WO2022095631A1

WO2022095631A1 - Pallet-handling agv applicable in retrieving and placing quadrant-patterned pallet

Info

Publication number: WO2022095631A1
Application number: PCT/CN2021/121159
Authority: WO
Inventors: 陈英伟; 张贻弓; 沈长鹏
Original assignee: 兰剑智能科技股份有限公司
Priority date: 2020-11-09
Filing date: 2021-09-28
Publication date: 2022-05-12
Also published as: CN112390200A

Abstract

A pallet-handling AGV applicable in retrieving and placing a quadrant-patterned pallet, comprising a vehicle body (1) and a forklift frame (2). A driving wheel (3) is provided at the lower end of the vehicle body (1). A driving apparatus driving the travel and steering of the driving wheel (3) is provided in the vehicle body (1). Bearing wheels (4) are provided at the rear end of the forklift frame (2). Middle supporting wheels (6) are provided at the front end of the forklift frame (2). An inner gantry (5) is provided between the vehicle body (1) and the forklift frame (2). The forklift frame (2) is movably connected to the inner gantry (5). A lifting/lowering apparatus driving the lifting/lowering of the inner gantry (5) is provided in the inner gantry (5). A connecting mechanism is provided between the vehicle body (1) and the inner gantry (5). A linking mechanism allowing the lifting/lowering of the inner gantry (5) to run simultaneously with the swinging of the bearing wheels (4) is provided at an output end of the connecting mechanism. When the lifting/lowering apparatus drives the inner gantry to be lowered to the lowest position, the forklift frame is lowered to the lowest position, the middle support wheels are supported on the ground, the state at this moment is one without load and waiting to pick up cargo; in this state, the linking mechanism drives the bearing wheel set to be completely lifted off the ground to a certain clearance; hence, when retrieving a quadrant-patterned pallet, the bearing wheels are preventing from transversely abutting against, interfering, or colliding with the bottom part of the pallet.

Description

A pallet handling AGV suitable for picking and placing field-shaped pallets

technical field

The invention relates to the technical field of logistics and transportation, in particular to a pallet handling AGV suitable for picking and placing field-shaped pallets.

Background technique

With the rise of artificial intelligence and automated unmanned technology, the logistics and cargo handling industry is also affected. In terms of work efficiency and cost, people are more hopeful that machines can automate the handling of goods, thereby replacing manual handling. Therefore, AGV (Automated Guided Vehicle) technology came into being, mainly to solve the automatic transfer of materials. The existing pallet truck has a 5-wheel structure, one of which is a driving wheel, which is installed at the front end of the vehicle body. Two universal wheels for auxiliary support are installed on both sides of the driving wheel, and a fork at the rear end of the vehicle body is installed There is a load wheel on each of the legs.

However, in the existing pallet truck, because the rear two carrying wheels are always in contact with the ground, when taking the field-shaped pallet, the carrying wheels will interfere with the lower cross brace of the pallet, so that the fork cannot enter the inside of the jack, which cannot meet the Insertion and extraction of field-shaped trays.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the above problems, and to provide a pallet handling AGV suitable for picking and placing field-shaped pallets. When picking up field-shaped pallets, interference and collision between the carrier wheel and the cross brace at the bottom of the pallet can be avoided.

The technical scheme adopted by the present invention to solve its technical problems is:

A pallet handling AGV suitable for picking and placing field-shaped pallets, including a body and a fork frame, the lower end of the body is provided with a driving wheel, the body is provided with a driving device for driving the driving wheel to walk and turn, and the rear end of the fork frame is provided. There are bearing wheels, the front end of the fork frame is provided with an intermediate support wheel, an inner mast is arranged between the body and the fork frame, the fork frame and the inner mast are movably connected, and the inner mast is There is a lifting device for driving the inner gantry to lift and lower, a connecting mechanism is arranged between the body and the inner gantry, and the output end of the connecting mechanism is provided with a linkage mechanism that makes the inner gantry lift and the bearing wheel swing synchronously.

