CN114212734A

CN114212734A - Mobile device and AGV fork truck

Info

Publication number: CN114212734A
Application number: CN202111601216.XA
Authority: CN
Inventors: 徐超
Original assignee: Beijing Jiexiang Lingyue Technology Co ltd
Current assignee: Beijing Jiexiang Lingyue Technology Co ltd
Priority date: 2021-12-24
Filing date: 2021-12-24
Publication date: 2022-03-22

Abstract

The invention provides a moving device and an AGV forklift, relates to the technical field of unmanned vehicles, and aims to optimize the structure of the moving device to a certain extent and avoid the problem that the driving wheels of the AGV forklift slip and cannot effectively run due to uneven ground. The invention provides a moving device which comprises a driving mechanism, a power wheel, a first universal wheel, a connecting plate assembly and an adjusting assembly, wherein the driving mechanism is arranged on the power wheel; the connecting plate assembly is arranged in the vertical direction and extends in the first direction, the output end of the driving mechanism is connected with the power wheel, the power wheel is connected with one end of the connecting assembly, and the first universal wheel is connected with the other end of the connecting plate assembly; the adjusting component is arranged along the second direction and is rotationally connected with the connecting plate component, a contact platform is formed on the adjusting component, and the contact platform is connected with an upper cover plate of the AGV forklift.

Description

Mobile device and AGV fork truck

Technical Field

The invention relates to the technical field of unmanned vehicles, in particular to a moving device and an AGV forklift.

Background

With the popularity of AGV (automated Guided vehicle) technology, more and more handling work can be done by the AGV. In order to realize dense storage, the AGV fork truck needs to be matched with the tray, so that the overall height of the AGV fork truck and the distance between the AGV fork truck and the ground are small.

When AGV fork truck meets ground undulation at ordinary times, the vehicle can produce the slope to a certain extent to make AGV fork truck's drive wheel contact with ground better, lead to the drive wheel to produce and skid, make AGV fork truck can't effectively travel.

Therefore, it is desirable to provide a moving device and an AGV forklift to solve the problems in the prior art to some extent.

Disclosure of Invention

The invention aims to provide a moving device and an AGV forklift, so that the structure of the moving device is optimized to a certain extent, and the problem that the driving wheel of the AGV forklift slips and cannot effectively run due to uneven ground is solved.

The invention provides a moving device which comprises a driving mechanism, a power wheel, a first universal wheel, a connecting plate assembly and an adjusting assembly, wherein the driving mechanism is arranged on the power wheel; the connecting plate assembly is arranged in the vertical direction and extends in the first direction, the output end of the driving mechanism is connected with the power wheel, the power wheel is connected with one end of the connecting plate assembly, and the first universal wheel is connected with the other end of the connecting plate assembly; the adjusting part sets up along the second direction, just adjusting part with the connecting plate subassembly rotates to be connected, adjusting part is formed with contact platform, contact platform is connected with AGV fork truck's upper cover plate.

The connecting plate assembly comprises a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are arranged on two sides of the power wheel relatively, and the driving mechanism is arranged between the first connecting plate and the second connecting plate.

Specifically, the adjusting assembly comprises a connecting shaft, a first adjusting piece and a second adjusting piece; one end of the connecting shaft is connected with the first connecting plate, and the other end of the connecting shaft is connected with the second connecting plate; the first adjusting piece and the second adjusting piece are arranged on the connecting shaft at intervals along the axial direction of the connecting shaft, and the first adjusting piece and the second adjusting piece can rotate relative to the connecting shaft; the first adjusting piece and the second adjusting piece are both provided with the contact platform, and the contact platform is fixedly connected with the upper cover plate.

The driving mechanism comprises a power part, a steering part and a transmission assembly; the output shaft of the power part extends along the first direction, the output shaft of the power part is connected with the input shaft of the steering part, the output shaft of the steering part extends along the second direction, and the transmission assemblies are respectively connected with the output shaft of the steering part and the rotating shaft of the power wheel so as to transmit the power of the power part to the power wheel.

Specifically, the transmission assembly comprises a first chain wheel, a second chain wheel and a chain; the first chain wheel is connected with an output shaft of the steering part, the second chain wheel is connected with a rotating shaft of the power wheel, and the axis of the rotating shaft of the power wheel extends along the second direction; the chain is connected with the first chain wheel and the second chain wheel respectively.

