CN117284976A

CN117284976A - AGV fork truck of whole buttress turnover case of transport

Info

Publication number: CN117284976A
Application number: CN202311344245.1A
Authority: CN
Inventors: 苏子林; 常贵州; 安文科
Original assignee: Ludong University
Current assignee: Ludong University
Priority date: 2023-10-18
Filing date: 2023-10-18
Publication date: 2023-12-26

Abstract

The invention relates to an AGV forklift for carrying a whole stack of turnover boxes, and belongs to the technical fields of logistics devices and AGVs; the lifting and locking mechanism comprises a chassis, a portal, a clamping mechanism and a fork, wherein the fork is driven to move backwards and downwards, is inserted into the bottom of a whole pile of turnover boxes, is driven to move upwards and forwards, is lifted and moves forwards, and enters the clamping mechanism to be clamped and locked. The door frame is hinged with the clamping mechanism to limit the limit position of the door frame; the clamping mechanism does not need to adjust the upper and lower positions, and the integral rigidity can be improved. The clamping mechanism generates transverse clamping force, so that the whole stack of turnover boxes are clamped and integrated, the angle deviation and the offset deviation of the whole stack of turnover boxes are automatically adapted, and the flexible clamping effect and the shaking damping are obtained; the clamping force can be regulated and controlled, the clamping energy is saved, and the stability and the safety of the carrying process are ensured. The chassis comprises a fork frame, a rear supporting rod and a front supporting rod; the rear supporting rod and the front supporting rod are respectively hinged with the fork frame and the fork and provide support, so that the weight can be reduced, and the structural strength can be improved.

Description

AGV fork truck of whole buttress turnover case of transport

Technical Field

The invention relates to an AGV forklift, in particular to a transfer box, and belongs to the technical fields of logistics devices and AGVs (automatic guided vehicles).

Background

AGV forklifts, also known as electric forklifts, unmanned forklifts or automatic forklifts, are the products of a combination of a truck or fork lift with AGV technology. According to the structural characteristics, the AGV forklift is divided into a stacking AGV forklift and a ground cow type AGV forklift; the stacking AGV forklift adopts a traditional forklift structure, and a fork with a cantilever structure can drive the fork to move up and down, incline and back and forth, so that loading, unloading and stacking operations are facilitated; the ground ox formula AGV fork truck adopts traditional ground ox (also known as carrier, scooter) structure, has the fork of simply supported beam structure, has the wheel at the rear portion of fork, is convenient for carry goods in warehouse, market or goods yard.

With the rapid development of electronic commerce, the amount of express traffic increases dramatically. Express delivery transfer station and agency point in order to reduce the damage to express delivery piece in unpacking, letter sorting and packing process, adopt turnover case and AGV temporarily in the workplace to transport the express delivery piece generally. The turnover box is rigid, has a supporting function, can effectively avoid overlarge local stress of the express items, and can greatly reduce the damage probability of the express items. The surface layer of the express delivery piece is provided with packages such as corrugated board, foaming bags or air column bags, and the like, so that the express delivery piece is large in size, light in weight and small in density. Therefore, the center of gravity of the multi-layer stacked whole-stack express delivery transfer box is higher, and the whole-stack transfer box is easy to shake and topple over to cause accidents when being carried. The invention patent with the application number of 201310321454.4 provides a stacked logistics turnover box, which comprises a base, a turnover box body and a box cover, wherein the box body is stacked above the base, and reinforcing ribs are arranged on the bottom and the side surfaces of the box body, so that the occupied space is saved, and the problem that heavier goods are stacked to easily cause the turnover box to be cracked is solved.

The intelligent ammeter is stored in the turnover box during transportation and storage; during storage, the turnover boxes filled with the intelligent electric meters are stacked up and down on a pallet truck to form a whole stack of electric meter turnover boxes. The whole pile of ammeter turnover boxes are placed in a warehouse position of a plane warehouse, and are automatically carried by an AGV. For example, the utility model patent with application number 202111274932.1 discloses an intelligent warehouse material detection system and method based on RFID, wherein the intelligent warehouse is divided into a flat warehouse area, a handover area, a three-dimensional warehouse area and a centralized control center, and warehouse positions are arranged in the flat warehouse area, the handover area and the three-dimensional warehouse area, and an electric forklift, a jacking station, a travelling crane and a stacker are also arranged.

The gravity center of the whole stack of turnover boxes is higher, so that the turnover boxes are easy to shake and topple over to cause accidents during carrying; therefore, current AGVs employ a clamping mechanism. For example, the utility model patent application 202021208621.6 discloses a clamping device and AGV that includes at least two clamping assemblies; the clamping assembly comprises a bottom supporting plate, a sliding rail, a clamping plate and a power unit, and is not easy to topple when the turnover boxes stacked together are transported. The utility model patent with the application number of 201810273277.X discloses an AGV for carrying a high-rise stacking distiller's yeast tray, which comprises a fork reinforcing support plate and a stable retaining device, wherein the fork reinforcing support plate is welded with an AGV fork, and the stable retaining device is arranged on the fork reinforcing support plate; can prevent the distiller's yeast tray from shaking, skewing and the like during the transportation process.

In addition, in order to improve the convenience, stability and safety of the handling of the whole stack of turnover boxes and reduce the energy consumption, various patent technologies have appeared. The utility model patent with the application number of 201721389036.9 discloses a single-fork AGV forklift, which comprises an AGV body and a frame, wherein a back plate is arranged on the frame, two shifting units are arranged on the back plate, an upper fork tooth is arranged on the upper shifting unit, and a lower fork tooth is arranged on the lower shifting unit; only one fork tooth is arranged in a single horizontal plane, so that the space occupation is small, the use is flexible, the energy is saved, and the stability of goods transportation can be ensured. The utility model patent with the application number of 201820738796.4 discloses an AGV trolley for conveying turnover components, which comprises a trolley body, wherein fork teeth for conveying the turnover components are arranged on the trolley body; the upper end of the vehicle body is provided with a baffle plate for limiting the maximum height; the locking device for increasing the stability of the goods is arranged on the vehicle body, so that the transportation stability and the transportation safety of the turnover assembly are improved.

Along with the development of ranging technologies such as laser, infrared rays and ultrasonic waves, the motion and positioning accuracy of the existing AGV are gradually improved. The navigation precision of the existing AGV generally reaches +/-10 mm, the tolerance of the inclination angle of a pallet fork inserted into a pallet is +/-0.5 degrees, and the tolerance of the transverse offset is +/-10 mm. In order to solve the lateral offset problem of goods, the patent of the utility model of application number 202011426040.4 discloses an AGV fork truck with locate function placed in the middle, sets up the support frame, is equipped with the locating mechanism placed in the middle at the top of support frame, utilizes hydraulic stem cooperation rubber slab extrusion goods, moves central point to the goods that deviate, avoids because the goods focus deviates unstable that leads to, promotes AGV fork truck's security.

In the prior art, a vertical clamping mode and a horizontal clamping mode are adopted for the whole stack of turnover boxes. The vertical clamping mode generates downward pressure at the top of the whole stack of turnover boxes, and forms clamping force together with the pallet fork at the bottom of the whole stack of turnover boxes, so that shaking and toppling are avoided; the downward pressure and the gravity of the upper turnover box lead the turnover box at the bottom to bear larger pressure; because the turnover box is generally formed by injection molding engineering plastics, obvious deformation and cracks are easy to generate, the cracks are expanded, and the service life of the turnover box is reduced. The obvious deformation means that the deformation amount is large and can be seen by human eyes. The horizontal clamping mode generates transverse clamping force, so that shaking and toppling of the whole stack of turnover boxes are avoided, transverse shaking damping can be obtained, the clamping force can be relatively small, and safety is ensured; however, the transverse clamping force needs to be automatically adapted to the angle deviation and the offset deviation of the AGV forklift in the horizontal direction; otherwise, the rotating and shifting effects are generated, so that the whole stack of turnover boxes are inclined, rotated and shifted, the stability is reduced, and the clamping effect is affected. In order to improve the clamping effect on the whole pile of turnover boxes, the existing clamping mechanism generates clamping force at the top of the whole pile of turnover boxes, and can move up and down to adjust the up and down positions, so that the clamping mechanism is suitable for the height of the whole pile of turnover boxes. In the prior art, an upright rail is commonly used for limiting the up-and-down motion track of the clamping mechanism. Because the clamping mechanism can move up and down in the track, the clamping mechanism has a transverse gap suitable for up and down movement; but influence AGV fork truck's overall rigidity, easy relative track rocks, influences the stability and the security of whole buttress turnover case transport.

With the application and development of new generation information technologies such as the internet of things, cloud computing and artificial intelligence, the control technology and level of the electromechanical system are continuously developed. On this basis, there is therefore a need for further research into improved AGV forklifts for handling whole stacks of totes.

Disclosure of Invention

The invention aims to provide an AGV forklift for carrying whole stacks of turnover boxes, which is improved in structure and clamping mode, automatically adapts to the angle deviation and offset deviation of the whole stacks of turnover boxes, generates flexible clamping action and shaking damping, ensures the stability and safety of the carrying process, avoids overlarge local stress of the turnover boxes, avoids obvious deformation and cracks of the turnover boxes, and prolongs the service life of the turnover boxes. The direction of the AGV fork truck in the carrying state is used as a reference, and the forward direction is the front direction and the reverse direction is the back direction; the front-back direction is longitudinal, and the direction perpendicular to the front-back direction is transverse; and so on in other directions. In fig. 1, the right side is the front, the other directions and so on. The specific technical scheme of the invention is as follows.

