever shaft, the sliding block is arranged in the limiting guide groove and is movable along the limiting guide groove.

[0007] Optionally, the first pushing assembly further comprises a limiting frame, the limiting frame is arranged on the guide frame, and the limiting frame is formed with a push rod hole, the second pushing assembly comprises a telescopic push rod and a telescopic push rod driving mechanism, the telescopic direction of the telescopic push rod is consistent with the length direction of the cantilever shaft, the output end of the telescopic push rod passes through the push rod hole and is connected with the pushing plate, and the telescopic push rod driving mechanism cannot pass through the push rod hole, the pushing plate and the telescopic push rod driving mechanism are respectively located on the two sides of the limiting frame.

[0008] Optionally, the cantilever shaft mounting plate is provided with a through hole at a position corresponding to the telescopic push rod driving mechanism, and the telescopic push rod driving mechanism can pass through the through hole.

[0009] Optionally, a space is formed between the pushing plate and the cantilever shaft, the pushing plate comprises a connecting lug, a first straight arm, a second straight arm and an arc-shaped connecting piece, the arc-shaped connecting piece connects one end of the first straight arm and one end of the second straight arm, the first straight arm and the second straight arm are respectively located at the two radial ends of the cantilever shaft, the inner wall of the arc-shaped connecting piece is matched with the outer surface of the cantilever shaft, the first straight arm and the second straight arm are fixedly connected with the guide rod, the connecting lug is arranged at one end of the first straight arm, and the output end of the second pushing assembly is fixedly connected with the connecting lug.

[0010] Optionally, the material transport vehicle further comprises a position sensor, the position sensor is arranged on the cantilever shaft to detect the angle of the cantilever shaft relative to the horizontal direction, and the position sensor is electrically connected with the control end of the leveling assembly to enable the leveling assembly to act according to the signal of the position sensor.

[0011] Optionally, the cantilever shaft comprises a shaft body and a roller, the shaft body is fixed on the cantilever shaft mounting plate, the shaft body is formed with a roller accommodating groove, the roller is rotatably arranged in the roller accommodating groove, and a part of the roller protrudes from the opening of the roller accommodating groove.

[0012] Optionally, the material transport vehicle further comprises a material clamping plate, which is arranged at the end of the cantilever shaft away from the cantilever shaft mounting plate.

[0013] Optionally, the leveling assembly comprises a leveling rod and a leveling driving device, one end of the leveling rod is connected with the cantilever shaft mounting plate, and the leveling driving device is used to drive the leveling rod to move along the axis.

[0014] When the material transport vehicle transports the roll-shaped or barrel-shaped material, the material is sleeved on the cantilever shaft, and under the action of the gravity of the material, the cantilever shaft can be inclined downward, so that the cantilever shaft is no longer horizontal. In this case, the leveling assembly is used to push the cantilever shaft mounting plate to rotate around the hinge, so that the cantilever shaft returns to the horizontal position again. The cantilever shaft is in the horizontal position and is docked with the docking device.

[0015] After the material transport vehicle reaches the unloading position, the first material pushing assembly is used to push the second material pushing assembly, and then the second material pushing assembly is used to push the material to the docking device through the pushing plate, instead of pushing the material to the docking device at one time, so that the stability of unloading is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] The application will be further described below in conjunction with the drawings:

[0017] Fig. 1 is a schematic view of the material transport vehicle provided by the embodiment of the application;

[0018] Fig. 2 is a schematic view of the position relationship between the leveling assembly and the cantilever shaft in the material transport vehicle provided by the embodiment of the application;

[0019] Fig. 3 is a schematic view of the cantilever shaft, the first material pushing assembly and the second material pushing assembly;

[0020] Fig. 4 is an enlarged view of I in Fig. 3;

[0021] Fig. 5 is a schematic view of the first material pushing assembly and the second material pushing assembly;

[0022] Fig. 6 is a schematic view of the structure of the pushing plate;

[0023] Fig. 7 is a schematic view of the guide frame from another angle;