Furthermore, one ends of the first connecting plate and the second connecting plate, which are far away from the power wheel, are connected with a mounting plate; the mounting panel extends along the horizontal direction, first universal wheel set up in on the mounting panel.

Compared with the prior art, the mobile device provided by the invention has the following advantages:

the invention provides a moving device which comprises a driving mechanism, a power wheel, a first universal wheel, a connecting plate assembly and an adjusting assembly, wherein the driving mechanism is arranged on the power wheel; the connecting plate assembly is arranged in the vertical direction and extends in the first direction, the output end of the driving mechanism is connected with the power wheel, the power wheel is connected with one end of the connecting plate assembly, and the first universal wheel is connected with the other end of the connecting plate assembly; the adjusting component is arranged along the second direction and is rotationally connected with the connecting plate component, a contact platform is formed on the adjusting component, and the contact platform is connected with an upper cover plate of the AGV forklift.

From this analysis, can realize the installation of power wheel, first universal wheel, actuating mechanism and adjusting part through the connecting plate subassembly. Because the connecting plate subassembly in this application extends along first direction, consequently, can make driving wheel and first universal wheel along first direction to the both ends that are located connecting plate subassembly to with AGV fork truck set up direction looks adaptation. And the driving mechanism can drive the power wheel to rotate relative to the connecting plate component, so that the movement of the whole moving device is realized.

And, because be equipped with the adjusting part who rotates with the connecting plate subassembly to be connected in this application on the connecting plate subassembly, and adjusting part is formed with the contact platform who is connected with AGV fork truck's upper cover, therefore, when AGV fork truck meets the undulation road surface, through the rotation of the relative adjusting part of connecting plate subassembly, thereby can make driving wheel and first universal wheel contact with the road surface all the time, consequently, can enough avoid the driving wheel to produce to skid to a certain extent, lead to the problem that AGV fork truck can't effectively travel, also can make the upper cover remain the horizontal direction all the time, thereby promote whole fork truck's stability to a certain extent, avoid AGV fork truck when bearing the transportation goods, because the road surface undulation leads to the problem that whole fork truck inclines.

In addition, the invention also provides an AGV forklift, which comprises a forklift body, a push-pull device, a lifting device and two moving devices; the vehicle body is of an E-shaped structure and is provided with a first mounting frame positioned on two sides, a second mounting frame positioned in the middle and two avoidance spaces positioned on two sides of the second mounting frame; the two moving devices are respectively arranged in the first mounting frames at two sides, the push-pull device is arranged in the second mounting frame in the middle, and the push-pull device is connected with the lifting device so as to pull the two inserting mechanisms of the lifting device into the two avoiding spaces.

The vehicle body comprises a frame, an upper cover plate and a bearing plate, wherein the upper cover plate is arranged on the frame in a covering mode, and the bearing plate is arranged on the upper cover plate.

Specifically, a second universal wheel is further arranged on the first mounting frame, and the distance between the axis of the second universal wheel and the ground is not smaller than the distance between the axis of the first universal wheel and the ground.

Furthermore, the AGV fork truck provided by the invention also comprises a supporting mechanism; one end of the supporting mechanism is connected with the vehicle body, and the supporting mechanism can stretch out and draw back along the vertical direction, so that the other end of the supporting mechanism can be in contact with or separated from the ground.

Because the AGV fork truck that this application provided has two first installation framves that are located both sides and one is located the second installation frame in the middle, and be formed with two between first installation frame and the second installation frame and dodge the space. Therefore, the mounting and the operation of the moving device, the push-pull device and the lifting device can be facilitated.

The application provides an AGV dolly includes two mobile device, and the first installation frame setting of two mobile device correspondence both sides to through two adjusting part that include in two mobile device, can form stable supporting plane, thereby make AGV fork truck's upper cover plate keep on the horizontal direction more steadily, promote whole vehicle's stability.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a mobile device according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a first perspective view of an AGV fork truck according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a second view angle of the AGV forklift according to the embodiment of the present invention.

In the figure: 1-a first connection plate; 2-a second connecting plate; 3-a power wheel; 4-a first universal wheel; 5-a connecting shaft; 6-a first adjustment member; 7-a second adjustment member; 8-a contact platform; 9-a power member; 10-a steering member; 11-a first sprocket; 12-a second sprocket; 13-a chain; 14-a mounting plate; 1401-an extension block; 15-a first mounting frame; 16-a second mounting frame; 17-avoiding space; 18-a frame; 19-upper cover plate; 20-a carrier plate; 21-a second universal wheel; 22-a guide wheel; 23-a lifting device;

s1 — first direction.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are usually placed in when used, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As used herein, the term "and/or" includes any one of the associated listed items and any combination of any two or more of the items.

