CN117246945B

CN117246945B - Fork lift reversing tandem carrying trolley based on AGV power system

Info

Publication number: CN117246945B
Application number: CN202311541213.0A
Authority: CN
Inventors: 聂勇刚; 韩深深; 马春岭
Original assignee: Jianrui Intelligent Technology Kunshan Co ltd
Current assignee: Jiangsu Jianrui Intelligent Technology Co.,Ltd.
Priority date: 2023-11-20
Filing date: 2023-11-20
Publication date: 2024-03-26
Anticipated expiration: 2043-11-20
Also published as: CN117246945A

Abstract

The invention discloses a fork lifting reversing tandem carrying trolley based on an AGV power system, which comprises an AGV automatic travelling mechanism and a lifting mechanism arranged on the AGV automatic travelling mechanism, wherein a revolving mechanism matched with the lifting mechanism is arranged below the lifting mechanism on the AGV automatic travelling mechanism, the lifting mechanism comprises a cargo table which is subjected to multidirectional adjustment and movement, a group of fork assemblies which are arranged on the side surface of the cargo table and are driven to open and close, a distance measuring and positioning device and a visual identification system, the fork assemblies are arranged on the side surface of the cargo table and are used for lifting cargoes, and the revolving mechanism comprises a base arranged along the AGV automatic travelling mechanism, a revolving disc arranged on the base and a plurality of groups of locking devices which are arranged in the revolving disc in a relative mode. The fork lifting reversing cooperative carrying trolley based on the AGV power system is realized, so that the trolley can accurately adjust the direction of goods and stably transport and convey the goods.

Description

Fork lift reversing tandem carrying trolley based on AGV power system

Technical Field

The invention belongs to the technical field of automatic transport of AGVs, and particularly relates to a fork lift reversing tandem carrying trolley based on an AGV power system.

Background

An Automatic Guided Vehicle (AGV) is an industrial vehicle that automatically or manually loads a load, automatically travels or pulls a cargo vehicle to a designated place according to a set route, and then automatically or manually loads and unloads the load. Artificial intelligence techniques such as understanding and searching, task and path planning, blurring and neural network control techniques have evolved to enable AGVs to evolve towards intellectualization and autonomy. The research and development of AGVs integrate artificial intelligence, information processing and image processing, and relate to a plurality of subjects such as computers, automatic control, information communication, mechanical design and electronic technology, and become one of hot spots for logistics automation research.

The prior patent document such as CN202222660080.6 discloses a turning-around-free rotary clamping and holding vehicle, which comprises a walking base, a rotary vehicle body, a lifting mechanism, a movable door frame, a lifting frame, a clamping mechanism and a rotary support. The trolley can realize horizontal, lifting and rotary positioning and carrying of goods, and has the steering function, but always keeps the goods positioned between the clamping plates, so that the risk of falling of the goods is increased in the moving process, the clamping plates are in a relatively vertical clamping state, the clamping stability of the goods can be ensured only by needing larger clamping force, and more mechanical power is needed for the driving device.

The prior patent document, such as CN202220912093.5, discloses a coil handling trolley, wherein the holding parts of two holding arms are driven by a driving part to approach or separate from each other, so as to hold or release the coil. The two arm holding mechanisms of the trolley are synchronously opened and closed, the driving force of the swinging cylinder needs to be stable enough, the two arm holding mechanisms can be controlled simultaneously and effectively, and the requirement on the performance of the driving device is high.

The prior patent document such as CN202011468617.8 discloses a rotary holding mechanism and a rotary holding trolley, and the holding mechanism is provided with a fixed arm and a rotating arm, the rotating arm is driven by an oil cylinder to lift and change the rotation direction of the rotating arm, when goods enter the fixed arm and are engaged by the rotating arm in a pressing manner, the lifting state of the goods carried by the fixed arm is considered when the goods volume and the weight are large, and in order to ensure the positioning stability of the rotating arm, the performance requirement on a driving device is high.

The automatic trolley can accurately adjust the direction of the goods and stably transport and convey the goods.

