Three-way AGV forklift capable of forking goods in two directions

Abstract

The invention relates to a three-way AGV forklift capable of forking goods bidirectionally. The three-way AGV forklift comprises a forklift body, a portal frame system arranged on the forklift body and a fork arm carrier system arranged on the portal frame system. The portal frame system comprises an outer portal frame with the lower end hinged to the forklift body and an inner portal frame longitudinally arranged on the outer portal frame in a sliding mode, and the fork arm carrier system is longitudinally arranged on the inner portal frame in a sliding mode and comprises a fork arm carrier connected with the portal frame, a hanging frame laterally arranged on the fork arm carrier in a sliding mode, a sliding frame arranged on the hanging frame in a front-back sliding mode and a fork arranged on the sliding frame. The pallet fork laterally slides at the bottom of the sliding frame. The driving mechanism drives the pallet forks to bidirectionally translate and slide relative to the carriage so as to adjust extending positions to form loading areas in different directions; and the fixing device is used for pressing to prevent displacement after the pallet fork moves in place. The hanging frame slides in parallel with the pallet fork and moves to control the pallet fork loading area to advance and retreat. The scheme can improve the narrow channel operation efficiency and optimize the storage space utilization rate.

Description

Technical Field

[0001] The present invention relates to the technical field of forklift loading and unloading equipment, and in particular to a three-way AGV forklift capable of bidirectionally picking up goods. Background Art

[0002] With the rapid development of my country's manufacturing and logistics industries, automated warehouse storage has become a basic requirement across all industries. With the widespread application of AGV products, AGV forklifts have gradually been applied to production lines. AGV forklifts are used for raw material distribution on production lines, transport of semi-finished and finished products, and palletizing in factory warehouses. In industrial production, they can replace humans in certain monotonous, frequent, labor-intensive, repetitive, long-duration tasks, or tasks in dangerous and harsh environments.

[0003] Existing AGV forklifts generally include a forklift body, a gantry system installed on the forklift body, and a fork frame system installed on the gantry system. The fork frame system of a traditional forklift adopts a fixed fork structure, and the fork is rigidly mounted on the fork frame and cannot be moved. When operating in a narrow aisle with shelves on both sides, there are significant defects: First, when it is necessary to fork the goods on the opposite side of the aisle, the entire vehicle must be turned around, which not only greatly increases the time of a single operation, but also complicates the operation process; second, in order to reserve the space required for the U-turn, the width of the aisle is forced to increase, which directly reduces the utilization rate of the storage space. Existing improvement solutions, such as the three-way stacking forklift, use a rotating fork design. Although it can adjust the angle of picking up goods, it has problems such as large driving torque requirements, high energy consumption, and poor load stability. In addition, the rotation action requires additional space support, which will aggravate the inconvenience of operation in narrow aisles.

[0004] More importantly, this type of solution cannot achieve the two-way translation adjustment function of the fork, and it is difficult to meet the dual needs of modern warehousing and logistics for efficient space utilization and flexible operations. Summary of the Invention

[0005] In order to solve the above problems, the purpose of the present invention is to provide a three-way AGV forklift that can fork goods in both directions, which has the effect of improving the efficiency of narrow channel operations and optimizing the utilization of storage space.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0007] The present application provides an AGV forklift, the technical solution of which is as follows: a three-way AGV forklift capable of bidirectionally picking up cargo, comprising:

[0008] A forklift body, a mast system provided on the forklift body, and a fork frame system provided on the mast system;

[0009] The mast system includes an outer mast whose lower end is hinged to the forklift body, and an inner mast that is longitudinally slidably arranged on the outer mast; the forklift body is provided with a diagonal tie rod assembly, the lower end of the diagonal tie rod assembly is connected to the forklift body, and the upper end is connected to the upper end of the outer mast; the fork frame system is longitudinally slidably arranged on the inner mast;

[0010] The fork carriage system includes

[0011] Fork carriage for connecting to the mast;

[0012] A bracket that slides sideways on the fork frame;

[0013] A carriage mounted on a rack that slides forward and backward;

[0014] Forks mounted on a carriage;

[0015] The fork is set at the bottom of the carriage for lateral sliding;

[0016] A drive mechanism that drives the forks to slide in bidirectional translation relative to the carriage to adjust the forks' extension position relative to the carriage to form loading areas with different orientations;

[0017] Fixing device, used to press the fork after it moves into position to prevent displacement;

[0018] The sliding direction of the hanger is parallel to the fork, and the movement of the hanger is used to control the advance and retreat of the fork loading area.

[0019] The structural foundation of the above solution lies in the forklift body, which integrates the power and travel mechanisms, providing both mobility and load support. The mast system, mounted vertically at the front of the forklift body, is key to cargo lifting and lowering. This system utilizes a multi-stage telescopic design to accommodate varying height requirements. Specifically, the lower end of the outer mast is hingedly connected to the forklift body, allowing the mast system's tilt to be adjusted within a set range. This adaptability allows the mast system to adapt to varying operating conditions and effectively mitigates structural stress during operation. The inner mast slides longitudinally within the outer mast and is driven by a hydraulic cylinder and chain assembly for precise vertical movement relative to the outer mast. The forklift system, serving as the platform directly supporting the cargo pick-up mechanism, slides longitudinally on the inner mast and is also driven by a hydraulic cylinder and chain assembly for precise movement relative to the inner mast, forming the final actuator for vertical cargo positioning. A double-layered sliding path maximizes the forklift's mast's reach.

[0020] To enhance overall machine rigidity and stability during elevated operations and resist the overturning moment of the mast caused by load, a diagonal tie rod assembly is installed on the forklift body. The lower end of the assembly is connected to the forklift body, and the upper end is anchored to the upper end of the outer mast, forming a highly efficient triangular stabilization structure. This significantly improves the mast system's resistance to deformation during lifting operations and provides a solid mechanical foundation for the precise bidirectional adjustment of the downstream forks. The diagonal tie rod assembly also allows for length adjustment via threaded adjustment to suit mast installation requirements.

[0021] Unlike the existing technology, this technical solution realizes the bidirectional adjustment and precise control of the fork through the coordination of a multi-stage sliding structure. The fork frame serves as the basic connecting component, supporting the lateral sliding of the hanger. The hanger adjusts the lateral position of the fork on the gantry through lateral movement to adapt to different channel widths; the slide slides back and forth on the hanger, controlling the longitudinal advance and retreat of the fork to achieve forward and backward movement; the fork itself is set at the bottom of the slide for lateral sliding, and is driven by a driving mechanism for bidirectional translation to form loading areas with different orientations, so that the cargo on the opposite side can be forked without turning the whole vehicle around. The fixing device ensures operational stability by pressing the fork and avoids the risk of displacement. The parallel sliding direction design of the hanger and the fork allows the movement of the hanger to directly link the advance and retreat of the fork loading area, forming a spatial synergy effect. The overall structure realizes multi-degree-of-freedom adjustment in a limited space, solving the steering limitations of fixed forks and the space occupation problem of rotating forks.