An AGV forklift for carrying a whole pile of turnover boxes comprises a chassis 1, a car body 2, a portal frame 3, a clamping mechanism 4 and a fork 5, wherein a carrying battery 6 is arranged, as shown in figure 1, the fork 5 is driven to move backwards and downwards to reach a rear limit and a lower limit position, the AGV forklift is inserted into the bottom of the whole pile of turnover boxes, and then the fork 5 is driven to move upwards and forwards to reach an upper limit and a front limit position; lifting and advancing the whole pile of turnover boxes to load the whole pile of turnover boxes, and entering the clamping mechanism 4 to clamp and lock. The vehicle body 2 is of a box structure and is fixedly arranged on the chassis 1 to be fixed and supported; the car body 2 supports the clamping mechanism 4, so that the clamping mechanism 4 can move transversely to clamp or unclamp. The vehicle body 2 passes through the lower end of the clamping mechanism 4, and limits the movement track, the inner limit position and the outer limit position of the lower end of the clamping mechanism 4.

The door frame 3 is a door-shaped frame, is vertically arranged on the chassis 1 and the vehicle body 2, and is integrated with the chassis 1 and the vehicle body 2. The door frame 3 is hinged with the clamping mechanism 4, penetrates through the upper end of the clamping mechanism 4, and limits the movement track, the inner limit position and the outer limit position of the upper end of the clamping mechanism 4. The clamping mechanism 4 does not need to adjust the vertical position, and the overall rigidity of the AGV forklift can be improved. The clamping mechanism 4 generates horizontal transverse clamping force, so that the whole pile of turnover boxes are clamped and integrated, the angle deviation and the offset deviation of the whole pile of turnover boxes are automatically adapted, the flexible clamping effect and the shaking damping are obtained, and the stability and the safety of the carrying process are ensured.

The chassis 1 comprises a fork 11, a rear wheel 12, a rear strut 13, a front strut 14, a front wheel 15, a longitudinal beam 16 and a cross beam 17, and is fixedly connected with the longitudinal beam 16 and the cross beam 17 to form a rigid frame structure, as shown in fig. 2, the fork 11 is fixedly connected with the frame structure and is integrated, so as to provide fixation and support for the vehicle body 2, the door frame 3, the clamping mechanism 4, the fork 5 and the battery 6.

The fork 11 is of a longitudinal horizontal straight strip structure, the cross section of the fork is U-shaped, and the fork is fixedly connected with the frame structure at the front end to form a whole. The fork 11 has a transverse shaft hole at the rear, through which the wheel axle of the rear wheel 12 is passed, so that the rear wheel 12 is fixedly mounted to the rear of the fork 11.

The rear wheel 12 is provided with an axle, rotates around the axle, is positioned at the rear part of the chassis 1, and is fixedly arranged on the fork 11 through the axle. The front wheel 15 is provided with an axle, around which it rotates, and is fixedly mounted to a rigid frame structure formed by the stringers 16 and the cross-members 17, such that the front wheel 15 is located in front of the chassis 1. The rear wheel 12 and the front wheel 15 provide support for the fork 11, the longitudinal beam 16 and the transverse beam 17 which are fixedly connected into a whole, so that the fork 11 is of a simply supported beam structure, the weight can be reduced, and the structural strength can be improved.

The rear supporting rod 13 is positioned at the rear part of the fork frame 11, is hinged with the rear part of the fork frame 11 at the lower end, is hinged with the rear part of the fork 5 at the upper end, and is of a straight rod structure; the front strut 14 is located at the front of the fork 11, hinged to the front of the fork 11 at the lower end, and hinged to the front of the fork 5 at the upper end, and has the same structure and size as the rear strut 13; the rear supporting rod 13 and the front supporting rod 14 jointly provide support for the fork 5, so that the fork 5 is of a simple beam structure, the weight can be reduced, and the structural strength can be improved. The rear strut 13 and the front strut 14 are both capable of rotating backward and downward at the upper end relative to the lower end in an upright state to obtain a reclined state; and can be rotated upward and forward at the upper end relative to the lower end in a reclined state to achieve an upright state.

Thus, during loading operations, both the rear strut 13 and the front strut 14 are rotated at the upper end with respect to the lower end, rearward and downward, obtaining a reclined condition, so that the forks 5 are moved rearward and downward, reaching a rear limit and a lower limit position, capable of being inserted into the bottom of the full stack of transfer boxes; after the fork 5 is inserted into the bottom of the full stack of containers, the rear and front struts 13 and 14 are both rotated upward and forward at the upper end with respect to the lower end, so that an upright state is obtained, so that the fork 5 moves upward and forward to reach an upper and forward limit position, and the full stack of containers can be lifted and advanced. Similarly, the unloading operation can be performed. That is, the rear and front poles 13 and 14 are rotated to obtain a reclined or upright state so that the forks 5 are moved rearward and downward to reach rear and lower limit positions and are also moved upward and forward to reach upper and front limit positions, thereby performing loading and unloading operations.

The longitudinal beam 16 is of a longitudinal straight rod-shaped structure, and the transverse beam 17 is of a transverse straight rod-shaped structure; a plurality of said stringers 16 and cross-members 17 are fixedly connected to each other to form said rigid frame structure, as shown in fig. 2. The frame structure is fixedly connected with the fork 11 at the rear side surface, is integrated, is fixedly connected with the wheel axle of the front wheel 15 at the lower surface of the front part, is fixedly connected with the lower surface of the battery 6 at the rear part, and is fixedly connected with the vehicle body 2 and the door frame 3 at the upper surface, so that the front wheel 15, the battery 6, the vehicle body 2 and the door frame 3 are fixedly arranged on the chassis 1.

The vehicle body 2 is of a box structure, an upper plate is arranged on the upper surface, a front plate is arranged on the front side, a push-pull rod 21 and a controller 22 are arranged in the interior, a back plate is arranged on the back surface, a bumper 23 is arranged in the middle of the back surface of the back plate, side plates extending backwards are arranged on the left side surface and the right side surface, a horizontal bottom plate 24 and a track plate 25 are arranged at the lower part between the side plates and the back plate, a lower spring 26 is fixedly arranged on the inner surface of the side plates, and the lower spring is fixedly arranged on the frame structure of the chassis 1, so that the chassis is fixed and supported, as shown in fig. 3.

The push-pull rod 21 is installed in the vehicle body 2, is of a longitudinal straight rod structure, is hinged to a front plate of the vehicle body 2 at the front end, is hinged to the fork 5 at the rear end, can axially stretch under the control of the controller 22, and has a longitudinal push-pull effect on the fork 5, so that the fork 5 can move backwards and downwards, is inserted into the bottom of the whole stack turnover box, and also enables the fork 5 to move upwards and forwards, and is lifted and carried. The controller 22 is fixedly installed on the rear surface of the front plate of the vehicle body 2, is located at the inner upper part of the vehicle body 2, and is electrically connected with the battery 6 to obtain electric energy, so as to control the AGV forklift to carry out carrying operations such as loading, clamping, locking, transporting, loosening, unlocking, unloading and the like.

The bumper 23 is a vertical straight rod structure, is fixedly mounted on the rear surface of the back plate of the vehicle body 2, and can extend out of the safety pin at the lower end under the control of the controller 22 so as to lock the fork 5, so that the fork 5 is prevented from shaking and unstably moving in the transportation process, the stability of the transportation process is improved, and the safety is ensured. The safety pin has a cylindrical structure, and can be retracted into the safety bar 23 under the control of the controller 22, so that the fork 5 is unlocked, and can also be extended from the lower end of the safety bar 23, so that the fork 5 is locked.

The bottom plate 24 is a horizontal rectangular cross plate, and is fixedly connected with the rear surface of the back plate of the vehicle body 2 at the front edge, and is fixedly connected with the side plate of the vehicle body 2 at the left and right ends, and is provided with a rear groove at the middle and rear part, so that interference with the fork 5 is avoided, and the clamping mechanism 4 is abutted and supported on the upper surface, so that the clamping mechanism 4 can transversely move to clamp or loosen. The rear groove is positioned at the middle rear part of the bottom plate 24, penetrates through the bottom plate 24 up and down, and can accommodate the front part of the fork 5, so that interference with the fork 5 is avoided.

The track plate 25 is a horizontal transverse angle plate, and is provided with a lower track, and is positioned on the left side and the right side of the rear part of the vehicle body 2 and above the bottom plate 24, and is fixedly connected with the side plate at the outer edge and the back plate at the front edge, so as to obtain fixation and support. The lower rail is a through hole penetrating the rail plate 25 up and down, and is in a circular arc shape, and penetrates through the lower end of the clamping mechanism 4 to limit the movement track, the inner limit position and the outer limit position of the lower end of the clamping mechanism 4.

The lower spring 26 is a cylindrical extension spring, and is fixedly connected with the side plate of the vehicle body 2 at the outer side end, and is fixedly connected with the clamping mechanism 4 at the inner side end, so that the clamping mechanism 4 can automatically withdraw from a clamping state, the whole stack of turnover boxes can obtain shaking damping, and the stability and safety of the carrying process are ensured.

