Control method and control device for a bull mover, bull mover, and storage medium

Abstract

The application provides a control method and device of a ground carrier, the ground carrier and a storage medium. The control method comprises: controlling the forks to travel in a first attitude in which the first support device is in an extended state and the second support device is in a retracted state, and detecting the horizontal distance between the first support device and the threshold of the pallet; determining whether the horizontal distance between the first support device and the threshold is less than or equal to a first preset threshold; if yes, controlling the forks to switch from the first attitude to a second attitude in which the first support device is in a retracted state and the second support device is in an extended state, and controlling the forks to travel in the second attitude until the first support device passes the threshold and reaches a first target position; and controlling the forks to switch from the second attitude to the first attitude. The control method can realize the automatic carrying of goods matching the H-shaped pallet.

Description

Technical Field

[0001] This invention relates to the field of pallet trucks, and particularly to a control method, control device, pallet truck, and storage medium for a pallet jack. Background Technology

[0002] Pallet jacks are compact, convenient, flexible, high-capacity, and durable cargo handling tools that can automate the handling of goods in warehousing, logistics, and construction sites. However, existing pallet jacks are difficult to use for handling pallets with sills at the bottom (such as H-shaped pallets), which greatly limits their applicability. Summary of the Invention

[0003] One object of the present invention is to provide a control method, control device, pallet jack, and storage medium for a pallet jack, wherein the control method enables the pallet jack to meet the handling requirements of pallets with sills (such as H-shaped pallets) and realizes automated handling of goods matched with H-shaped pallets.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] One technical solution of the present invention proposes a control method for a pallet jack, the pallet jack comprising forks and a front end, the forks comprising fork bodies and a first support device and a second support device spaced apart along the length direction of the fork bodies, the first support device being located between the second support device and the tail end of the fork, both the first and second support devices being provided with support wheels, both the first and second support devices having an extended state extending downward relative to the fork body to support the fork body and a retracted state retracted into the fork body, and both being able to switch between the extended state and the retracted state, the control method comprising:

[0006] Control the forks to travel in a first posture with the first support device extended and the second support device retracted, and detect the horizontal distance between the first support device and the pallet sill;

[0007] Determine whether the horizontal distance between the first support device and the sill is less than or equal to a first preset threshold.

[0008] If so, control the forks to switch from the first posture to a second posture where the first support device is in a retracted state and the second support device is in an extended state, and control the forks to move in the second posture until the first support device passes the sill and reaches the first target position.

[0009] Control the forks to switch from the second posture to the first posture.

[0010] In one embodiment of the present invention, after the step of controlling the forks to switch from the second posture to the first posture, the method further includes:

[0011] The forks are controlled to travel in the first posture, so that the second support device passes the sill and reaches the second target position. The second target position satisfies the following condition: when the second support device is in the second target position, the sill is located on the side of the second support device away from the first support device.

[0012] In one technical solution of the present invention, the first target position satisfies the following: when the first support device is located at the first target position, the sill corresponds to the distance between the first support device and the second support device, the sill and the first support device have a first horizontal distance, and the sill and the second support device have a second horizontal distance.

[0013] In one technical solution of the present invention, the step of controlling the forks to switch from the first posture to a second posture in which the first support device is in a retracted state and the second support device is in an extended state specifically includes:

[0014] Control the second support device to extend downward until the extension length of the second support device relative to the fork body reaches a first preset length or until the second support device is touched;

[0015] Control the first support device to retract into the fork body.

[0016] In one technical solution of the present invention, the step of controlling the forks to switch from the second posture to the first posture specifically includes:

[0017] Control the first support device to extend downward until the extension length of the first support device relative to the fork body reaches a second preset length or until the first support device is touched;

[0018] Control the second support device to retract into the fork body.

[0019] In one embodiment of the present invention, the pallet jack further includes a detection element for detecting pallet positioning information on the forks and a lifting mechanism disposed on the forks for lifting the pallet; the control method further includes:

[0020] Detect the tray's arrival information;

[0021] The lifting mechanism is controlled to rise based on the pallet positioning information;

[0022] Control the forks to move in the first posture.

[0023] In one technical solution of the present invention, it further includes:

[0024] Control the forks to retreat in the first posture, and detect the horizontal distance between the first support device and the pallet sill;

[0025] Determine whether the horizontal distance between the first support device and the sill is less than or equal to a second preset threshold.

