CN109205523B

CN109205523B - Fork type AGV

Info

Publication number: CN109205523B
Application number: CN201811454066.2A
Authority: CN
Inventors: 杨生民; 任仕藩; 徐柏松; 葛海永; 孟凡冬
Original assignee: Zoomlion Heavy Machinery Anhui Industrial Vehicle Co ltd
Current assignee: Zoomlion Heavy Machinery Anhui Industrial Vehicle Co ltd
Priority date: 2018-11-30
Filing date: 2018-11-30
Publication date: 2020-10-13
Anticipated expiration: 2038-11-30
Also published as: CN109205523A

Abstract

The invention discloses a fork type AGV (automatic guided vehicle) trolley which comprises a frame, a fork panel, a steering driving wheel assembly and a steering wheel assembly which are arranged on the frame, and a lifting device which is arranged in the frame and used for controlling the fork panel to lift, wherein the lifting device comprises an electric lifting unit connected with the frame and the fork panel. The fork type AGV disclosed by the invention is compact in structure, small in size and small in mass; and the electric lifting unit adopts an electric structure, so that the whole system is simple and reliable, the assembly and the transportation are simpler, and the noise is lower.

Description

Fork type AGV

Technical Field

The invention belongs to the technical field of automatic carrying, and particularly relates to a fork type AGV.

Background

The storage vehicle has the advantages of convenience in operation, reliable performance, small size, flexibility, high cost performance, energy conservation, environmental friendliness and the like, can realize functions of short-distance transportation, stacking and the like of tray goods, and occupies a very important position in small storage transportation of a modern storage vehicle system. The AGV is an automatic guided vehicle, has the advantages of high automation degree, high reliability, flexible assembly, multitask and multithreading, high return rate and the like, is widely applied to the industries such as logistics, automobiles, tobacco, military industry, films and the like, but the current technical state of the whole industry is not uniform. Current AGV product divide into on the whole: fork formula (fork truck formula) AGV, carry on the back (carry on back) drum-type AGV, formula (formula of lifting) AGV lurks (in), moving platform formula AGV, customization type AGV (like heavy load type AGV) etc. except that fork formula AGV's target transport utensil (tray) for unifying, all customization according to the industrial site of all the other kinds of AGV shipment utensil and transportation mode.

The existing equipment for automatically carrying the tray goods in the market mostly changes a tray carrier and a tray stacking vehicle in the traditional industrial forklift into AGV carrying equipment, the navigation mode of the equipment is magnetic navigation, laser navigation, inertial navigation, visual navigation and the like, and an upper computer, an engineering machine, various sensors, actuators and the like are added, so that the operation content can be automatically executed by the AGV, and the intelligent vehicle has the functions of automatically avoiding obstacles, giving sound and light alarms, passively and safely and managing a fleet. And an automatic navigation system is added, a manual operation system is reserved or cancelled, and the seamless combination of the AGV and the traditional storage vehicle is realized through additional installation and modification.

The traditional storage vehicle is mainly controlled by an operator (human), the designed operation mode and habit conform to the human-machine engineering principle to realize walking or driving, the operator is accompanied by the whole process of industrial equipment operation, and the path judgment, speed control, fault detection, safety guarantee, goods lifting, tray alignment and other operations of the whole carrying process are all manually operated. At present, the manual operation hardware condition is basically reserved for the modification of the AGV trolley, the original motion mode is reserved, only the manual part function is replaced by automation, the advantages of automation and intellectualization are not fully exerted, the equipment is relatively heavy, the structure is complex, the appearance technical parameters are not changed, the hydraulic lifting noise is large, and the special vehicle type aiming at the small-tonnage pallet truck is not available.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a fork type AGV and aims to improve the structural compactness.

In order to achieve the purpose, the invention adopts the technical scheme that: fork AGV dolly includes frame, fork panel, sets up to turn to drive wheel assembly and directive wheel assembly on the frame and set up in the frame is inside and be used for control the fork panel carries out the lifting devices who goes up and down, and lifting devices includes the electronic unit that plays to rise of being connected with frame and fork panel.

The electric lifting unit comprises an electric push rod, one end of the electric push rod is rotatably connected with the frame through a first pin shaft, and the other end of the electric push rod is rotatably connected with the pallet fork panel through a second pin shaft.

