CN214031584U

CN214031584U - Fork formula AGV is with spacing accessory

Info

Publication number: CN214031584U
Application number: CN202023054574.7U
Authority: CN
Inventors: 杨华峰; 江韵
Original assignee: Zhejiang Guozi Robot Technology Co Ltd
Current assignee: Zhejiang Guozi Robot Technology Co Ltd
Priority date: 2020-12-16
Filing date: 2020-12-16
Publication date: 2021-08-24
Anticipated expiration: 2030-12-16

Abstract

The utility model discloses a fork formula AGV is with spacing accessory, including automobile body portal and prong, still include: the first end is hinged on a vehicle body portal to form a rotary supporting piece of a rotary shaft; a pawl assembly hinged to the second end of the rotary support member for urging the material against the body door frame; and the power assembly is hinged with the third end of the rotary support piece and drives the rotary support piece to rotate around the rotating shaft to form a lever, and the claw disc assembly abuts against the material to clamp/keep away from the material to loosen in the rotating process. By applying the accessory, the rotary supporting piece rotates around the rotary shaft under the driving of the power assembly to form a lever structure, and drives the claw disc assembly to move towards the direction close to or far away from the material so as to clamp or loosen the material; the materials listed on the forklift are fixed, so that the materials are prevented from shifting, overturning or falling off in the transportation process, and the damage to the materials in the transportation process and the potential safety hazard to the surrounding environment are reduced; the working efficiency and the safety in the transportation process are improved.

Description

Fork formula AGV is with spacing accessory

Technical Field

The utility model relates to a fork formula AGV technical field, more specifically say, relate to a fork formula AGV is with spacing accessory.

Background

At current commodity circulation field, the transport of material, storage still use the manual work more often to give first place to, and work efficiency is poor, and factor of safety is low, and along with the improvement of science and technology level, more and more commodity circulation trade begins to use AGV to replace the manpower to accomplish relevant work. And in the logistics storage field, especially under the heavier condition of material dead weight, fork truck class AGV's effect is especially outstanding, accomplishes commodity circulation transport, the storage in the regulation region through AGV's intelligent navigation, autonomous movement, has improved work efficiency greatly, has effectively improved the security in the transportation. Meanwhile, the AGV is carried by the forklift, and special accessories which are matched with the AGV in special environments and working conditions are solved.

Specifically, fork truck class AGV is when carrying large-scale goods, especially when carrying glass, panel class goods, because this type of material is many in order to put the mode transport transportation that the multilayer stacked immediately, admittedly when using unmanned guide transportation, if do not have stop device, start at the AGV, open when accelerating or decelerating and cause the aversion of material, topple or drop very easily, cause destruction, cause the potential safety hazard to the surrounding environment, cause economic loss to company's enterprise to the material.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model discloses a first aim at provides a fork formula AGV is with spacing accessory to support material and automobile body portal through the claw disk subassembly and lean on to compress tightly, prevent that the material from opening to stop, shifting when changing speed and shifting and topple, improve conveying efficiency and transportation security.

In order to achieve the first object, the present invention provides the following technical solutions:

the utility model provides a fork formula AGV is with spacing accessory, includes automobile body portal and prong, still includes:

the first end of the rotating support piece is hinged on the vehicle body portal frame to form a rotating shaft;

a pawl assembly hingedly connected to the second end of the rotary support member for urging the material against the body mast;

and the power assembly is hinged with the third end of the rotary support and drives the rotary support to rotate around the rotating shaft to form a lever, and the claw disc assembly is pressed against the material to clamp/release the material away from the material in the rotating process.

Preferably, the gripper disc assembly comprises:

the fixed seat is hinged with the rotary supporting piece;

the pressing plate is opposite to the fixed seat, the pressing plate is elastically connected with the fixed seat so that the distance between the pressing plate and the fixed seat can be adjusted, and a cushion pad used for being in contact with materials is arranged on one side of the pressing plate, which is far away from the fixed seat.

Preferably, a plurality of guide posts for guiding the relative movement of the pressing plate and the fixing seat are arranged between the pressing plate and the fixing seat, one end of each guide post is fixedly connected with the pressing plate, and the other end of each guide post penetrates through the fixing seat and is in clearance fit with the fixing seat.

Preferably, the gripper disc assembly further comprises:

the first position detection unit is arranged on the pressing plate/the fixing seat, when the distance between the pressing plate and the fixing seat is smaller than or equal to a preset distance, the first position detection unit sends a position signal to the control device, and the control device controls the power assembly to stop acting according to the received position signal.