Further, the lower end of the vehicle body is provided with universal wheels on both sides of the driving wheel.

Further, the lifting device includes a hydraulic cylinder, the tail end of the cylinder body of the hydraulic cylinder is connected with the vehicle body, and the piston rod end of the hydraulic cylinder is connected with the inner mast.

Further, the connecting mechanism includes a swing arm for connecting the inner gantry and the vehicle body, and a shaft sleeve for driving the linkage mechanism to operate;

The rear end of the fork frame is provided with a third swing arm for installing the bearing wheel.

Further, the swing arm includes a first swing arm and a second swing arm, the front end of the first swing arm is hinged with the body, the rear end of the first swing arm is hinged with the inner gantry, and the two ends of the shaft sleeve rotate between the inner gantry. The front end of the second swing arm is rotatably connected with the inner gantry, and the rear end of the second swing arm is fixedly connected with the shaft sleeve.

Further, the linkage mechanism includes a driving rod and a connecting rod, the driving rod is fixed on the shaft sleeve, the driving rod is located on the lower arc surface of the shaft sleeve, the front end of the connecting rod is hinged with the driving rod, and the rear end of the connecting rod is connected with the third swing arm. Front hinged.

Further, the middle position of the third swing arm is rotatably connected with the fork frame, and the bearing wheel is installed at the rear end of the third swing arm.

Further, the rear end of the third swing arm is provided with an installation frame, the middle position of the installation frame is rotatably connected with the rear end of the third swing arm, and the bearing wheel is installed in the installation frame and is rotatably connected with the installation frame.

Further, the front end of the fork frame is provided with a guide rail, the two ends of the inner mast are provided with rollers, the rollers cooperate with the guide rail, and the upper end of the guide rail is provided with a limit block.

Further, it also includes an upper limit detection switch and a lower limit detection switch. Both the upper limit detection switch and the lower limit detection switch are installed in the body, and the upper limit detection switch and the lower limit detection switch cooperate with the first swing arm. The switch and the lower limit detection switch are connected with the controller through wires.

Further, it also includes a single-point laser ranging sensor and a 3D vision sensor to ensure that the AGV can pick up goods smoothly or park reliably. The single-point laser ranging sensor and the D vision sensor are connected to the control through wires.

Further, the connection mechanism includes a shaft sleeve, a transmission mechanism for driving the rotation of the shaft sleeve, and a guide mechanism for guiding the inner gantry and the vehicle body.

Further, the transmission mechanism includes a gear and a rack, the rack is mounted on the vehicle body, the gear is mounted on the shaft sleeve, and the gear meshes with the rack.

The beneficial effects of the present invention are:

1. In the present invention, an inner gantry is arranged between the vehicle body and the fork frame, the inner gantry and the vehicle body are movably connected, and the inner gantry is provided with a lifting device that drives the inner gantry to rise and fall, and the fork frame is It is movably connected with the inner gantry, and the lower end of the inner gantry is provided with a linkage mechanism that drives the bearing wheel to swing. The lifting device drives the inner mast to descend to the lowest position. At this time, the fork frame is lowered to the lowest position, and the intermediate support wheel is supported on the ground. At this time, it is in a state of no-load and waiting for goods to be picked up. In this state, the linkage mechanism drives the load-bearing wheel group. Completely separated from the ground with a certain gap, when taking the field-shaped pallet, it can avoid the interference and collision between the carrying wheel and the bottom cross brace of the pallet; when the fork frame is raised to the highest position, it is in the handling state at this time, and the pallet is lifted and moved. Away from the ground, in this state, the carrying wheel set touches the ground.

2. In the present invention, a C-shaped guide rail is arranged at the front end of the fork frame, and rollers are arranged at both ends of the inner mast, and the rollers cooperate with the guide rail. The upper end of the guide rail is provided with a limit block, which acts as a limit to prevent it from falling out. At the same time, when the inner gantry rises for a certain distance, the fork frame can rise with the rise of the inner gantry. At this time, the middle support wheel does not work when it leaves the ground, and the bearing wheel is supported on the ground to hold up the pallet. The lifting of the fork frame and the lifting of the load-bearing wheel group can be controlled by a set of lifting devices, and there is no need for each load-bearing wheel group to be separately connected to an additional power device. cost.