The second pin shaft is sleeved with a first shaft sleeve and a second shaft sleeve, the first shaft sleeve is clamped between the inner wall surface of the fork panel and the end part of the electric push rod, and the second shaft sleeve is clamped between the other inner wall surface of the fork panel and the end part of the electric push rod.

The pallet fork panel is connected with the electric push rods, and at least two of the electric push rods are arranged in an inverted V shape in all the electric push rods connected with the pallet fork panel.

The fork panel sets up two, the frame includes the locomotive assembly and sets up on the locomotive assembly and be located the fork bracket of fork panel below, electronic lifting unit is connected with fork bracket and fork panel, and the fork bracket sets up two, turn to the drive wheel assembly and set up on the locomotive assembly, set up one on each fork bracket respectively the directive wheel assembly.

The fork panel has an accommodation cavity that accommodates the fork bracket, and when the fork panel is in the lowest position, the fork bracket is in the accommodation cavity of the fork panel.

The steering driving wheel assembly comprises a bogie rotatably arranged on the frame, a steering driving wheel arranged on the bogie, a driving motor arranged on the bogie and connected with the steering driving wheel, and a first steering motor arranged on the frame and used for providing rotating force for rotating the bogie.

The steering wheel assembly comprises a mounting seat arranged on the frame, a supporting block rotatably arranged on the mounting seat, a steering wheel rotatably arranged on the supporting block, a second steering motor arranged on the supporting block, a fixed wheel arranged on the mounting seat and a steering gear arranged on the second steering motor, wherein the outer surface of the fixed wheel is provided with a circle of outer teeth meshed with the steering gear.

The supporting block is provided with two steering wheels, and the second steering motor is positioned between the two steering wheels.

Fork formula AGV dolly still including set up in keep away barrier sensor on the frame with set up in just be used for detecting the range finding sensor of the degree of depth that the fork panel inserted goods or tray on the frame.

The fork type AGV has the advantages of simple and small structural layout, compact structure, small volume and small mass; and the electric lifting unit adopts an electric structure, so that the whole system is simple and reliable, the assembly and the transportation are simpler, and the noise is lower.

Drawings

The description includes the following figures, the contents shown are respectively:

FIG. 1 is a schematic diagram of the construction of a fork AGV of the present invention;

FIG. 2 is an exploded schematic view of a fork AGV of the present invention;

FIG. 3 is a schematic structural view of the vehicle frame;

FIG. 4 is a schematic view of the fork AGV of the present invention in a raised condition;

fig. 5 is a schematic structural view of the electric lifting unit;

FIG. 6 is an exploded schematic view of the steerable wheel assembly;

FIG. 7 is a schematic view of the direction of travel and the wheel steering angle of a fork AGV;

FIG. 8 is a schematic view of an alarm area;

FIG. 9 is a schematic structural view of a steerable wheel assembly;

FIG. 10 is a schematic structural view of a steerable drive wheel assembly;

labeled as: 1. an upper cover; 2. a lower cover; 3. an obstacle avoidance sensor; 4. inserting a pile head; 5. a steering drive wheel assembly; 501. a bogie; 502. steering the drive wheel; 503. a drive motor; 504. a first steering motor; 505. a driving gear; 506. a driven gear; 6. an electric lifting unit; 601. an electric push rod; 602. a first pin shaft; 603. a second pin shaft; 604. a first bushing; 605. a second shaft sleeve; 7. a steering wheel assembly; 701. a support block; 702. a mounting seat; 703. a steering wheel; 704. a second steering motor; 705. a fixed wheel; 706. a steering gear; 707. a bearing; 708. a bolt; 709. a bolt; 710. a steering shaft; 8. a base plate; 9. a vehicle body side warning light; 10. a fork side warning light; 11. a pallet fork bracket; 12. a bottom housing; 13. a wireless charging receiver; 14. a pallet fork panel; 15. a ranging sensor; 16. a steering electric control assembly; 17. an upper computer I; 18. an antenna; 19. a display screen; 20. a scram switch; 21. an upper computer II; 22. an instrument panel; 23. a storage battery; 24. BMS (battery management system).

