CN212222331U

CN212222331U - AGV fork truck

Info

Publication number: CN212222331U
Application number: CN201922499236.5U
Authority: CN
Inventors: 金律君; 戴金秋; 殷俊杰; 李峰
Original assignee: Zhejiang Guozi Robot Technology Co Ltd
Current assignee: Zhejiang Guozi Robot Technology Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-12-25
Anticipated expiration: 2029-12-31

Abstract

The utility model discloses a AGV fork truck, locate the lift fork of automobile body one side including automobile body, slidable, set firmly in the auxiliary leg that the automobile body is close to lift fork one side bottom and locate this internal and along the direction of height of automobile body from supreme power assembly, rechargeable battery and the automatically controlled assembly of arranging in proper order down. The lifting fork is directly arranged on one side of the vehicle body, the auxiliary support legs are fixedly arranged at the bottom of the vehicle body close to one side of the lifting fork to prevent the vehicle body from turning over, and the power assembly, the rechargeable battery and the electric control assembly are arranged in the vehicle body, so that the compactness of the lifting structure of the vehicle body is guaranteed on the premise of not turning over; in addition, power assembly, rechargeable battery and automatically controlled assembly arrange from bottom to top in proper order along the direction of height of automobile body, compare in setting up side by side, and occupation space reduces. Therefore, the utility model provides a AGV fork truck's occupation space is less and the structure is compacter.

Description

AGV fork truck

Technical Field

The utility model relates to a fork truck technical field, in particular to AGV fork truck.

Background

Fork truck is used for loading and unloading, pile up neatly or carry tray goods of finished piece usually, has advantages such as operating efficiency height, convenient operation, flexible, and the wide application is in the commodity circulation field. In recent years, the trend of intelligent development in the field of logistics poses a severe challenge to the intelligence of forklifts.

The conventional AGV forklift generally comprises a portal frame, a lifting fork, a walking mechanism, a storage battery, a power assembly and an electric control assembly, wherein the lifting fork is installed on the portal frame, and the portal frame drives the lifting fork to lift relative to the ground. The power assembly usually contains parts such as pneumatic cylinder and hydrovalve, and automatically controlled assembly usually includes controller and communication component etc. for make things convenient for dismouting to maintain and prevent the automobile body simultaneously and turn on one's side, battery, power assembly and automatically controlled assembly are usually located running gear side by side along the length direction of automobile body on, lead to the volume of automobile body too big, occupation space grow, the structure is not compact.

Therefore, how to optimize the structure of the existing AGV forklift to reduce the occupied space and improve the compactness is a technical problem to be solved urgently by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a AGV fork truck, power assembly, rechargeable battery and automatically controlled assembly all locate the automobile body originally internally, and the three becomes and arranges from supreme down in proper order along the direction of height of automobile body, and occupation space reduces and the structure is compacter.

The specific scheme is as follows:

the utility model provides a AGV fork truck, include:

a vehicle body;

the lifting fork is slidably arranged on one side of the vehicle body;

the auxiliary supporting legs are fixedly arranged at the bottom of one side of the vehicle body close to the lifting fork and used for preventing the vehicle body from turning over;

the power assembly, the rechargeable battery and the electric control assembly are arranged in the automobile body and are sequentially arranged along the height direction of the automobile body from bottom to top.

Preferably, still include running gear, running gear includes:

the two driving wheels are respectively arranged on the two sides of the bottom of the vehicle body and are used for driving the vehicle body to walk;

the balance wheel is arranged between the two driving wheels and is used for assisting the vehicle body to walk;

the bearing wheel is arranged at the bottom of the auxiliary supporting leg and used for supporting the auxiliary supporting leg to walk.

Preferably, the lifting device is arranged in the vehicle body, connected with the lifting fork and used for lifting the lifting fork.

Preferably, the side of the vehicle body is provided with a charging interface communicated with a rechargeable battery.

Preferably, one side that the lift fork is close to automobile body is equipped with at least one and is used for rotating the upset baffle of butt with the tray, and automatically controlled assembly includes:

the angle detection piece is connected with the turnover baffle and used for detecting the current turnover angle of the turnover baffle;

the controller is connected with the angle detection piece and the lifting mechanism and used for controlling the lifting mechanism to drive the lifting fork to lift the tray when the current overturning angle is equal to the preset overturning angle according to a signal sent by the angle detection piece.