Disclosure of Invention

The invention aims to solve the technical problems, and provides a fork lifting reversing tandem carrying trolley based on an AGV power system, so that the trolley can accurately adjust the direction of goods and stably transport and convey the goods. In order to achieve the above purpose, the technical scheme of the invention is as follows:

fork lift switching-over tandem floor truck based on AGV driving system, including AGV automatic travelling mechanism, set up the elevating system on AGV automatic travelling mechanism, be located elevating system below being provided with the rotary mechanism of cooperation elevating system on the AGV automatic travelling mechanism, elevating system includes the cargo bed that multidirectional regulation removed, sets up in cargo bed side by the drive open and shut setting and be used for lifting a set of fork subassembly, range finding positioner and the visual identification system of goods, rotary mechanism includes along the base that AGV automatic travelling mechanism removed and set up, set up rotatory gyration dish on the base and set up a plurality of sets of locking device of relative arrangement in the gyration dish.

Specifically, the goods platform is installed on portal drive arrangement, portal drive arrangement is including driven horizontal migration's sideslip platform, set up the one-level portal on the sideslip platform, with one-level portal abutment setting and driven the two-stage portal that goes up and down to and connect the diagonal draw bar between sideslip platform and the one-level portal.

Specifically, the sideslip platform is articulated with one-level portal setting, the one end of diagonal draw bar articulates one-level portal, the other end of diagonal draw bar articulates the sideslip platform, but diagonal draw bar telescopic adjustment sets up.

Specifically, be provided with a set of lift pneumatic cylinder of interval arrangement on the one-level portal, the drive end of a set of lift pneumatic cylinder is connected the second grade portal, the top of second grade portal is provided with the bearing chain of a set of interval arrangement's sprocket and cooperation sprocket, one end of bearing chain is connected the one-level portal, the cargo bed is connected to the other end of bearing chain.

Specifically, a group of traversing hydraulic cylinders for driving a group of fork assemblies to move relatively are arranged on the side face of the cargo table in a reverse mode.

Specifically, the fork assembly comprises a support fork body, a fixed swing rod arranged on the support fork body, a rotary swing rod which is arranged opposite to the fixed swing rod and is connected with the support fork body in a shaft way, a crank which is connected with the rotary swing rod in a shaft way and moves along the rotary swing rod in a limiting way, and a push rod which drives the rotary swing rod to rotate to form a triangular support space; and a moving groove for limiting the shaft of the crank is formed in the rotary swing rod.

Specifically, a transition supporting surface is arranged between the fixed swing rod and the rotary swing rod at the end part of the supporting fork body, and the transition supporting surface, the surface of the fixed swing rod and the surface of the rotary swing rod form a lifting surface matched with goods.

Specifically, the ranging and positioning device comprises a first laser ranging sensor arranged on the side surface of the cargo bed and a second laser ranging sensor respectively arranged on a group of fork assemblies.

Specifically, an opening exposing the locking device is formed in the rotary disc, and a set of locking devices in the transverse direction and a set of locking devices in the longitudinal direction which are oppositely arranged are formed in the rotary disc.

In particular, the locking means comprise a locking hook which is driven to rotate and is arranged to project from the turntable or retract from the turntable.

Compared with the prior art, the fork lift reversing tandem carrying trolley based on the AGV power system has the following main beneficial effects:

the chassis structure is provided with the lifting mechanism and the slewing mechanism to cooperate, so that lifting and transferring of the goods are realized, unstable factors caused by the condition that the goods are continuously transferred by adopting the fork assembly are avoided, the goods are transferred to the slewing mechanism after being lifted and transferred, the slewing mechanism follows the chassis structure to transfer the goods to pass through a narrow space, the stability and the safety of the goods in the transferring process are improved, and the falling risk of the goods in the transferring process is greatly avoided; the lifting mechanism and the rotating mechanism are integrated on the AGV automatic travelling mechanism, and goods can be accurately fetched and placed by utilizing the ranging and positioning device and the visual recognition system; the lifting mechanism has a certain deformation-preventing adjusting function according to the weight of the goods, is embodied in the structural arrangement of the diagonal draw bars, and performs angle control on the first portal in advance, so that the condition of the fork assembly when carrying the goods is horizontal, and the accuracy of positioning the goods is improved; the lifting mechanism utilizes the first portal, the second portal, the chain wheel, the bearing chain and the lifting hydraulic cylinder to ensure that the stroke of the cargo bed is stable and rapid, and the fork lifting height of the cargo bed exceeds 3m; the rotary swing rod in the fork assembly has a stable triangular supporting space structure, can exert the maximum supporting effect when in a lifting state, improves the stability of cargo positioning, and is suitable for various cylindrical cargoes within a certain diameter range; set up locking device in the slewing mechanism, ensure that in time, effectual quilt of goods on transporting to the gyration dish from fork subassembly is spacing, the process that slewing mechanism rotated the goods direction can keep balanced, and its longer direction of goods after the switching-over is unanimous with chassis structure length direction, simultaneously, slewing mechanism can carry the walking along the length direction of chassis structure, very big improvement slewing mechanism's transportation convenience and practicality.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

FIG. 2 is a schematic diagram of a lifting mechanism in the present embodiment;

FIG. 3 is a second schematic diagram of the lifting mechanism in the present embodiment;

FIG. 4 is a schematic view of a fork assembly according to the present embodiment;

FIG. 5 is a schematic cross-sectional view of a fork assembly according to the present embodiment;

FIG. 6 is a schematic view of a swing mechanism in the present embodiment;

FIG. 7 is a schematic view of a slewing bearing in the present embodiment;

FIG. 8 is a schematic view of the locking device in this embodiment;

the figures represent the numbers:

the automatic AGV comprises an automatic AGV running mechanism, an 11 chassis structure, a 2 lifting mechanism, a 21 cargo platform, a 22 fork assembly, a 23 ranging and positioning device, a 24 visual identification system, a 3 rotation mechanism, a 31 base, a 32 rotation support, a 33 rotation disc, a 34 locking device, a 35 bearing wheel, a 4 traversing platform, a 41-stage portal, a 42-stage portal, a 43 diagonal bracing, a 44 lifting hydraulic cylinder, a 45 bearing chain, a 5 guide rod, a 51 traversing hydraulic cylinder, a 6 support fork body, a 61 fixed swing rod, a 62 rotation swing rod, a 63 crank, a 64 push rod, a 65 transition support surface, a 66 push seat, a 67 movement groove, a 68 guide groove, a 69 safety pin, a 7 opening, a 71 locking hook, a 72 rotation shaft, a 73 driven gear, a 74 driving gear and a 75 push seat.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely, but is apparent to those skilled in the art in view of the present invention.

Examples:

referring to fig. 1-8, the fork lift reversing tandem carrying trolley based on an AGV power system comprises an AGV automatic travelling mechanism 1, a lifting mechanism 2 arranged on the AGV automatic travelling mechanism 1, and a slewing mechanism 3 arranged on the AGV automatic travelling mechanism 1, positioned below the lifting mechanism 2 and matched with the lifting mechanism 2.

The AGV automatic traveling mechanism 1 comprises a chassis structure 11, and an electric control system, a navigation system, a power supply system and a hydraulic system which are arranged on the chassis structure 11; the chassis structure 11 is provided with a plurality of steering wheels for driving and walking of the whole chassis structure 11, and the steering wheels can accurately position the chassis structure 11 to walk to a determined target place in cooperation with a navigation system. The hydraulic system provides power for the lifting mechanism, and the electric control system provides power for the whole trolley.

The lifting mechanism 2 comprises a cargo table 21 driven to lift, a group of fork assemblies 22 arranged on the side surface of the cargo table 21 and driven to open and close, a distance measuring and positioning device 23 and a visual recognition system 24.