Preferably, the gripper disc assembly further comprises:

and the limiting part is fixedly connected with one of the pressing plate and the fixed seat and limits the minimum distance between the pressing plate and the fixed seat.

Preferably, the gripper disc assembly further comprises:

locate the circumference edge of clamp plate, right the relative motion of claw disk subassembly and material carries out the direction wheelset, the direction wheelset includes the leading wheel seat, locates guiding axle on the leading wheel seat and cover are located the epaxial leading wheel of guiding, the leading wheel winds the guiding axle rotates.

Preferably, the fixed seat is provided with a hinge rotating shaft arranged along the horizontal direction, and the rotary supporting piece and the fixed seat are hinged through the hinge rotating shaft; and a gear part for shifting the rotation of the fixed seat under the action of gravity is arranged at the bottom of the rotary supporting piece.

Preferably, the rotary support member comprises a first rotary support member and a second rotary support member which are oppositely arranged at two ends of the vehicle body gantry, the first rotary support member is respectively connected with a first power assembly and a first claw disc assembly, and the second rotary support member is respectively connected with a second power assembly and a second claw disc assembly;

and two ends of the rotating shaft respectively penetrate through the first end of the first rotating supporting piece and the first end of the second rotating supporting piece and are respectively fixed with the car body portal through a cantilever beam.

Preferably, the power assembly is a hydraulic cylinder, a linear electric cylinder, a screw rod mechanism or a link mechanism.

Preferably, the method further comprises the following steps:

and the second position detection unit is arranged on the vehicle body portal frame and used for sending a position signal to the control device when the rotating support piece is detected to be turned to a preset position, and the control device is powered off and gives an alarm according to the received position signal.

The utility model provides a fork formula AGV is with spacing accessory, including automobile body portal and prong, still include: the first end is hinged on a vehicle body portal to form a rotary supporting piece of a rotary shaft; a pawl assembly hinged to the second end of the rotary support member for urging the material against the body door frame; and the power assembly is hinged with the third end of the rotary support piece and drives the rotary support piece to rotate around the rotating shaft to form a lever, and the claw disc assembly abuts against the material to clamp/keep away from the material to loosen in the rotating process.

Compare in prior art, use the utility model provides an it uses spacing accessory to fork formula AGV has following technological effect:

firstly, the rotary supporting piece rotates around a rotary shaft under the driving of the power assembly to form a lever structure, and drives the claw disc assembly to move towards the direction close to or far away from the material so as to clamp or loosen the material; therefore, materials listed on the forklift are fixed, the materials are prevented from shifting, overturning or falling off in the transportation process, and the damage to the materials in the transportation process and potential safety hazards to the surrounding environment are reduced; the working efficiency and the safety in the transportation process are improved;

and secondly, the power is cut off and the alarm is given when the rotary supporting piece is overturned to the limit position, so that the rotary supporting piece is prevented from being stuck or other safety accidents caused by the limit position in the moving process, and the operation safety is further improved.

Drawings

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

Fig. 1 is a schematic structural diagram of a spacing accessory for an forking AGV according to an embodiment of the present invention;

FIG. 2 is a side view of the structure of FIG. 1;

fig. 3 is a schematic structural diagram of a pawl assembly provided in an embodiment of the present invention;

fig. 4 is a schematic cross-sectional structure of fig. 3.

The drawings are numbered as follows:

the device comprises a power assembly 1, a second position detection unit 2, a rotating shaft 3, a rotating support 4, a claw disc assembly 5, a cross beam 6, a cantilever beam 7, a car body portal 8 and a material 9;

the device comprises a fixed seat 51, a hinge rotating shaft 52, a guide post 53, an elastic piece 54, a limiting piece 55, a pressing plate 56, a cushion pad 57, a guide wheel 58, a first position detection unit 59 and a guide wheel seat 510.

Detailed Description

The embodiment of the utility model discloses fork formula AGV is with spacing accessory to support material and automobile body portal through the claw disk subassembly and lean on to compress tightly, prevent that the material from opening and stopping, shifting when changing speed and toppling, improve conveying efficiency and transportation security.

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.