The door frame 3 is a door-shaped frame, is vertically installed on the chassis 1 and the vehicle body 2, exposes an upper plate of the vehicle body 2, comprises a left upright column 31 and a right upright column 31, and is fixedly installed with a top plate 33 at the top ends of the upright columns 31, so that the door frame 3 is a door-shaped frame and is integrated with the chassis 1 and the vehicle body 2. The portal 3 is fixedly provided with a spring 32, a navigator 34 and a curved bar 35 on the top plate 33, and is provided with a monitoring device 36 through the curved bar 35; an upper rail 37 is provided on the top plate 33, and the upper rail 37 passes through the upper end of the clasping mechanism 4 to define a movement track, an inner limit position and an outer limit position of the upper end of the clasping mechanism 4, as shown in fig. 4.

The upright column 31 is of a vertical cylindrical structure, penetrates through the clamping mechanism 4, is hinged with the clamping mechanism 4, is fixedly installed at the lower end of the upright column in the chassis 1 and the inside of the vehicle body 2, and exposes out of the upper plate of the vehicle body 2, so that the door frame 3 is vertically installed on the chassis 1 and the vehicle body 2 and is integrated with the chassis 1 and the vehicle body 2. The upper spring 32 is a cylindrical extension spring, and is identical to the lower spring 26 in structure and size, and is located on the lower surface of the top plate 33, and is fixedly connected with the top plate 33 at the outer end and fixedly connected with the clamping mechanism 4 at the inner end, so that the clamping mechanism 4 can automatically withdraw from a clamping state, and the whole stack of turnover boxes can obtain shaking damping, so that stability and safety of a carrying process are ensured.

The top plate 33 is a horizontal cross plate, and has a mounting hole penetrating up and down, and is fixedly connected to the top end of the upright 31 at both the left and right parts through the mounting hole, so that the door frame 3 is a door-shaped frame and is integrated with the chassis 1 and the vehicle body 2. The top plate 33 is fixedly coupled to the outer ends of the upper springs 32 at both left and right ends of the lower surface to define the positions of the outer ends of the upper springs 32. The top plate 33 is fixedly provided with the navigator 34 at the middle part of the upper surface, and is fixedly provided with the curved bars 35 at the left part and the right part of the upper surface, so as to provide fixation and support for the navigator 34 and the curved bars 35.

The curved bar 35 is a horizontal round bar, which is bent backward in the middle, and is fixedly mounted on the upper surface of the top plate 33 at both the left and right ends, and the monitoring device 36 is fixedly mounted through the backward bent middle, so as to provide fixing and supporting for the monitoring device 36. The upper rail 37 is located at the left and right parts of the top plate 33, is a through hole penetrating the top plate 33 up and down, and is in a circular arc shape, and penetrates through the upper end of the clamping mechanism 4 to limit the movement track, the inner limit position and the outer limit position of the upper end of the clamping mechanism 4.

The clamping mechanism 4 comprises a vertical rod 41, clamping handles 42 and a driving rod 43, and can enable the driving rod 43 to transversely stretch and retract under the control of the controller 22, and the vertical rod 41 on the left side and the right side is driven to transversely move so as to drive the clamping handles 42 on the left side and the right side to clamp or loosen the whole stack turnover box.

The vertical rods 41 are vertical rods, and are located at left and right sides of the gantry 3, pass through the lower rail of the rail plate 25 at the lower end, and pass through the upper rail 37 of the top plate 33 at the upper end, so as to obtain the limitation of the movement track, the inner limit position and the outer limit position. The vertical rod 41 passes through the clamping handle 42, so that the vertical rod 41 can drive the clamping handle 42 to clamp or unclamp the whole stack of turnover boxes. The vertical rod 41 passes through the driving rod 43 at the middle lower part, so that the driving rod 43 is hinged with the vertical rod 41 and can drive the vertical rod 41 to move transversely so as to drive the clamping handles 42 to clamp or unclamp the whole stack of turnover boxes. The vertical rod 41 is fixedly connected with the inner side end of the upper spring 32 at the upper end and fixedly connected with the inner side end of the lower spring 26 at the lower end, so that the vertical rod 41 can return automatically, the clamping mechanism 4 is enabled to enter a loosening state rapidly, shaking damping can be obtained for the whole stack of turnover boxes, and stability and safety in the carrying process are ensured. The vertical rod 41 is provided with a universal ball 49 at the lower end, and is abutted with the bottom plate 24 of the vehicle body 2 through the universal ball 49, so that the bottom plate 24 supports the clamping mechanism 4 on the upper surface, and the clamping mechanism 4 can move transversely conveniently, and friction force between the clamping mechanism and the bottom plate 24 is reduced.

The clamping handles 42 are of a bent rod-shaped structure, are vertically stacked and positioned on the left side and the right side of the whole stack of turnover boxes, and comprise sleeves 44, cranks 45, hinges 47 and clamping plates 48, sleeve holes 46 are formed in the middle of the cranks 45, the sleeves 44 penetrate through the upright posts 31 of the portal frame 3, the sleeve holes 46 penetrate through the vertical rods 41, the cranks 45 are elastically hinged with the clamping plates 48 through the hinges 47, and the vertical rods 41 can drive the clamping plates 48 of the clamping handles 42 to clamp or loosen the whole stack of turnover boxes, as shown in fig. 5.

The sleeve 44 is of a vertical cylindrical structure, is fixedly connected with the crank 45 at the upper end and is provided with an inner hole which penetrates up and down, and passes through the upright post 31 of the portal 3 through the inner hole; so that the clamping lever 42 can rotate relative to the upright 31 of the mast 3 for clamping or unclamping; also, a plurality of the clamping handles 42 can be stacked up and down and positioned at the left and right sides of the stack of turnover boxes. The crank 45 has a crank-like structure with a socket 46 in the middle, a front section in the front of the socket 46 and a rear section in the rear of the socket 46. The front section and the rear section are both straight rod-shaped structures, and the front section is bent relative to the rear section, so that the crank 45 takes on a curved rod-shaped structure. The front section is fixedly connected with the upper end of the sleeve 44 at the front end, and the sleeve hole 46 at the rear end is fixedly connected with the front end of the rear section, so that the crank 45 and the sleeve 44 are integrated.

The sleeve hole 46 penetrates the crank 45 up and down, is a circular through hole, penetrates the vertical rod 41, and can rotate relatively, so that the vertical rod 41 can drive the crank 45 to rotate around the vertical column 31 of the portal 3, and drive the clamping handle 42 to rotate for clamping or loosening. The hinge 47 is located at the rear end of the crank 45 at the rear section, and has elasticity such that the crank 45 is elastically hinged with the clamping plate 48.

The clamping plates 48 are of vertical bent plate structures, are bent inwards at the front end and the rear end, are provided with flexible inner liners on the inner side surfaces, are abutted and clamped with the whole pile of turnover boxes through the inner liners, generate horizontal transverse clamping force, can obtain flexible clamping effect and shaking damping, and ensure stability and safety in the conveying process. The lining of the clamping plate 48 is fixedly arranged on the inner side surface of the clamping plate 48 and is made of elastic, preferably flexible material; under the clamping action of the clamping plates 48, elastic deformation can be generated, and flexible clamping action and shaking damping are generated for the abutting turnover box, so that the stability and safety of the carrying process are ensured. The clamping plate 48 protrudes outwards in the middle of the outer side surface, is provided with an outer protruding part, is provided with a through hole penetrating up and down, and forms the hinge 47 together with the rear end of the crank 45 at the rear section through the through hole so as to obtain elastic hinging; so that the clamping plates 48 can rotate relative to the crank 45 when being clamped, and automatically adapt to the angle deviation and the offset deviation of the whole stack of turnover boxes, thereby ensuring the stability and the safety of the carrying process.

The driving rod 43 is a horizontal transverse straight rod, through holes penetrating up and down are formed in the left end and the right end of the driving rod, the through holes penetrate through the vertical rod 41 and are hinged to the middle lower portion of the vertical rod 41, the driving rod 41 can transversely stretch and retract under the control of the controller 22, the driving rod 41 is driven to transversely move, so that the clamping handles 42 are driven to rotate around the upright posts 31 of the portal frame 3, and the clamping plates 48 are driven to clamp or loosen the whole stack turnover box. The driving rod 43 is controlled by the controller 22 to regulate and control the expansion and contraction amount, and regulate and control the clamping force of the driving rod 43 so as to regulate and control the clamping force of the clamping mechanism 4.

The fork 5 is in a horizontal L-shaped curved plate structure, and comprises a rib plate 51, a panel 52 and a curved plate 53 which are fixedly connected, and the rear part and the front part of the rib plate 51 are respectively hinged with the upper ends of the rear supporting rod 13 and the front supporting rod 14 to form a simply supported beam structure, so that the weight can be reduced, and the structural strength can be improved; the bottom of the whole stack of turnover boxes is abutted and carried through the panel 52 so as to carry the whole stack of turnover boxes; is locked with respect to the vehicle body 2 by the curved plate 53 and is hinged with the rear end of the push-pull rod 21, as shown in fig. 6. The rib plate 51 is a horizontal L-shaped curved plate structure, and comprises a straight bar portion and an upturned portion, the upper surface of the straight bar portion is fixedly connected with the panel 52, fixing and supporting are provided for the panel 52, and the front end of the straight bar portion is curved upwards to form the upturned portion, so that the rib plate 51 presents an L-shaped curved plate structure.