[0022] Furthermore, the present application proposes a lifting frame for connecting to the mast, located in the middle of the fork frame. The fork frame's surface is provided with lateral grooves and a second rack. The bracket is equipped with rollers embedded in the grooves and a drive gear meshing with the second rack. A hydraulic motor controls the rotation of the drive gear, driving the bracket's lateral movement along the fork frame. The bracket is provided with a fore-and-aft optical axis and a double-acting hydraulic cylinder. The slide is slidably mounted on the optical axis and connected to the output shaft of the double-acting hydraulic cylinder. The double-acting hydraulic cylinder controls the fore-and-aft sliding of the slide relative to the bracket by extending and retracting the output shaft. This technical solution achieves dual control of both lateral movement and fore-and-aft sliding of the bracket through structural collaborative design. The lifting frame in the middle of the fork frame provides a stable support base for the mast connection. The lateral grooves and rollers cooperate to mechanically guide the bracket's lateral movement, preventing deviation. The meshing of the second rack with the drive gear converts the hydraulic motor's rotational motion into linear motion of the bracket, enhancing the transmission accuracy of the lateral drive. The optical axis provides a low-friction linear slide for the carriage. The output shaft of the double-acting cylinder directly drives the carriage forward and backward through a rigid connection, leveraging the cylinder's bidirectional hydraulic action to precisely control the carriage's forward and backward movement. The combination of mechanical coordination and hydraulic drive ensures both stable lateral movement of the carriage and efficient forward and backward adjustment of the carriage, thus resolving the issues of inaccurate positioning and load fluctuations associated with traditional forklifts due to mechanical backlash or a single drive method.

[0023] Furthermore, the present application also proposes that a fork base is provided at the bottom of the slide; a sliding channel is constructed on the fork base that passes through the two opposite sides of the slide; and the fork movement is arranged in the fork base. This technical solution constructs a mechanical foundation that allows the fork to slide in both directions by providing a fork base with a through-type sliding channel at the bottom of the slide. Among them, the fork base serves as a load-bearing structure, and its sliding channels that pass through both sides provide a linear movement path for the fork that is not blocked by the slide body, allowing the fork to be freely extended or retracted along both sides of the slide. The structural design of the fork and the fork base forming a moving pair not only ensures the compact layout of the fork in the space at the bottom of the slide, but also ensures the stability and accuracy of the fork translation process through the sliding channel that limits the movement trajectory. This two-way adjustable structure allows the fork to select loading areas in different directions according to operational requirements, breaking through the operational limitations of traditional fixed forks.

[0024] Furthermore, the present application proposes a first rack welded to the fork; a drive mechanism comprising a translational drive component located at the bottom of the carriage and an adjustment gear meshing with the first rack; the translational drive component drives the fork in bidirectional translational sliding relative to the carriage by driving the first rack. This technical solution achieves precise bidirectional translational control of the fork through a mechanical transmission structure involving meshing racks and gears. Specifically, the first rack is welded to the fork body, allowing the driving force to be transmitted directly through the rack during fork movement, eliminating the complex transmission chain required by traditional rotary mechanisms. The translational drive component located at the bottom of the carriage cooperates with the adjustment gear. The meshing transmission relationship between the gear and rack converts the rotational motion of the drive component into linear translational motion of the fork, resulting in high transmission efficiency and improved displacement control accuracy. The forward and reverse rotation of the bidirectional drive adjustment gear allows the fork to be adjusted in both left and right extension positions. Compared to a fully rotating fork solution, this structure occupies less space and does not require a high-torque drive. This design effectively reduces energy consumption and improves adaptability to operations in confined spaces while ensuring fork position adjustment.

[0025] Furthermore, the present application also proposes that the fixing device includes:

[0026] The compression cylinder and compression spring fixed inside the carriage;

[0027] A shaft fixed to the piston rod of the compression cylinder;

[0028] Axially movable sleeve is sleeved on the lower end of the shaft; the compression spring is sleeved on the shaft above the sleeve, with both ends pressing against the shaft and sleeve respectively; when the piston rod of the compression cylinder is pressed down, the downward force is transmitted to the sleeve through the compression spring, and the sleeve presses the fork and prevents damage due to overpressure.

[0029] This technology uses a clamping cylinder to drive the piston rod downward, and uses the elastic deformation of the clamping spring to transfer the downward force to the sleeve, thereby compressing the fork. The design of the sleeve axially movable sleeve connected to the lower end of the shaft allows the clamping spring to form a buffer between the shaft and the sleeve, avoiding excessive direct force during rigid compression that may cause damage to the fork or slide structure. When the clamping cylinder piston rod is pressed downward, the elastic compression of the clamping spring can adaptively adjust the clamping force, ensuring that the fork is firmly clamped by the sleeve, and absorbing overload pressure through the buffering effect of the spring to prevent overpressure. As the component that finally contacts the fork, the axial movable characteristics of the sleeve ensure that the force is evenly distributed during the clamping process, avoiding local stress concentration.

[0030] Furthermore, this application proposes a pressure plate at the upper end of the shaft, against which the upper end of the compression spring presses. A contact switch, comprising an upper and lower contact switches, is located within the carriage. When the piston rod drives the shaft to move, the pressure plate cooperates with the upper contact switch to provide feedback on the fork's movement status and with the lower contact switch to provide feedback on the compression status. This technical solution achieves precise feedback on the fork's status through the coordinated design of the pressure plate and the contact switch. The pressure plate is located at the upper end of the shaft, forcing the upper end of the compression spring to press against the pressure plate, creating a stable transmission path for the spring force. A contact switch, comprising an upper and lower contact switches, is located within the carriage. The pressure plate contacts different contacts to achieve dual-state detection: when the piston rod drives the shaft to move, the pressure plate contacts the upper contact switch, triggering a movement status signal, indicating whether the fork is in the adjustable movement phase; when the pressure plate contacts the lower contact switch, the compression action is complete, indicating the locked state. This phased triggering design provides independent feedback on the fork's movement and locking processes, preventing damage to components caused by continued pressure during misoperation while ensuring secure locking after the fork is fully compressed. The physical contact structure of the contact switch has stronger anti-interference ability than electronic sensors and can still maintain reliable detection in the vibration environment of forklift operations.