[0024] Fig. 8 is a schematic view of the position relationship between the leveling assembly and the cantilever shaft in the material transport vehicle according to the embodiment of the present application. Label explanation 100: mobile chassis 200: vehicle body 210: front side plate 211: front side plate body 212: cantilever shaft mounting plate 212a: through hole 300: cantilever shaft 310: shaft body 320: roller 400: leveling assembly 410: leveling rod 420: leveling drive device 500: first pushing assembly 510: guide rack 520: pushing gear 530: gear mounting frame 540: guide rod 550: guide frame 560: limiting frame 600: second pushing assembly 610: telescopic pushing rod 620: telescopic pushing rod driving mechanism 700: pushing plate 710: first straight arm 720: second straight arm 730: arc-shaped connecting piece 740: connecting lug 800: clamping plate DETAILED DESCRIPTION

[0025] The embodiments of the present application are described in detail below with reference to the accompanying drawings. The same or similar components have the same reference numbers throughout the drawings and a detailed description thereof will not be repeated. The embodiments are intended to explain the present application, and cannot be understood as limiting the present application.

[0026] In this specification, "one embodiment" or "an embodiment" or "example" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the disclosure. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0027] In modern factories, material transport vehicles (e.g., automated guided vehicles) are often used to transport materials. The material transport vehicles that transport roll-shaped materials or barrel-shaped materials are provided with cantilever shafts, and the roll-shaped materials or barrel-shaped materials can be sleeved on the cantilever shafts, and then transported to a target position, and then pushed out from the cantilever shafts to complete the unloading.

[0028] However, the material transport vehicles provided with the cantilever shafts have the problem that the cantilever shafts are easily deformed and the materials are inclined and shaken during the pushing process, which causes the materials to fail to be transported successfully.

[0029] As a first aspect of the present application, a material transport vehicle is provided, as shown in Fig. 1, which comprises a vehicle body 200 and a cantilever shaft 300 protruding from a front side plate 210 of the vehicle body 200, wherein a containing cavity is formed in the vehicle body 200. It should be noted that the advancing direction of the material transport vehicle is forward, and the side plate of the vehicle body 200 facing forward is the front side plate.

[0030] In the embodiment of the present application, the material transport vehicle can further comprise a leveling assembly 400, a first pushing assembly 500, a second pushing assembly 600 and a pushing plate 700.

[0031] As shown in FIG. 2, the front side plate 210 of the vehicle body 200 comprises a front side plate main body 211 and a cantilever shaft mounting plate 212, the cantilever shaft mounting plate 212 is hinged at the top edge of the cantilever mounting opening formed on the front side plate main body 212, the cantilever shaft 300 is mounted on the cantilever shaft mounting plate 212, the leveling assembly 400 is arranged in the accommodating cavity, and the leveling assembly 400 is used to drive the cantilever shaft mounting plate 212 to rotate around the hinge. It should be pointed out that the top edge of the cantilever mounting opening is the edge of the cantilever mounting opening away from the mobile chassis.

[0032] The first pushing assembly 500 can drive the second pushing assembly 600 to move along the cantilever shaft 300, the pushing plate 700 is connected with the second pushing assembly 600, and the second pushing assembly can drive the pushing plate 700 to move along the cantilever shaft 300.

[0033] When the material transport vehicle transports the roll-shaped or cylindrical material, the material is sleeved on the cantilever shaft 300, and under the action of the gravity of the material, the cantilever shaft 300 can be inclined downward, so that the cantilever shaft 300 is no longer horizontal. In this case, the cantilever shaft mounting plate 212 is pushed to rotate around the hinge by the leveling assembly 400, so that the cantilever shaft 300 returns to the horizontal position again. The cantilever shaft 300 is in the horizontal position and is docked with the docking equipment (such as a winding machine).

[0034] After the material transport vehicle reaches the unloading position, the first pushing assembly 500 can be used to push the second pushing assembly 600, and then the second pushing assembly 600 can be used to drive the pushing plate 700 to push the material to the docking equipment. In some embodiments, the first pushing assembly 500 and the second pushing assembly 600 can move simultaneously.