The cargo bed 21 is mounted on a gantry driving device, and the gantry driving device comprises a horizontally moving platform 4 driven to horizontally move, a primary gantry 41 arranged on the horizontally moving platform 4, a secondary gantry 42 which is arranged in a manner of being abutted with the primary gantry 41 and driven to lift, and a diagonal draw bar 43 connected between the horizontally moving platform 4 and the primary gantry 41. The bottom of sideslip platform 4 passes through slide rail direction cooperation with the both sides of chassis structure 11, sideslip platform 4 and the articulated setting of one-level portal 41, the one end of diagonal draw bar 43 articulates one-level portal 41, the other end of diagonal draw bar 43 articulates sideslip platform 4, keep diagonal draw bar 43 in the inclined state, and then keep one-level portal 41 and sideslip platform 4 to be in triangle stability, diagonal draw bar 43 possesses flexible regulatory function, load table 21 installs on second grade portal 42 and goes up and down in step along with it, when the goods on the load table 21 is heavier, in order to avoid one-level portal 41 and second grade portal 42 atress to warp, need estimate the atress condition of one-level portal 41, adjust diagonal draw bar 43 and tighten up, adjust one-level portal 41 back slope in advance, load table 21 lifts up slightly, when load table 21 bears weight, one-level portal 41 and second grade portal 42 atress keeps vertical state, set up diagonal draw bar 43 can effectively reduce one-level portal 41 and second grade portal 42 atress and warp the problem, ensure the position accuracy that load table 21 bears goods.

The one-stage portal 41 is provided with a group of lifting hydraulic cylinders 44 which are arranged at intervals, the driving end of the group of lifting hydraulic cylinders 44 is connected with the two-stage portal 42, the top end of the two-stage portal 42 is provided with a group of chain wheels which are arranged at intervals and a bearing chain 45 matched with the chain wheels, one end of the bearing chain 45 is connected with the one-stage portal 41, the other end of the bearing chain 45 is connected with the cargo bed 21, when the lifting hydraulic cylinders 44 drive the two-stage portal 42 to lift, the cargo bed 21 moves along the chain wheels through the bearing chain 45, the lifting stroke of the cargo bed 21 is twice as long as the lifting stroke of the lifting hydraulic cylinders 44, and the multiplication stroke of the chain wheels and the bearing chain 45 is utilized.

The side of the cargo bed 21 is provided with a guide rod 5 horizontally arranged for guiding the fork assemblies 22 to horizontally move, the side of the cargo bed 21 is also provided with a group of traversing hydraulic cylinders 51 reversely arranged for driving a group of fork assemblies 22 to relatively move, the driving ends of the traversing hydraulic cylinders 51 are connected with the fork assemblies 22, and when the group of traversing hydraulic cylinders 51 drive the fork assemblies 22, the group of fork assemblies 22 are relatively opened or closed.

The fork assembly 22 comprises a supporting fork body 6, a fixed swing rod 61 arranged on the supporting fork body 6, a rotary swing rod 62 which is opposite to the fixed swing rod 61 and is connected with the supporting fork body 6 in a shaft mode, a crank 63 which is connected with the rotary swing rod 62 in a shaft mode and moves along the rotary swing rod 62 in a limiting mode, and a push rod 64 driving the crank 63 to drive the rotary swing rod 62 to rotate to form a triangular supporting space.

In this embodiment, the supporting fork 6 has an L-shaped structure, one end of the supporting fork 6 is connected to the cargo bed 21, and the other end of the supporting fork 6 is disposed towards the front of the chassis structure 11. The end of the supporting fork body 6 is provided with a transition supporting surface 65 between the fixed swing rod 61 and the rotary swing rod 62, the fixed swing rod 61 is fixedly connected with the supporting fork body 6 in a shaft way, the end of the fixed swing rod 61 is warped and protrudes out of the supporting fork body 6, a pushing seat 66 is arranged between the end of the fixed swing rod 61 and the supporting fork body 6, the pushing seat 66 can effectively support the position height of the fixed swing rod 61, and the transition supporting surface 65 and the surface of the fixed swing rod 61 and the surface of the rotary swing rod 62 form a lifting surface matched with goods. According to the large-scale cylinder structure of goods, the surfaces of the rotary swing rod 62, the transition supporting surface 65 and the fixed swing rod 61 are paved with a first anti-slip layer, and an arc lifting surface matched with the outer wall of the goods is formed. The transition supporting surface 65 improves the contact area of the lifted goods, effectively relieving the goods from shaking.