Preferably, the upset baffle is installed in the mounting groove that the lift fork was established, and the mounting groove is equipped with the axis of rotation that passes the upset baffle, and the axis of rotation is installed respectively with mounting groove and upset baffle elasticity counterbalance and be used for providing damped butt torsional spring for the upset baffle.

Preferably, the electronic control assembly further comprises:

the front obstacle avoidance detecting piece and the rear obstacle avoidance detecting piece are arranged at the bottom of the vehicle body and distributed on the front side and the rear side of the vehicle body so as to respectively detect obstacles distributed on the front side and the rear side of the bottom of the vehicle body;

the overhead obstacle avoidance detection piece is arranged at the top of the vehicle body and used for detecting obstacles distributed on the top of the vehicle body;

the tooth tip obstacle avoidance detecting piece is arranged at the tooth tip of the lifting fork to detect obstacles distributed on the periphery of the tooth tip;

the front side obstacle avoidance detection piece is positioned between the front obstacle avoidance detection piece and the overhead obstacle avoidance detection piece and used for being arranged on one side of the vehicle body, which is close to the lifting fork, so as to detect obstacles distributed on the front side of the vehicle body.

Preferably, the rear obstacle avoidance detecting part comprises a left rear obstacle avoidance detecting part arranged on a left rear protrusion arranged on the rear side of the bottom of the vehicle body and a right rear obstacle avoidance detecting part arranged on a rear protrusion arranged on the rear side of the bottom of the vehicle body, and a self-view-prevention included angle for preventing the left rear obstacle avoidance detecting part and the right rear obstacle avoidance detecting part from viewing is arranged between the arc-shaped convex surface of the left rear protrusion and the arc-shaped convex surface of the rear protrusion.

Preferably, the electric control assembly further comprises a depth of field sensor arranged on the lifting fork and used for detecting the position of a fork hole of the tray, the depth of field sensor is connected with the controller, and the controller is used for comparing the input tooth point position and the position of the fork hole sent by the depth of field sensor so as to control the travelling mechanism to drive the lifting fork to move relative to the fork hole when the tooth point position is inconsistent with the position of the fork hole until the tooth point position is consistent with the position of the fork hole, and then the lifting fork is controlled to be inserted into the corresponding fork hole.

Compared with the background art, the AGV forklift provided by the utility model comprises a forklift body, a lifting fork, auxiliary support legs, a power assembly, a rechargeable battery and an electric control assembly, wherein the lifting fork is directly arranged on one side of the forklift body, the auxiliary support legs are fixedly arranged at the bottom of the forklift body close to one side of the lifting fork to prevent the forklift body from turning over, and the power assembly, the rechargeable battery and the electric control assembly are arranged in the forklift body to ensure that the structure of the forklift body is compact under the premise of not turning over; in addition, power assembly, rechargeable battery and automatically controlled assembly arrange from bottom to top in proper order along the direction of height of automobile body, compare in setting up side by side, and occupation space reduces. Therefore, the utility model provides a AGV fork truck's occupation space is less and the structure is compacter.

Drawings

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

Fig. 1 is a structural diagram of an AGV forklift according to an embodiment of the present invention;

FIG. 2 is another view of FIG. 1;

FIG. 3 is a view of the lift fork of FIG. 2 shown in a raised condition;

FIG. 4 is a front view of FIG. 3;

FIG. 5 is a side view of FIG. 3;

FIG. 6 is a view showing the state of the detection of each detecting member shown in FIG. 1;

FIG. 7 is an assembled view of the power assembly, the rechargeable battery and the electronic control assembly of FIG. 1;

fig. 8 is a partial exploded view of the roll-over damper of fig. 2.