[0031] Furthermore, the present application proposes that the carriage be equipped with two sets of detection components, each with a feedback member at each end of the fork. When the fork slides bidirectionally, the two sets of detection components detect the feedback members at each end of the fork, respectively, to determine the fork's extension direction and position. This technical solution achieves precise monitoring of the bidirectional translation and sliding of the fork by providing two sets of detection components on the carriage and configuring feedback members at each end of the fork. The two sets of detection components on the carriage correspond to the feedback members at each end of the fork, respectively. When the fork moves in either direction, the corresponding detection component can capture the signal from the feedback member. This design enables the system to synchronously obtain displacement information at both ends of the fork during bidirectional translation, thereby accurately determining the fork's extension direction and whether it has reached the predetermined position. The symmetrical arrangement of the feedback members at each end of the fork ensures that the detection components trigger detection signals through the corresponding feedback members regardless of whether the fork slides left or right, avoiding blind spots or misjudgments that may occur with one-way detection. The collaborative work of the two sets of detection components further improves detection redundancy, ensuring that the fork's positioning status can be reliably identified during movement, and solving the problem of inaccurate positioning caused by the lack of a two-way detection mechanism in traditional forks.

[0032] Furthermore, the present application proposes two collision sensing assemblies installed on the forks. Each collision sensing assembly includes a fork tip collision switch located at the end of the fork, which provides feedback on collision signals from the fork tip. The two fork tip collision switches are adapted to the different loading orientations created by the bidirectional extension of the fork. This technical solution utilizes two independent collision sensing assemblies to detect collisions in different loading orientations created by the bidirectional extension of the fork. The two fork tip collision switches are mounted on either end of the fork. When the fork is extended in either direction to form a loading area, the fork tip collision switch in the corresponding orientation can detect any contact or collision between the fork tip and the cargo in real time. This bidirectional, symmetrical detection mechanism ensures that collision signals are captured promptly by the fork tip collision switch on the corresponding side, regardless of whether the fork is extended to the left or right to form a loading area. This overcomes the technical limitation of conventional one-way detection devices that cannot adapt to bidirectional extension structures. The fork tip collision switch, located directly at the fork tip, can precisely locate the collision location, preventing detection failures caused by changes in the fork tip position after extension and retraction, thus ensuring operational safety in different loading orientations.

[0033] Furthermore, the present application also proposes that the collision sensing assembly also includes a brush plate connected to the fork tip collision switch; the brush plate is installed on the other end of the fork away from the corresponding fork tip collision switch; a wiring harness connection device is provided on the slide, and its probe can selectively contact the surface of the fork; when the fork moves into position in any direction, the probe contacts the copper plate of the brush plate, thereby realizing circuit connectivity and collision feedback of the fork tip collision switch.

[0034] This technical solution forms a detection circuit corresponding to different extension directions of the fork by placing the brush plate and the fork tip collision switch at both ends of the fork. When the fork moves sideways to a certain extreme position, the probe contacts the brush plate, causing the circuit of the fork tip collision switch on that side to be conductive, thereby transmitting the collision signal to the control system. The contact method between the brush plate and the probe avoids the problem of entanglement or breakage of traditional cables caused by the reciprocating movement of the fork. The harness connection device ensures that the probe and the fork surface remain in a non-contact state during the movement of the fork through the elastic contact design of the probe, and conducts electricity only through the copper sheet when it is in place, reducing friction loss. The combination of the electromagnet and the spring controls the extension and retraction of the probe. When the fork moves, the electromagnet adsorbs the probe from the surface. When it is in place, the power is cut off to release the spring pressure to make the probe reliably contacted. This design ensures both freedom of movement and contact stability.

[0035] Furthermore, the present application also proposes that the wiring harness connection device includes:

[0036] Probe holder for mounting the probe;

[0037] An electromagnet fixed to the probe holder;

[0038] A base corresponding to the electromagnet; the probe bracket is slidably set on the sliding rod of the base; the sliding rod between the probe bracket and the base is sleeved with a spring; when the fork moves, the electromagnet is energized to adsorb the base, so that the probe is separated from the fork surface; when the fork is in place, the electromagnet is de-energized, and the spring pushes the probe to contact the brush plate.

[0039] This technical solution dynamically controls the contact state between the probe and the fork surface through the coordinated action of the electromagnet and the spring. The slide bar and spring arranged between the probe holder and the base enable the probe holder to have an elastic sliding function. When the fork moves, the electromagnet is energized to adsorb the base, and the magnetic force is used to overcome the spring resistance to lift the probe off the fork surface, thereby avoiding wear on the probe and fork surfaces caused by movement friction. The probe holder is slidably set on the slide bar to ensure the stability of the probe's movement trajectory. After the fork is in place, the electromagnet is de-energized, and the spring releases the stored elastic potential energy to push the probe holder to slide along the slide bar, so that the probe accurately contacts the copper sheet of the brush plate, realizing the circuit conduction of the fork tip collision switch. This design not only ensures the non-contact state of the fork when it moves, but also realizes a reliable electrical connection after it is in place. At the same time, the cooperation of the electromagnet and the spring eliminates the damage to the probe caused by mechanical shock.

[0040] From the above, it can be seen that the present application provides a fork frame system and a control method thereof that can pick up goods in both directions. The fork is adjusted in both directions to form loading areas in different directions. Combined with the coordinated sliding control of the hanger and the slide, it solves the problem that traditional forklifts need to turn the entire vehicle around and waste aisle space. It has the effect of improving the operating efficiency in narrow aisles and optimizing the utilization of storage space. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A three-dimensional diagram of a three-way AGV forklift capable of bidirectionally picking up goods provided in this application Figure 1 .

[0042] Figure 2 A three-dimensional diagram of a three-way AGV forklift capable of bidirectionally picking up goods provided in this application Figure 2 .

[0043] Figure 3 This is a three-dimensional schematic diagram of a fork frame system for bidirectional forking of goods provided in this application.

[0044] Figure 4 This is a schematic diagram of a fork frame system provided in this application with the side panels of the hanger hidden.

[0045] Figure 5 This is a schematic cross-sectional view of a fork frame system provided in this application.

[0046] Figure 6 This is a three-dimensional schematic diagram of a bidirectional telescopic fork structure, in which the fork is located on the right side of the slide.

[0047] Figure 7 This is a three-dimensional schematic diagram of a bidirectional telescopic fork structure, in which the fork is located on the left side of the slide.

[0048] Figure 8 It is a front cross-sectional view of the bidirectional telescopic fork structure.

[0049] Figure 9 It is a side sectional view of the bidirectional telescopic fork structure.

[0050] Figure 10 for Figure 9 Magnified view of part A.

[0051] Figure 11 This is a stereoscopic view from the outside of the fork.

[0052] Figure 12 This is a stereoscopic view from the inside of the fork.

[0053] Figure 13 Schematic diagram of the top surface of the fork.

[0054] Figure 14 for Figure 13 Enlarged view of part B.

[0055] Figure 15 for Figure 14 Enlarged view of part C. DETAILED DESCRIPTION

[0056] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0057] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0058] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more, unless otherwise explicitly specified.

[0059] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0060] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0061] In existing technology, the forklift's key component, the fork carriage 1, is typically fixed, with the forks 4 rigidly mounted and unable to move. When operating in narrow aisles, reaching forklift cargo requires a complete U-turn, resulting in reduced efficiency and wasted aisle space. While rotating forks 4 can adjust their angle, they require high torque, have limited load capacity, and require a large rotational space, making them unsuitable for narrow environments.