3. In the present invention, the linkage mechanism includes a driving rod and a connecting rod. The driving rod is fixed on the shaft sleeve, the driving rod is located on the lower arc surface of the shaft sleeve, the front end of the connecting rod is hinged with the driving rod, and the rear end of the connecting rod is connected with the third swing arm. The front end is hinged. When the lifting device drives the inner door to rise, the second swing arm will drive the shaft sleeve to rotate counterclockwise. Under the action of the connecting rod, the third swing arm rotates clockwise, so that the bearing wheel moves down. The bearing wheel plays a supporting role. Through the linkage between the driving rod and the connecting rod, in the no-load walking state or in the handling state, the middle support wheel is vacated, and the bearing wheel is supported on the ground. When the pallet is ready to be transported, the bearing wheel is vacated, and the middle support wheel It is supported on the ground; through the linkage of the mechanical structure, the structure is simple, the operation is convenient, and the reliability is good.

4. In the present invention, the connecting mechanism includes a shaft sleeve, a transmission mechanism for driving the rotation of the shaft sleeve, and a guide mechanism for guiding the inner gantry and the vehicle body, and the guide mechanism is a slide rail pair. When the hydraulic cylinder of the lifting device drives the inner gantry to lift and lower, the shaft sleeve is driven to rotate through the transmission mechanism, and the shaft sleeve drives the third swing arm through the driving rod and the connecting rod. Through the linkage of the mechanical structure, the structure is simple, the operation is convenient, and the reliability is good. There is no need for a separate lifting device to drive the lifting and lowering of the bearing wheel, which reduces the cost. In this way, the gap between the inner mast and the body will not be increased when the inner mast is lifted and lowered, and the structure is stable and reliable.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. In other words, other drawings can also be obtained based on these drawings without creative labor.

1 is a bottom view of an embodiment of the present invention;

2 is a right side view of Embodiment 1 of the present invention;

3 is a schematic structural diagram 1 of Embodiment 1 of the present invention;

4 is a second structural schematic diagram of Embodiment 1 of the present invention;

FIG. 5 is a schematic structural diagram 3 of Embodiment 1 of the present invention;

FIG. 6 is a schematic diagram 4 of the structure of Embodiment 1 of the present invention;

FIG. 7 is a schematic diagram of a state of no-load waiting to be picked up according to Embodiment 1 of the present invention;

8 is a schematic diagram of a load carrying state according to Embodiment 1 of the present invention;

FIG. 9 is a bottom view of the second embodiment of the present invention.

In the figure: body 1, fork frame 2, driving wheel 3, bearing wheel 4, inner mast 5, intermediate support wheel 6, universal wheel 7, first mounting frame 7, first swing arm 8, second swing arm 9. Shaft sleeve 10, hydraulic cylinder 11, guide rail 12, roller 13, limit block 14, third swing arm 15, drive rod 16, connecting rod 17, mounting bracket 18, upper limit detection switch 19, lower limit detection switch 20 , single-point laser ranging sensor 21, 3D vision sensor 22, gear 23, rack 24.

Detailed ways

In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1:

As shown in Figure 1, Figure 3, Figure 5 and Figure 6, a pallet handling AGV suitable for picking and placing field-shaped pallets includes a vehicle body 1 and a fork frame 2. The lower end of the vehicle body 1 is provided with a driving wheel 3, and the vehicle body 1. There is a driving device for driving the driving wheel 3 to walk and turn. The rear end of the fork frame 2 is provided with a bearing wheel 4, and the front end of the fork frame 2 is provided with an intermediate support wheel 6. The position of the intermediate support wheel 6 and the fork frame 2 Fixed, the intermediate support wheel 6 and the fork frame 2 are rotatably connected, an inner gantry 5 is arranged between the body 1 and the fork frame 2, and the inner gantry 5 is movably connected with the body 1, and the inner door The frame 5 is provided with a lifting device that drives the inner gantry 5 to rise and fall. The fork frame 2 and the inner gantry 5 are movably connected, and the lower end of the inner gantry 5 is provided with a linkage mechanism that drives the bearing wheel 4 to swing. The lifting device drives the inner gantry 5 to descend to the lowest position. At this time, the fork frame is lowered to the lowest position, and the intermediate support wheel 6 is supported on the ground. At this time, it is in a state of no-load and waiting to be picked up. In this state, the linkage mechanism drives the load The wheel set is completely separated from the ground by a certain gap. When taking the field-shaped pallet, the interference and collision between the bearing wheel and the bottom cross brace of the pallet can be avoided; when the fork frame is raised to the highest position, it is in the handling state at this time, and the pallet is lifted. The height is lifted off the ground, and in this state, the carrying wheel set is on the ground.

As shown in Figure 1, Figure 2 and Figure 6, the lower end of the vehicle body 1 is provided with universal wheels 7 on both sides of the drive wheel 3. The universal wheels can provide auxiliary support in any state and increase driving stability.

As shown in FIG. 3 and FIG. 5 , the lifting device includes a hydraulic cylinder 11 . The rear end of the cylinder body of the hydraulic cylinder 11 is connected to the vehicle body 1 , the inner mast 5 is provided with a through hole, and the connection point on the vehicle body passes through the through hole and is connected to the vehicle body 1 . The cylinder end of the hydraulic cylinder 11 is rotatably connected, and the piston rod end of the hydraulic cylinder 11 is connected with the upper end of the inner mast 5 . The lifting and lowering of the inner mast 5 is controlled by the expansion and contraction of the piston rod of the hydraulic cylinder 11 . The fork frame is used to insert and take out pallet materials. The lifting device can use common lifting components such as hydraulic cylinder, electric cylinder, lead screw, etc. One end of the lifting device is fixed on the body, and the other end is connected to the inner gantry 20 for driving the inner gantry and the inner gantry. The lifting and lowering of the fork frame makes the AGV in different states.

As shown in FIG. 3 and FIG. 5 , the connecting mechanism includes a swing arm for connecting the inner mast 5 and the vehicle body 1 , and a bushing 10 for driving the linkage mechanism to operate. The swing arm includes a first swing arm 8 and a second swing arm 8 Swing arm 9, the first swing arm 8 is arranged symmetrically on the left and right, the front end of the first swing arm 8 is hinged with the body 1, the body 1 is provided with a mounting frame, the front end of the first swing arm 8 is rotatably connected with the mounting frame, the rear of the first swing arm 8 The end is hinged with the side of the inner door frame 5, the two ends of the shaft sleeve 10 are connected with the inner door frame 5 in rotation, the front end of the second swing arm 9 is connected with the inner door frame 5 in rotation, and the rear end of the second swing arm 9 is fixed with the shaft sleeve 10. connect. The inner gantry is connected with the vehicle body 1 through the first swing arm 8 and the second swing arm 9 to form a parallelogram mechanism.

As shown in FIG. 6 , the rear end of the fork frame 2 is provided with a third swing arm 15 for installing the carrying wheel 4 . The middle position of the third swing arm 15 is rotatably connected with the fork frame 2, the carrying wheel 4 is installed at the rear end of the third swing arm 15, the middle position of the third swing arm 15 is a corner, and the front half of the third swing arm 15 is inclined upward. The rear end of the third swing arm 15 is provided with a mounting frame 18, and there are two bearing wheels 4. The middle position of the mounting frame 18 is rotatably connected with the rear end of the third swing arm 15, and the bearing wheel 4 is installed in the mounting frame 18 and is connected to the rear end of the third swing arm 15. The rotating connection between the mounting brackets 18 ensures that when the third swing arm 15 swings, the front and rear bearing wheels 4 can always be in contact with the ground.

