The present invention provides, in order to solve a problem in a conventional AGV, an AGV equipped with unloading devices at both sides thereof so that an object or a pallet can be balanced during unloading of the object or the pallet. An embodiment of the present invention provides a pallet lifting AGV, having the overall height lower than the height of the lower frame of the pallet, having the overall length greater than the overall width, and equipped with a pair of lifting means, wherein the lifting means includes: a driving motor; a shaft member connected to the driving motor to perform axial rotation; a coupling connected to the shaft member; an up and down guide coupled to the coupling; a cam connected to the up and down guide; a lifting bar coupled to the cam and horizontally provided at the overall height; a front and rear guide coupled to one side of the up and down guide; and a guide rail connected to the front and rear guide to form a front and rear moving path of the front and rear guide, and having a shaft in parallel with the shaft member.
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