Referring to fig. 1-4, fig. 1 is a schematic structural diagram of a spacing accessory for an fork-type AGV according to an embodiment of the present invention; FIG. 2 is a side view of the structure of FIG. 1; fig. 3 is a schematic structural diagram of a pawl assembly provided in an embodiment of the present invention; fig. 4 is a schematic cross-sectional structure of fig. 3.

The utility model provides an it uses spacing accessory to explain to AGV transport trolley for example here can be applied to among the AGV transport trolley or other fork truck equipment to fork formula AGV. In a specific implementation mode, the utility model provides a spacing accessory is used to fork formula AGV, including automobile body portal 8 and prong, still include:

the first end is hinged with a rotary support 4 of the rotating shaft 3 formed on the vehicle body portal frame 8;

a jaw assembly 5 hinged to the second end of the rotary support 4 and forcing the material 9 against the body door frame 8;

and the power assembly 1 is hinged with the third end of the rotary support member 4 and drives the rotary support member 4 to rotate around the rotating shaft 3 to form a lever, and the claw disc assembly 5 is pressed against the material 9 to clamp/release away from the material 9 in the rotating process.

The vehicle body door frame 8 comprises two vertical beams which are arranged in parallel and fork teeth which are respectively arranged at the bottoms of the vertical beams, and the prior art can be referred to for the structure and the connection relationship of the vehicle body door frame 8 and the fork teeth.

Preferably, a cantilever beam 7 is arranged above the middle of the two vertical beams, a rotating shaft 3 and a rotating support 4 are arranged on the cantilever beam 7, preferably, a rotating support seat is arranged on the cantilever beam 7, and the rotating support 4 is arranged on the rotating support seat through the rotating shaft 3. The second end of the rotary support 4 is preferably connected with a plurality of claw disc assemblies 5 so as to increase the contact force application points with the materials 9 and improve the stability; based on this, the second end of the rotary support 4 may be provided as a plurality of branches, one gripper disc assembly 5 being connected to each branch; alternatively, each rotary support 4 is connected to one respective jaw assembly 5, in which case preferably two rotary supports 4 are provided, in which case two cantilever beams 7 are provided on two vertical beams, respectively, perpendicular thereto, the cantilever beams 7 being provided on the same side as the tines. Each rotary support 4 is hinged to the corresponding cantilever beam 7 via a rotary shaft 3, and accordingly, two rotary supports 4 can be powered by one power assembly 1, or two rotary supports 4 can be powered by two power assemblies 1, and a connecting rod is arranged between the two rotary supports 4 to ensure the synchronism of the two rotary supports 4.

In one embodiment, the rotary support 4 comprises a first rotary support 4 and a second rotary support 4 which are oppositely arranged at two ends of the vehicle body gantry 8, the first rotary support 4 is respectively connected with a first power assembly 1 and a first claw disc assembly 5, and the second rotary support 4 is respectively connected with a second power assembly 1 and a second claw disc assembly 5;

both ends of the rotating shaft 3 respectively penetrate through the first end of the first rotating support member 4 and the first end of the second rotating support member 4 and are respectively fixed with the car body door frame 8 through the cantilever beam 7.

The first rotary supporting piece 4 and the second rotary supporting piece 4 are identical in structure, a cross beam 6 is arranged between the car body door frames 8, cantilever beams 7 are arranged on two vertical beams of the car body door frames 8 respectively, the cantilever beams 7 are arranged on one sides of the fork teeth, two ends of the rotary shaft 3 are fixed with the two cantilever beams 7 respectively, and the first end of the first rotary supporting piece 4 and the first end of the second rotary supporting piece 4 are sleeved on the rotary shaft 3 respectively. One end of the first power assembly 1 and one end of the second power assembly 1 are respectively hinged with the cross beam 6, and the other ends are respectively hinged with the third ends of the first rotary support 4 and the second rotary support 4.