[0035] The greater the load on the cantilever shaft 300, the more likely it is to cause the cantilever shaft 300 to tilt, and the cantilever shaft can be adjusted back to the horizontal position by the leveling assembly 400. That is, the material transport vehicle provided by the embodiment of the present application is especially suitable for carrying large load materials.

[0036] In the embodiment of the present application, the material transport vehicle can further comprise a mobile chassis 100, and the vehicle body 200 is mounted on the mobile chassis 100. By controlling the movement of the mobile chassis 100, the material transport vehicle can be moved to the desired position.

[0037] As an optional implementation, the first pushing assembly 500 can drive the second pushing assembly 600 to move forward along the cantilever shaft 300 and to move backward along the cantilever shaft 300. Similarly, the second pushing assembly 600 can drive the pushing plate 700 to move forward along the cantilever shaft 300 and to move backward along the cantilever shaft 300.

[0038] In the embodiment of the present application, the cantilever shaft 300 is located in the accommodating cavity, so that the compactness of the material transport vehicle can be improved.

[0039] In the embodiment of the present application, the specific structure of the first pushing assembly 500 is not particularly limited, as long as it can drive the second pushing assembly 600 to move along the cantilever shaft 300. As an optional implementation, the first pushing assembly 500 can include any one of a piston cylinder, a screw assembly. In order to improve stability and increase the pushing stroke, the first pushing assembly 500 includes a guide rack 510, a pushing gear 520 and a gear mounting frame 530, as shown in FIGS. 3 and 4.

[0040] The pushing gear 520 is rotatably mounted on the gear mounting frame 530, the guide rack 510 is arranged on the cantilever shaft 300, and the length direction of the guide rack 510 is consistent with the length direction of the cantilever shaft 300. The pushing gear 520 is engaged with the guide rack 510, and the gear mounting frame 530 can move along the cantilever shaft 300 with the pushing gear 520. The second pushing assembly 600 is connected with the gear mounting frame 530 to move along the cantilever shaft 300 with the gear mounting frame 530.

[0041] The position of the guide rack 510 is fixed, and after the driving mechanism such as a motor drives the pushing gear 520 to rotate around its own axis, the pushing gear 520 can move along the guide rack 510 and drive the gear mounting frame 530 and the second pushing assembly 600 to move along the guide rack 510. This "gear and rack" cooperation mode is simple to install and has high stability, which is more conducive to pushing the material out of the cantilever shaft 300.

[0042] In order to further improve the stability of the pushing process, the first pushing assembly 500 further includes a guide frame 550 and at least one guide rod 540, as shown in FIGS. 3 and 5. The guide frame 550 is connected with the gear mounting frame 530 to move with the gear mounting frame 530, the guide frame 550 is formed with a guide hole corresponding to the guide rod 540, one end of the guide rod 540 can pass through the cantilever shaft mounting plate 212 into the accommodating cavity, and the other end of the guide rod 540 passes through the guide hole and is connected with the pushing plate 700.

[0043] As shown in FIG. 7, the guide frame 550 is formed with a sliding block 551, and the cantilever shaft 300 is formed with a limiting guide groove 310a matched with the sliding block 551, the limiting guide groove 310a extending along the length direction of the cantilever shaft 300, and the sliding block 551 is arranged in the limiting guide groove 310a and movable along the limiting guide groove 310a.

[0044] When the second pushing assembly 600 is used to push the pushing plate 700, the guide rod 540 slides in the guide hole, and the second pushing assembly 600 can be prevented from shaking, so as to improve the stability of the pushing process.

[0045] As can be seen in the embodiments shown in FIGS. 2 and 3, the first pushing assembly 500 and the second pushing assembly 600 overlap in length, and occupy less space of the cantilever shaft 300, so as to improve the compactness of the structure of the material transport vehicle.

[0046] In the embodiments of the present application, the specific structure of the second pushing assembly 600 is not specially limited. For example, the second pushing assembly 600 can be selected from one of a piston cylinder and a lead screw assembly.