[0062] In order to solve the above problems, the present application proposes a three-way AGV forklift capable of bidirectionally picking up goods. Figure 1-15 As shown, a three-way AGV forklift capable of forking goods in both directions includes: a forklift body 8, a gantry system arranged on the forklift body 8, and a fork frame system arranged on the gantry system; the gantry system includes an outer gantry 8.1 whose lower end is hinged to the forklift body 8, and an inner gantry 8.2 longitudinally slidingly arranged on the outer gantry 8.1; a diagonal rod assembly 8.3 is provided on the forklift body 8, the lower end of the diagonal rod assembly 8.3 is connected to the forklift body 8, and the upper end is connected to the upper end of the outer gantry 8.1; the fork frame system longitudinally slides on the inner gantry 8.2.

[0063] The structural foundation of the above solution lies in the forklift body 8, which integrates the power and travel mechanisms, providing both mobility and load-bearing support. The mast system, mounted vertically at the front of the forklift body 8, is key to achieving cargo lifting and lowering. This system utilizes a multi-stage telescopic design to accommodate varying height requirements. Specifically, the lower end of the outer mast 8.1 is hingedly connected to the forklift body 8, allowing the mast system's inclination to be adjusted within a set range. This adaptability allows the mast system to adapt to varying operating conditions and effectively mitigates structural stress during operation. The inner mast 8.2 is nested within the outer mast 8.1 via longitudinal sliding motion. Driven by a hydraulic cylinder 8.4 and chain assembly 8.5, it achieves precise vertical lifting and lowering motion relative to the outer mast 8.1. The forklift system, serving as the platform directly supporting the cargo pick-up mechanism, slides longitudinally on the inner mast 8.2 and is also driven by a hydraulic cylinder 8.4 and chain assembly 8.5, achieving precise lifting and lowering motion relative to the inner mast 8.2. It forms the final execution point for vertical cargo positioning. A double-layered sliding path increases the mast's lifting height.

[0064] To enhance overall rigidity and stability during elevated operations and resist the mast's overturning moment due to load, a diagonal tie rod assembly 8.3 is mounted on the forklift body 8. Its lower end is connected to the body 8, while its upper end is anchored to the upper end of the outer mast 8.1, forming a highly effective triangular stabilization structure. This significantly improves the mast's resistance to deformation during lifting operations and provides a solid mechanical foundation for precise bidirectional adjustment of the downstream forks. The diagonal tie rod assembly 8.3 also features threaded adjustment for adjustable length to suit mast installation requirements.

[0065] like Figure 3-15As shown, the fork carriage system includes a fork carriage 1 connected to the mast, a hanger 2 that slides laterally on the fork carriage 1, a carriage 3 that slides forward and backward on the hanger 2, and a fork 4 mounted on the carriage 3. The fork 4 slides laterally at the bottom of the carriage 3. A drive mechanism drives the fork 4 to translate bidirectionally to adjust its extension position. A fixing device 5 compresses the fork 4 to prevent displacement. The hanger 2 slides parallel to the fork 4 to control the forward and backward movement of the loading area.

[0066] The fork carriage 1 is the base structure that supports other components. Specifically, it can be implemented as a welded frame structure. It connects to the forklift mast and provides support for the sliding track. The hanger 2 is a load-bearing component with lateral movement, used to adjust the overall lateral position of the forks 4. The carriage 3 is a transitional component with fore-and-aft movement, used to control the longitudinal advance and retreat of the forks 4. Lateral sliding of the forks 4 refers to their lateral movement along the bottom of the carriage 3, creating loading areas with different orientations. The drive mechanism is the source of translational force. The fixing device 5 is the positioning mechanism for the forks 4, used to stabilize the forks 4 during operation. Specifically, the fork carriage 1 serves as the basic support structure. The hanger 2 adjusts the lateral position of the forks 4 through lateral sliding, and the carriage 3 controls the longitudinal advance and retreat of the forks 4 through fore-and-aft sliding. The forks 4 themselves translate bidirectionally at the bottom of the carriage 3, creating left and right loading areas. When cargo is to be picked up from the opposite side, the drive mechanism drives the forks 4 to move laterally to the target side, while the hanger 2 simultaneously moves forward and backward to adjust its direction. The fixing device 5 presses and locks the forks 4 into place. The parallel sliding design of the hanger 2 and the fork 4 allows for spatial coordination between lateral position adjustment and longitudinal advance and retreat, preventing the vehicle from turning. Through the above-mentioned technical solution, this application implements a bidirectional forking function for the fork 4, eliminating vehicle U-turns and improving efficiency in narrow aisle operations. The fork 4's translational adjustment replaces rotational movement, reducing energy consumption while maintaining structural strength. Multi-level sliding coordinated control enables more precise positioning of the fork 4, avoiding the space waste associated with traditional solutions. The fixing device 5 ensures operational stability and prevents the risk of displacement of the fork 4.