Wherein, the rotary support 4 can be provided in an arc shape, an L shape or other shapes to give way in the placing space of the material 9, so that the claw disc assembly 5 can contact the material 9. The claw disc component 5 is configured as a rectangular seat, a sucker, a flexible pad and the like. The jaw assembly 5 is disposed at a second end of the rotary support 4, and the power assembly 1 is disposed at a third end of the rotary support 4, preferably both ends along the length direction of the rotary support 4, and the first end is disposed at the middle of the rotary support 4. The claw disk assembly 5 is hinged to the rotary supporting piece 4, so that the claw disk can rotate around the hinged position when contacting with the material 9, the claw disk assembly 5 is in surface-to-surface contact with the material 9, the contact area is increased, the force application direction and the force application point are optimized, and the clamping effect is improved. Preferably, the power assembly 1 is a hydraulic cylinder, a linear electric cylinder, a screw rod mechanism or a connecting rod mechanism; when the power assembly 1 is a link mechanism, the rotary supporting piece 4, the cantilever beam 7 and the power assembly 1 form a four-bar mechanism, the rotary supporting piece 4 is a swing rod, the cantilever beam 7 is a rack, the power assembly 1 comprises a connecting rod and a rocker, and the rotary supporting piece 4 is driven to swing through the swinging of the rocker in the four-bar mechanism.

It will be appreciated that the rotary support 4 is preferably mounted in a vertical orientation during installation, and that it is also possible to mount the rotary support 4 on both sides of the body frame 8, with the material 9 being clamped in different directions, and the arrangement of the rotary support 4 being carried out as desired.

In use, before the material 9 begins to be handled, the rotary support 4 is pulled away from the material 9 by the power assembly 1 to facilitate the material 9 entering the tines; after the materials 9 are conveyed by the forklift AGV body and are placed on the fork teeth in a forking mode, the power assembly 1 acts under the control of the control assembly, the length of the power assembly 1 is increased, the rotary supporting piece 4 is pushed to rotate around the rotating shaft 3, the claw disc assembly 5 starts to press the materials 9 under the action of the rotary supporting piece 4, finally the materials are pressed on the outer surface of the materials 9 through rotation, the first detection unit 59 is triggered, and limiting action is completed; the reverse operation is performed when the jaw assembly 5 is released away from the material 9.

As shown in fig. 3 to 4, in particular, the gripper disc assembly 5 comprises:

a fixed seat 51 hinged with the rotary support 4; the fixed seat 51 is preferably a U-shaped seat, and the hinge connection with the rotary support 4 is achieved by providing a hinge shaft 52 on the fixed seat 51. The fixed base 51 and the pressure plate 56 are oppositely arranged, preferably in parallel. In order to reduce the impact when the pressing plate 56 contacts the material 9, the pressing plate 56 and the fixing base 51 are elastically connected to adjust the distance between the pressing plate 56 and the fixing base, and the elastic connection is realized by arranging a spring. When the pressure plate 56 is in contact with the material 9, the contact of the pressure plate 56 and the material 9 is cushioned by compressing the elastic member 54 to further prevent damage to the material 9. Furthermore, a cushion 57 for contacting the material 9 is provided on a side of the pressure plate 56 facing away from the fixing base. A cushion 57 is applied to the surface of the platen 56 that contacts the material 9, the cushion 57 being a rubber pad, foam pad or other flexible material. Preferably, grooves are provided on the contact surface of the cushion pad 57 with the material 9 to increase friction while preventing adsorption when in contact with a smooth surface of the material 9.

Meanwhile, in order to guide the relative movement of the pressing plate 56 and the fixing seat 51, a plurality of guide posts 53 are arranged between the pressing plate 56 and the fixing seat 51 to ensure that the pressing plate 56 and the fixing seat 51 move linearly when the elastic member 54 is compressed. The one end and the clamp plate 56 of arbitrary guide post 53 link firmly, the other end of arbitrary guide post 53 run through fixing base 51 and with fixing base 51 clearance fit, be equipped with on the fixing base 51 with guide post 53 complex guiding hole, the diameter of guiding hole is greater than the diameter of guide post 53, and simultaneously, in order to prevent that guide post 53 and guiding hole from breaking away from, set up nut or fender position piece in the one end of guide post 53, it is spacing to carry out with fixing base 51 guide post 53, the other end and the clamp plate 56 of guide post 53 pass through threaded fastener and fix. In order to simplify the structure, a spring can be sleeved on the outer side of the guide post 53 to realize the elastic connection between the pressing plate 56 and the fixing seat 51, and two ends of the spring are free ends and are respectively contacted with the pressing plate 56 and the fixing seat 51.

Further, in order to prevent the too small distance between the pressure plate 56 and the fixed seat 51 and the impact on the fixed seat 51 and the rotary support 4, the claw disc assembly 5 further includes:

and the first position detection unit 59 is arranged on the pressing plate 56/the fixed seat 51, when the distance between the pressing plate 56 and the fixed seat 51 is smaller than or equal to a preset distance, the first position detection unit 59 sends a position signal to the control device, and the control device controls the power assembly 1 to stop acting according to the received position signal.