Detailed Description

The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.

As shown in fig. 1 to 8, the present invention provides a fork type AGV cart, which comprises a frame, a fork panel 14, a steering driving wheel assembly 5 and a steering wheel 703 assembly 7 arranged on the frame, and a lifting device arranged inside the frame and used for controlling the fork panel 14 to lift, wherein the lifting device comprises an electric lifting unit 6 connected with the frame and the fork panel 14.

Specifically, the fork panels 14 are used to place goods to be transported, or the fork panels 14 are used to place pallets on which goods to be transported are placed, i.e., the fork panels 14 are used to fork the goods or pallets. As shown in fig. 1-4, the fork panel 14 has a length and a width, the length direction of the fork panel 14 is parallel to a first direction, the width direction of the fork panel 14 is parallel to a second direction, both the first direction and the second direction are horizontal and the first direction and the second direction are perpendicular, and the top surface of the fork panel 14 is a plane parallel to the first direction and the second direction. The fork panels 14 are arranged in two, the two fork panels 14 are parallel, the two fork panels 14 are located on the same straight line parallel to the second direction, the two fork panels 14 are located at the same height, and the two fork panels 14 are lifted synchronously.

As shown in fig. 1 to 4, the frame includes a head assembly and two fork brackets 11 disposed on the head assembly and located below the fork panel 14, the electric lifting unit 6 is connected to the fork brackets 11 and the fork panel 14, the fork brackets 11 are two, the steering driving wheel 502 assembly 5 is disposed on the head assembly, and each fork bracket 11 is provided with a steering wheel 703 assembly 7. The fork bracket 11 has certain length and width, the length direction of the fork bracket 11 is parallel to the first direction, the width direction of the fork bracket 11 is parallel to the second direction, the fork bracket 11 is of a rectangular shell structure with a hollow interior, the length of the fork bracket 11 is smaller than that of the fork panel 14, each fork bracket 11 is respectively located below one fork panel 14, one end of the fork bracket 11 in the length direction is fixedly connected with the head assembly, the steering wheel 703 assembly 7 is arranged at the other end of the fork bracket 11 in the length direction, the steering wheel 703 assembly 7 is provided in two, the two steering wheel 703 assemblies 7 are located on the same straight line parallel to the second direction, each steering wheel assembly 7 is respectively located below one fork panel 14, and the fork panel 14 can also protect the steering wheel 703 assembly 7. The two fork brackets 11 are spaced apart, with the two fork brackets 11 and the two fork panels 14 being located on the same side of the head assembly. Each fork carriage 11 is connected to a fork panel 14 by a plurality of electric lifting units 6, respectively, the electric lifting units 6 being adapted to provide a supporting force to the fork panel 14.

As shown in fig. 2 and 5, preferably, the electric lifting unit 6 includes an electric push rod 601, one end of the electric push rod 601 (i.e., the lower end of the electric push rod 601) is rotatably connected to the frame through a first pin 602, and the other end of the electric push rod 601 (i.e., the upper end of the electric push rod 601) is rotatably connected to the fork panel 14 through a second pin 603. Electric putter 601 sets up for the slope, electric putter 601 is telescopic structure, electric putter 601's length direction and second direction are perpendicular mutually, electric putter 601's length direction and first direction between have the contained angle and this contained angle be the acute angle, the axis of first round pin axle 602 and second round pin axle 603 parallels and the axis of first round pin axle 602 and second round pin axle 603 parallels with the second direction, fork bracket 11 has the shaft hole that lets first round pin axle 602 male, fork panel 14 has the shaft hole that lets second round pin axle 603 male. The lower end of the power push rod 601 is inserted into the inner cavity of the fork carriage 11 and the upper end of the power push rod 601 is inserted into the inner cavity of the fork panel 14. The second pin 603 is sleeved with a first shaft sleeve 604 and a second shaft sleeve 605, the first shaft sleeve 604 and the second shaft sleeve 605 are both cylinders with two open ends and hollow interiors, the first shaft sleeve 604 is clamped between the inner wall surface of the fork panel 14 and the end of the electric push rod 601, and the second shaft sleeve 605 is clamped between the other inner wall surface of the fork panel 14 and the end of the electric push rod 601. The electric lifting unit 6 adopts an electric structure, so that the whole system is simple and reliable, the assembly and the transportation are simpler, and the noise is reduced. The electric push rod 601 extends to lift the fork panel 14, so that the fork panel 14 ascends; the electric push rod 601 contracts, and the electric push rod 601 pulls the fork panel 14 downward, so that the fork panel 14 descends.