[0026] If so, control the forks to switch from the first posture to the second posture, and control the forks to move backward in the second posture until the first support device passes the sill and reaches the third target position, wherein the third target position satisfies: when the first support device is located at the third target position, the sill is located on the side of the first support device away from the second support device;

[0027] Control the forks to switch from the second posture to the first posture, and control the forks to move backward in the first posture so that the forks separate from the pallet.

[0028] Another technical solution of the present invention proposes a control device, comprising:

[0029] A memory, on which programs or instructions are stored;

[0030] A processor that executes the program or instructions to implement the steps of the control method for the pallet jack transporter as described above.

[0031] Another technical solution of the present invention proposes a ground bull transporter, comprising:

[0032] The front of the car;

[0033] A fork, connected to the front of the vehicle, includes a fork body and a first support device and a second support device spaced apart along the length of the fork body. The first support device is located between the second support device and the tail end of the fork. Both the first and second support devices are equipped with support wheels. Both the first and second support devices have an extended state that extends downward relative to the fork body to support it, and a retracted state that retracts into the fork body. Both can switch between the extended and retracted states.

[0034] The control device described above is communicatively connected to the forks.

[0035] Another technical solution of the present invention proposes a computer-readable storage medium having a program or instructions stored thereon, which, when executed by a processor, implement the steps of the control method for the pallet jack transporter as described above.

[0036] The beneficial effects of this invention are:

[0037] The pallet jack control method of this application enables the forks to overcome obstacles and insert into pallets with sills without interference by switching their posture during travel. This achieves automated handling of goods that match the H-shaped pallet without the need for human intervention, resulting in a superior user experience.

[0038] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention. Attached Figure Description

[0039] The above and other objects, features and advantages of the present invention will become more apparent from a detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0040] Figure 1 This is a three-dimensional structural diagram of a tray according to an embodiment of the prior art.

[0041] Figure 2 This is a flowchart of a control method for a pallet jack transporter according to an embodiment of the present invention.

[0042] Figure 3 This is a three-dimensional structural schematic diagram of a ground ox transporter according to an embodiment of the present invention.

[0043] Figure 4 This is an exploded view of a ground bull transporter according to an embodiment of the present invention.

[0044] Figure 5 This is a three-dimensional structural diagram of the first support device and the second support device according to an embodiment of the present invention.

[0045] Figure 6 This is a schematic diagram of a control method for a ground ox transporter according to an embodiment of the present invention.

[0046] Figure 7 This is a three-dimensional structural schematic diagram of a lifting mechanism according to an embodiment of the present invention.

[0047] Figure 8 This is a three-dimensional structural schematic diagram of the lifting mechanism according to one embodiment of the present invention.

[0048] Figure 9 This is the present invention. Figure 7 An enlarged schematic diagram of part A.

[0049] Figure 10This is a three-dimensional structural schematic diagram of the lifting mechanism according to one embodiment of the present invention.

[0050] Figure 11 This is another flowchart of the control method of the pallet jack transporter according to one embodiment of the present invention.

[0051] Figure 12 This is a structural block diagram of a control device according to an embodiment of the present invention.

[0052] The annotations in the attached figures are explained as follows:

[0053] 1. Pallet; 10. Top plate; 11. Foot block; 12. Sill;

[0054] 2. Locomotive;

[0055] 3. Fork body; 30. Base; 31. Cargo plate; 32. Opening;

[0056] 4. Traveling mechanism; 40. Steering wheel; 41. Casters;

[0057] 51. First support device; 52. Second support device; 53. Support wheel; 541. Mounting bracket; 542. Linear drive component; 55. Fixed base; 56. Drive component mounting base; 57. Upper limit sensor; 58. Lower limit sensor; 59. Sensing plate;

[0058] 6. Lifting mechanism; 60. Lifting section; 61. Drive assembly; 611. Lifting motor; 612. Lead screw; 613. Moving part; 614. Support rod; 615. Reducer; 62. Guide assembly; 621. First support frame; 622. Second support frame; 623. Telescopic frame; 623-1. First connecting rod; 623-2. Second connecting rod; 623-3. Third connecting rod; 623-4. Fourth connecting rod; 623- a. First hinge point; 623-b. Second hinge point; 623-c. Third hinge point; 623-d. Fourth hinge point; 623-e. Fifth hinge point; 623-f. Sixth hinge point; 624. First gear; 625. Second gear; 626. First crossbeam; 627. Second crossbeam; 628. Third crossbeam; 629. Fourth crossbeam; 631. First lifting sensor; 632. Second lifting sensor;

[0059] 7. Distance measuring element

[0060] 8. Control device; 80. Memory; 81. Processor. Detailed Implementation

[0061] Although the invention can be readily embodied in various forms, only some specific embodiments are shown in the accompanying drawings and will be described in detail in this specification. It is understood that this specification should be regarded as an exemplary illustration of the principles of the invention and is not intended to limit the invention to what is described herein.