The straight strip portion of the rib plate 51 is of a vertical and horizontal straight strip structure, the rear portion is hinged to the upper end of the rear supporting rod 13, the front portion is hinged to the upper end of the front supporting rod 14, the cross section is of an inverted U shape, the cross section size is smaller than that of the fork frame 11, when the rear supporting rod 13 and the front supporting rod 14 are in a backward inclined state, the straight strip portion of the rib plate 51 can enter the fork frame 11, the fork 5 can move backwards and downwards, and when the rear limit and the lower limit position are reached, the height can be reduced, and the insertion of the bottom of the whole stack turnover box is facilitated. The upper bending part of the rib plate 51 is a vertical transverse straight plate, the lower edge of the upper bending part is fixedly connected with the front end of the straight part of the rib plate 51, and the middle part of the front surface is provided with a vertical reverse U-shaped bent plate 53.

The panel 52 is a horizontal L-shaped curved plate structure, and comprises a straight bar portion and an upturned portion, the lower surface of the straight bar portion is fixedly connected with the straight bar portion of the rib plate 51, so as to obtain fixation and support, the front end of the straight bar portion is bent upwards to form the upturned portion, so that the panel 52 presents the L-shaped curved plate structure, the front surface of the upturned portion is fixedly connected with the upturned portion of the rib plate 51, the overall structural strength of the fork 5 can be improved, the bearing capacity is increased, and permanent deformation and damage are avoided.

The straight portion of the panel 52 is a longitudinal and horizontal straight flat plate, and the width (i.e., the transverse dimension) is greater than the straight portion of the rib 51. The rib plate 51 and the straight portion of the panel 52 are provided with through holes penetrating up and down at the portions intersecting the rear wheel 12, the rear strut 13 and the front strut 14, so as to avoid interference with the rear wheel 12, the rear strut 13 and the front strut 14. The upward bent portion of the panel 52 is provided with rearward-facing detection elements 56 on both the left and right sides, and the distance from the stacked turn-around box is detected and positioned by the detection elements 56.

The curved plate 53 is a vertical inverted U-shaped structure, and comprises a horizontal upper bottom plate 54 and vertical plates 55 on the left and right sides, vertical holes penetrating up and down are formed in the upper bottom plate 54, transverse holes penetrating transversely are formed in the lower portion of the vertical plates 55, and the rear edges of the vertical plates 55 are fixedly connected with the middle portion of the front surface of the upward bent portion of the rib plate 51 to achieve fixing and supporting. The curved plate 53 passes through the safety pin of the safety lever 23 by means of the vertical hole, so that the fork 5 is locked with respect to the vehicle body 2. The curved plate 53 passes through the pin by using the transverse hole, so that the push-pull rod 21 is hinged to the pallet fork 5 at the rear end, and can axially stretch and retract under the control of the controller 22, and a longitudinal push-pull effect is generated on the pallet fork 5, so that the pallet fork 5 can move backwards and downwards, is inserted into the bottom of the whole stack turnover box, and also the pallet fork 5 can move upwards and forwards, and lifts and carries the whole stack turnover box.

Supplementary explanation: (1) When the AGV forklift is in idle load, the controller 22 is preferably used for controlling the push-pull rod 21 to axially shrink, so that the fork 5 is in an upper limit and a front limit position after lifting, and the rear supporting rod 13 and the front supporting rod 14 are in an upright state; the safety pin of the safety lever 23 can extend out and be inserted into the vertical hole of the fork 5 on the curved plate 53; the fork 5 is locked relative to the vehicle body 2 and is in a locking state, so that the stability of the transportation process is improved, the safety is ensured, and shaking and instability in the driving process are avoided. At this time, it is preferable that the driving rod 43 of the clasping mechanism 4 is in an extended state, so that the vertical rod 41 is automatically returned under the tensile action of the upper spring 32 and the lower spring 26, and both the upper end and the lower end are located at the outer limit positions, so that the clasping mechanism 4 is in a released state.

(2) When the AGV forklift is in loading operation, the controller 22 is used for controlling the push-pull rod 21 to axially extend, so that the fork 5 moves backwards and downwards to reach a rear limit and a lower limit position; the rear strut 13 and the front strut 14 are rotated backward and downward at the upper end with respect to the lower end to obtain a reclined state. The cross section of the fork frame 11 is U-shaped; the cross section of the straight strip portion of the rib plate 51 of the fork 5 is in an inverted U shape, the cross section size is smaller than that of the fork frame 11, when the rear supporting rod 13 and the front supporting rod 14 are in a backward tilting state, the straight strip portion of the rib plate 51 can enter the fork frame 11, so that the fork 5 moves backwards and downwards, and when reaching a rear limit and a lower limit position, the height can be reduced, and the insertion of the bottom of the whole stack turnover box is facilitated.

After the fork 5 is inserted into the bottom of the whole stack of turnover boxes, the controller 22 is used for controlling the push-pull rod 21 to axially shrink, so that the fork 5 moves upwards and forwards to reach an upper limit and a front limit position; the rear strut 13 and the front strut 14 are both rotated upward and forward at the upper end with respect to the lower end to obtain an upright state; simultaneously lifting and advancing the whole stack of turnover boxes so that the whole stack of turnover boxes enter between the clamping handles 42 on the left side and the right side of the clamping mechanism 4; i.e. the whole stack of turnover boxes enters the interior of the clamping mechanism 4.

At this time, the fork 5 is at the upper limit and the front limit position after lifting; controlling the extension of the safety pin of the safety lever 23 by the controller 22 and inserting the safety pin into the vertical hole of the bent plate 53 of the fork 5; the fork 5 is locked relative to the vehicle body 2 and is in a locking state, so that the stability of the transportation process is improved, the safety is ensured, and shaking and instability in the driving process are avoided. Simultaneously, the controller 22 is used for controlling the driving rod 43 of the clamping mechanism 4 to transversely shrink, so that the vertical rods 41 move inwards along the lower track of the track plate 25 and the upper track 37 of the top plate 33, and the upper spring 32 and the lower spring 26 are driven to elastically stretch; the clamping handles 42 on the left side and the right side are driven to rotate inwards relative to the upright posts 31 of the portal frame 3, so that clamping plates 48 of the clamping handles 42 are driven to abut against and clamp the whole stack of turnover boxes through the inner lining, and horizontal transverse clamping force is generated; the whole pile of turnover boxes can obtain flexible clamping effect and shaking damping, and stability and safety of the conveying process are ensured.

(3) The clamp 42 comprises a sleeve 44; the sleeve 44 has a cylindrical structure and is fixedly connected at the upper end to the crank 45, with an inner hole through which the upright 31 of the mast 3 passes. All clamping handles 42 passing through the same upright 31 of the portal 3 are stacked up and down by the sleeve 44; the clamping handles 42 on the left and right sides can rotate relative to the upright posts 31 of the portal frame 3 to clamp or unclamp the whole stack of turnover boxes.

Therefore, when the clamping mechanism 4 is in the clamping state, each turnover box of the whole stack of turnover boxes is preferably abutted and clamped by one clamping handle 42 on the left and right sides respectively through the lining of the clamping plate 48, that is, each turnover box is preferably corresponding to the pair of clamping handles 42 on the left and right sides; so that the whole stack of turnover boxes are clamped and integrated, the turnover boxes are prevented from being stacked up and down due to shaking in the carrying process, and the stability and the safety of the carrying process are ensured due to relative dislocation, inclination and dumping.

(4) When the AGV forklift is used for carrying the whole stack of turnover boxes in a non-full-load mode, the clamping mechanism 4 is in a clamping state; the driving rod 43 is contracted, and the upper spring 32 and the lower spring 26 are both in a stretched state; all clamping handles 42 above the whole pile of turnover boxes are in a free state, and all clamping handles 42 for clamping the whole pile of turnover boxes are in a clamping state, so that the vertical rods 41 generate micro-bending elastic deformation.

Since the vertical bar 41 passes through the lower rail of the rail plate 25 at the lower end and passes through the upper rail 37 of the door frame 3 at the top plate 33 at the upper end, so as to obtain the definition of the movement track, the inner limit position and the outer limit position; therefore, when the AGV forklift is not fully loaded to carry the whole stack of turnover boxes, the clamping mechanism 4 is in a clamping state, and the controller 22 is preferably used for regulating and controlling the contraction amount of the driving rod 43, namely regulating and controlling the clamping force of the driving rod 43 so as to regulate and control the clamping force of the clamping mechanism 4, so that the vertical rods 41 are not located at the outer limit and the inner limit at the lower end and the upper end, excessive inclination and deformation of the vertical rods 41 can be avoided, clamping force can be reduced, energy of clamping operation is saved, local overlarge stress of the turnover boxes is avoided, all clamped turnover boxes are prevented from generating obvious deformation, crack and crack expansion, and the service life of the turnover boxes is prolonged.

(5) During the carrying process of the AGV forklift, the fork 5 is in a locking state, and the clamping mechanism 4 is in a clamping state, so that the whole stack of turnover boxes are clamped and integrated; the lower spring 26 and the upper spring 32 on the left and right are both in tension. If the whole stack of turnover boxes shake due to factors such as uneven ground, collision or braking; the elongation of the lower spring 26 and the upper spring 32 at the left and right sides is changed and the clamping plate 48 in the clamped state is also caused to twist and squeeze, so that the clamping action of the inner liner of the clamping plate 48 is changed and the elastic deformation amount of the inner liner is also changed.