For ease of description, spatial relationship terms such as "above … …," "upper," "below … …," and "lower" may be used herein to describe one element's relationship to another element as illustrated in the figures. Such spatial relationship terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.

The terminology used herein is for the purpose of describing various examples only and is not intended to be limiting of the disclosure. The singular forms also are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," and "having" specify the presence of stated features, quantities, operations, elements, components, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, quantities, operations, components, elements, and/or combinations thereof.

Variations from the shapes of the illustrations as a result, for example, of manufacturing techniques and/or tolerances, may be expected. Thus, the examples described herein are not limited to the particular shapes shown in the drawings, but include changes in shape that occur during manufacturing.

The features of the examples described herein may be combined in various ways that will be apparent after understanding the disclosure of the present application. Further, while the examples described herein have a variety of configurations, other configurations are possible, as will be apparent after understanding the disclosure of the present application. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.

As shown in fig. 1, the present invention provides a mobile device, which comprises a driving mechanism, a power wheel 3, a first universal wheel 4, a connecting plate assembly and an adjusting assembly; the connecting plate assembly is arranged in the vertical direction and extends along the first direction S1, the output end of the driving mechanism is connected with the power wheel 3, the power wheel 3 is connected with one end of the connecting plate assembly, and the first universal wheel 4 is connected with the other end of the connecting plate assembly; the adjusting component is arranged along the second direction and is rotationally connected with the connecting plate component, the adjusting component is provided with a contact platform 8, and the contact platform 8 is connected with an upper cover plate 19 of the AGV forklift.

the moving device provided by the invention can realize the installation of the power wheel 3, the first universal wheel 4, the driving mechanism and the adjusting component through the connecting plate component. Because the connecting plate subassembly in this application extends along first direction S1, consequently, can make driving wheel 3 and first universal wheel 4 lie in the both ends of connecting plate subassembly along first direction S1 to with AGV fork truck' S the direction looks adaptation that sets up. And the driving mechanism can drive the power wheel 3 to rotate relative to the connecting plate component, so that the movement of the whole moving device is realized.

And, because be equipped with the adjusting part who rotates with the connecting plate subassembly to be connected in this application on the connecting plate subassembly, and adjusting part is formed with the contact platform 8 that is connected with AGV fork truck's upper cover 19, therefore, when AGV fork truck meets the undulation road surface, through the rotation of the relative adjusting part of connecting plate subassembly, thereby can make driving wheel 3 and first universal wheel 4 contact with the road surface all the time, consequently, can enough avoid driving wheel 3 to produce to skid to a certain extent, lead to the problem that AGV fork truck can't effectively travel, also can make upper cover 19 remain the horizontal direction all the time, thereby lift whole fork truck's stability to a certain extent, avoid fork truck when bearing the transported goods, because the road surface undulation leads to the problem of whole fork truck slope.

Preferably, as shown in fig. 1, the connecting plate assembly in the present application includes a first connecting plate 1 and a second connecting plate 2, the first connecting plate 1 and the second connecting plate 2 are oppositely disposed on two sides of the power wheel 3, and the driving mechanism is disposed between the first connecting plate 1 and the second connecting plate 2.

Since the first link plate 1 and the second link plate 2 in the present application each extend in the first direction S1, the power element 9 and the steering element 10 provided between the first link plate 1 and the second link plate 2 can be extended in the first direction S1, that is, the axis of the output shaft of the power element 9 in the present application extends in the first direction S1, so that the space occupation of the formed overall moving device can be reduced to some extent.

As shown in fig. 1, the adjusting assembly in this application includes a connecting shaft 5, a first adjusting member 6 and a second adjusting member 7. Therefore, correspondingly, all seted up the mounting hole on first connecting plate 1 and the second connecting plate 2 in this application, the one end of connecting axle 5 and the mounting hole fixed connection of first connecting plate 1, the other end and the mounting hole fixed connection of second connecting plate 2.

The first adjusting piece 6 and the second adjusting piece 7 are arranged on the connecting shaft 5 at intervals along the axial direction of the connecting shaft 5, and the first adjusting piece 6 and the second adjusting piece 7 can rotate relative to the connecting shaft 5. In the present application, the first adjusting member 6 and the second adjusting member 7 can be rotated relative to the connecting shaft 5 by using bearings.