[0062] Therefore, a feature pointed out in this specification is used to describe one feature of one embodiment of the invention, and does not imply that every embodiment of the invention must have the described feature. Furthermore, it should be noted that this specification describes many features. Although certain features may be combined to illustrate possible system designs, these features may also be used in other combinations not explicitly stated. Therefore, unless otherwise stated, the described combinations are not intended to be limiting.

[0063] In the embodiments shown in the accompanying drawings, the directional indications (such as up, down, inside, outside, left, right, front, back, etc.) used to explain the structure and movement of the various components of the invention are relative rather than absolute. These descriptions are appropriate when these components are in the positions shown in the drawings. If the descriptions of the positions of these components change, these directional indications also change accordingly.

[0064] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the description of the invention will be more complete and fully convey the concept of the exemplary embodiments to those skilled in the art. The drawings are merely illustrative of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0065] The preferred embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0066] like Figure 1The diagram illustrates a typical H-shaped pallet 1 commonly used in this field. It includes a top plate 10 and at least three foot blocks 11 connected below the top plate 10. Each foot block 11 has a rectangular parallelepiped structure. A sill 12, perpendicularly connected to each foot block 11, is provided between adjacent foot blocks 11. The sill 12 is located at least at the upper and lower edges of the top plate 10, thus forming a H-shaped pallet with sills 12 at the bottom of both the inlet and outlet. Compared to E-shaped (also known as a zigzag bottom) pallets without sill support, this type of pallet offers better stability and durability. Existing pallet jacks have forks with fixed-height wheel assemblies. The forks have a certain length and weight to support the goods, and these wheel assemblies function to support the fork body and assist it in moving along the ground. However, because the H-shaped pallet has a sill at the inlet, the wheel assembly on the existing pallet jack forks is interfered with, preventing the forks from smoothly inserting into and withdrawing from the bottom of the pallet. Furthermore, the height of the hollow portion at the bottom of the pallet for fork insertion is limited, making it unsuitable for use.

[0067] Based on this, the present invention proposes a control method for a pallet jack that meets the requirements of using H-shaped pallets, so as to realize the automated handling of goods that match H-shaped pallets.

[0068] Figure 2 This is a flowchart illustrating a control method for a pallet jack transporter according to an embodiment of the present invention. The method includes:

[0069] Step S101: Control the forks to travel in a first posture with the first support device extended and the second support device retracted, and detect the horizontal distance between the first support device and the pallet sill.

[0070] Please see Figures 3 to 5 The pallet jack includes a fork 3 and a headstock 2. The fork 3 includes a fork body and a first support device 51 and a second support device 52 arranged at intervals along the length direction of the fork body. The first support device 51 is located between the second support device 52 and the tail end of the fork. Both the first support device 51 and the second support device 52 are provided with support wheels 53. Both the first support device 51 and the second support device 52 have an extended state that extends downward relative to the fork body to support the fork body and a retracted state that retracts into the fork body, and both can switch between the extended state and the retracted state.

[0071] In this embodiment, the cab 2 is provided with a traveling mechanism 4, which extends out of the bottom surface of the cab 2 and abuts against the ground to drive the cab 2 to move. The traveling mechanism 4 includes at least one steering wheel 40 and at least one swivel wheel 41. The movement of the cab is achieved by the steering wheel 40 and the swivel wheel 41, thereby driving the forks 3 to move.

[0072] The forks 3 have a certain length and weight to carry goods. When the first support device 51 and / or the second support device 52 are extended, their support wheels 53 can rest against the ground and roll synchronously with the movement of the pallet jack to support the forks in motion, so that the forks 3 can move stably. When the forks 3 encounter obstacles while entering or exiting the bottom of the goods or pallet, the first support device 51 and / or the second support device 52 can retract into the fork body and be in a retracted state. In the retracted state, the support wheels 53 of the first support device 51 and / or the second support device 53 are suspended off the ground, so that the forks 3 have the ability to cross obstacles, thereby being able to insert into the H-shaped pallet with a sill without interference.