Therefore, the lower spring 26 and the upper spring 32 are preferably rubber springs, and the inner lining of the clamping plate 48 is preferably made of flexible material and has elasticity. The inner lining of the lower spring 26, the upper spring 32 and the clamping plate 48 can generate periodical force for preventing shaking, absorb shaking energy and generate shaking damping. That is, the clasping mechanism 4 can obtain a flexible clasping action and vibration damping by the inner lining of the lower spring 26, upper spring 32 and clamp plate 48 during handling.

(6) When the AGV forklift is in loading operation, the pallet fork 5 is lifted and moved forward to the whole stack of turnover boxes, and the turnover boxes enter between clamping handles 42 on the left side and the right side of the clamping mechanism 4. When clamping, the controller 22 drives the driving rod 43 to shrink, so that the vertical rods 41 on the left side and the right side are driven to move inwards, and the upper spring 32 and the lower spring 26 are driven to stretch elastically; the clamping handles 42 on the left side and the right side are driven to rotate inwards around the upright posts 31 of the portal frame 3, so that clamping plates 48 of the clamping handles 42 are driven to abut against and clamp the whole stack of turnover boxes through the lining, and horizontal transverse clamping force is generated.

Because of the angular deviation of the whole stack of containers, tilting relative to the forks 5 causes the upper springs 32 and the lower springs 26 on the left and right sides to have different elongations and causes the clamp handles 42 on the left and right sides to deflect relatively; causing both the relative deflection of the cranks 45 of the clamp handles 42 on the left and right sides and the relative deflection of the clamp plates 48 of the clamp handles 42 on the left and right sides. Because of the offset deviation of the whole stack of turnover boxes, the turnover boxes are offset back and forth or offset left and right relative to the pallet fork 5; the fore-aft offset causes the clamping plates 48 on opposite sides of the stack to be offset fore-aft; the left-right offset causes the clamp handles 42 on the left and right sides to deflect relatively, and also causes the upper spring 32 and the lower spring 26 on the left and right sides to extend differently.

Therefore, it is preferable that the upper spring 32 and the lower spring 26 on both the left and right sides have the same structural dimensions and elastic moduli, and the upper spring 32 and the lower spring 26 on the same side have the same structural dimensions and elastic moduli. The design of the elastic modulus needs to comprehensively consider that the vertical rods 41 at the left side and the right side can automatically return, shake damping of the whole pile of turnover boxes and energy of clamping operation are saved, and also needs to consider that the angle deviation and the offset deviation existing in the whole pile of turnover boxes are adapted, so that the whole pile of turnover boxes are prevented from generating larger inclination, rotation and offset trends.

In addition, since the clamping plate 48 is elastically hinged with the crank 45 through the hinge 47; so that the clamping plates 48 can rotate relative to the crank 45 during clamping, and automatically adapt to the angle deviation and the offset deviation of the whole stack of turnover boxes; the whole pile of turnover boxes are prevented from inclining, rotating and shifting, and stability and safety of the conveying process are ensured.

The beneficial effects of the invention are as follows: (1) When the AGV forklift is in loading operation, the controller 22 is used for controlling the push-pull rod 21 to axially extend, so that the pallet fork 5 moves backwards and downwards to reach a rear limit and a lower limit position, and the bottom of the whole pile of turnover boxes is conveniently inserted; the rear strut 13 and the front strut 14 are both rotated relatively and a reclined state is obtained, enabling a reduction in height. After the fork 5 is inserted into the bottom of the whole stack of turnover boxes, the controller 22 is used for controlling the push-pull rod 21 to axially shrink, so that the fork 5 moves upwards and forwards to reach an upper limit and a front limit position; the rear strut 13 and the front strut 14 both rotate relatively and attain an upright state; lifting and advancing the whole pile of turnover boxes, so that the whole pile of turnover boxes enter between the clamping handles 42 on the left side and the right side of the clamping mechanism 4 and are positioned in the clamping mechanism 4 to be clamped and locked.

Therefore, compared with the existing stacking type AGV forklift, the chassis 1 of the AGV forklift comprises the rear supporting rod 13 and the front supporting rod 14, so that the fork 5 is of a simple supporting beam structure, the weight can be reduced, and the structural strength can be improved. Compared with the existing ground cow type AGV fork truck, the AGV fork truck obtains a backward tilting or standing state through the relative rotation of the rear supporting rod 13 and the front supporting rod 14, so that the fork 5 moves backwards and downwards, reaches a rear limit and a lower limit position, can also move upwards and forwards, reaches an upper limit and a front limit position, and performs loading and unloading operations; the fork 5 moves upwards and forwards, and can lift and move forwards the whole stack of turnover boxes, so that the whole stack of turnover boxes enter the clamping mechanism 4 to be clamped and locked. Therefore, during clamping and locking operations, the vertical position of the clamping mechanism 4 does not need to be adjusted, an upright rail does not need to be adopted, a transverse gap is not formed, the overall rigidity of the AGV forklift can be improved, the clamping and locking operations are convenient and reliable, and the stability and safety of carrying the whole stack of turnover boxes are improved.

(2) In the clamping operation of the AGV forklift, the controller 22 is used for controlling the driving rod 43 of the clamping mechanism 4 to transversely shrink, so that the vertical rods 41 move inwards along the lower track of the track plate 25 and the upper track 37 of the top plate 33, and the upper spring 32 and the lower spring 26 are driven to elastically stretch; the clamping handles 42 on the left side and the right side are driven to rotate inwards relative to the upright posts 31 of the portal frame 3, so that clamping plates 48 of the clamping handles 42 are driven to abut against and clamp the whole stack of turnover boxes through the lining, and horizontal transverse clamping force is generated. The inner lining of the lower spring 26, the upper spring 32 and the clamping plate 48 can generate periodical force for preventing shaking, absorb shaking energy and generate shaking damping.

Therefore, compared with an AGV which clamps by adopting screw drive, the AGV forklift of the invention is abutted and clamped with the whole stack of turnover boxes through the lining of the clamping plate 48, so as to generate horizontal transverse clamping force; absorbing shaking energy by the inner liners of the lower spring 26, the upper spring 32 and the clamping plate 48 to generate shaking damping; the whole pile of turnover boxes can obtain flexible clamping effect and shaking damping, and stability and safety of the conveying process are ensured. In addition, the transverse clamping operation of the clamping mechanism 4 is small in stroke, and the clamping operation is convenient and reliable.

(3) When the AGV forklift is clamped, the controller 22 is used for controlling the driving rod 43 of the clamping mechanism 4 to transversely shrink, and the whole stack of turnover boxes are abutted and clamped through the lining of the clamping plate 48 to generate horizontal transverse clamping force; the invention uses the controller 22 to regulate the expansion and contraction amount of the driving rod 43, and regulate the clamping force of the driving rod 43 so as to regulate the clamping force of the clamping mechanism 4.

Therefore, compared with the existing AGVs which generate the determined clamping force, the AGV forklift can regulate and control the clamping force of the clamping mechanism 4, save the energy of clamping operation and ensure the stability and safety of the carrying process; the problem that the stability and the safety of the carrying process are affected due to the fact that the shaking amplitude is large due to the fact that the clamping force is insufficient can be effectively avoided; the phenomenon that the turnover box is obviously deformed, cracked and expanded due to excessive inclination and deformation of the vertical rods 41 caused by overlarge clamping force can be effectively avoided, and the service life of the turnover box is shortened.

In addition, in the clamping state of the clamping mechanism 4, each turnover box is preferably corresponding to a pair of clamping handles 42 on the left side and the right side; so that the whole stack of turnover boxes are clamped and integrated, the turnover boxes are prevented from being stacked up and down due to shaking in the carrying process, and the stability and the safety of the carrying process are ensured due to relative dislocation, inclination and dumping.

(4) When the AGV forklift is clamped, the controller 22 is used for controlling the driving rod 43 of the clamping mechanism 4 to transversely shrink, the clamping handles 42 on the left side and the right side are driven to rotate inwards, the linings of the clamping plates 48 are abutted against and clamp the whole stack of turnover boxes, and horizontal transverse clamping force is generated. Because the clamping plates 48 are elastically hinged with the crank 45 through the hinges 47, the clamping plates 48 can rotate relative to the crank 45 during clamping, and the angle deviation and the offset deviation of the whole stack of turnover boxes can be automatically adapted. The design of the upper and lower springs 32, 26 can also accommodate angular and offset deviations of the entire stack of totes.

Therefore, compared with the existing AGVs which drive rigid parts and generate horizontal clamping force, the AGV forklift disclosed by the invention can automatically adapt to the angle deviation and the offset deviation of the whole pile of turnover boxes, so that the inclination of inclination, rotation and offset of the whole pile of turnover boxes is avoided, and the stability and the safety of the carrying process can be effectively improved.

(5) The vertical rod 41 of the clasping mechanism 4 of the present invention passes through the lower rail of the rail plate 25 at the lower end and passes through the upper rail 37 of the top plate 33 at the upper end to obtain the definition of the movement track, the inner limit position and the outer limit position. When the clamping mechanism 4 is in the clamped state, both the upper spring 32 and the lower spring 26 are in the stretched state. Therefore, the AGV forklift can regulate the clamping force of the clamping mechanism 4, and limit the outer limit and the inner limit positions of the vertical rod 41 at the lower end and the upper end through the lower rail of the rail plate 25 and the upper rail 37 of the top plate 33, so as to effectively avoid excessive inclination and deformation of the vertical rod 41; when carrying in a non-full load whole buttress turnover case, especially when the turnover case quantity of transport is less, can effectively avoid the local atress of turnover case too big, avoid all turnover cases that are embraced by the clamp to produce obvious deformation, crackle and crack extension, improve life.