The reference numbers are as follows:

the vehicle comprises a vehicle body 1, a lifting fork 2, auxiliary support legs 3, a power assembly 4, a rechargeable battery 5, an electric control assembly 6, a traveling mechanism 7 and a lifting mechanism 8;

the device comprises a charging interface 11, a turning baffle 12, a mounting groove 13, a rotating shaft 14, an abutting torsion spring 15, a left rear projection 16, a rear projection 17 and a lifting support member 18;

the device comprises an angle detection piece 61, a front obstacle avoidance detection piece 62, a rear obstacle avoidance detection piece 63, a top obstacle avoidance detection piece 64, a tooth tip obstacle avoidance detection piece 65, a front obstacle avoidance detection piece 66 and a depth of field sensor 67;

a left rear obstacle avoidance detector 631 and a right rear obstacle avoidance detector 632;

a drive wheel 71, a balance wheel 72 and a carrier wheel 73.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In order to make the technical field of the present invention better understand, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 to 8, fig. 1 is a structural diagram of an AGV forklift according to an embodiment of the present invention; FIG. 2 is another view of FIG. 1; FIG. 3 is a view of the lift fork of FIG. 2 shown in a raised condition; FIG. 4 is a front view of FIG. 3; FIG. 5 is a side view of FIG. 3; FIG. 6 is a view showing the state of the detection of each detecting member shown in FIG. 1; FIG. 7 is an assembled view of the power assembly, the rechargeable battery and the electronic control assembly of FIG. 1; fig. 8 is a partial exploded view of the roll-over damper of fig. 2.

The embodiment of the utility model discloses AGV fork truck, including automobile body 1, lift fork 2, supplementary stabilizer blade 3, power assembly 4, rechargeable battery 5 and automatically controlled assembly 6.

The vehicle body 1 includes a housing, preferably in a rectangular parallelepiped shape, and the height thereof is set according to actual conditions, and is not particularly limited.

The lifting fork 2 is slidably arranged on one side of the vehicle body 1 and used for supporting the tray. The lifting forks 2 are preferably L-shaped and comprise a horizontal carrier plate for supporting the pallet and a vertical slide plate vertically connected to the horizontal carrier plate.

Supplementary stabilizer blade 3 sets firmly in automobile body 1 and is close to lift fork 2 one side for prevent that automobile body 1 from turning on one's side. In this embodiment, the bottom plate of the vehicle body 1 is specifically provided with two auxiliary support legs 3, and the lifting fork 2 has two horizontal support plates, when the lifting fork 2 falls to the lowest point, each horizontal support plate and each auxiliary support leg 3 are buckled in a one-to-one correspondence manner, so that the horizontal support plates and the auxiliary support legs 3 after being buckled simultaneously enter the same fork hole of the tray, the collision interference between the auxiliary support legs 3 and the tray is prevented, and the occupied space is reduced.

The power assembly 4, the rechargeable battery 5 and the electric control assembly 6 are arranged in the vehicle body 1, so that the structure is compact; meanwhile, the power assembly 4, the rechargeable battery 5 and the electronic control assembly 6 are sequentially arranged along the height direction of the vehicle body 1 from bottom to top, and compared with the parallel arrangement, the power assembly 4, the rechargeable battery 5 and the electronic control assembly 6 are longitudinally arranged, so that the occupied space can be reduced.

In this embodiment, the power assembly 4 includes oil cylinders, hydraulic valves, and motors, and the structure and operation principle of the power assembly are specifically referred to in the prior art and will not be described in detail herein. The rechargeable battery 5 is preferably a lithium battery. The electronic control assembly 6 comprises a controller, an electric element, a communication element and the like. The power assembly 4 with the heaviest weight is arranged at the lowest part, the electronic control assembly 6 with the lightest weight is arranged at the uppermost part, the stability of the gravity center of the vehicle body 1 is guaranteed, the rollover risk is reduced, and the safety is high.

To sum up, the utility model provides a AGV fork truck's occupation space is less and the structure is compacter.

In order to move the body 1, the utility model also comprises a walking mechanism 7. The running gear 7 includes a driving wheel 71, a balance wheel 72 and a carrier wheel 73. Wherein, the driving wheel 71 includes two, and two driving wheels 71 are located automobile body 1 bottom both sides respectively for drive automobile body 1 walking. The two driving wheels 71 are directly driven by two motors respectively, and drive the vehicle body 1 to realize steering or straight movement according to signals sent by the electric control assembly 6. Each driving wheel 71 is mounted at the bottom of the vehicle body 1 through a main wheel seat, a pin shaft penetrating through the driving wheel 71 is hinged to the main wheel seat, and the main wheel seat is rotatably mounted at the bottom of the vehicle body 1.