[0067] In a specific embodiment, the fork carriage 1 includes a lifting frame 1.3 disposed in the middle for connecting to the mast; a lateral slide 1.4 and a second rack 1.5 are provided on the surface of the fork carriage 1; a roller 2.1 embedded in the slide 1.4 and a drive gear 2.2 meshing with the second rack 1.5 are provided on the hanger 2; a hydraulic motor 2.3 controls the rotation of the drive gear 2.2 to drive the hanger 2 lateral movement along the fork carriage 1; a forward and backward optical axis 2.4 and a double-acting cylinder 2.5 are provided on the hanger 2; a slide 3 is slidably mounted on the optical axis 2.4 and connected to the output shaft of the double-acting cylinder 2.5; the double-acting cylinder 2.5 controls the forward and backward sliding of the slide 3 relative to the hanger 2 by extending and retracting the output shaft. The lifting frame 1.3 refers to the supporting structure connecting the mast and fork carriage 1. Specifically, it can be fixed to the middle of the fork carriage 1 by welding or bolting. Its function is to provide a stable support base for the mast and ensure the overall structural rigidity of the fork carriage 1 during lateral movement of the hanger 2. The lateral slide 1.4 refers to a linear guide groove opened along the length direction of the fork frame 1. Specifically, a U-shaped groove or T-shaped groove structure can be adopted. Its function is to limit the lateral movement trajectory of the hanger 2 and prevent deviation. The second rack 1.5 refers to a linear toothed structure arranged parallel to the lateral slide 1.4. Its function is to engage with the drive gear 2.2 to convert rotational motion into linear motion. The roller 2.1 refers to a guide element embedded in the lateral slide 1.4. Specifically, a nylon roller with a deep groove ball bearing can be adopted. Its function is to reduce the friction resistance during the lateral movement of the hanger 2. The drive gear 2.2 refers to a transmission component that engages with the second rack 1.5. Its function is to convert the torque output by the hydraulic motor 2.3 into a linear driving force for the hanger 2. The optical axis 2.4 refers to a cylindrical guide shaft arranged along the front and rear directions of the hanger 2. Its function is to provide a low-friction sliding track for the slide 3. The double-acting cylinder 2.5 is a bidirectional hydraulically driven linear actuator, specifically a hydraulic cylinder. Its function is to directly control the forward and backward movement of the carriage 3 by extending and retracting the output shaft. In this solution, the lifting frame 1.3 serves as the connection point between the fork carriage 1 and the mast, enhancing the rigidity of the central structure to ensure stability of the fork carriage 1 under load. The lateral guide 1.4 and roller 2.1 form a mechanical guide mechanism, eliminating lateral deflection during lateral movement of the hanger 2. The meshing transmission of the second rack 1.5 and the drive gear 2.2 converts the rotational power of the hydraulic motor 2.3 into precise linear displacement. By adjusting the speed of the hydraulic motor 2.3, the lateral movement speed of the hanger 2 can be precisely controlled. The optical axis 2.4 provides a linear sliding track for the carriage 3, and its surface hardening ensures wear resistance during long-term use. The double-acting cylinder 2.5 achieves smooth bidirectional drive through symmetrically arranged oil circuits, and the rigid connection between the output shaft and the carriage 3 ensures effective transmission of driving force. When the position of the fork 4 needs to be adjusted, the hydraulic motor 2.3 drives the gear 2.2 to move the hanger 2 laterally along the fork frame 1. At the same time, the double-acting cylinder 2.5 pushes the slide 3 to slide back and forth along the optical axis 2.4. The combination of these two movements realizes the multi-dimensional adjustment of the spatial position of the fork 4.This solution effectively improves the smoothness and positioning accuracy of lateral movement of bracket 2 by utilizing the mechanical guidance of lateral guideways 1.4 and rollers 2.1, combined with the precision transmission of rack and pinion gears. The combined design of optical axis 2.4 and double-acting hydraulic cylinder 2.5 ensures the linearity of forward and backward movement of bracket 3 while also enabling rapid response and precise control through hydraulic drive.

[0068] like Figure 6 As shown, a fork base 4.2 is provided at the bottom of the slide 3, and a sliding channel is constructed on the fork base 4.2 that passes through the two opposite sides of the slide 3. The fork 4 is movably arranged in the fork base 4.2. Among them, the fork base 4.2 refers to a load-bearing structure fixed to the bottom of the slide 3, which can be specifically implemented by a metal frame fixed by welding or bolts, and its function is to provide guidance and support for the bidirectional movement of the fork 4. The sliding channel refers to a linear movement path set along the length direction of the fork base 4.2, which can be specifically implemented by a groove or guide rail structure, and a bidirectional movement space is formed by the design that passes through the two sides of the slide 3. The moving setting of the fork 4 refers to the formation of a moving pair between the fork 4 and the sliding channel, which can be specifically implemented by the cooperation of a slider and a guide rail to ensure that the fork 4 can translate stably in the sliding channel.

[0069] In this solution, the fork base 4.2 serves as the foundational support component, rigidly connected to the bottom of the carriage 3. Its transversely extending sliding channel runs through both sides of the carriage 3, creating a bidirectional, continuous movement space. The fork 4 is embedded within the guide rails of the sliding channel via a slider located at its base, constrained to allow only translational movement along the channel's axis. When the drive mechanism applies thrust, the fork 4 moves left or right along the sliding channel, its range of motion limited by the channel's length. When the fork 4 moves outward, its end can extend from the left or right side of the carriage 3, creating loading areas with different orientations. This structure prevents the fork 4 from drifting or wobbling by defining the sliding channel that defines its movement path. Furthermore, the through-hole design ensures that the fork 4 is not obstructed by the space within the carriage 3 when extending in both directions. Compared to existing fork mounts 1, existing fork mounts 1 employ either fixed mounting or integral rotating structures. The former lacks operational flexibility due to the fork 4's inability to adjust its position, while the latter requires high torque and occupies rotational space. This solution utilizes the linear movement design of the fork base 4.2 and the sliding channel to achieve bidirectional position adjustment of the fork 4 within a confined space, eliminating the need for overall rotation, thus reducing energy consumption and avoiding space waste. Through this technical solution, the present application achieves flexible position adjustment of the fork 4 within a narrow aisle. During operation, the loading direction can be switched by simply moving the fork 4 horizontally, eliminating the need for vehicle U-turns, significantly improving cargo storage and retrieval efficiency and reducing aisle width requirements. The coordinated structure of the fork base 4.2 and the sliding channel ensures load stability while enabling precise and controllable movement of the fork 4, effectively adapting to the spatial constraints of different operating scenarios.

[0070] In a specific implementation scheme, a first rack 4.1 is welded to the fork 4, and the driving mechanism includes a translation driving component 4.3 provided at the bottom of the slide 3, and an adjusting gear 4.4 meshing with the first rack 4.1. The translation driving component 4.3 drives the fork 4 to slide in two-way translation relative to the slide 3 by driving the first rack 4.1. Among them, the first rack 4.1 refers to a metal strip structure with a continuous tooth shape welded on the fork 4, and its tooth surface meshes with the tooth groove of the adjusting gear 4.4, and the driving force is transmitted through the meshing of the tooth surfaces. The translation driving component 4.3 refers to a mechanical device that outputs rotational power, which can be specifically implemented by a servo motor or a hydraulic motor, and its output shaft is connected to the central axis of the adjusting gear 4.4 through a coupling. The adjusting gear 4.4 refers to a cylindrical gear that forms a meshing relationship with the first rack 4.1, and converts rotational motion into linear displacement through tooth surface contact. When the translation drive component 4.3 drives the adjustment gear 4.4 to rotate clockwise or counterclockwise, the first rack 4.1, meshed with the adjustment gear 4.4, moves linearly along a pre-set sliding channel at the bottom of the carriage 3. When the adjustment gear 4.4 rotates clockwise, the first rack 4.1 drives the fork 4 to translate to the left; when the adjustment gear 4.4 rotates counterclockwise, the first rack 4.1 drives the fork 4 to translate to the right. Because the meshing transmission between the gear and rack has a fixed transmission ratio, the travel distance of the fork 4 is linearly proportional to the number of rotations of the adjustment gear 4.4, thereby achieving precise control of displacement. The entire drive mechanism acts directly on the fork 4 itself, eliminating the need for an intermediate transmission chain or rotating support structure.

[0071] like Figure 8-10 As shown, this embodiment further proposes that the fixing device 5 includes a clamping cylinder 5.1 and a clamping spring 5.2 fixed to the interior of the slide 3, a shaft rod 5.3 fixed to the piston rod of the clamping cylinder 5.1, and a sleeve 5.4 axially movably sleeved on the lower end of the shaft rod 5.3; the clamping spring 5.2 is sleeved on the shaft rod 5.3 above the sleeve 5.4, with its two ends pressing against the shaft rod 5.3 and the sleeve 5.4 respectively; when the piston rod of the clamping cylinder 5.1 is pressed downward, the downward force is transmitted to the sleeve 5.4 through the clamping spring 5.2, and the sleeve 5.4 compresses the fork 4 and prevents damage due to overpressure.