It can be understood that the first position detecting unit 59 is disposed in the space where the pressing plate 56 and the fixing base 51 are disposed, the first position detecting unit 59 may be configured as a micro switch, when the distance between the pressing plate 56 and the fixing base 51 is too small to trigger the micro switch, a position signal is sent to the control device, and the control device controls the power assembly 1 to stop, so as to stop the pressing plate 56 from applying force to the material 9, so that the pressing plate 56 and the material 9 are tightly attached to each other, and at the same time, the safety of the device is improved.

Further, in order to protect the first position detecting unit 59, the claw disk assembly 5 further includes a limiting member 55 fixedly connected to one of the pressing plate 56 and the fixing base 51. By setting the length of the limiting piece 55, the minimum distance between the pressing plate 56 and the fixing seat 51 is limited, when the tool has an emergency and the pressing plate continues to compress the spring, the pressing plate 56 is limited by the limiting piece 55, and the pressing plate 56 cannot continue to compress the spring, so that the first position detection unit 59 is protected. The length of the stopper 55 is greater than the length of the first position detection unit 59.

In this particular embodiment, the gripper disc assembly 5 further comprises:

the guide wheel 58 group is arranged on the circumferential edge of the pressure plate 56 and used for guiding the relative movement of the claw disc component 5 and the material 9, the guide wheel 58 group comprises a guide wheel seat 510, a guide shaft arranged on the guide wheel seat 510 and a guide wheel 58 sleeved on the guide shaft, the guide wheel 58 rotates around the guide shaft, and the guide wheel 58 group is preferably arranged into two groups. The guide wheel seat 510 is a U-shaped seat, and two opposite sidewalls are provided with mounting holes for mounting the guide shaft.

When the material 9 needs to be limited, the rotary support member 4 drives the claw disc assembly 5 to be pressed on the surface of the material 9, in the contact process of the claw disc assembly 5 and the material 9, as the surfaces of the claw disc assembly 5 and the material 9 form a certain angle, under the limit of the rotary support member 4 and the fixed seat 51, the guide wheel 58 firstly contacts with the surface of the material 9, the sliding friction of the claw disc assembly 5 and the material 9 is changed into rolling friction, the claw disc assembly 5 is prevented from jacking up the material 9 under the action of the sliding friction, the force application direction of the claw disc assembly 5 to the material 9 is adjusted, the claw disc assembly 5 is driven to be attached to the surface of the material 9 through rolling, after the buffer pad 57 and the material 9 are completely attached, the spring is compressed through further pressure, when the spring is compressed to a certain degree, the first detection unit 59 is further triggered, and the power unit 1 stops acting after the first detection unit 59 sends an in-place signal, finally, the pressing plate 56 is completely pressed on the surface of the material 9, and the pressure between the pressing plate 56 and the material 9 can be adjusted under the control of the in-place signal of the first detection unit 59.

Specifically, the fixed seat 51 is provided with a hinge rotating shaft 52 arranged along the horizontal direction, and the rotary support member 4 is hinged with the fixed seat 51 through the hinge rotating shaft 52; the bottom of the rotary support member 4 is provided with a blocking portion for blocking the rotation of the fixed seat 51 under the action of gravity, so that the material 9 is prevented from contacting and attaching with the material 9 when the surface of the material is in a horizontal state or a backward bending state under the action of gravity.

On the basis of the above embodiments, the method further includes:

and the second position detection unit 2 is arranged on the vehicle body portal frame 8 and used for sending a position signal to the control device when the rotating support piece 4 is detected to be turned to a preset position, and the control device is powered off and gives an alarm according to the received position signal.

The second position detection unit 2 can be arranged on a cross beam 6 or a cantilever beam 7 of the vehicle body portal frame 8, the preset position is the maximum limit position of the turnover of the rotary supporting piece 4, the rotary supporting piece 4 is at the maximum lifting position, when the power assembly 1 still continues to perform actions, the second position detection unit 2 is triggered to start, and the control device is powered off and gives an alarm to protect the power assembly 1.