Wherein, a moving groove 67 for limiting the shaft of the crank 63 is arranged on the rotary swing rod 62, one end of the push rod 64 is connected with the crank 63 in a shaft way, the other end of the push rod 64 is connected with a trapezoidal screw rod and a gear motor, the gear motor drives the trapezoidal screw rod to rotate, the rotary motion is converted into the linear motion of the push rod, the crank 63 rotates around the end part of the push rod 64, the position of the crank 63 in the moving groove 67 is changed, the crank 63 drives the rotary swing rod 62 to rotate around the supporting fork body 6, and thus the lifting angle of the supporting fork body 6 is adjusted; in order to improve the stability of the movement of the push rod 64, the support fork 6 is provided with a guide groove 68 for limiting the shaft of the push rod 64. The fork assembly 22 can be adapted for use in the lifting action of cargo of different diameters, ensuring stability and safety of lifting. The rotary swing rod 62, the crank 63 and the push rod 64 form a stable triangular supporting space, and the supporting strength of the rotary swing rod 62 is ensured. The fork assembly 22 is designed with the design strength of the fork and the allowable pressure of the fork taking point fully taken into account, so that the deformation damage of the goods caused by the falling of the goods or insufficient strength of the fork taking point due to the deformation of the fork due to the design of the fork cantilever is prevented.

The safety pin 69 for limiting the falling height of the rotary swing rod 62 is arranged on the support fork body 6, and the safety of forking goods is improved by inserting the safety pin 69 into the support fork body 6 to limit the lowest height of the rotary swing rod 62.

The ranging and positioning device 23 comprises a first laser ranging sensor arranged on the side surface of the cargo table 21 and a second laser ranging sensor respectively arranged on one group of fork assemblies 22, the relative position accuracy of the fork assemblies 22 for taking the cargo is ensured through the first laser ranging sensor, when the second laser ranging sensor detects that the fork assemblies 22 enter the lower part of the cargo, the relative relation of the two groups of fork assemblies 22 is judged according to the distance between the second laser ranging sensor and the cargo, the parallel relation between the fork assemblies 22 and the chassis structure 11 is confirmed, the two groups of fork assemblies 22 can simultaneously fork the cargo, and the inclined fork taking process is avoided.

The slewing mechanism 3 comprises a base 31, a slewing bearing 32 arranged on the base 31, a slewing disk 33 driven to rotate by the slewing bearing 32, and a plurality of groups of locking devices 34 arranged in the slewing disk 33 in a relative arrangement. The base 31 is in sliding fit with the chassis structure 11, a set of track grooves are formed in the chassis structure 11, and bearing wheels 35 matched with the track grooves are arranged on the base 31. The track groove is provided with a track rack arranged along the length direction of the track groove, the base 31 is provided with a gear motor matched with the track rack and a rotary motor for driving the rotary support, the gear motor drives the base to horizontally move along the track rack, and the rotary motor drives the rotary support 32 to rotate.

The second anti-slip layer is laid on the rotary plate 33, and in this embodiment, the first anti-slip layer and the second anti-slip layer are both made of polyurethane rubber.

The swivel plate 33 is provided with an opening 7 exposing the locking means 34, and the swivel plate 33 is provided with a set of oppositely arranged locking means 34 in the transverse direction and a set of oppositely arranged locking means 34 in the longitudinal direction.

The locking means 34 comprises a locking hook 71 which is driven to rotate the projecting swivel plate 33 or the retracting swivel plate 33; the locking device 34 further comprises a revolving shaft 72 penetrating through the locking hook 71, a driven gear 73 sleeved on the revolving shaft 72 and synchronously rotating with the revolving shaft, a driving gear 74 matched with the driven gear 73, a locking rack matched with the driving gear 74, a thrust seat 75 connected with the locking rack, and a motor screw assembly for driving the thrust seat 75 to translate. The locking hook 71 and the rotating shaft 72 are limited through the pin shaft, so that the locking hook 71 and the rotating shaft 72 synchronously rotate, when the motor screw rod assembly drives the thrust seat 75, the locking rack drives the driving gear 74, the driven gear 73 drives the rotating shaft 72, and further rotation of the locking hook 71 is achieved, the locking hook 71 has a limiting effect when protruding out of the opening 7 of the rotating disc 33, and the locking hook 71 is retracted to avoid cargoes when shrinking the opening 7 of the rotating disc 33.