[0072] The clamping cylinder 5.1 is a hydraulically driven linear actuator, typically a double-acting or single-acting cylinder, that provides axial clamping force. The compression spring 5.2 is a mechanical element with elastic deformation capability, typically a coil spring or disc spring, that cushions impact forces during the clamping process. In practice, a high-pressure spring is employed to ensure adequate clamping force. The shaft 5.3 is a transmission component rigidly connected to the piston rod of the clamping cylinder 5.1, typically made of medium-carbon steel or alloy steel. It transmits the output force of the clamping cylinder 5.1. The bushing 5.4 is a contact component that slides axially along the shaft 5.3, typically made of a copper alloy or steel-based composite material. It evenly transmits the clamping force to the surface of the fork 4. When the piston rod of the clamping cylinder 5.1 moves downward, the shaft 5.3 moves downward with it, compressing the compression spring 5.2 and causing it to elastically deform. The spring's elastic force is then applied to the surface of the fork 4 via the bushing 5.4, achieving the clamping effect. During contact between sleeve 5.4 and fork 4, if there is positional deviation or external load changes on fork 4, the elastic deformation of compression spring 5.2 adaptively adjusts the clamping force, avoiding stress concentration caused by rigid contact. The axial sliding design of sleeve 5.4 allows for free adjustment of the contact angle within a certain range, ensuring that the clamping force is evenly distributed across the surface of fork 4.

[0073] This solution, through the combination of elastic elements and sliding components, creates a buffering protection mechanism while maintaining the clamping force, eliminating the risk of structural damage caused by rigid impact. Through the above technical solution, this application solves the problem of overpressure damage caused by rigid compression when the fork 4 is fixed. The elastic buffering effect of the spring absorbs abnormal loads and ensures that the fork 4 obtains a stable clamping and fixing effect after it is moved into place, avoiding displacement caused by vibration or impact during operation.

[0074] Furthermore, a pressure plate 5.5 is provided at the upper end of the shaft 5.3, against which the upper end of the compression spring 5.2 presses; a contact switch is provided inside the carriage 3, including an upper contact switch 5.6 and a lower contact switch 5.7; when the piston rod drives the shaft 5.3 to move, the pressure plate 5.5 cooperates with the upper contact switch 5.6 to provide feedback on the movement status of the fork 4, and cooperates with the lower contact switch 5.7 to provide feedback on the compression status. The pressure plate 5.5 refers to a plate-like structure disposed at the top of the shaft 5.3, and can be specifically welded to the top of the shaft 5.3 by metal plate or bolted, and is used to transmit the pressure of the compression spring 5.2 and trigger the contact switch. A contact switch refers to an electrical signal triggering device comprising independent contacts, and can specifically be a mechanical microswitch or a spring contact switch. The upper contact switch 5.6 is arranged above the movement path of the pressure plate 5.5, and the lower contact switch 5.7 is arranged below the movement path of the pressure plate 5.5. The distance between the two is determined by the compression stroke. The compression spring 5.2 refers to an elastic element sleeved on the shaft 5.3, and can be specifically a cylindrical coil spring, whose two ends press against the pressure plate 5.5 and the sleeve 5.4 respectively, and buffers the pressure through elastic deformation during the compression process and maintains a stable compression force.

[0075] Specifically, when the piston rod of the clamping cylinder 5.1 drives the shaft 5.3 downward, the pressure plate 5.5 moves synchronously with the shaft 5.3 and gradually disengages the upper contact switch 5.6. At this point, the moving state signal is released, indicating that the fork 4 has entered the adjusted position. When the pressure plate 5.5 continues to move downward and contacts the lower contact switch 5.7, the clamping state signal is triggered, indicating that the sleeve 5.4 has fully compressed the fork 4. When the fork 4 needs to be released, the piston rod drives the shaft 5.3 upward, the pressure plate 5.5 disengages the lower contact switch 5.7 and contacts the upper contact switch 5.6. At this point, the clamping state signal is released and the moving state signal is activated. Through the linkage between the pressure plate 5.5 and the contact switch, the movement and clamping state of the fork 4 are detected in real time and fed back to the control system, preventing the fixing device 5 from accidentally moving the fork 4 when it is not fully released, or preventing cargo from being moved when it is not fully clamped. Through the above technical solution, the present application realizes independent detection and real-time feedback of the movement and clamping status of the fork 4, ensuring that the fixing device 5 is allowed to move only after the fork 4 is fully released, and locks the fork 4 after being clamped in place, preventing the fork 4 from slipping or components from being damaged by overpressure due to inaccurate operation, thereby improving work safety and operational reliability.

[0076] like Figure 10As shown in Figures 12 and 13, the carriage 3 is equipped with two sets of detection components 7; feedback components 4.7 are installed at each end of the fork 4. When the fork 4 slides in both directions, the two sets of detection components 7 respectively detect the feedback components 4.7 at each end of the fork 4 to determine the extension direction and position of the fork 4. The detection components 7 are sensors used to detect the position of the fork 4. Specifically, they can be implemented as photoelectric sensors or proximity switches. Their function is to obtain real-time position signals of the fork 4 as it moves. The feedback components 4.7 are identifiable marks fixed to each end of the fork 4. Specifically, they can be implemented as metal blocks, reflectors, or through-holes. Their function is to provide a recognizable physical trigger condition for the detection components 7. When the fork 4 translates in a certain direction, the feedback components 4.7 at each end of the fork 4 enter the corresponding sensing area of ​​the detection components 7. For example, when the fork 4 slides to the right to a preset position, the left feedback component 4.7 triggers the left detection component 7 to generate a first signal, while the right feedback component 4.7 moves away from the right detection component 7, causing the second signal to disappear. By observing the timing of the signal changes from the two sets of detection components 7, the system can determine that the fork 4 is moving to the right and in position. The corresponding feedback component 4.7 is continuously sensed by the detection component 7, generating a lock signal. When the fork 4 slides to the left, the coordination logic of the right detection component 7 and the feedback component 4.7 is reversed, thereby achieving accurate judgment of bidirectional movement. Through the above technical solution, the present application solves the problems of ambiguous direction recognition and misjudgment of the in-position state during bidirectional translation of the fork 4, avoids cargo collisions or failed pick-up and placement due to positioning errors, and improves operational efficiency and system stability.