[0047] As an optional embodiment, as shown in FIG. 5, the second pushing assembly 600 includes a telescopic pushing rod 610 and a telescopic pushing rod driving mechanism 620, and the telescopic direction of the telescopic pushing rod 610 is consistent with the length direction of the cantilever shaft 300. Correspondingly, the first pushing assembly further includes a limiting frame 560 arranged on the guide frame 550, and the limiting frame 560 is formed with a pushing rod hole.

[0048] The output end of the telescopic pushing rod 610 passes through the pushing rod hole and is connected with the pushing plate 700, the telescopic pushing rod driving mechanism 620 cannot pass through the pushing rod hole, and the pushing plate 700 and the telescopic pushing rod driving mechanism 620 are respectively located on the two sides of the limiting frame 560.

[0049] The pushing plate 700, the telescopic pushing rod 610, and the guide rod 540 form a stable triangular support structure, so that the stress of the pushing plate 700 is more stable and the rigidity is better, and the pushing plate 700 can push the material out of the cantilever shaft 300 of the current material transport vehicle to a farther distance.

[0050] The telescopic pushing rod 610 can be telescopic under the driving of the telescopic pushing rod driving mechanism 620, so as to drive the pushing plate 700 to move.

[0051] The telescopic pushing rod 610 can be an electric pushing rod or a hydraulic pushing rod. In the case that the telescopic pushing rod 610 is an electric pushing rod, the telescopic pushing rod driving mechanism 620 is a motor, and in the case that the telescopic pushing rod 610 is a hydraulic pushing rod, the telescopic pushing rod driving mechanism 620 is a hydraulic pump.

[0052] In order to facilitate the movement of the second pushing assembly 600, a through hole 212a is optionally arranged on the cantilever shaft mounting plate 212 at a position corresponding to the telescopic pushing rod driving mechanism 620, and the mounting seat of the telescopic pushing rod driving mechanism 620 can pass through the through hole 212a.

[0053] When the material is arranged on the cantilever shaft 300, the second pushing assembly 600 is close to the cantilever shaft mounting plate 212, and as the pushing is performed, the second pushing assembly 600 gradually moves away from the cantilever shaft mounting plate 212.

[0054] In the embodiment of the present application, the first pushing assembly 500 and the second pushing assembly 600 each have a certain pushing stroke, so that the total pushing stroke can be increased, and the pushing speed can be increased. The total pushing stroke of the pushing plate 700 is the sum of the distance of the forward movement of the first pushing assembly 500 and the pushing distance of the second pushing assembly 600.

[0055] In comparison, the pushing stroke of the second pushing assembly 600 is relatively short, and the material can be pushed to a set position on the cantilever shaft of the docking device. In the embodiment of the present application, the specific structure of the pushing plate 700 is not specially limited, and in order to facilitate the smooth movement of the pushing plate 700, a gap is optionally formed between the pushing plate 700 and the cantilever shaft 300. As shown in FIG. 6, the pushing plate 700 includes a connecting lug 740, a first straight arm 710, a second straight arm 720, and an arc-shaped connecting piece 730. The arc-shaped connecting piece 730 connects one end of the first straight arm 710 and one end of the second straight arm 720, the first straight arm 710 and the second straight arm 720 are respectively located at two ends of the cantilever shaft 300 in the radial direction, the inner wall of the arc-shaped connecting piece 730 matches the outer surface of the cantilever shaft 300, the first straight arm 710 and the second straight arm 720 are fixedly connected with the guide rod, the connecting lug 740 is arranged at one end of the first straight arm 710, and the output end of the second pushing assembly 600 is fixedly connected with the connecting lug 740. In order to facilitate the control of the leveling assembly, the material transport vehicle optionally further includes a position sensor, and the position sensor is arranged on the cantilever shaft to detect the angle of the cantilever shaft 300 relative to the horizontal direction. The position sensor is electrically connected with the control end of the leveling assembly, so that the leveling assembly acts according to the signal of the position sensor.