The two sets of locking devices 34 are used for selectively limiting according to the positioning direction of the goods, and the locking force of the locking devices 34 can be realized by setting the output torque of the motor screw rod assembly, and the goods can be accurately fixed on the rotary disc 33.

When the embodiment is applied, the AGV automatic traveling mechanism 1 automatically navigates to a target place, the front of the chassis structure 11 is adjusted to be in a direction opposite to the goods, the lifting mechanism 2 approaches the goods to extend the fork assembly 22 to the lower side of the goods, the rotary swing rod 62 of the fork assembly 22 is opened and abuts against the lower edge of the goods, the goods are stably supported on the fork assembly 22, the lifting mechanism 2 drives the goods table 21 to drive the fork assembly 22 to lift the goods, the height position of the goods table 21 and the spacing between the fork assemblies 22 are adjusted in the process of positioning the goods by the fork assembly 22, the lifting mechanism 2 moves along the chassis structure 11, the spacing distance between the fork assemblies 22 is adjusted before lifting the goods by the group of fork assemblies 22 is larger than the size of the rotary disc 33, the fork assemblies 22 are lifted by the group of the rotary disc 33 to place the goods on the rotary disc 33, the lifting mechanism 2 continues to move away from the rotary mechanism 3 along the chassis structure 11, the locking hooks of the oppositely arranged group of locking devices 34 are protruded out of the rotary disc and locked according to the placing direction of the goods, the rotary disc rotates 90 degrees, the length direction of the goods is consistent with the length direction of the chassis structure 11, the goods can be basically folded above the chassis structure 11, and the goods can be transferred and the chassis structure 11 is suitable for being transferred and moved by the small space.

In the embodiment, the lifting mechanism 2 is arranged on the chassis structure 11 and matched with the slewing mechanism 3, so that lifting and transferring of cargoes are realized, unstable factors caused by the condition that cargoes are continuously transferred by adopting the fork assembly 22 are avoided, the cargoes are transferred to the slewing mechanism 3 after being lifted and transferred, the slewing mechanism 3 follows the chassis structure 11 to transfer cargoes to pass through a narrow space, the stability and safety of the cargoes in the transferring process are improved, and the falling risk of the cargoes in the transferring process is greatly avoided; the lifting mechanism 2 and the slewing mechanism 3 are integrated on the AGV automatic travelling mechanism 1, and goods can be accurately fetched and placed by utilizing the ranging and positioning device 23 and the visual recognition system 24; the lifting mechanism 2 has a certain deformation prevention and adjustment function according to the weight of the goods, is embodied in the structural arrangement of the diagonal draw bar 43, and performs angle control on the first portal 41 in advance, so that the condition of the fork assembly 22 when carrying the goods is horizontal, and the accuracy of goods positioning is improved; the lifting mechanism 2 utilizes the first portal 41, the second portal 42, the chain wheel, the bearing chain 45 and the lifting hydraulic cylinder 44 to ensure that the travel of the cargo bed 21 is stable and quick, and the fork lifting height of the cargo bed 21 exceeds 3m; the rotary swing rod 62 in the fork assembly 22 has a stable triangular supporting space structure, can exert the maximum supporting effect when in a lifting state, improves the stability of cargo positioning, and is suitable for various cylindrical cargoes within a certain diameter range; the locking device 34 is arranged in the slewing mechanism 3, so that the goods transferred from the fork assembly 22 to the slewing disk 33 can be timely and effectively limited, the direction of the slewing mechanism 3 can be balanced in the process of rotating the goods, the longer direction of the reversed goods is consistent with the length direction of the chassis structure 11, and meanwhile, the slewing mechanism 3 can move along the length direction of the chassis structure 11, so that the transportation convenience and the practicability of the slewing mechanism 3 are greatly improved.