In addition, the upper spring 32 and the lower spring 26 of the invention enable the vertical rod 41 to return automatically, so that the clamping mechanism 4 is caused to enter a release state quickly; so that the clamping and releasing operation of the clamping mechanism 4 is reliable and convenient. The invention utilizes the controller 22 to control the safety pin of the safety lever 23 to be inserted into the vertical hole of the curved plate 53 of the fork 5, so that the fork 5 is locked relative to the vehicle body 2; when the AGV fork truck is transported, the fork 5 is in a locking state, so that stability and safety in the transportation process are ensured, and shaking and instability in the driving process are avoided.

Drawings

FIG. 1 is a schematic general structural view of the AGV fork truck;

FIG. 2 is the illustration of FIG. 1A—AA cross-sectional view is shown;

FIG. 3 is a partial left side view of FIG. 1;

FIG. 4 is a partial top view of FIG. 1;

FIG. 5 is an enlarged view of the clamp 42 in the FIG. 4 position;

FIG. 6 is a top view of the fork 5 in the position of FIG. 1; wherein the graph in the dashed ellipse is a view of the location indicated by the arrow.

Reference numerals illustrate: chassis 1, fork 11, rear wheel 12, rear strut 13, front strut 14, front wheel 15, longitudinal beam 16, cross beam 17, body 2, push-pull rod 21, controller 22, bumper 23, floor 24, track plate 25, lower spring 26, mast 3, upright 31, upper spring 32, roof 33, navigator 34, knee lever 35, monitoring device 36, upper track 37, clasping mechanism 4, upright 41, clamp 42, drive rod 43, sleeve 44, crank 45, socket 46, hinge 47, clamp plate 48, universal ball 49, fork 5, rib plate 51, panel 52, knee plate 53, upper floor 54, riser 55, detector 56, and battery 6.

Description of the embodiments

The technical scheme of the invention is described in detail below with reference to the accompanying drawings and specific embodiments:

fig. 1 is a schematic diagram of the overall structure of the AGV forklift, which includes a chassis 1, a body 2, a door frame 3, a clamping mechanism 4 and a fork 5, and carries a battery 6. FIG. 2 is the illustration of FIG. 1 A—AThe cross-section shown shows the structure of the chassis 1. The chassis 1 comprises a fork 11, a rear wheel 12, a rear strut 13, a front strut 14, a front wheel 15, a longitudinal beam 16 and a transverse beam 17, and the longitudinal beam 16 and the transverse beam 17 are fixedly connected to form a rigid frame structure.

The fork 11 is of a longitudinal horizontal straight strip structure, the cross section of the fork is U-shaped, and preferably a medium carbon steel plate is formed by stamping; the fork 11 is preferably formed by cutting a shaft hole formed in the rear portion. The longitudinal beam 16 is of a longitudinal straight rod-shaped structure, and the transverse beam 17 is of a transverse straight rod-shaped structure; the stringers 16 and the cross members 17 are preferably formed by cutting angle steel profiles. The fixed connection of the longitudinal beam 16 and the transverse beam 17 is preferably welded, and the fixed connection of the fork carriage 11 at the front end to the frame structure is preferably welded. The rear wheel 12 carries an axle about which it rotates, preferably in the form of an existing castor wheel product; the front wheel 15 is provided with an axle around which it rotates, preferably in the form of an existing steering wheel product.

The rear supporting rod 13 is positioned at the rear part of the fork frame 11 and is of a straight rod structure; the front strut 14 is located at the front of the fork 11 and is identical in structure and size to the rear strut 13. The rear strut 13 and the front strut 14 are preferably formed by punching a medium carbon steel plate. The rear and front struts 13, 14 are hinged at the lower end to the fork carriage 11 and at the upper end to the fork 5, preferably bored at the lower and upper ends of the rear and front struts 13, 14 and pass through pins by which they are hinged to the fork carriage 11 and the fork 5. The pin shaft is preferably formed by cutting a medium carbon steel wire rod. The chassis 1 and the structural features thereof can also be manufactured by adopting other materials and processes of the existing ground ox type AGV forklift.

Fig. 3 is a partial left view of fig. 1, mainly expressing structural features of the vehicle body 2. The car body 2 is of a box structure, an upper plate is arranged on the upper surface, a front plate is arranged on the front side, a push-pull rod 21 and a controller 22 are installed in the interior, a back plate is arranged on the back surface, a bumper 23 is installed in the middle of the back surface of the back plate, side plates extending backwards are arranged on the left side surface and the right side surface, a horizontal bottom plate 24 and a track plate 25 are arranged on the lower portion between the side plates and the back plate, a lower spring 26 is fixedly installed on the inner surface of the side plates, and the lower spring is fixedly installed on the frame structure of the chassis 1 on the lower surface, so that fixation and support are achieved. The fixed mounting of the body 2 on the lower surface to the frame structure of the chassis 1 is preferably achieved by known fasteners for easy disassembly and maintenance.

The upper, front, rear and side panels of the body 2 preferably comprise a skeleton and a skin. The framework is a rib (or called a rib) which is intersected vertically and horizontally, so that the structural strength of the vehicle body 2 can be maintained, and deformation and damage are avoided. The skin is of a sheet-like structure, is fixedly connected to the skeleton on the inner surface, and forms an upper plate, a front plate, a back plate and side plates of the vehicle body 2 together with the skeleton so as to shield dust and obtain a beautiful appearance. The framework is preferably formed by welding the existing angle steel product; the skin is preferably formed by stamping an existing stainless steel plate; the fixed connection of the skin and the framework is preferably projection welding or riveting. The upper plate, the front plate, the back plate and the side plates of the vehicle body 2 can also be formed by injection molding engineering plastics.

The push-pull rod 21 is arranged in the vehicle body 2 and is of a longitudinal straight rod structure, and can axially stretch and retract under the control of the controller 22, so that a longitudinal push-pull effect is generated on the fork 5; the push-pull rod 21 and the above characteristics thereof are preferably realized by the existing electric push rod product, and can also be realized by a hydraulic cylinder. The push-pull rod 21 is hinged to the front plate of the vehicle body 2 at the front end and to the fork 5 at the rear end, preferably the push-pull rod 21 is provided with transverse through holes at both the front end and the rear end, and is passed through a pin shaft in the through holes, and is hinged to the front plate of the vehicle body 2 and the fork 5 respectively through the pin shaft. The controller 22 is preferably a controller product of an existing AGV forklift and is implemented using the development technology of an existing AGV forklift control system. The fixed mounting of the controller 22 on the rear surface of the front panel of the vehicle body 2 is preferably accomplished by well-known fasteners for ease of disassembly and maintenance.

The bumper 23 is a vertical straight rod structure, and can extend out of a bumper pin at the lower end under the control of the controller 22 so as to lock the fork 5; the safety pin is in a cylindrical structure, can retract into the safety rod 23 and can also extend out from the lower end of the safety rod 23; the safety bar 23 and the safety pin thereof are preferably realized by the existing electric push rod product. The fixed mounting of the bumper 23 on the rear surface of the back panel of the vehicle body 2 is preferably implemented by existing fasteners, so as to facilitate disassembly and maintenance. The bottom plate 24 is a horizontal rectangular cross plate, and is provided with a rear groove at the middle and rear part, and preferably an aluminum plate profile is formed by cutting. The fixed connection of the bottom plate 24 with the rear surface of the back plate of the vehicle body 2 at the front edge and the fixed connection of the bottom plate with the side plates of the vehicle body 2 at the left and right ends are preferably realized by fasteners such as existing corner fittings, screws, rivets and the like, so that the disassembly and the maintenance are convenient.

The track plate 25 is a horizontal transverse angle plate with a lower track; the lower rail is a through hole which penetrates through the rail plate 25 up and down and is in a circular arc shape; the rail plate 25 and its lower rail, preferably an aluminum plate profile, are formed by press working. The fixed connection of the track plate 25 with the side plate at the outer edge and the fixed connection of the track plate with the back plate at the front edge are preferably realized by fasteners such as existing corner fittings, screws, rivets and the like, so as to facilitate disassembly and maintenance. The lower spring 26 is a cylindrical extension spring, preferably a cylindrical rubber spring product with hooks at the ends, so that the whole stack of turnover boxes can obtain shaking damping; the rubber spring is composed of a metal spiral spring and vulcanized rubber wrapped on the surface of the metal spiral spring, integrates the advantages of the metal spring and the rubber, and is high in internal friction damping and low in noise. The lower spring 26 is preferably hooked on both the outer end fixedly connected to the side plate of the vehicle body 2 and the inner end fixedly connected to the clamping mechanism 4.

Fig. 4 is a partial plan view of fig. 1, mainly showing structural features of the portal 3 seen from above. The portal 3 comprises a left upright 31 and a right upright 31, and a top plate 33 is fixedly arranged at the top ends of the uprights 31. The portal 3 is fixedly provided with a spring 32, a navigator 34 and a curved bar 35 on the top plate 33, and is provided with a monitoring device 36 through the curved bar 35; an upper rail 37 is provided on the top plate 33. The upright 31 is of a vertical cylindrical structure, and is preferably formed by cutting an existing aluminum pipe profile. The fixed mounting of the upright 31 at the lower end inside the chassis 1 and the body 2 is preferably implemented by existing fasteners, so as to facilitate assembly, disassembly and maintenance.