Preferably, the fork panel 14 is connected with a plurality of electric push rods 601 and two fork panels 14 are connected with the same number of electric push rods 601, and of all the electric push rods 601 connected with the fork panel 14, at least two electric push rods 601 are arranged in an inverted V shape; for two electric push rods 601 arranged in an inverted V shape, the vertical distance between the upper ends of the two electric push rods 601 is smaller than the vertical distance between the lower ends of the two electric push rods 601, so that the fork panel 14 is supported more stably and reliably while the fork panel 14 is lifted, and stable lifting is ensured.

In the present embodiment, as shown in fig. 2 and 4, each fork panel 14 is connected to two electric push rods 601, that is, four electric push rods 601 are provided, each two electric push rods 601 are located on the same straight line parallel to the second direction, the two electric push rods 601 connected to the same fork panel 14 are arranged in an inverted V shape, and the two electric push rods 601 are located at one end of the fork bracket 11 in the length direction.

As shown in fig. 1 to 4, the fork panel 14 has an accommodating cavity for accommodating the fork holder 11, the fork panel 14 is a hollow structure, the accommodating cavity is an inner cavity of the fork panel 14, and the accommodating cavity forms an opening on a bottom surface of the fork panel 14 for passing through the fork holder 11 and the steering wheel 703 assembly 7. When the fork panel 14 is at the lowest position, the height of the fork panel 14 is the smallest, the fork brackets 11 are in the accommodating cavities of the fork panel 14, the fork panel 14 covers the fork brackets 11, and the electric push rod 601 is at the shortest length. The structure of the AGV trolley is more compact, and the whole volume of the AGV trolley can be reduced.

As shown in fig. 1, 2 and 10, the steering driving wheel 502 assembly 5 includes a bogie 501 rotatably disposed on the vehicle frame, a steering driving wheel 502 disposed on the bogie 501, a driving motor 503 disposed on the bogie 501 and connected to the steering driving wheel 502, and a first steering motor 504 disposed on the vehicle frame and providing a rotational force for rotating the bogie 501. Bogie 501 is vertical setting and bogie 501 is located the below of frame, the upper end and the locomotive assembly of bogie 501 rotate to be connected, turn to the lower extreme that driving wheel 502 is rotatable setting in bogie 501, the axis that turns to driving wheel 502 is located the horizontal plane, driving motor 503 is installed on bogie 501 and driving motor 503 is located the below of locomotive assembly, the motor shaft and the turning to driving wheel 502 of driving motor 503 are coaxial fixed connection, when driving motor 503 operates, provide the drive power that the drive turns to driving wheel 502 and rotate, turn to driving wheel 502 and roll along ground, realize going of AGV dolly. The first steering motor 504 is arranged vertically, the first steering motor 504 is located below the vehicle head assembly, the first steering motor 504 is fixedly connected with the vehicle head assembly, the first steering motor 504 is connected with the bogie 501 through a gear transmission mechanism, the gear transmission mechanism is used for transmitting rotating force generated by the first steering motor 504 to the bogie 501, the bogie 501 drives the steering driving wheel 502 to rotate, steering is achieved, and a rotating center line of the bogie 501 during rotation is located in a vertical plane. The gear transmission mechanism comprises a driving gear 505 and a driven gear 506 which are meshed with each other, the driving gear 505 is arranged on a motor shaft of the first steering motor 504, the driven gear 506 is arranged on the bogie 501, and the driving gear 505 and the driven gear 506 are both cylindrical gears.