[0077] like Figure 11-15As shown, two sets of collision sensor components are provided on the fork 4. Each set of collision sensor components includes a fork tip collision switch 6.5 provided at the end of the fork 4. The two sets of fork tip collision switches 6.5 are adapted to the different loading areas formed by the bidirectional extension and retraction of the fork 4. Among them, the collision sensor component refers to a device for sensing the contact or collision between the front end of the fork 4 and the cargo. Specifically, it can be implemented by a contact mechanical switch or a pressure sensor, and the collision status is fed back through a trigger signal. The fork tip collision switch 6.5 refers to a contact sensor installed at the end of the fork 4. Specifically, it can be implemented by a micro switch or an elastic conductive sheet structure. When the front end of the fork 4 contacts the cargo, the fork tip collision switch 6.5 is pressurized and closed to generate an electrical signal. The different loading areas formed by bidirectional extension and retraction refer to the loading directions formed when the fork 4 is extended to the left and right sides respectively by lateral sliding. Specifically, it can be achieved by controlling the bidirectional translation of the fork 4 at the bottom of the slide 3 by a drive mechanism. The two sets of fork tip collision switches 6.5 correspond to the front end positions when the left and right sides are extended. When the fork 4 is extended to the left, the fork tip collision switch 6.5 at the left end is at the front end of the loading area. At this time, if the front end of the fork 4 comes into contact with the cargo, the left fork tip collision switch 6.5 is pressurized and triggers a signal. When the fork 4 is extended to the right, the fork tip collision switch 6.5 at the right end switches to the front end detection position, monitoring the right collision status in real time. The two sets of collision sensor components operate independently, and their trigger signals are automatically matched with the extension direction of the fork 4, ensuring that the corresponding front end collision signal can be accurately captured regardless of the extension state of the fork 4. During the movement of the fork 4, the installation position of the fork tip collision switch 6.5 always remains synchronized with the front end of the current loading direction, avoiding detection blind spots due to changes in the position of the fork 4.

[0078] In a specific embodiment, the collision sensing assembly further comprises a brush plate 6.1 connected to a fork tip collision switch 6.5; the brush plate 6.1 is mounted on the other end of the fork 4 away from the corresponding fork tip collision switch 6.5; a wiring harness connection device 6 is provided on the carriage 3, and its probe 6.3 can selectively contact the surface of the fork 4; when the fork 4 moves into position in any direction, the probe 6.3 contacts the copper sheet of the brush plate 6.1, thereby achieving circuit connectivity and collision feedback of the fork tip collision switch 6.5.

[0079] The brush plate 6.1 is a conductive component with a copper sheet on its surface, which can be implemented by copper plating on a metal substrate. It is used to contact the probe 6.3 to form a conductive circuit when the fork 4 moves into position. The wiring harness connection device 6 is a circuit connection mechanism with an elastic probe 6.3, which can be implemented by a structure that cooperates with a probe bracket 6.6 and a slide rod 6.8. It is used to establish stable electrical contact when the fork 4 is stationary, as described in detail below. The probe 6.3 is a conductive component with elastic expansion and contraction function, which can be implemented by a spring-loaded copper needle. It is used to automatically contact the brush plate 6.1 to conduct the circuit when the fork 4 is in position.

[0080] In some specific embodiments, a limit block is provided between the probe bracket 6.6 and the base 6.7 to limit the maximum telescopic stroke of the probe 6.3; the surface of the copper sheet can be covered with an anti-oxidation coating to improve the conductive stability; the contact pressure between the probe 6.3 and the brush plate 6.1 is controlled by adjusting the spring preload.

[0081] Through the above technical solution, the present application realizes the directional feedback of the collision detection signal during the bidirectional movement of the fork 4, preventing the mutual interference of sensor signals in different directions; through the non-contact circuit connection design, the risk of breakage caused by repeated bending of the cable is avoided; the compact contact matching structure adapts to the space limitations of the narrow working environment, ensuring detection accuracy and equipment reliability.

[0082] In a specific embodiment, the wiring harness connection device 6 includes a probe bracket 6.6 for mounting a probe 6.3, an electromagnet 6.4 fixed to the probe bracket 6.6, a base 6.7 corresponding to the electromagnet 6.4, the probe bracket 6.6 being slidably mounted on a slide rod 6.8 of the base 6.7, a spring 6.9 being sleeved on the slide rod 6.8 between the probe bracket 6.6 and the base 6.7, and when the fork 4 moves, the electromagnet 6.4 is energized to adsorb the base 6.7 to separate the probe 6.3 from the surface of the fork 4, and when the fork 4 is in place, the electromagnet 6.4 is de-energized and the spring 6.9 pushes the probe 6.3 to contact the brush plate 6.1. The probe bracket 6.6 refers to a moving component that carries the probe 6.3, and can be specifically formed by processing an aluminum alloy profile, and axial displacement is achieved by cooperating with the slide rod 6.8 through a sliding sleeve, and its function is to provide a stable sliding path for the probe 6.3.

[0083] Among them, electromagnet 6.4 refers to an electromagnetic element that generates a magnetic field when energized. Specifically, it can adopt a DC electromagnetic coil structure and is installed on the top of probe bracket 6.6. It is used to lift probe 6.3 by magnetically adsorbing base 6.7 during the movement phase of fork 4. Slide rod 6.8 refers to the guide component supporting probe bracket 6.6. Specifically, it can adopt a chrome-plated optical axis. It cooperates with the linear bearing within probe bracket 6.6 to ensure the vertical accuracy of the movement trajectory of probe bracket 6.6. Spring 6.9 refers to an energy storage elastic element. Specifically, it can adopt a cylindrical helical compression spring. It is mounted on the outside of slide rod 6.8 and is used to provide a downward elastic thrust to reset probe 6.3 when electromagnet 6.4 is de-energized.

[0084] Specifically, during the bidirectional movement of the fork 4, the electromagnet 6.4 is energized to generate a magnetic attraction force, causing the probe bracket 6.6 to overcome the resistance of the spring 6.9 and slide upward along the slide bar 6.8, and the probe 6.3 completely detaches from the surface of the fork 4 to form a non-contact state. When the fork 4 moves to the right to the extreme position, the left end brush plate 6.1 is aligned with the probe 6.3. At this time, the electromagnet 6.4 is de-energized, and the spring 6.9 pushes the probe bracket 6.6 to slide along the slide bar 6.8, causing the probe 6.3 to contact the copper sheet of the brush plate 6.1, and the circuit of the right fork tip collision switch 6.5 is turned on. When the fork 4 moves to the left to the extreme position, the right end brush plate 6.1 is aligned with the probe 6.3. The probe 6.3 contacts the brush plate 6.1 under the action of the spring 6.9, and the circuit of the left fork tip collision switch 6.5 is turned on. This method matches the contacts corresponding to the physical position to ensure that only the collision switch on the corresponding side is activated when moving in different directions. Through the above-mentioned technical solution, the present application achieves controlled contact and separation between probe 6.3 and the surface of fork 4, preventing wear caused by friction between probe 6.3 and fork 4 during the moving phase of fork 4. In the in-place phase, elastic contact ensures accurate triggering of circuit signals. This device solves the technical drawback of traditional fixed probes, where wear accumulation leads to poor contact, while also eliminating the space limitations of rotating contact mechanisms.