The upper spring 32 is identical in construction and size to the lower spring 26, preferably in the same manner. The upper spring 32 is fixedly connected to the top plate 33 at an outer end and fixedly connected to the clamping mechanism 4 at an inner end, and preferably is hooked. The top plate 33 is a horizontal cross plate with mounting holes penetrating up and down, and preferably an aluminum plate profile is formed by press working. The top plate 33 is fixedly connected with the upper end of the upright post 31 through the mounting hole, and preferably, the existing fasteners such as bolts, nuts, gaskets and the like pass through the mounting hole so as to be convenient for assembly, disassembly and maintenance.

The navigator 34 is used for navigating the AGV forklift, and is preferably implemented by the existing laser navigator product. The fixed mounting of the navigator 34 and the curved bar 35 on the top plate 33, and the fixed mounting of the monitor 36 on the curved bar 35 are preferably implemented by existing fasteners, so as to facilitate the disassembly and replacement. The curved bar 35 is a horizontal round bar, and is bent backward in the middle, preferably the existing aluminum pipe profile is formed by bending.

The monitoring device 36 is used at least for monitoring obstacles, cargo locations and cargo, preferably by means of laser, infrared, graphic images or ultrasound, preferably by means of prior art lidar, cameras, digital camera products or combinations thereof. The upper rail 37 is a through hole penetrating the top plate 33 up and down, and has a circular arc shape, and is preferably obtained during the forming process of the top plate 33.

As shown in fig. 1 and 3, the clamping mechanism 4 includes a vertical rod 41, a clamping handle 42, and a driving rod 43. The vertical rod 41 is an upright straight rod, and is preferably formed by cutting an existing aluminum pipe profile. The vertical rod 41 is provided with a universal ball 49 at the lower end, preferably a known universal ball product (also called a steel ball wheel and a bull's eye wheel). The universal ball 49 is fixedly arranged at the lower end of the vertical rod 41; the fixed mounting of the universal ball 49 is preferably accomplished by known fasteners.

Fig. 5 is an enlarged view of the grip 42 in the position of fig. 4, primarily expressing structural features of the grip 42. The clamping holder 42 is of a bent rod-shaped structure and comprises a sleeve 44, a crank 45, a hinge 47 and a clamping plate 48, wherein a sleeve hole 46 is formed in the middle of the crank 45. The sleeve 44 is of an upstanding cylindrical configuration with an internal bore, preferably of an existing aluminum tube profile, by cutting. The sleeve 44 passes through the post 31 through the bore so that the clamp 42 can rotate relative thereto, preferably through a well known bushing within the bore through which the post 31 passes, thereby reducing friction.

The crank 45 is of a bent rod-shaped structure, is provided with a sleeve hole 46 in the middle part and is provided with a front section and a rear section; the front section and the rear section are both straight rod structures; the crank 45 and the above structure are preferably formed by forging a known aluminum alloy material. The front section of the crank 45 is fixedly connected with the upper end of the sleeve 44, preferably welded, at the front end; the sleeve 44 and the crank 45 may be formed by forging integrally with a known aluminum alloy material.

The sleeve hole 46 is a circular through hole, penetrates through the vertical rod 41 and can relatively rotate; preferably, a known bushing is inserted into the sleeve opening 46, through which the vertical rod 41 is inserted, so that it can be rotated relative to one another, thereby reducing friction. The hinge 47 is located at the rear end of the crank 45 at the rear section and has elasticity, so that the crank 45 is elastically hinged with the clamping plate 48, preferably by the existing elastic hinge product structure and the manufacturing process thereof.

The clamping plate 48 is of an upright bent plate-shaped structure, and is bent inwards at the front end and the rear end, and a flexible lining is arranged on the inner side; the clamping plate 48 is provided with an outer protruding part at the middle part of the outer side surface and is provided with a through hole which penetrates up and down; the clamping plate 48 and its above-described structure are preferably formed by forging known aluminum alloy materials. The inner lining of the clamp plate 48 is resilient, preferably of a flexible material, and further preferably of an elastomeric material, which is compression molded. The fixed mounting of the lining of the clamp plate 48 on the inner side of the clamp plate 48 is preferably accomplished with well known fasteners for ease of removal and replacement.

The driving rod 43 is a horizontal and horizontal straight rod, and has through holes at both left and right ends, and is hinged to the middle lower portion of the vertical rod 41, so that the driving rod can transversely stretch and retract under the control of the controller 22, and is preferably implemented by an existing electric push rod product. The drive rod 43 is guided through the vertical rod 41 by means of the through-hole, and is positioned in the axial direction of the vertical rod 41, preferably by means of a known fastener.

FIG. 6 is a top view of the fork 5 in the position of FIG. 1; the fork 5 is in a horizontal L-shaped curved plate structure and comprises a rib plate 51, a panel 52 and a curved plate 53 which are fixedly connected. The rib plate 51 is a horizontal L-shaped curved plate structure, and comprises a straight strip part and an upward bent part; the straight strip part of the rib plate 51 is of a longitudinal and horizontal straight strip structure, and the cross section of the rib plate is of an inverted U shape; the upward bending part of the rib plate 51 is a vertical transverse straight plate; the rib 51 and the above structure thereof are preferably formed by press working an aluminum plate profile. The straight part of the rib plate 51 is hinged with the upper end of the rear supporting rod 13 at the rear part and the upper end of the front supporting rod 14 at the front part; preferably, holes are drilled in the rear and front of the bar and pass through pins by which the upper ends of the rear and front struts 13 and 14 are hinged.

The panel 52 is a horizontal L-shaped curved plate structure, and comprises a straight strip part and an upward bent part; the straight strip part of the panel 52 is a straight strip flat plate which is longitudinally and horizontally arranged; the panel 52 and the above structure are preferably formed by stamping an aluminum plate profile. The panel 52 is fixedly connected to the lower surface of the straight portion and the straight portion of the rib plate 51, and is preferably riveted or welded to the front surface of the bent-up portion and the bent-up portion of the rib plate 51. The rib 51 and the straight portion of the panel 52 are provided with through holes penetrating up and down, which are preferably obtained during the forming process thereof, and which can be also achieved by cutting.

The curved plate 53 is of an inverted U-shaped structure and comprises a horizontal upper bottom plate 54 and vertical plates 55 on the left side and the right side; the curved plate 53 and the above structure are preferably formed by bending an aluminum plate profile. Both the vertical holes provided in the upper base plate 54 and the horizontal holes provided in the vertical plate 55 are preferably formed by cutting. The pin through which the transverse hole passes is preferably formed by cutting a medium carbon steel wire. The rear edge of the riser 55 is fixedly connected, preferably welded, to the front surface of the upturned portion of the rib 51.

The detection element 56 is preferably realized by a known laser distance measuring sensor; the mounting of the detector elements 56 on the left and right sides of the upper bend of the panel 52 is preferably accomplished with known fasteners for ease of maintenance and replacement. The battery 6 is preferably implemented as a battery product of an existing AGV forklift. The controller 22 is electrically connected to the battery 6 to obtain electric power. The controller 22 controls the push-pull rod 21, the bumper rod 23, the driving rod 43 and the steering wheel implementing the front wheel 15, respectively, and is electrically connected thereto, respectively. The electrical connection is made using known wires.

The fastener for realizing fixed connection or installation is preferably an existing screw, a bolt, a nut, a washer or other fasteners, and the fastener can be customized; this is a conventional technical means well known to those skilled in the art and will not be described in detail. The above embodiments are merely preferred embodiments of the present invention and do not limit the present invention. Under the condition of meeting the structural and performance requirements of the invention, the material and the manufacturing process are changed, and the method is within the protection scope of the invention.

Claims

1. An AGV fork truck of whole buttress turnover case of transport contains chassis (1), automobile body (2), portal (3), presss from both sides and holds mechanism (4) and fork (5), its characterized in that: driving the fork (5) to move backwards and downwards, inserting the fork into the bottom of the whole pile of turnover boxes, driving the fork (5) to move upwards and forwards, lifting and moving the whole pile of turnover boxes forwards, and entering the clamping mechanism (4) to clamp and lock;

the vehicle body (2) is of a box structure and is fixedly arranged on the chassis (1) to be fixed and supported;

the vehicle body (2) passes through the lower end of the clamping mechanism (4) to limit the movement track, the inner limit position and the outer limit position of the lower end of the clamping mechanism (4);

the door frame (3) is a door-shaped frame and is arranged on the chassis (1) and the vehicle body (2) to form a whole;

the portal frame (3) is hinged with the clamping mechanism (4) and penetrates through the upper end of the clamping mechanism (4) to limit the movement track, the inner limit position and the outer limit position of the upper end of the clamping mechanism (4);

the clamping mechanism (4) does not need to adjust the upper and lower positions, so that the overall rigidity of the AGV forklift can be improved;

The clamping mechanism (4) generates horizontal transverse clamping force, so that the whole stack of turnover boxes are clamped and integrated, the angle deviation and the offset deviation are automatically adapted to, the flexible clamping effect and the shaking damping are obtained, and the stability and the safety of the carrying process are ensured;

the AGV forklift can regulate and control clamping force of the clamping mechanism (4), saves energy of clamping operation, and ensures stability and safety in a carrying process;

the chassis (1) comprises a fork (11), a rear supporting rod (13), a front supporting rod (14) and a frame structure;

the fork frame (11) is of a longitudinal horizontal straight strip structure, and is fixedly connected with the frame structure at the front end to form a whole;

the rear supporting rod (13) is hinged with the rear part of the fork frame (11) at the lower end and is hinged with the rear part of the fork (5) at the upper end;

the front strut (14) is hinged with the front part of the fork frame (11) at the lower end, and is hinged with the front part of the fork (5) at the upper end, and has the same structure and size as the rear strut (13);

the rear supporting rod (13) and the front supporting rod (14) jointly provide support for the fork (5), so that the fork (5) is of a simple supporting beam structure, the weight can be reduced, and the structural strength can be improved;

The rear supporting rod (13) and the front supporting rod (14) rotate backwards and downwards, so that the fork (5) moves backwards and downwards and can be inserted into the bottom of the whole stack turnover box;

the rear supporting rod (13) and the front supporting rod (14) both rotate upwards and forwards, so that the fork (5) moves upwards and forwards and can lift and move forwards the whole stack of turnover boxes;

the rear strut (13) and the front strut (14) rotate so that the forks (5) move backward and downward and also move upward and forward for loading and unloading operations.