Wherein the inner ring of the bearing is connected with the connecting shaft 5 and the outer ring is connected with the first adjusting part 6 and the second adjusting part 7, so that the relative rotation between the connecting shaft 5 and the first adjusting part 6 and the second adjusting part 7 can be realized.

Since the contact platform 8 in this application is connected with the upper cover plate 19, and the side of the upper cover plate 19 facing away from the contact platform 8 in this application is connected with the loading plate 20, and the loading plate 20 is used for loading pallets and goods, preferably, the contact platforms 8 on the first adjusting member 6 and the second adjusting member 7 in this application are both fixedly connected with the upper cover plate 19. Moreover, since the first universal wheel 4 and the power wheel 3 can form a uniform linear structure through the first connecting plate 1 and the second connecting plate 2, when the AGV meets a slope road in a forward state, the power wheel 3 moves towards the upper cover plate 19, so that the first universal wheel 4 has a tendency to move away from the upper cover plate 19, and the connecting shaft 5 can rotate relative to the first adjusting piece 6 and the second adjusting piece 7.

Through the rotation of connecting axle 5 relative first regulating part 6 and second regulating part 7, can make contact with platform 8 and be in the horizontality all the time to guaranteed to a certain extent that upper cover plate 19 can be in the horizontality all the time, and then made the loading board 20 that sets up above upper cover plate 19 can keep the level, promoted the stability of whole AGV fork truck transportation.

Alternatively, as shown in fig. 1, the driving mechanism in the present application includes a power member 9, a steering member 10, and a transmission assembly; the output shaft of the power member 9 extends in the first direction S1, and the output shaft of the power member 9 is connected with the input shaft of the steering member 10, the output shaft of the steering member 10 extends in the second direction, and the transmission assemblies are respectively connected with the output shaft of the steering member 10 and the rotating shafts of the power wheels 3 to transmit the power of the power member 9 to the power wheels 3.

It should be added that in the present application, the power source 9 is a motor, the steering source 10 is a steering reducer, an axis of an output shaft of the motor extends along the first direction S1, an input shaft of the steering reducer extends along the first direction S1, and the output shaft extends along the second direction, so that the power source 9, the steering source 10, the first universal wheels 4, and the power wheels 3 can be ensured to be disposed along the first direction S1.

To further reduce the space occupation of the moving device, as shown in fig. 1, the transmission assembly in the present application includes a first sprocket 11, a second sprocket 12 and a chain 13; the first chain wheel 11 is connected with an output shaft of the steering member 10, the second chain wheel 12 is connected with a rotating shaft of the power wheel 3, and the axis of the rotating shaft of the power wheel 3 extends along a second direction; the chain 13 is connected to the first sprocket 11 and the second sprocket 12, respectively.

The first sprocket 11 connected to the output shaft of the steering gear 10 and the second sprocket 12 connected to the rotation shaft of the power wheel 3 are connected to each other by a chain 13, so that the power output from the power gear 9 is transmitted to the power wheel 3, thereby moving the moving device.

It should be added that the transmission assembly in the present application uses the chain 13 and the sprocket to cooperate with each other, which is only one embodiment, and two meshed gears can also be used to transmit power.

Further, as shown in fig. 1, the ends of the first connecting plate 1 and the second connecting plate 2 far away from the power wheel 3 are connected with a mounting plate 14; the mounting plate 14 extends in a horizontal direction, and the first universal wheel 4 is provided on the mounting plate 14.

The first universal wheel 4 can be stably connected with the first connecting plate 1 and the second connecting plate 2 through the mounting plate 14, and as shown in fig. 1, preferably, the first connecting plate 1 and the second connecting plate 2 are both connected with an extension block 1401 at one end facing the first universal wheel 4, and the mounting plate 14 can be provided with a stable and flat mounting position through the two parallel extension blocks 1401, so that the mounting plate 14 is not in direct contact with the first connecting plate 1 and the second connecting plate 2, the first universal wheel 4 has sufficient rotating space, and the problem that the whole AGV moves and is stuck due to the fact that the first universal wheel 4 is in contact with the first connecting plate 1 and the second connecting plate 2 is avoided.