[0085] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0086] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention.

Claims

1. A three-way AGV forklift capable of bidirectionally picking up cargo, comprising: A forklift body (8), a gantry system arranged on the forklift body (8), and a fork frame system arranged on the gantry system; The gantry system comprises an outer gantry (8.1) whose lower end is hinged to a forklift body (8), and an inner gantry (8.2) longitudinally slidably arranged on the outer gantry (8.1); a diagonal tie rod assembly (8.3) is arranged on the forklift body (8), the lower end of the diagonal tie rod assembly (8.3) being connected to the forklift body (8) and the upper end being connected to the upper end of the outer gantry (8.1); the fork frame system is longitudinally slidably arranged on the inner gantry (8.2); Its characteristics are: Fork carriage system includes - a fork frame (1) slidably arranged on the inner mast (8.2); - a hanger (2) arranged on the fork frame (1) in a sideways sliding manner; - a carriage (3) arranged on the hanger (2) for sliding forward and backward; - a fork (4) arranged on the carriage (3); - the fork (4) is arranged to slide laterally at the bottom of the carriage (3); - a driving mechanism for driving the fork (4) to slide in a bidirectional translation relative to the slide (3) to adjust the extension position of the fork (4) relative to the slide (3) to form loading areas with different orientations; - a fixing device (5), used to press the fork (4) after it moves into position to prevent displacement; - The sliding direction of the hanger (2) is parallel to the fork (4), and the movement of the hanger (2) is used to control the advance and retreat of the fork loading area.

2. The three-way AGV forklift capable of bidirectionally picking up goods according to claim 1, characterized in that: - A lifting frame (1.3) for connecting to a mast is provided in the middle of the fork frame (1); - The surface of the fork frame (1) is provided with a lateral slide groove (1.4) and a second rack (1.5); - The rack (2) is provided with a roller (2.1) embedded in the slide groove (1.4), and a driving gear (2.2) meshing with the second rack (1.5); - The hydraulic motor (2.3) controls the rotation of the driving gear (2.2) to drive the hanger (2) to move laterally along the fork frame (1); - The bracket (2) is provided with an optical axis (2.4) in the front-rear direction and a double-acting oil cylinder (2.5); - The slide (3) is slidably mounted on the optical axis (2.4) and connected to the output shaft of the double-acting cylinder (2.5); - The double-acting oil cylinder (2.5) controls the slide (3) to slide forward and backward relative to the hanger (2) by telescoping the output shaft.

3. The three-way AGV forklift capable of bidirectionally picking up goods according to claim 1, characterized in that: - A fork base (4.2) is provided at the bottom of the slide (3); - A sliding channel is constructed on the fork base (4.2) and passes through two opposite sides of the slide; - The fork (4) is movably arranged in the fork base (4.2).

4. The three-way AGV forklift capable of bidirectionally picking up goods according to claim 3, characterized in that: - A first rack (4.1) is welded to the fork (4); - the driving mechanism comprises a translation driving component (4.3) arranged at the bottom of the slide (3), and an adjusting gear (4.4) meshing with the first rack (4.1); The translation drive component (4.3) drives the first rack (4.1) to drive the fork (4) to slide in a bidirectional translation relative to the slide (3).

5. The three-way AGV forklift capable of bidirectionally picking up goods according to claim 1, characterized in that: - The fixing device (5) comprises: - A compression cylinder (5.1) and a compression spring (5.2) fixed inside the carriage (3); - a shaft (5.3) fixed to the piston rod of the pressing cylinder (5.1); - a shaft sleeve (5.4) axially movably sleeved on the lower end of the shaft (5.3); - The compression spring (5.2) is sleeved on the shaft (5.3) above the shaft sleeve (5.4), with its two ends pressing against the shaft (5.3) and the shaft sleeve (5.4) respectively; - When the piston rod of the compression cylinder (5.1) is pressed down, the downward force is transmitted to the shaft sleeve (5.4) through the compression spring (5.2), and the shaft sleeve (5.4) compresses the fork (4) and prevents it from being damaged by overpressure.

6. The three-way AGV forklift capable of bidirectionally picking up goods according to claim 5, characterized in that: - A pressure plate (5.5) is provided at the upper end of the shaft (5.3), and the upper end of the compression spring (5.2) presses against the pressure plate (5.5); - A contact switch is provided inside the slide (3), including an upper contact switch (5.6) and a lower contact switch (5.7); -When the piston rod drives the shaft (5.3) to move, the pressure plate (5.5) cooperates with the upper contact switch (5.6) to feedback the fork movement status, and cooperates with the lower contact switch (5.7) to feedback the pressing status.

7. The three-way AGV forklift capable of bidirectionally picking up cargo according to claim 1, characterized in that: - Two groups of detection components (7) are provided on the slide (3); - Both ends of the fork (4) are provided with feedback components (4.7); - When the fork (4) slides in two-way translation, two sets of detection components respectively detect the feedback components at both ends of the fork to determine the extension direction and the position of the fork.

8. The three-way AGV forklift capable of bidirectionally picking up goods according to claim 1, characterized in that: - Two groups of collision sensor components are provided on the fork (4); - Each set of collision sensor components includes a fork tip collision switch (6.5) arranged at the end of the fork, which is used to feedback the collision signal of the front end of the fork; - Two sets of fork tip collision switches (6.5) are respectively adapted to different loading areas formed by the bidirectional extension and retraction of the forks.

9. The three-way AGV forklift capable of bidirectionally picking up goods according to claim 8, characterized in that: - The collision sensor assembly also includes a brush plate (6.1) connected to the fork tip collision switch (6.5); - The brush plate (6.1) is mounted on the other end of the fork (4) away from the corresponding fork tip collision switch (6.5); - A wiring harness connection device (6) is provided on the carriage (3), and its probe (6.3) can selectively contact the fork surface; - When the fork (4) moves to any direction, the probe (6.3) contacts the copper sheet of the brush plate (6.1), thereby realizing the circuit connection and collision feedback of the fork tip collision switch (6.5).

10. The three-way AGV forklift capable of bidirectionally picking up goods according to claim 9, characterized in that: -The wiring harness connection device (6) comprises: - a probe holder (6.6) for mounting the probe (6.3); - an electromagnet (6.4) fixed to the probe holder (6.6); - a base (6.7) corresponding to the electromagnet (6.4); - The probe holder (6.6) is slidably mounted on a slide bar (6.8) of the base (6.7); - A spring (6.9) is provided on the slide bar (6.8) between the probe support (6.6) and the base (6.7); -When the fork moves, the electromagnet (6.4) is energized to attract the base (6.7), so that the probe (6.3) is separated from the fork surface; - When the fork is in place, the electromagnet is de-energized and the spring (6.9) pushes the probe (6.3) to contact the brush plate (6.1).

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