[0073] The tail end of the fork 3 refers to the end of the fork body away from the front end 2, which is the first part of the fork body to enter the pallet when the fork 3 is submerged at the bottom of the pallet. Conversely, the head end of the fork 3 refers to the end of the fork body closer to the front end 2. The first support device 51 provides the main support for the fork body, while the second support device 52 provides auxiliary support. The second support device 52 extends downward when the first support device 51 is in the retracted state to ensure stable fork movement.

[0074] In some alternative methods, such as Figure 5 As shown, the first support device 51 and the second support device 52 respectively include a support wheel 53, a mounting bracket 541, and a linear drive member 542. The support wheel of the first support device 51 is located between the support wheel of the second support device 52 and the tail end of the fork. The fork body is provided with a receiving space. The mounting bracket 541 is rotatably connected to the fork body. The mounting bracket 541 can drive the support wheel 53 to swing so as to be received in the receiving space, and / or drive the support wheel 53 to swing out from the receiving space so as to extend downward out of the fork. The output end of the linear drive member 542 is rotatably connected to the mounting bracket 541 and is used to drive the mounting bracket 541 to swing.

[0075] In this embodiment, a fixed base 55 is provided in the receiving space of the fork body. The mounting bracket 541 is rotatably connected to the fixed base 55 via a pin. The support wheel 53 is rotatably connected to the mounting bracket 541. The output end of the linear drive 542 is rotatably connected to the mounting bracket 541 via a pin, and the other end is fixedly connected to the drive mounting base 56 provided in the receiving space. The reciprocating telescopic movement of the linear drive 542 within a certain stroke range can drive the mounting bracket 541 to swing along its pin to be received in the receiving space, or to extend from the receiving space to protrude downward from the fork, thereby driving the support wheel 53 to swing, lowering or raising its position.

[0076] For example, when the linear drive 542 retracts, the mounting bracket 541 swings upward and is housed within the receiving space, thereby lifting the support wheel 53 off the ground and suspending it in mid-air, thus placing the first support device 51 or the second support device 52 in the retracted state. When the linear drive 542 extends, the mounting bracket 541 swings downward and extends out of the receiving space, protruding downward from the fork body, thereby lowering the support wheel 53 and extending it out of the fork body to rest against the ground, thus placing the first support device 51 or the second support device 52 in the extended state. The present invention does not specifically limit the linear drive 542; it can be a hydraulic cylinder, a pneumatic cylinder, or an electric linear drive. Preferably, the linear drive 542 is an electric push rod, which is arranged along the length direction of the fork body.

[0077] In this step, the first posture, where the first support device 51 is in the extended state and the second support device 52 is in the retracted state, represents the fork's traveling posture, as follows: Figure 6 As shown in (a), the forks 3 are controlled to maintain a first posture and move so that the tail end of the forks enters the pallet. During this process, the horizontal distance between the first support device 51 and the pallet sill is detected in real time.

[0078] In a preferred embodiment of the present invention, detecting the horizontal distance between the first support device 51 and the sill specifically includes: detecting the horizontal distance between the axis of the support wheel of the first support device 51 and the sill of the pallet.

[0079] Specifically, the horizontal distance between the first support device 51 and the pallet sill is obtained by detecting the horizontal distance between the axis of the support wheel 53 of the first support device 51 and the sill of the pallet jack. A ranging element 7 is provided at the front 2 of the pallet jack, which detects the horizontal distance between the axis of the support wheel of the first support device 51 and the sill of the pallet jack in real time during the movement of the pallet jack, so that the control unit switches the forks from a first posture to a second posture in response to the obtained distance information. In some optional embodiments, the ranging element is a lidar.

[0080] Step S102: Determine whether the horizontal distance between the first support device 51 and the sill is less than or equal to a first preset threshold.

[0081] In this step, the first preset threshold is set according to actual needs. In this embodiment, the specific value of the first preset threshold is not limited. For example, the first preset threshold can be set based on the traveling speed of the pallet jack transporter, the time required for the first support device 51 and the second support device 52 to switch states, etc. The first preset threshold can be 20 cm, 15 cm, 10 cm, etc.