In the description of the present specification, the term "particular embodiment" or "a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present invention are described above, the embodiments are only used for facilitating understanding of the present invention, and are not intended to limit the present invention. Any person skilled in the art can make any modification and variation in form and detail without departing from the spirit and scope of the present disclosure, but the scope of the present disclosure is to be determined by the appended claims.

Claims

1. Fork lift switching-over tandem floor truck based on AGV driving system, including AGV automatic travel mechanism, set up the lifting mechanism on AGV automatic travel mechanism, its characterized in that: the automatic AGV travelling mechanism is provided with a rotary mechanism matched with the lifting mechanism, the lifting mechanism comprises a cargo table which is adjusted and moved in multiple directions, a group of fork assemblies which are arranged on the side surface of the cargo table and are driven to open and close and are used for lifting cargoes, a ranging positioning device and a visual recognition system, the rotary mechanism comprises a base which is arranged along the automatic AGV travelling mechanism, a rotary disc which is arranged on the base and is rotated, and a plurality of groups of locking devices which are arranged in the rotary disc and are oppositely arranged, the fork assemblies comprise a supporting fork body, a fixed swing rod which is arranged on the supporting fork body, a rotary swing rod which is arranged opposite to the fixed swing rod and is connected with the supporting fork body in a shaft mode, a crank which is connected with the rotary swing rod in a shaft mode and is used for limiting movement along the rotary swing rod, and a push rod which drives the rotary swing rod to rotate to form a triangular supporting space; the movable groove of the shaft of the limit crank is formed in the rotary swing rod, a transition supporting surface is arranged between the fixed swing rod and the rotary swing rod at the end part of the support fork body, and the surface of the transition supporting surface and the fixed swing rod and the surface of the rotary swing rod form a lifting surface matched with goods.

2. The AGV power system-based fork lift reversing tandem transfer cart of claim 1, wherein: the goods platform is installed on portal drive arrangement, portal drive arrangement is including driven horizontal migration's sideslip platform, set up the one-level portal on the sideslip platform, with one-level portal set up and driven the two-stage portal that goes up and down, and connect the diagonal draw bar between sideslip platform and the one-level portal.

3. The AGV power system-based fork lift reversing tandem transfer cart of claim 2, wherein: the transverse moving platform is hinged with the primary portal, one end of the diagonal draw bar is hinged with the primary portal, the other end of the diagonal draw bar is hinged with the transverse moving platform, and the diagonal draw bar is in telescopic adjustment.

4. The AGV power system-based fork lift reversing tandem transfer cart of claim 2, wherein: the lifting device is characterized in that a group of lifting hydraulic cylinders are arranged on the primary portal at intervals, the driving ends of the group of lifting hydraulic cylinders are connected with the secondary portal, the top end of the secondary portal is provided with a group of chain wheels arranged at intervals and a bearing chain matched with the chain wheels, one end of the bearing chain is connected with the primary portal, and the other end of the bearing chain is connected with the cargo bed.

5. The AGV power system-based fork lift reversing tandem transfer cart of claim 1, wherein: the side of the cargo bed is provided with a group of transverse moving hydraulic cylinders which are used for reversely arranging and driving a group of fork assemblies to move relatively.

6. The AGV power system-based fork lift reversing tandem transfer cart of claim 1, wherein: the ranging and positioning device comprises a first laser ranging sensor arranged on the side face of the cargo bed and a second laser ranging sensor respectively arranged on a group of fork assemblies.

7. The AGV power system-based fork lift reversing tandem transfer cart of claim 1, wherein: the rotary plate is provided with an opening exposing the locking device, and the rotary plate is provided with a group of locking devices in the transverse direction and a group of locking devices in the longitudinal direction which are oppositely arranged.

8. The AGV power system-based fork lift reversing tandem transfer cart of claim 1, wherein: the locking device comprises a locking hook which is driven to rotate and is arranged on the protruding rotary disc or the retracted rotary disc.