2. An AGV fork truck for handling whole stacks of totes as claimed in claim 1, wherein: the chassis (1) comprises a rear wheel (12) and a front wheel (15);

the rear wheel (12) is arranged at the rear part of the fork frame (11) and is positioned at the rear part of the chassis (1);

the front wheel (15) is arranged on the frame structure and positioned at the front part of the chassis (1);

the rear wheel (12) and the front wheel (15) jointly provide support, so that the fork frame (11) is of a simply supported beam structure, the weight can be reduced, and the structural strength can be improved.

3. An AGV fork truck for handling whole stacks of totes as claimed in claim 1, wherein:

The automobile body (2) is provided with a front plate, a back plate and side plates, a push-pull rod (21) and a controller (22) are arranged in the automobile body, a safety rod (23) is arranged on the rear surface of the back plate, a track plate (25) is arranged at the lower part between the side plates and the back plate, and a lower spring (26) is fixedly arranged on the side plates;

the push-pull rod (21) is of a longitudinal straight rod structure, is hinged with a front plate of the vehicle body (2) at the front end, is hinged with the fork (5) at the rear end, and axially stretches under the control of the controller (22), so that a push-pull effect is generated on the fork (5), the fork (5) can move backwards and downwards, can also move upwards and forwards, and lifts and carries the whole stack of turnover boxes;

the bumper (23) is of a vertical straight rod structure, and under the control of the controller (22), a bumper pin extends out of the lower end of the bumper to lock the fork (5), so that stability is improved, and safety is ensured;

the track plate (25) is a horizontal transverse angle plate and is provided with a lower track, and the lower track is positioned at the left side and the right side of the rear part of the vehicle body (2);

the lower rail penetrates through the rail plate (25) and is arc-shaped, and penetrates through the lower end of the clamping mechanism (4) to limit the movement track, the inner limit position and the outer limit position of the lower end of the clamping mechanism (4);

The lower spring (26) is an extension spring, is fixedly connected with the side plate of the vehicle body (2) at the outer side end, is fixedly connected with the clamping mechanism (4) at the inner side end, so that the clamping mechanism (4) can automatically withdraw from a clamping state, the whole stack of turnover boxes can obtain shaking damping, and stability and safety in the carrying process are ensured.

4. An AGV fork truck for handling whole stacks of totes as claimed in claim 3, wherein: the portal frame (3) comprises a left upright post (31) and a right upright post (31), and a top plate (33) is fixedly arranged at the top ends of the upright posts (31);

the top plate (33) is fixedly provided with a spring (32);

the top plate (33) is provided with an upper rail (37), and the upper rail (37) passes through the upper end of the clamping mechanism (4) to limit the movement track, the inner limit position and the outer limit position of the upper end of the clamping mechanism (4);

the upright post (31) is of a vertical cylindrical structure, is fixedly arranged in the chassis (1) and the vehicle body (2) at the lower end, and is integrated with the chassis (1) and the vehicle body (2);

the upper spring (32) is an extension spring, is fixedly connected with the top plate (33) at the outer side end and is fixedly connected with the clamping mechanism (4) at the inner side end, so that the clamping mechanism (4) can automatically withdraw from a clamping state, the whole stack of turnover boxes can obtain shaking damping, and the stability and safety of the carrying process are ensured.

5. An AGV fork truck for handling whole stacks of totes as set forth in claim 4, wherein: the clamping mechanism (4) comprises a vertical rod (41), a clamping handle (42) and a driving rod (43), and can enable the driving rod (43) to transversely stretch and retract under the control of the controller (22) to drive the vertical rod (41) to transversely move so as to drive the clamping handle (42) to clamp or loosen the whole stack turnover box;

the vertical rods (41) are vertical straight rods, are positioned at the left side and the right side of the portal frame (3), penetrate through the lower rail of the rail plate (25) at the lower end and penetrate through the upper rail (37) of the top plate (33) at the upper end so as to obtain the limitation of the movement track, the inner limit position and the outer limit position;

the vertical rod (41) is fixedly connected with the inner side end of the upper spring (32) at the upper end and the inner side end of the lower spring (26) at the lower end, so that the vertical rod (41) can return automatically to enable the clamping mechanism (4) to enter a loosening state quickly, the whole stack turnover box can obtain shaking damping, and stability and safety in a carrying process are ensured;

the clamping handles (42) are of a bent rod-shaped structure and are positioned on the left side and the right side of the whole pile of turnover boxes, and comprise sleeves (44), cranks (45), hinges (47) and clamping plates (48), sleeve holes (46) are formed in the middle of the cranks (45), the sleeves (44) penetrate through the upright posts (31), the sleeve holes (46) penetrate through the vertical rods (41), and the vertical rods (41) can drive the clamping plates (48) of the clamping handles (42) to clamp or loosen the whole pile of turnover boxes;

The driving rod (43) is a horizontal transverse straight rod, through holes are formed in the left end and the right end, the through holes penetrate through the vertical rods (41) and can transversely stretch and retract under the control of the controller (22), the vertical rods (41) are driven to transversely move so as to drive the clamping handles (42) to rotate, and the clamping plates (48) are driven to clamp or loosen the whole stack turnover box;

the driving rod (43) regulates and controls the expansion and contraction amount and the clamping force of the clamping mechanism (4) under the control of the controller (22).

6. An AGV forklift for handling whole stacks of totes as defined in claim 5, wherein: the clamping plates (48) are of a curved plate-shaped structure, flexible inner liners are arranged on the inner side surfaces, the inner liners are abutted with the whole pile of turnover boxes and clamped, horizontal transverse clamping force is generated, flexible clamping effect and shaking damping can be obtained, and stability and safety in the carrying process are ensured;

the lining of the clamping plate (48) has elasticity, and can generate elastic deformation under the clamping action, so as to generate flexible clamping action and shaking damping;

the clamping plates (48) and the crank (45) jointly form the hinge (47) to obtain elastic hinging, so that the clamping plates (48) can rotate relative to the crank (45), the angle deviation and the offset deviation of the whole stack of turnover boxes are automatically adapted, and the stability and the safety of the carrying process are ensured.

7. An AGV fork truck for handling whole stacks of totes as claimed in claim 3, wherein: the fork (5) is of a horizontal L-shaped curved plate structure and comprises a rib plate (51), a panel (52) and a curved plate (53) which are fixedly connected,

the rib plates (51) are hinged with the upper ends of the rear supporting rod (13) and the front supporting rod (14) at the rear part and the front part respectively to form a simply supported beam structure, so that the weight can be reduced, and the structural strength can be improved;

the bottom of the whole pile of turnover boxes is abutted and carried through the panel (52) so as to carry the whole pile of turnover boxes;

is locked relative to the vehicle body (2) through the curved plate (53) and is hinged with the rear end of the push-pull rod (21).

8. An AGV fork truck for handling whole stacks of totes as set forth in claim 7, wherein: the rib plate (51) is of a horizontal L-shaped bent plate-shaped structure and comprises a straight strip part and an upward bent part;

the straight strip portion is of a longitudinal horizontal straight strip structure, the cross section size is smaller than that of the fork frame (11), the straight strip portion can enter the fork frame (11), and when the fork (5) moves backwards and downwards, the height can be reduced, and the insertion of the bottom of the whole stack turnover box is facilitated.

9. An AGV forklift for handling whole stacks of transfer cases according to claim 8, characterized in that: the panel (52) is of a horizontal L-shaped bent plate-shaped structure and comprises a straight strip part and an upward bent part;

the lower surface of the straight strip part is fixedly connected with the straight strip part of the rib plate (51) to obtain fixation and support;

the front surface of the upper bending part is fixedly connected with the upper bending part of the rib plate (51), so that the overall structural strength of the fork (5) can be improved, and the bearing capacity can be increased.

10. An AGV fork truck for handling whole stacks of totes as set forth in claim 7, wherein: the curved plate (53) is of an inverted U-shaped structure and comprises a horizontal upper bottom plate (54) and vertical plates (55) on the left side and the right side;

the vertical plate (55) is fixedly connected with the rib plate (51) to obtain fixation and support;

the upper bottom plate (54) is provided with a vertical hole, and the vertical plate (55) is provided with a transverse hole;

the vertical hole passes through a safety pin of the safety lever (23) so that the fork (5) is locked relative to the vehicle body (2);

the transverse holes are utilized by the curved plates (53) to enable the push-pull rods (21) to be hinged with the fork (5) so as to generate push-pull action on the fork (5).