In addition, as shown in fig. 1 to 3, the present invention further provides an AGV forklift, which comprises a vehicle body, a push-pull device, a lifting device 23 and two moving devices; the vehicle body is of an E-shaped structure and is provided with a first mounting frame 15 positioned at two sides, a second mounting frame 16 positioned in the middle and two avoidance spaces 17 positioned at two sides of the second mounting frame 16; the two moving devices are respectively arranged in the first mounting frames 15 at both sides, the push-pull device is arranged in the second mounting frame 16 in the middle, and the push-pull device is connected with the lifting device 23 to pull the two plugging mechanisms of the lifting device 23 into the two avoiding spaces 17.

The AGV fork truck provided by the application is provided with two first mounting frames 15 positioned at two sides and a second mounting frame 16 positioned in the middle, and two avoidance spaces 17 are formed between the first mounting frame 15 and the second mounting frame 16. Therefore, the mounting and the operation of the moving device, the push-pull device, and the lifting device 23 can be facilitated.

The application provides an AGV dolly includes two mobile device, and the first installation frame 15 setting of two mobile device correspondence both sides to through two adjusting part that include in two mobile device, can form stable supporting plane, thereby make AGV fork truck's upper cover plate 19 keep on the horizontal direction more steadily, promote whole vehicle's stability.

It should be added here that, as shown in fig. 1-3, preferably, the power wheels 3 in the present application are located at the middle position of the first mounting frame 15, on one hand, on the basis of ensuring the movement of the AGV forklift, the number of power wheels 3 used can be relatively reduced. On the other hand, by arranging the power wheels 3 at the intermediate position of the first mounting frame 15, the operation and load bearing of the entire forklift can be more stable.

It should be further added that, in the present application, the power members 9 in the two moving devices, that is, the output shafts of the two motors, can rotate simultaneously in the same direction, and also can rotate simultaneously in different directions, so as to realize the forward and backward movement and the steering of the AGV forklift.

As shown in fig. 1-3, the vehicle body includes a frame 18, an upper cover plate 19 and a bearing plate 20, the upper cover plate 19 is covered on the frame 18, and the bearing plate 20 is disposed on the upper cover plate 19.

First installation frame 15, second installation frame 16 and two dodge spaces 17 and all have frame 18 to form in this application, and the shape and the size and the frame 18 looks adaptation of upper cover plate 19 and loading board 20, and upper cover plate 19 lid is located on frame 18 to can form relatively stable installation space, and then can protect mobile device and push-and-pull device to a certain extent, and promote the stability of mobile device and push-and-pull device action.

It should be added that the loading plate 20 and the lifting device 23 are used together to carry the pallet and the cargo, and therefore, preferably, a plurality of buffer assemblies can be disposed between the upper plate 19 and the loading plate 20, so as to provide a buffer function to reduce the impact force of the cargo on the frame 18 and the moving device when the pallet and the cargo are in contact with the loading plate 20.

Specifically, as shown in fig. 1 to 3, the first mounting frame 15 is further provided with a second universal wheel 21, and a distance between an axis of the second universal wheel 21 and the ground is not less than a distance between an axis of the first universal wheel 4 and the ground.

The second universal wheel 21 and the first universal wheel 4 are oppositely arranged on two sides of the power wheel 3 along the first direction S1, and the height of the second universal wheel 21 from the ground is greater than the height of the first universal wheel 4 from the ground. This application provides AGV fork truck when level and smooth road surface is marchd promptly, and second universal wheel 21 does not contact with ground, when advancing the in-process and meetting the slope road surface, second universal wheel 21 can contact with the slope road surface at first to can provide stable holding power for AGV fork truck under the state of advancing.

Preferably, as shown in fig. 1-3, the AGV forklift provided by the present invention further comprises a supporting mechanism; one end of the supporting mechanism is connected with the vehicle body, and the supporting mechanism can stretch out and draw back along the vertical direction, so that the other end of the supporting mechanism can be in contact with or separated from the ground.

During the AGV fork truck operation that this application provided, the mobile device action makes AGV fork truck remove to the corresponding position of tray, and push-and-pull device will lift lifting devices 23 by dodging space 17 and release to make lifting devices 23 stretch into the slot of tray, lifting devices 23 plays to rise and lifts the certain height with tray and the goods that bear. Then, the lifting device 23 is pulled back by the push-pull device, and the lifting device 23 falls down after being completely retracted into the avoiding space 17, and bears the pallet and the goods together with the bearing surface.