The balance wheel 72 is also arranged at the bottom of the vehicle body 1, and the balance wheel 72 is arranged between the two driving wheels 71 so as to assist the vehicle body 1 to walk and prevent the vehicle body 1 from turning over during walking or steering. In this embodiment, a balance wheel 72 is provided between the two driving wheels 71, the balance wheel 72 is preferably a universal wheel, and the number of the balance wheels is adjusted according to actual conditions.

The bearing wheels 73 are arranged at the bottom of the auxiliary supporting leg 3 and are used for supporting the auxiliary supporting leg 3 to walk. In this embodiment, two load wheels 73 are mounted on each auxiliary leg 3, further ensuring the stability of the center of gravity of the vehicle body 1. It should be noted that the number of the loading wheels 73 is specifically determined according to the supported pallet and the weight of the cargo, and is not particularly limited herein.

Further, the utility model discloses still including locating the hoist mechanism 8 in the automobile body 1, hoist mechanism 8 links to each other with lift fork 2 for promote lift fork 2. The lifting mechanism 8 is arranged in the vehicle body 1, so that the structure is more compact, and the occupied space is further reduced. In this embodiment, the lifting mechanism 8 comprises a driving sprocket, a driven sprocket, and a chain passing around the driving sprocket and the driven sprocket, the chain being connected to the lifting fork 2, and the driving sprocket driving the lifting fork 2 to lift in a direction perpendicular to the ground through the chain. Of course, the type of the lifting mechanism 8 is not limited thereto.

In addition, the side of automobile body 1 is equipped with the interface 11 that charges, and the interface 11 that charges is used for connecting rechargeable battery 5 and external power supply, for rechargeable battery 5 supplementary electric energy. The side of automobile body 1 is located to interface 11 charges, conveniently charges.

One side that lift fork 2 is close to automobile body 1 is equipped with at least one and is used for rotating the upset baffle 12 of butt with the tray, and upset baffle 12 includes at least one, and every upset baffle 12 rotationally locates on lift fork 2, and when the tray offseted with upset baffle 12, upset baffle 12 overturns for lift fork 2 in the extrusion of tray. Two turnover baffles 12 are arranged at the bottom of the vertical sliding plate of the lifting fork 2. Of course, the structure, number and mounting position of the turning flaps 12 are not limited thereto, and may be set according to the shape and size of the tray.

Correspondingly, the electronic control assembly 6 comprises an angle detecting member 61 and a controller, in this embodiment, the flipping barrier 12 is installed in the installation groove 13 of the lifting fork 2, a rotating shaft 14 is fixedly installed in each installation groove 13, and the rotating shaft 14 penetrates through the flipping barrier 12 to support the flipping barrier 12 to flip towards or away from the installation groove 13. For making the upset baffle 12 function, butt torsional spring 15 is installed to axis of rotation 14, and two butt arms of butt torsional spring 15 offset with mounting groove 13 and upset baffle 12 respectively, and at the upset in-process of upset baffle 12, butt torsional spring 15 provides the damping for upset baffle 12, provides the condition for the smooth upset of upset baffle 12. When butt torsional spring 15 is in under the initial condition, the upset baffle 12 relies on butt torsional spring 15's elastic force to overturn outside mounting groove 13, and the contained angle between upset baffle 12 and the mounting groove 13 reaches the biggest this moment. Of course, the structure and the mounting manner of the roll-over damper 12 are not limited thereto.

The angle detecting member 61 is connected to the roll-over flapper 12, and is configured to detect a current roll-over angle of the roll-over flapper 12. The angle detecting member 61 is preferably an angle sensor provided in the mounting groove 13, but is not limited thereto.

The angle sensor and the lifting mechanism 8 are both connected to a controller. When the current turning angle of the turning baffle 12 is equal to the preset turning angle, which means that the position of the pallet on the lifting fork 2 is optimal, the angle detection part 61 sends a signal to the controller, and the controller controls the lifting mechanism 8 to drive the lifting fork 2 to lift the pallet. The preset turning angle refers to the turning angle of the turning baffle 12 relative to the mounting groove 13 at the optimal position of the lifting fork 2, the preset turning angle can be input into the controller in advance, the size of the preset turning angle is related to factors such as the type of the tray and the setting height of the turning baffle 12, and the specific value of the angle can be set according to actual conditions.