As shown in FIG. 5 , the front end of the fork frame 2 is provided with a C-shaped guide rail 12 , and the two ends of the inner mast 5 are provided with rollers 13 . The bottom can slide relative to the inner mast 5. The upper end of the guide rail 12 is provided with a limit block 14. The limit block 14 acts as a limit to prevent it from falling out. The frame 2 can rise with the rise of the inner gantry. At this time, the middle support wheel 6 does not work when it leaves the ground, and the bearing wheel is supported on the ground to hold up the pallet. The lifting of the fork frame and the lifting of the load-bearing wheel group can be controlled by a set of lifting devices, and there is no need for each load-bearing wheel group to be separately connected to an additional power device. cost.

As shown in FIG. 6 , the linkage mechanism includes a driving rod 16 and a connecting rod 17 . There are two driving rods 16 and two connecting rods. The driving rod 16 and the connecting rod 17 are in one-to-one correspondence. The rod 16 is fixed on the shaft sleeve 10, the driving rod 16 is located on the lower arc surface of the shaft sleeve 10, the front end of the connecting rod 17 is hinged with the driving rod 16, the rear end of the connecting rod 17 is hinged with the front end of the third swing arm 15, and the hydraulic cylinder drives the inner When the gantry 5 rises, the second swing arm 9 will drive the shaft sleeve 10 to rotate counterclockwise. Under the action of the connecting rod 17, the third swing arm 15 rotates clockwise, so that the bearing wheel 4 moves down, and when the fork frame rises, The bearing wheel 4 plays a supporting role. Through the linkage between the driving rod 16 and the connecting rod 17, in the no-load walking state or the conveying state, the intermediate support wheel vacates, and the bearing wheel 4 is supported on the ground. When the pallet is ready to be transported, the bearing wheel 4 In the air, the intermediate support wheel is supported on the ground; through the linkage of the mechanical structure, the structure is simple, the operation is convenient, and the reliability is good, and a separate lifting device is not required to drive the lifting and lowering of the bearing wheel, which reduces the cost.

As shown in FIG. 3 , an upper limit detection switch 19 and a lower limit detection switch 20 are also included. Both the upper limit detection switch 19 and the lower limit detection switch 20 are installed in the vehicle body 1 . Cooperating with the first swing arm 8, by detecting the swing angle of the first swing arm 8 to determine whether the fork frame has reached the highest point or the lowest point, the upper limit detection switch 19 and the lower limit detection switch 20 are connected to the controller through wires. It is the prior art and will not be repeated here. The upper limit detection switch 19, the lower limit detection switch 20 and the controller can detect that the height of the fork frame from the ground is in the lowest and highest positions respectively, as shown in Figure 8, in this state, when the fork frame is in the highest position, the load The wheel touches the ground, and the middle support wheel is off the ground; as shown in Figure 7, in this state, when the fork frame is at the lowest position, the carrying wheel is off the ground, and the middle support wheel touches the ground; It is a mechanical limit, that is, when the lifting device rises to a certain height, its height position is locked by mechanical limit, or it can be an electrical limit, which is detected by sensor detection and locked by the control system.

As shown in FIG. 4 , a single-point laser ranging sensor 21 and a 3D vision sensor 22 are also included, and the single-point laser ranging sensor 21 and the 3D vision sensor 22 are connected to the control through wires. The 3D vision sensor and single-point laser ranging sensor are installed on the fork frame. When the AGV picks up the goods before approaching the pallet, it can detect the data of the picked pallet, and transmit the data to the vehicle control system to analyze the positional relationship between the AGV and the pallet. , and control the AGV deviation correction to align the AGV forks with the pallet jacks to ensure that the forks can smoothly enter the pallet jacks; the 3D vision sensor can detect the shape of the pallet before the AGV picks up the goods and approaches the pallet. Size parameters, calculate the length of the fork that needs to be inserted into the pallet jack, and measure the distance between the fork root and the pallet through a single-point laser ranging sensor, so that the AGV can stop reliably after picking up the goods in place.