[0082] Step S103: If yes, then control the fork 3 to switch from the first posture to a second posture in which the first support device 51 is in a retracted state and the second support device 52 is in an extended state, and control the fork 3 to move in the second posture until the first support device 51 passes the sill and reaches the first target position.

[0083] In this step, the second posture, where the first support device 51 is in a retracted state and the second support device 52 is in an extended state, is the obstacle-crossing posture of the fork 3. When it is determined that the horizontal distance between the first support device 51 and the sill is less than or equal to a first preset threshold, it indicates that the support wheel of the first support device 51 has reached a position close to the sill, and the first support device 51 needs to be retracted into the fork body so that the sill does not interfere with the movement of the fork; during this process, if Figure 6 As shown in (b), the second support device 52 needs to extend downward relative to the fork body to support the fork body after the first support device 51 retracts, wherein the first preset position is the response position for the fork to switch postures.

[0084] In this step, the first target position is the position where the first support device 51 passes the sill and reaches the other side of the sill. Specifically, it is the position where the support wheel of the first support device 51 passes the sill and reaches the other side of the sill. When the forks reach this first target position, it indicates that the forks have successfully crossed the obstacle. In this embodiment, the specific location of the first target position is set according to the actual operating conditions.

[0085] If not, it means that the support wheel of the first support device 51 has not reached the position close to the sill. Then, the fork 3 is controlled to maintain the first posture and the horizontal distance between the first support device 51 and the sill of the pallet is detected until the horizontal distance between the first support device 51 and the sill is less than or equal to the first preset threshold. Then, the fork is controlled to switch the corresponding posture.

[0086] Step S104: Control the forks to switch from the second posture to the first posture.

[0087] In this step, such as Figure 6 As shown in (c), after the first support device 51 passes the sill and reaches the first target position, specifically after the support wheel of the first support device 51 passes the sill and reaches the first target position, that is, after the first support device 51 completes the obstacle crossing, the fork 3 is controlled to switch from the second posture to the first posture, so that the fork 3 returns from the obstacle crossing posture to the traveling posture, in order to ensure the stable and efficient travel of the fork.

[0088] Furthermore, in a preferred embodiment of the present invention, after the step of controlling the forks to switch from the second posture to the first posture, the method further includes:

[0089] The forks 3 are controlled to move in the first posture, so that the second support device 52 passes the sill to reach the second target position. The second target position satisfies the following condition: when the second support device 52 is in the second target position, the sill is located on the side of the second support device 52 away from the first support device 51.

[0090] In this step, the forks 3 are controlled to move in a first posture so that they further penetrate the pallet. At this time, the second support device 52 is in a retracted state and will not interfere with the sill. The movement of the forks 3 causes the second support device 52 to gradually approach the sill and pass over it to reach the second target position. This second target position is the position where the second support device 52 passes over the sill and reaches the other side of the sill. Specifically, it is the position where the support wheel of the second support device 52 passes over the sill and reaches the other side of the sill. When the second support device 52 is at the second target position, the sill is located on the side where the support wheel of the second support device 52 is away from the first support device 51. In this embodiment, the specific location of the second target position is not limited and can be set according to the actual operating conditions.

[0091] Furthermore, in a preferred embodiment of the present invention, the first target position satisfies the following: when the first support device 51 is located at the first target position, the sill corresponds to the distance between the first support device 51 and the second support device 52, the sill and the first support device 51 have a first horizontal distance, and the sill and the second support device 52 have a second horizontal distance.

[0092] Specifically, when the first support device 51 is located at the first target position, the sill is correspondingly located between the first support device 51 and the second support device 52. Specifically, the sill is correspondingly located between the support wheel of the first support device 51 and the support wheel of the second support device 52. There is a first horizontal distance between the sill and the support wheel of the first support device 51, and a second horizontal distance between the sill and the support wheel of the second support device 52. The first horizontal distance and the second horizontal distance may be equal or unequal. In some optional embodiments, the first horizontal distance and the second horizontal distance are unequal, and the first horizontal distance is less than the second horizontal distance.

[0093] Furthermore, in a preferred embodiment of the present invention, the step of controlling the forks 3 to switch from the first posture to the second posture in which the first support device 51 is in a retracted state and the second support device 52 is in an extended state specifically includes:

[0094] Control the second support device 52 to extend downward until the extension length of the second support device 52 relative to the fork body reaches the first preset length or until the second support device 52 is touched;

[0095] Control the first support device 51 to retract into the fork body.