As shown in fig. 1 to 5, two steering wheel assemblies 703 are provided, two steering wheel assemblies 703 are distributed at three points with one steering driving wheel assembly 502 5, and the distances between the steering driving wheel assembly 502 5 and the two steering wheel assemblies 703 are the same. As shown in fig. 6 and 9, the steering wheel 703 assembly 7 includes an installation base 702 disposed on the vehicle frame, a supporting block 701 rotatably disposed on the installation base 702, a steering wheel 703 rotatably disposed on the supporting block 701, a second steering motor 704 disposed on the supporting block 701, a fixed wheel 705 disposed on the installation base 702, and a steering gear 706 disposed on the second steering motor 704, wherein an outer surface of the fixed wheel 705 is provided with a circle of external teeth engaged with the steering gear 706. The steering wheel 703 is a cylinder, the steering wheel 703 is mounted on the supporting block 701 through a bearing, the axis of the steering wheel 703 is located in the horizontal plane, the outer circular surface of the steering wheel 703 is in contact with the ground, and the steering wheel 703 can be used as a bearing wheel to realize steering. The mount 702 is fixedly connected to the fork bracket 11 and the mount 702 extends outward of the fork bracket 11 in a first direction, the fork bracket 11 being located between the mount 702 and the head assembly. The supporting block 701 is installed on the installation seat 702 through the steering shaft 710, the steering shaft 710 is vertically arranged, the axis of the steering shaft 710 is located in a vertical plane, the upper end of the steering shaft 710 is connected with the installation seat 702, the lower end of the steering shaft 710 is connected with the supporting block 701, the supporting block 701 is rotatable relative to the installation seat 702, and the rotation center line of the supporting block 701 is also the axis of the steering shaft 710. The second steering motor 704 is mounted on the supporting block 701, the second steering motor 704 is vertically arranged, the steering gear 706 is a cylindrical gear, the steering gear 706 is arranged on a motor shaft of the second steering motor 704, the fixed wheel 705 is located above the supporting block 701, the fixed wheel 705 is fixedly connected with the mounting seat 702, the steering gear 706 is located on the outer side of the fixed wheel 705, the steering gear 706 is meshed with outer teeth on the fixed wheel 705, the fixed wheel 705 is preferably a gear ring, and the fixed wheel 705 and the steering shaft 710 are coaxially arranged. Because the gear ring is fixedly arranged, when the second steering motor 704 operates, the steering gear 706 rolls on the gear ring and drives the second steering motor 704 to rotate, the second steering motor 704 drives the supporting block 701 to rotate around the axis of the steering shaft 710, and the supporting block 701 drives the steering wheel 703 to rotate, so that steering is realized.

As shown in fig. 6, preferably, two steering wheels 703 are disposed on the supporting block 701, the second steering motor 704 is disposed between the two steering wheels 703, the two steering wheels 703 on the supporting block 701 are coaxially disposed, and the rotation center line of the supporting block 701 is located at the middle position of the two steering wheels 703. Set up a plurality of directive wheels 703, help improving the bearing capacity and the stability of traveling of AGV dolly, directive wheel 703 assembly 7 can realize independently turning to moreover, can reduce the radius of gyration of AGV dolly for radius of gyration can omnidirectional movement (sideslip or side shift for the frame direction), improves the flexibility of AGV dolly.

Through the cooperation of the steering driving wheel assembly 5 and the two steering wheel assemblies 703, the AGV cart can realize four motion states as shown in fig. 7, from top to bottom: a horizontal movement state (horizontal turning movement), a turning movement state, a lateral movement state, and an oblique movement state.

As shown in fig. 1 and 8, the fork AGV cart of the present invention further includes an obstacle avoidance sensor 3 disposed on the frame and a distance measuring sensor 15 disposed on the frame for detecting the depth of insertion of the fork panels 14 into the load or pallet. Keep away barrier sensor 3 and be laser sensor, keep away barrier sensor 3 and set up on the locomotive assembly. The distance measuring sensor 15 is a laser sensor, the distance measuring sensor 15 is arranged on the head assembly, the distance measuring sensor 15 is arranged on the outer wall surface of the head assembly facing the two fork panels 14, and the distance measuring sensor 15 is arranged in the middle of the two fork panels 14. In the process of forking goods or pallets, when the fork panel 14 is inserted into the goods or the pallets, the distance between the head assembly and the goods or the pallets is gradually reduced, the distance between the goods or the pallets and the head assembly is detected by the distance measuring sensor 15 in real time, and the insertion depth of the fork panel 14 is controlled, so that the distance between the goods and the head assembly is within a set range, collision with the goods is avoided, noise is generated, and the fork panel is rocked.