The electric control assembly 6 further comprises a front obstacle avoidance detecting piece 62, a rear obstacle avoidance detecting piece 63, a top obstacle avoidance detecting piece 64, a tooth tip obstacle avoidance detecting piece 65 and a front obstacle avoidance detecting piece 66. The front obstacle avoidance detecting piece 62 and the rear obstacle avoidance detecting piece 63 are arranged at the bottom of the vehicle body 1, distributed on the front side and the rear side of the vehicle body 1, and used for detecting obstacles distributed on the front side and the rear side of the bottom of the vehicle body 1 respectively. In this embodiment, the front obstacle avoidance detector 62 is preferably a measurement type laser scanner with an angular resolution of 0.5 degrees, a scanning period of 66mm, and a maximum viewing angle of 270 degrees. The rear obstacle avoidance detector 63 is preferably a safety protection type laser scanner, the angular resolution of which is 0.25 degrees, the scanning period of which is 30mm, and the maximum visible angle of which is 270 degrees.

The overhead obstacle avoidance detecting piece 64 is arranged at the top of the vehicle body 1 and used for detecting obstacles distributed on the top of the vehicle body 1. In this embodiment, the overhead obstacle avoidance detector 64 is preferably a navigation laser with an angular resolution of 0.042 degrees, a frequency of 85khz, and a maximum viewing angle of 360 degrees.

The tooth point obstacle avoidance detecting piece 65 is arranged at the tooth point of the lifting fork 2 and used for detecting obstacles distributed on the periphery of the tooth point. The tooth tips of the two lifting forks 2 are respectively provided with a tooth tip obstacle avoidance detecting piece 65, and the tooth tip obstacle avoidance detecting piece 65 can also be an infrared induction detecting switch, but is not limited to the above.

In the height direction of the vehicle body 1, the front obstacle avoidance detecting piece 66 is located between the front obstacle avoidance detecting piece 62 and the overhead obstacle avoidance detecting piece 64, and the front obstacle avoidance detecting piece 66 is located on one side of the vehicle body 1 close to the lifting fork 2 and used for detecting obstacles distributed on the front side of the vehicle body 1.

Above-mentioned each keep away barrier detection piece sets up each side at automobile body 1 as required to mutually support and detect out the obstacle-avoiding thing that each side of automobile body 1 distributed, make fork truck realize the all-round obstacle-avoiding, avoid relying on the naked eye to keep away the barrier, degree of automation is high, and detection range is comprehensive, and the security is higher.

For the increase detection range, leading obstacle avoidance detection piece 62 and rearmounted obstacle avoidance detection piece 63 stagger along the direction of height of automobile body 1 and set up, and the security further promotes to some extent. The safety distance between the front obstacle avoidance detecting element 62 and the rear obstacle avoidance detecting element 63 is specifically set according to the implementation situation, and is not limited herein.

The detection range of the leading barrier detection piece 62 of keeping away coincides each other with the detection range of the rearmounted barrier detection piece 63 of keeping away, so that form two and distribute in the redundant district of left safety and the redundant district of right safety of the automobile body 1 left and right sides respectively, a barrier that the left and right sides distributes for detecting automobile body 1, the security further promotes to some extent, can avoid simultaneously addding the barrier detection piece alone in the left and right sides of automobile body 1, be favorable to reducing and keep away barrier detection piece quantity, simplify the structure, thereby reduce AGV fork truck's manufacturing cost.

Peripheral visual angle of preventing is equipped with between rearmounted obstacle detection piece 63 and the ground, also the rearmounted obstacle detection piece 63 of avoiding sets up for ground slope, prevents that the detection range that rearmounted obstacle detection piece 63 was kept away from is parallel with ground, prevents that rearmounted obstacle detection piece 63 on arbitrary two adjacent automobile body 1 from taking place to look at, avoids the wrong receipt to keep away the obstacle signal, and the security is higher. The angle value of the peripheral anti-visual angle is specifically set according to actual conditions, the peripheral anti-visual angles of different vehicle bodies 1 must be different, and the peripheral anti-visual angle is specifically determined according to the implementation working conditions and the number of the vehicle bodies 1 and is not specifically limited herein.