Since the lifting device 23 needs to be fully extended into the avoidance space 17 during operation, the vehicle body is likely to tilt forward when the lifting device 23 lifts the load. This application is through setting up a plurality of supporting mechanism on the automobile body, and makes supporting mechanism's one end can contact with ground, consequently, when the operation, through contacting supporting mechanism and ground, can increase the area of contact of automobile body and ground to, supporting mechanism in this application still can adopt hydraulic cylinder, props up the automobile body from ground through hydraulic cylinder's extension, thereby can further promote the stability when lifting device 23 rises to rise the goods.

It should be added that, since the torque generated by the lifting device 23 to the car body is too large when the AGV is turning on the spot after loading the goods, it is preferable that, as shown in fig. 3, the present application can play a role of guiding when the lifting device 23 is extended and retracted by providing the guide wheel 22 at the side of the first mounting frame 15 facing the avoidance space 17, and on the other hand, can disperse the torque of the lifting device 23 to the car body to some extent by the guide wheel 22, so as to avoid the problem that the AGV is stuck or even the car is damaged when turning.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A mobile device is characterized by comprising a driving mechanism, a power wheel, a first universal wheel, a connecting plate assembly and an adjusting assembly;

the connecting plate assembly is arranged in the vertical direction and extends in the first direction, the output end of the driving mechanism is connected with the power wheel, the power wheel is connected with one end of the connecting plate assembly, and the first universal wheel is connected with the other end of the connecting plate assembly;

the adjusting part sets up along the second direction, just adjusting part with the connecting plate subassembly rotates to be connected, adjusting part is formed with contact platform, contact platform is connected with AGV fork truck's upper cover plate.

2. The mobile device of claim 1, wherein the linkage plate assembly includes a first linkage plate and a second linkage plate, the first linkage plate and the second linkage plate being disposed opposite each other on opposite sides of the power wheel, the drive mechanism being disposed between the first linkage plate and the second linkage plate.

3. The mobile device of claim 2, wherein the adjustment assembly includes a connecting shaft, a first adjustment member, and a second adjustment member;

one end of the connecting shaft is connected with the first connecting plate, and the other end of the connecting shaft is connected with the second connecting plate;

the first adjusting piece and the second adjusting piece are arranged on the connecting shaft at intervals along the axial direction of the connecting shaft, and the first adjusting piece and the second adjusting piece can rotate relative to the connecting shaft;

the first adjusting piece and the second adjusting piece are both provided with the contact platform, and the contact platform is fixedly connected with the upper cover plate.

4. The mobile device of claim 1, wherein the drive mechanism includes a power member, a steering member, and a transmission assembly;

the output shaft of the power part extends along the first direction, the output shaft of the power part is connected with the input shaft of the steering part, the output shaft of the steering part extends along the second direction, and the transmission assemblies are respectively connected with the output shaft of the steering part and the rotating shaft of the power wheel so as to transmit the power of the power part to the power wheel.

5. The mobile device of claim 4, wherein the drive assembly comprises a first sprocket, a second sprocket, and a chain;

the first chain wheel is connected with an output shaft of the steering part, the second chain wheel is connected with a rotating shaft of the power wheel, and the axis of the rotating shaft of the power wheel extends along the second direction;

the chain is connected with the first chain wheel and the second chain wheel respectively.

6. The mobile device of claim 2, wherein a mounting plate is attached to an end of the first and second attachment plates distal from the power wheel;

the mounting panel extends along the horizontal direction, first universal wheel set up in on the mounting panel.

7. AGV forklift, characterized by a car body, a push-pull device, a lifting device and two displacement devices according to any of the claims 1-6;

the vehicle body is of an E-shaped structure and is provided with a first mounting frame positioned on two sides, a second mounting frame positioned in the middle and two avoidance spaces positioned on two sides of the second mounting frame;

the two moving devices are respectively arranged in the first mounting frames at two sides, the push-pull device is arranged in the second mounting frame in the middle, and the push-pull device is connected with the lifting device so as to pull the two inserting mechanisms of the lifting device into the two avoiding spaces.

8. The AGV forklift of claim 7, wherein the body includes a frame, an upper cover plate covering the frame, and a loading plate disposed on the upper cover plate.

9. The AGV fork truck of claim 7, wherein said first mounting frame is further provided with a second universal wheel, and the distance between the axis of said second universal wheel and the ground is not less than the distance between the axis of said first universal wheel and the ground.

10. The AGV forklift of claim 7, further comprising a support mechanism;

one end of the supporting mechanism is connected with the vehicle body, and the supporting mechanism can stretch out and draw back along the vertical direction, so that the other end of the supporting mechanism can be in contact with or separated from the ground.