As shown in fig. 1 and 2, a storage battery 23 for supplying electric power is provided inside the vehicle head assembly, the storage battery 23 is used for supplying electric power to the first steering motor 504, the second steering motor 704 and the driving motor 503, and the storage battery 23 is preferably a lithium battery. The locomotive assembly is provided with a wireless charging receiver 13 and a plug-in pile head 4, the wireless charging receiver 13 is located at the bottom of the locomotive assembly, the wireless charging receiver 13 is matched with a peripheral charging emitter, the wireless charging receiver 13 receives electromagnetic waves emitted by the charging emitter and converts the electromagnetic waves into current, the current is rectified to provide electric energy for the storage battery 23, and charging of the storage battery 23 is achieved.

As shown in fig. 1 to 3, the vehicle head assembly includes a bottom shell 12, a lower cover 2 disposed on the bottom shell 12, and an upper cover 1 disposed on the lower cover 2, the bottom shell 12 is a shell structure with an open upper end and a hollow interior, the lower cover 2 closes the open upper end of the bottom shell 12, and a battery 23 is disposed in the inner cavity of the bottom shell 12. The bottom shell 12 has a certain length and a certain width, the length direction of the bottom shell 12 is parallel to the second direction, the width direction of the bottom shell 12 is parallel to the first direction, and the wireless charging receiver 13 is arranged at the bottom of the bottom shell 12. Two fork brackets 11 and end casing 12 fixed connection turn to drive wheel 502 assembly 5 and set up on end casing 12 and turn to drive wheel 502 assembly 5 and be connected with end casing 12 at the intermediate position on the length direction of end casing 12, and range sensor 15 sets up on end casing 12 and range sensor 15 is located the intermediate position on the length direction of end casing 12.

As shown in fig. 1 to 3, the bottom of the bottom shell 12 is further provided with a vehicle body side warning lamp 9, the bottom of the fork bracket 11 is provided with a fork side warning lamp 10, and when the vehicle body side warning lamp 9 and the fork side warning lamp 10 emit light, a warning effect and a warning effect can be achieved, so that the safety is improved.

The fork type AGV disclosed by the invention can be used for occasions with high indoor ground flatness, small distance and heavy picking tasks when being transported by using standard trays.

The invention is described above with reference to the accompanying drawings. It is to be understood that the specific implementations of the invention are not limited in this respect. Various insubstantial improvements are made by adopting the method conception and the technical scheme of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.

Claims

1. Fork AGV dolly includes frame, fork panel, turns to drive wheel assembly and directive wheel assembly, its characterized in that: the lifting device comprises a frame and an electric lifting unit, a fork panel is used for forking goods or trays, and a steering wheel assembly is positioned below the fork panel;

the steering wheel assembly comprises a mounting seat arranged on the frame, a supporting block rotatably arranged on the mounting seat, a steering wheel rotatably arranged on the supporting block, a second steering motor arranged on the supporting block, a fixed wheel arranged on the mounting seat and a steering gear arranged on the second steering motor, wherein a circle of external teeth meshed with the steering gear is arranged on the outer surface of the fixed wheel;

the fixed wheel is a gear ring, when the second steering motor runs, the steering gear rolls on the gear ring and drives the second steering motor to rotate, the second steering motor drives the supporting block to rotate around the axis of the steering shaft, and the supporting block drives the steering wheel to rotate so as to realize steering;

the two pallet fork panels are arranged, the frame comprises a vehicle head assembly and two pallet fork brackets arranged on the vehicle head assembly and positioned below the pallet fork panels, the electric lifting unit is connected with the pallet fork brackets and the pallet fork panels, the two pallet fork brackets are arranged, the steering driving wheel assemblies are arranged on the vehicle head assembly, and one steering wheel assembly is arranged on each pallet fork bracket;

the fork support is of a rectangular shell structure with a hollow interior, the length of the fork support is smaller than that of the fork panel, each fork support is located below one fork panel, one end of the fork support in the length direction is fixedly connected with the head assembly, the steering wheel assemblies are arranged at the other end of the fork support in the length direction, the number of the steering wheel assemblies is two, the two steering wheel assemblies are located on the same straight line parallel to the second direction, and each steering wheel assembly is located below one fork panel;