firstly, the rotary supporting piece 4 rotates around the rotary shaft 3 under the driving of the power assembly 1 to form a lever structure, and drives the claw disc assembly 5 to move towards the direction close to or far away from the material 9 so as to clamp or loosen the material 9; therefore, the materials 9 listed on the forklift are fixed, the materials 9 are prevented from shifting, overturning or falling off in the transportation process, and the damage to the materials 9 and the potential safety hazard to the surrounding environment in the transportation process are reduced; the working efficiency and the safety in the transportation process are improved;

secondly, when the rotary supporting piece 4 is turned to the limit position, the power is cut off and the alarm is given to prevent the rotary supporting piece 4 from being stuck or other safety accidents caused by the limit position in the moving process, and the operation safety is further improved.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

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. The utility model provides a fork formula AGV is with spacing accessory, includes automobile body portal (8) and prong, its characterized in that still includes:

the first end is hinged with a rotary support piece (4) of the rotating shaft (3) formed on the vehicle body portal (8);

a claw disc assembly (5) hinged to the second end of the rotary support (4) and forcing the material against the body door frame (8);

the power assembly (1) is hinged with the third end of the rotary support piece (4) and drives the rotary support piece (4) to rotate around the rotating shaft (3) to form a lever, and the claw disc assembly (5) abuts against the material to clamp/keep away from the material to loosen in the rotating process.

2. An fork AGV limit accessory according to claim 1, wherein the puck assembly (5) includes:

a fixed seat (51) hinged with the rotary support (4);

the pressing plate (56) is arranged opposite to the fixed seat (51), the pressing plate (56) is elastically connected with the fixed seat (51) so that the distance between the pressing plate (56) and the fixed seat can be adjusted, and a cushion pad (57) used for being in contact with materials is arranged on one side, away from the fixed seat, of the pressing plate (56).

3. The spacing accessory of claim 2, characterized in that a plurality of guide posts (53) are arranged between the pressing plate (56) and the fixing base (51) for guiding the relative movement of the pressing plate and the fixing base, one end of each guide post (53) is fixedly connected with the pressing plate (56), and the other end of each guide post (53) penetrates through the fixing base (51) and is in clearance fit with the fixing base (51).

4. An fork AGV limit accessory according to claim 2, wherein the puck assembly (5) further comprises:

the first position detection unit (59) is arranged on the pressing plate (56)/the fixing seat (51), when the distance between the pressing plate (56) and the fixing seat (51) is smaller than or equal to a preset distance, the first position detection unit (59) sends a position signal to the control device, and the control device controls the power assembly (1) to stop acting according to the received position signal.

5. An fork AGV limit accessory according to claim 4, wherein the puck assembly (5) further comprises:

and the limiting piece (55) is fixedly connected with one of the pressure plate (56) and the fixed seat (51) and limits the minimum distance between the pressure plate (56) and the fixed seat (51).

6. An fork AGV limit accessory according to claim 2, wherein the puck assembly (5) further comprises:

locate the circumference edge of clamp plate (56), to leading wheel (58) group that relative motion of claw disk subassembly (5) and material leads, leading wheel (58) group includes leading wheel seat (510), locates guiding axle on leading wheel seat (510) and cover are located guiding wheel (58) on the guiding axle, leading wheel (58) wind the guiding axle rotates.

7. The spacing accessory of claim 2, wherein the fixing seat (51) is provided with a hinge rotating shaft (52) arranged along the horizontal direction, and the rotary support (4) and the fixing seat (51) are hinged through the hinge rotating shaft (52); and a gear part for shifting the rotation of the fixed seat (51) under the action of gravity is arranged at the bottom of the rotary supporting piece (4).

8. The spacing accessory for an interdigitated AGV according to claim 1, wherein said rotary support (4) comprises a first rotary support and a second rotary support oppositely disposed at both ends of said body portal (8), said first rotary support being connected to a first power assembly and a first gripper disc assembly, respectively, and said second rotary support being connected to a second power assembly and a second gripper disc assembly, respectively;

two ends of the rotating shaft (3) respectively penetrate through the first end of the first rotating supporting piece and the first end of the second rotating supporting piece and are respectively fixed with the car body door frame (8) through a cantilever beam.

9. The spacing accessory of claim 1, characterized in that the power assembly (1) is a hydraulic cylinder, a linear electric cylinder, a screw-and-rod mechanism or a link mechanism.

10. The AGV of any of claims 1-9, further comprising:

and the second position detection unit (2) is arranged on the vehicle body portal (8) and used for sending a position signal to the control device when the rotating support piece (4) is detected to turn over to a preset position, and the control device is powered off and gives an alarm according to the received position signal.