The invention belongs to the technical field of forklift AGVs, and particularly relates to a forklift AGV and a carrying method thereof. According to the forklift AGV, the fork arm assemblies directly extend into the fork holes of the pallet shaped like the Chinese character'tian 'in the suspended mode to carry materials, and collision loss between the fork arm assemblies and the pallet shaped like the Chinese character'tian' is well avoided; a guide rail groove and a locking mechanism are arranged in the containing groove to restrain a first guide wheel and a second guide wheel on the rear side of the fork arm assembly so as to eliminate a revolute pair, so that the fork arm assembly only retains a planar kinematic pair, the fork arm assembly is prevented from tilting and swinging forwards and backwards due to instability, and the fork arm assembly extends or resets in a suspended mode; when the fork arm assembly is initially lifted in the extending state, a gravity sensor used for detecting the downward pressure of the first guide wheel is arranged at the front end of the guide rail groove, and lifting limitation on the fork arm assembly is unlocked only when the downward pressure of the first guide wheel is reduced to a preset value; the situation that the gravity center of the fork arm assembly inclines forwards with the first guide wheel as a fulcrum in the initial lifting stage is avoided, and use reliability is good.
本发明属于叉车AGV技术领域,具体涉及叉车AGV及其搬运方法。本发明的叉车AGV,通过将叉臂组件设置为以悬空方式直接伸入田字形栈板的叉孔中进行物料搬运,较好地避免叉臂组件与田字形栈板之间发生碰撞损耗,而且容纳槽内配置有导轨槽和锁定机构对叉臂组件后侧的第一导轮和第二导轮进行约束以消去转动副,使叉臂组件仅保留平面运动副,避免叉臂组件失稳前后倾摆,保证叉臂组件以悬空方式进行伸出或复位,以及叉臂组件在伸出状态初始举升时,导轨槽前端配置有用于第一导轮的下压力进行检测的重力感应器,使第一导轮的下压力下降至预设值时才解锁对叉臂组件的举升限制,避免叉臂组件在初始举升阶段以第一导轮作为支点出现重心前倾的情况,使用可靠性好。
Forklift AGV and carrying method thereof
叉车AGV及其搬运方法
2024-09-06
Patent
Electronic Resource
Chinese
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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