the electric lifting unit comprises an electric push rod, the electric push rod is arranged in an inclined mode, an included angle is formed between the length direction of the electric push rod and the first direction and is an acute angle, one end of the electric push rod is rotatably connected with the frame through a first pin shaft, and the other end of the electric push rod is rotatably connected with the fork panel through a second pin shaft; the electric push rod extends to lift the pallet fork panel, and the pallet fork panel rises; the electric push rod is contracted, and the electric push rod pulls the pallet fork panel downwards to enable the pallet fork panel to descend;

a first shaft sleeve and a second shaft sleeve are sleeved on the second pin shaft, the first shaft sleeve is clamped between the inner wall surface of the pallet fork panel and the end part of the electric push rod, and the second shaft sleeve is clamped between the other inner wall surface of the pallet fork panel and the end part of the electric push rod;

the pallet fork panel is connected with the electric push rods, and at least two of the electric push rods connected with the pallet fork panel are arranged in an inverted V shape; for the two electric push rods arranged in the inverted V shape, the vertical distance between the upper ends of the two electric push rods is smaller than the vertical distance between the lower ends of the two electric push rods;

the fork panel is provided with an accommodating cavity for accommodating the fork bracket, when the fork panel is at the lowest position, the fork bracket is positioned in the accommodating cavity of the fork panel, and the electric push rod is at the shortest length state at the moment.

2. The fork AGV of claim 1, wherein: each fork panel all is connected with two electric putter, and electric putter sets up four altogether, and per two electric putter all are in on the same straight line that parallels with the second direction, and two electric putter of being connected with same fork panel are the one end that the V-arrangement was fallen to the shape and these two electric putter are located the length direction of fork bracket respectively.

3. The fork AGV of claim 1, wherein: the steering driving wheel assembly comprises a bogie rotatably arranged on the frame, a steering driving wheel arranged on the bogie, a driving motor arranged on the bogie and connected with the steering driving wheel, and a first steering motor arranged on the frame and used for providing rotating force for rotating the bogie.

4. The fork AGV of any of claims 1 to 3, wherein: the supporting block is provided with two steering wheels, and the second steering motor is positioned between the two steering wheels.

5. The fork AGV of any of claims 1 to 3, wherein: the second steering motor is installed on the supporting block and is vertically arranged, the steering gear is a cylindrical gear and is arranged on a motor shaft of the second steering motor, the fixed wheel is located above the supporting block and is fixedly connected with the mounting seat, the steering gear is located on the outer side of the fixed wheel, and the steering gear is meshed with outer teeth on the fixed wheel.

6. The fork AGV of any of claims 1 to 3, wherein: still including set up in keep away barrier sensor on the frame with set up in on the frame and be used for detecting the range finding sensor of the degree of depth that the fork panel inserted in goods or tray.

7. The fork AGV of claim 6, wherein: the locomotive assembly comprises a bottom shell, a lower cover cap arranged on the bottom shell and an upper cover cap arranged on the lower cover cap, the bottom shell is of a shell structure with an opening at the upper end and a hollow interior, the lower cover cap seals the opening at the upper end of the bottom shell, and the storage battery is arranged in an inner cavity of the bottom shell; the wireless charging receiver sets up in the bottom of end casing, and two fork brackets and end casing fixed connection turn to the drive wheel assembly and set up on end casing and turn to the drive wheel assembly and be connected with end casing at the intermediate position department on the length direction of end casing, and distance measuring sensor sets up on end casing and distance measuring sensor is located the intermediate position department on the length direction of end casing.

8. The fork AGV of claim 6, wherein: the distance measuring sensor is a laser sensor, is arranged on the head assembly and is arranged on the outer wall surface of the head assembly facing the two fork panels, and is positioned in the middle of the two fork panels; in the process of forking the goods or the tray, when the fork panel is inserted into the goods or the tray, the distance between the head assembly and the goods or the tray is gradually reduced, and the distance between the goods or the tray and the head assembly is detected by the distance measuring sensor in real time, so that the insertion depth of the fork panel is controlled, and the distance between the goods and the head assembly is within a set range.