As shown in Figure 2 and Figure 7, when the AGV is in the no-load waiting state or the no-load walking state, the carrying wheel leaves the ground, and the middle carrying wheel touches the ground. In this state, the inner gantry and forks are driven by the lifting device. The racks are all in the initial lowest position, and the top rollers on both sides of the inner mast and the limit blocks installed on the fork rack leave a certain gap; as shown in Figure 8, when the AGV is in the transport state, the load-bearing wheels are supported on On the ground, the middle bearing wheel leaves the ground. In this state, under the driving of the lifting device, the inner mast and the fork frame are in the highest shape. block contact.

The AGV switches from the no-load waiting state to the no-load walking or handling state. This action can be divided into two stages. In the first stage, driven by the lifting device, the inner mast is lifted, the fork frame remains stationary, and the fork Under the action of the connecting rod, the bearing wheel at the tail end begins to descend, and finally contacts the ground; after the first stage, the rollers at the top of the two sides of the inner mast contact the limit blocks installed on the top of the fork frame guide rail, and the lift is now lifted. The device will drive the inner gantry and the fork frame to lift at the same time, and at the same time, the load-bearing wheel group will descend synchronously to maintain contact with the ground, and play the role of supporting the fork frame. The fork lifts off the ground; when the AGV switches from the no-load walking state or the handling state to the no-load waiting state, the action steps are reversed from the above.

Embodiment 2:

As shown in FIG. 9 , the connection mechanism includes a shaft sleeve 10 , a transmission mechanism for driving the rotation of the shaft sleeve 10 , and a guide mechanism for guiding the inner mast 5 and the vehicle body 1 , and the guide mechanism is a slider guide pair. When the hydraulic cylinder 11 of the lifting device drives the inner gantry 5 to lift and lower, the shaft sleeve 10 is driven to rotate through the transmission mechanism, and the shaft sleeve 10 drives the third swing arm 15 through the driving rod 16 and the connecting rod 17 . Through the linkage of the mechanical structure, the structure is simple, the operation is convenient, and the reliability is good. There is no need for a separate lifting device to drive the lifting and lowering of the bearing wheel, which reduces the cost. In this way, the gap between the inner mast 5 and the vehicle body 1 will not be increased when the inner mast 5 is raised and lowered, and the structure is stable and reliable.

As shown in FIG. 9 , the transmission mechanism includes a gear 23 and a rack 24 . The rack 24 is mounted on the vehicle body 1 , the axis of the rack 24 is in the vertical direction, the gear 23 is mounted on the shaft sleeve 10 , and the gear 23 and the The racks 24 are meshed, and the gears 23 and the racks 24 are in one-to-one correspondence. The two ends of the shaft sleeve 10 are provided with a set of gears 23 and the racks 24. When the inner gantry 5 is raised and lowered, the shaft sleeve is driven by the meshing of the gears 23 and the racks 24. 10 turns with it.

The rest of the structure is the same as that of the first embodiment.

In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "left", "right", "upper", "lower", etc. are based on the orientations or positional relationships shown in the accompanying drawings, only for the purpose of It is convenient to describe the present invention and to simplify the description, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, or an internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

Claims

A pallet handling AGV suitable for picking and placing field-shaped pallets, comprising a body (1) and a fork frame (2), a drive wheel (3) is provided at the lower end of the body (1), and a drive wheel (3) is provided in the body (1) The driving device for driving and steering of the driving wheel (3), the rear end of the fork frame (2) is provided with a bearing wheel (4), and it is characterized in that the front end of the fork frame (2) is provided with an intermediate support wheel (6), An inner mast (5) is arranged between the body (1) and the fork frame (2), the fork frame (2) and the inner mast (5) are movably connected, and the inner mast ( 5) There is a lifting device for driving the inner gantry (5) to rise and fall, a connecting mechanism is arranged between the vehicle body (1) and the inner gantry (5), and the output end of the connecting mechanism is provided with the inner gantry (5) A linkage mechanism that lifts and runs synchronously with the swing of the bearing wheel (4).
A pallet handling AGV suitable for picking and placing field-shaped pallets according to claim 1, characterized in that the lower end of the body (1) is provided with universal wheels (7) on both sides of the drive wheel (3).
A pallet handling AGV suitable for picking and placing field-shaped pallets according to claim 1, characterized in that the lifting device comprises a hydraulic cylinder (11), the cylinder end of the hydraulic cylinder (11) and the body (1) Connection, the piston rod end of the hydraulic cylinder (11) is connected with the inner mast (5).
A pallet handling AGV suitable for picking and placing field-shaped pallets according to claim 1, characterized in that the connection mechanism comprises a swing arm for connecting the inner door frame (5) and the vehicle body (1), a drive linkage The shaft sleeve (10) for the operation of the mechanism;