[0056] When the angle between the cantilever shaft 300 and the horizontal direction exceeds a certain value, it can be determined that the cantilever shaft 300 is no longer horizontal, and the cantilever shaft mounting plate 212 can be pushed by the leveling assembly 400.

[0057] In order to reduce the friction of the material when pushing the material, and facilitate pushing the material, as shown in FIG. 2, the cantilever shaft 300 comprises a shaft body 310 and a roller 320, the shaft body 310 is fixed on the cantilever shaft mounting plate 212, the shaft body 310 is formed with a roller accommodating groove, the roller 320 is rotatably installed in the roller accommodating groove, and a part of the roller 320 protrudes from the opening of the roller accommodating groove. In this embodiment, a limiting guide groove 310a is formed on the shaft body 310 and extends along the length direction of the shaft body 310.

[0058] In order to ensure that the material can be stably fixed on the cantilever shaft 300 during the material transfer process, as shown in FIG. 2, the material transport vehicle further comprises a material clamping plate 800, which is arranged at the end of the cantilever shaft 300 away from the cantilever shaft mounting plate 212.

[0059] The material clamping plate 800 is located at the end of the cantilever shaft 300, which can prevent the material from falling off during the process of transporting the material by the cantilever shaft 300, and plays a limiting role. Moreover, the material clamping plate 800 can also prevent the material from falling off from the cantilever shaft 300 when the cantilever shaft 300 rotates.

[0060] In the embodiments of the present application, the specific structure of the leveling assembly is not specially limited, and as shown in FIG. 8, the leveling assembly comprises a leveling rod 410 and a leveling driving device 420, one end of the leveling rod is connected with the cantilever shaft mounting plate, and the leveling driving device is used to drive the leveling rod to move along the axis. The control end of the leveling assembly can control the operation of the leveling driving device. In some embodiments, the control end is integrated with the leveling driving device. In some embodiments, the leveling driving device can realize the function of the control end. In some embodiments, the leveling assembly can be one of an oil cylinder, an electric cylinder and a gas cylinder.

[0061] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and those skilled in the art should understand that the present application includes but is not limited to the contents described in the above specific embodiments and the accompanying drawings. Any modification without deviating from the functional and structural principles of the present application shall be included in the scope of the claims.

Claims

1. A material transport vehicle comprising a vehicle body (200) and a cantilever shaft (300) protruding from a front side plate (210) of the vehicle body (200), wherein, a receiving cavity is formed in the vehicle body (200), and the material transport vehicle further comprises a leveling assembly (400), a first pushing assembly (500), a second pushing assembly (600) and a pushing plate (700); the front side plate (210) of the vehicle body (200) comprises a front side plate body (211) and a cantilever shaft mounting plate (212), a cantilever mounting opening is formed on the front side plate body (211), the cantilever shaft mounting plate (212) is hinged at a top edge of the cantilever mounting opening, the cantilever shaft (300) is mounted on the cantilever shaft mounting plate (212), the leveling assembly (400) is arranged in the receiving cavity, and the leveling assembly (400) is used to drive the cantilever shaft mounting plate (212) to rotate about the hinge, the top edge of the cantilever mounting opening is an edge of the cantilever mounting opening facing away from a moving chassis (100) of the material transport vehicle; the first pushing assembly (500) can drive the second pushing assembly (600) to move along the cantilever shaft (300), the pushing plate (700) is connected to the second pushing assembly (600), and the second pushing assembly (600) can drive the pushing plate (700) to move along the cantilever shaft (300).

2. The material transport vehicle of claim 1, wherein, the first pushing assembly comprises a guide rack (510), a pushing gear (520) and a gear mounting frame (530), the pushing gear (520) is rotatably mounted on the gear mounting frame (530), the guide rack (510) is arranged on the cantilever shaft (300), and the length direction of the guide rack (510) is consistent with the length direction of the cantilever shaft (300), the pushing gear (520) is engaged with the guide rack (510), the gear mounting frame (530) can move along the cantilever shaft with the pushing gear, the second pushing assembly (600) is connected to the gear mounting frame (530) to move along the cantilever shaft with the gear mounting frame (530).