In this embodiment, the rear obstacle avoidance detecting part 63 includes a left rear obstacle avoidance detecting part 631 disposed on a left rear protrusion 16 disposed at the rear side of the bottom of the vehicle body 1 and a right rear obstacle avoidance detecting part 632 disposed on a rear protrusion 17 disposed at the rear side of the bottom of the vehicle body 1, wherein the left rear protrusion 16 and the rear protrusion 17 are symmetrically disposed at the left and right sides of the rear side of the vehicle body 1, respectively. Be equipped with self between the arc convex surface of the protruding 16 of rear left and the arc convex surface of the protruding 17 of rear left and prevent looking at the contained angle, also the arc convex surface of the protruding 16 of rear left and the arc convex surface homogeneous phase of the protruding 17 of rear left are for the central symmetry plane slope setting of automobile body 1 to prevent that obstacle detection piece 631 and right back are kept away and are kept away the obstacle detection piece 632 and look at, prevent that the mistake from receiving and keep away the obstacle signal, the security is higher, and detection range is wider. The left rear obstacle avoidance detecting part 631 and the right rear obstacle avoidance detecting part 632 are both safety protection type laser scanners.

The utility model discloses still including the lift support piece 18 of locating the 1 top of automobile body, lift support piece 18 is used for supporting the overhead and keeps away barrier detection piece 64 and goes up and down for automobile body 1 along the direction of height of automobile body 1, and the detection scope of barrier detection piece 64 is kept away to the increase overhead, and the security is higher. In this embodiment, the lifting support 18 may be embodied as a lifting hydraulic cylinder, but is not limited thereto.

The front obstacle avoidance detecting piece 66 is specifically arranged on the lifting support piece 18, so that the lifting support piece 18 simultaneously enlarges the detection range of the overhead obstacle avoidance detecting piece 64 and the front obstacle avoidance detecting piece 66, is suitable for detecting obstacles with different heights, and improves the safety.

The electric control assembly 6 further comprises a depth of field sensor 67 arranged on the lifting fork 2 and connected with the controller, the depth of field sensor 67 is used for detecting a three-dimensional image of a fork hole of the tray so as to obtain the position of the fork hole, namely the current coordinate value of the fork hole, and the depth of field sensor 67 sends the position of the fork hole to the controller. Meanwhile, the controller obtains the tooth tip position of the lifting fork 2 in real time, namely the current coordinate value of the tooth tip, then the controller compares whether the input tooth tip position and the fork hole position are consistent, if not, the controller controls the traveling mechanism 7 to drive the lifting fork 2 to move relative to the fork hole until the tooth tip position and the fork hole position are consistent, and the controller controls the traveling mechanism 7 to move so that the lifting fork 2 is inserted into the corresponding fork hole.

It should be noted that the controller includes a signal receiving unit, a signal determining unit and a signal transmitting unit, the signal receiving unit is used for receiving the electric signal transmitted by the detecting element such as the angle detecting element 61 or the front obstacle avoidance detecting element 62, the signal determining unit and the receiving unit are electrically connected so that the signal determining unit is used for determining whether the signal received by the receiving unit is the trigger signal, and the signal transmitting unit and the signal determining unit are electrically connected so that the signal transmitting unit transmits the determination signal generated by the signal determining unit to the executing component such as the lifting mechanism 8. The specific arrangement mode of the signal receiving part, the signal judging part and the signal sending part can refer to the prior art; in the utility model, only the application scene of the three is changed, but not the substantial improvement is carried out. Obviously, the controller with the structure is widely applied to the existing automatic control equipment, such as an MCU, a DSP or a single chip microcomputer. The utility model discloses a key point lies in, the controller corresponds each detection piece and each executive component and combines together.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An AGV fork truck, comprising:

a vehicle body (1);

the lifting fork (2) is slidably arranged on one side of the vehicle body (1);

the auxiliary supporting leg (3) is fixedly arranged at the bottom of one side, close to the lifting fork (2), of the vehicle body (1) and used for preventing the vehicle body (1) from turning over;