The rear end of the fork frame (2) is provided with a third swing arm (15) for installing the bearing wheel (4).
A pallet handling AGV suitable for picking and placing field-shaped pallets according to claim 4, wherein the swing arm comprises a first swing arm (8) and a second swing arm (9), the first swing arm (8) The front end is hinged to the vehicle body (1), the rear end of the first swing arm (8) is hinged to the inner door frame (5), the two ends of the shaft sleeve (10) are rotatably connected to the inner door frame (5), and the second The front end of the swing arm (9) is rotatably connected with the inner door frame (5), and the rear end of the second swing arm (9) is fixedly connected with the shaft sleeve (10).
A pallet handling AGV suitable for picking and placing field-shaped pallets according to claim 4, characterized in that the linkage mechanism comprises a driving rod (16) and a connecting rod (17), and the driving rod (16) is fixed on the shaft On the sleeve (10), the driving rod (16) is located on the lower arc surface of the shaft sleeve (10), the front end of the connecting rod (17) is hinged with the driving rod (16), and the rear end of the connecting rod (17) is connected with the third swing arm ( 15) Front hinged.
A pallet handling AGV suitable for picking and placing field-shaped pallets according to claim 4, characterized in that the middle position of the third swing arm (15) is rotatably connected with the fork frame (2), and the carrying wheel (4) Installed at the rear end of the third swing arm (15).
A pallet handling AGV suitable for picking and placing field-shaped pallets according to claim 7, characterized in that a mounting bracket (18) is provided at the rear end of the third swing arm (15), and the middle of the mounting bracket (18) The position is rotatably connected with the rear end of the third swing arm (15), and the bearing wheel (4) is installed in the mounting frame (18) and is rotatably connected with the mounting frame (18).
A pallet handling AGV suitable for picking and placing field-shaped pallets according to claim 1, characterized in that the front end of the fork frame (2) is provided with a guide rail (12), and both ends of the inner gantry (5) are provided with a guide rail (12). A roller (13) is provided, the roller (13) is matched with a guide rail (12), and a limit block (14) is arranged on the upper end of the guide rail (12).
A pallet handling AGV suitable for picking and placing field-shaped pallets according to claim 1, characterized in that it further comprises an upper limit detection switch (19) and a lower limit detection switch (20), and an upper limit detection switch (19) Both the upper limit detection switch (19) and the lower limit detection switch (20) cooperate with the first swing arm (8), and the upper limit detection switch (19) and the lower limit detection switch (20) are connected with the controller through wires.
A pallet handling AGV suitable for picking and placing field-shaped pallets according to claim 1, characterized in that it further comprises a single-point laser ranging sensor (21) and a 3D vision sensor to ensure that the AGV can pick up goods smoothly or park reliably (22), the single-point laser ranging sensor (21) and the 3D vision sensor (22) are connected with the control through wires.
A pallet handling AGV suitable for picking and placing field-shaped pallets according to claim 1, characterized in that the connecting mechanism comprises a shaft sleeve (10), a transmission mechanism for driving the shaft sleeve (10) to rotate, and a guiding inner door The guide mechanism between the frame (5) and the vehicle body (1).
A pallet handling AGV suitable for picking and placing field-shaped pallets according to claim 12, wherein the transmission mechanism comprises a gear (23) and a rack (24), and the rack (24) is installed on the vehicle body (23). 1), the gear (23) is mounted on the shaft sleeve (10), and the gear (23) meshes with the rack (24).