3. The material transport vehicle of claim 2, wherein, the first pushing assembly further comprises a guide frame (550) and at least one guide rod (540), the guide frame (550) is connected to the gear mounting frame to move with the gear mounting frame, the guide frame (550) is formed with a guide hole corresponding to the guide rod (540), one end of the guide rod (540) can pass through the cantilever shaft mounting plate into the receiving cavity, and the other end of the guide rod (540) passes through the guide hole and is connected to the pushing plate (700); the guide frame (550) is formed with a sliding block (551), the cantilever shaft (300) is formed with a limiting guide groove (310a) matching the sliding block (551), the limiting guide groove (310a) extends along the length direction of the cantilever shaft (300), The sliding block (551) is arranged in the limiting guide groove (310a) and is movable along the limiting guide groove (310a).

4. The material transport vehicle of claim 3, wherein, The first pushing assembly further comprises a limiting frame (560), The limiting frame (560) is arranged on the guide frame (550), and a pushing rod hole is formed in the limiting frame (560), The second pushing assembly (600) comprises a telescopic pushing rod (610) and a telescopic pushing rod driving mechanism (620), The telescopic direction of the telescopic pushing rod (610) is consistent with the length direction of the cantilever shaft (300), The output end of the telescopic pushing rod (610) is connected with the pushing plate (700) through the pushing rod hole, and the telescopic pushing rod driving mechanism (620) cannot pass through the pushing rod hole, The pushing plate (700) and the telescopic pushing rod driving mechanism (620) are respectively located on two sides of the limiting frame.

5. The material transport vehicle of claim 4, wherein, A through hole (212a) is arranged on the cantilever shaft mounting plate (212) at a position corresponding to the telescopic pushing rod driving mechanism (620), The telescopic pushing rod driving mechanism (620) can pass through the through hole.

6. A materials handling vehicle according to any of claims 3-5 wherein, A space is formed between the pushing plate (700) and the cantilever shaft, The pushing plate (700) comprises a connecting lug (740), a first straight arm (710), a second straight arm (720) and an arc-shaped connecting piece (730), The arc-shaped connecting piece (730) connects one end of the first straight arm (710) and one end of the second straight arm (720), The first straight arm (710) and the second straight arm (720) are respectively located at two radial ends of the cantilever shaft (300), The inner wall of the arc-shaped connecting piece (730) matches the outer surface of the cantilever shaft, The first straight arm, the second straight arm and the guide rod are fixedly connected, The connecting lug (740) is arranged at one end of the first straight arm, The output end of the second pushing assembly is fixedly connected with the connecting lug (740).

7. The material transport vehicle according to any one of claims 1 to 6, further comprising a position sensor, The position sensor is arranged on the cantilever shaft (300) to detect the angle of the cantilever shaft (300) relative to the horizontal direction, The position sensor is electrically connected with the control end of the leveling assembly, so that the leveling assembly acts according to the signal of the position sensor.

8. The materials handling vehicle of any of claims 1-7, wherein, The cantilever shaft comprises a shaft body (310) and a roller (320), The shaft body is fixed on the cantilever shaft mounting plate, and a roller accommodating groove is formed in the shaft body, The roller is rotatably arranged in the roller accommodating groove, and a part of the roller protrudes from the opening of the roller accommodating groove.

9. The material transport vehicle according to any one of claims 1 to 8, further comprising a clamping plate (800), The clamping plate (800) is arranged at the end of the cantilever shaft (300) away from the cantilever shaft mounting plate (212).

10. The materials handling trolley of any one of claims 1 to 9, wherein, The leveling assembly (400) comprises a leveling rod (410) and a leveling driving device (420), One end of the leveling rod is connected with the cantilever shaft mounting plate (212), The levelling drive is for driving the levelling bar to move along an axis. The levelling drive is for driving the levelling bar to move along an axis.

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