the power assembly (4), the rechargeable battery (5) and the electric control assembly (6) are arranged in the vehicle body (1) and are sequentially arranged along the height direction of the vehicle body (1) from bottom to top;

the lifting mechanism (8) is arranged in the vehicle body (1), is connected with the lifting fork (2) and is used for lifting the lifting fork (2);

the lift fork (2) are close to one side of automobile body (1) is equipped with at least one and is used for turning over baffle (12) with the tray rotation butt, automatically controlled assembly (6) include:

the angle detection piece (61) is connected with the turnover baffle (12) and used for detecting the current turnover angle of the turnover baffle (12);

the controller is connected with the angle detection piece (61) and the lifting mechanism (8), and the controller is used for controlling the lifting mechanism (8) to drive the lifting fork (2) to lift the tray when the current overturning angle is equal to a preset overturning angle according to a signal sent by the angle detection piece (61).

2. The AGV fork lift of claim 1, further comprising a travelling mechanism (7), the travelling mechanism (7) comprising:

the two driving wheels (71) are respectively arranged on two sides of the bottom of the vehicle body (1) and are used for driving the vehicle body (1) to travel;

the balance wheel (72) is arranged between the two driving wheels (71) and is used for assisting the vehicle body (1) to walk;

and the bearing wheels (73) are arranged at the bottom of the auxiliary supporting legs (3) and are used for supporting the auxiliary supporting legs (3) to walk.

3. AGV fork lift according to claim 1, characterized in that the side of the body (1) is provided with a charging interface (11) which is in communication with the rechargeable battery (5).

4. AGV fork lift according to any of the claims 1 to 3, characterized in that the flipper (12) is mounted in a mounting slot (13) provided in the lifting fork (2), that the mounting slot (13) is provided with a rotation shaft (14) passing through the flipper (12), that the rotation shaft (14) is mounted with an abutment torsion spring (15) resiliently abutting the mounting slot (13) and the flipper (12), respectively, for damping the flipper (12).

5. AGV fork lift according to any of the claims 1 to 3, characterized in that the electric control assembly (6) further comprises:

the front obstacle avoidance detecting piece (62) and the rear obstacle avoidance detecting piece (63) are arranged at the bottom of the vehicle body (1) and distributed on the front side and the rear side of the vehicle body (1) to respectively detect obstacles distributed on the front side and the rear side of the bottom of the vehicle body (1);

the overhead obstacle avoidance detection piece (64) is arranged at the top of the vehicle body (1) and used for detecting obstacles distributed at the top of the vehicle body (1);

a tooth tip obstacle avoidance detecting part (65) which is arranged at the tooth tip of the lifting fork (2) and is used for detecting obstacles distributed on the periphery of the tooth tip;

the front side obstacle avoidance detection piece (66) is located between the front obstacle avoidance detection piece (62) and the top obstacle avoidance detection piece (64) and used for being arranged on one side, close to the lifting fork (2), of the vehicle body (1) to detect obstacles distributed on the front side of the vehicle body (1).

6. The AGV forklift according to claim 5, wherein the rear obstacle avoidance detector (63) comprises a left rear obstacle avoidance detector (631) provided with a left rear protrusion (16) provided at the rear side of the bottom of the body (1) and a right rear obstacle avoidance detector (632) provided with a rear protrusion (17) provided at the rear side of the bottom of the body (1), and an arc-shaped convex surface of the left rear protrusion (16) and an arc-shaped convex surface of the rear protrusion (17) are provided therebetween for preventing the left rear obstacle avoidance detector (631) and the right rear obstacle avoidance detector (632) from viewing the eye at their own included angle.

7. The AGV fork lift truck of claim 2, characterized in that the electrical control assembly (6) further comprises a depth of field sensor (67) provided on the lifting forks (2) for detecting the fork hole positions of the pallet, the depth of field sensor (67) being connected to the controller, the controller being configured to compare the inputted tooth tip position with the fork hole position transmitted by the depth of field sensor (67) to control the traveling mechanism (7) to move the lifting forks (2) relative to the fork holes when the tooth tip position is not consistent with the fork hole position until the tooth tip position is consistent with the fork hole position to control the lifting forks (2) to be inserted into the corresponding fork holes.