[0096] In this embodiment, when the fork 3 switches from the first posture to the second posture, the second support device 52 is controlled to extend downward, and after the support wheel of the second support device 52 touches the ground, the first support device 51 is controlled to retract, so as to avoid the fork body being suspended from the ground due to the retraction of the first support device 51, resulting in unstable support.

[0097] In some embodiments, the extent to which the second support device 52 extends relative to the fork can be controlled by extending the linear drive member 542 of the second support device 52 by a preset length. For example, by controlling the linear drive member 542 of the second support device 52 to extend a preset distance, the mounting bracket 541 swings downward and extends out of the receiving space, protruding downward from the fork, thereby driving the support wheel 53 to descend relative to the fork and extend out of the fork to abut against the ground. At this time, the second support device 52 extends a first preset length relative to the fork. When the extension length of the second support device 52 relative to the fork reaches the first preset length, the support wheel of the second support device 52 is configured to just abut against the ground. The preset length for which the linear drive member 542 needs to extend is determined based on the first preset length. In other embodiments, the extent to which the second support device 52 extends relative to the fork can be controlled by causing the second support device 52 to be abutted. Specifically, the linear drive 541 of the second support device 52 is extended, the mounting bracket 541 swings downward and extends out of the receiving space, protruding downward from the fork, thereby driving the support wheel 53 to descend relative to the fork and extend out of the fork. When the support wheel 53 touches the ground, the linear drive 541 stops driving.

[0098] Correspondingly, the degree to which the first support device 51 retracts into the fork body can be controlled by causing the linear drive member 542 of the first support device 51 to retract by a preset length. For example, the linear drive member 542 of the first support device 51 is controlled to retract by a preset distance, and the mounting bracket 541 swings upward and is housed in the housing space, thereby driving the support wheel 53 to be lifted off the ground and housed in the housing space.

[0099] Furthermore, in a preferred embodiment of the present invention, the step of controlling the forks 3 to switch from the second posture to the first posture specifically includes:

[0100] Control the first support device 51 to extend downward until the extension length of the first support device 51 relative to the fork body reaches the second preset length or until the first support device 51 is touched.

[0101] The second support device 52 is controlled to retract into the fork body.

[0102] In this embodiment, when the forks switch from the second posture to the first posture, the first support device 51 is controlled to extend downward, and after the support wheel of the first support device 51 touches the ground, the second support device 52 is controlled to retract, so as to avoid the fork body being suspended from the ground due to the retraction of the second support device 52, resulting in unstable support.

[0103] As described above, in some embodiments, the extent to which the first support device 51 extends relative to the fork can be controlled by extending the linear drive member 542 of the first support device 51 by a preset length. For example, by controlling the linear drive member 542 of the first support device 51 to extend a preset distance, the mounting bracket 541 swings downward and extends out of the receiving space, protruding downward from the fork, thereby driving the support wheel 53 to descend relative to the fork and extend out of the fork to abut against the ground. At this time, the first support device 51 extends a second preset length relative to the fork. When the extension length of the first support device 51 relative to the fork reaches the second preset length, the support wheel of the first support device 51 is configured to just abut against the ground. The preset length required for the linear drive member 542 to extend is determined according to the second preset length. In other embodiments, the extent to which the first support device 51 extends relative to the fork can be controlled by causing the first support device 51 to be abutted. Specifically, the linear drive 542 of the first support device 51 is extended, the mounting bracket 541 swings downward and extends out of the receiving space, protruding downward from the fork, thereby driving the support wheel 53 to descend relative to the fork and extend out of the fork. When the support wheel 53 touches the ground, the linear drive 542 stops driving.

[0104] Correspondingly, the degree to which the second support device 52 retracts into the fork body can be controlled by causing the linear drive member 542 of the second support device 52 to retract by a preset length. For example, the linear drive member 542 of the second support device 52 is controlled to retract by a preset distance, and the mounting bracket 541 swings upward and is housed in the housing space, thereby driving the support wheel 53 to lift off the ground and be housed in the housing space.

[0105] In some preferred embodiments of this application, such as Figure 5 As shown, the first support device 51 and the second support device 52 also include position sensing elements, which are configured to detect whether the support wheel 53 has moved to a preset position.

[0106] The positioning sensing element includes an upper limit sensor 57, a lower limit sensor 58, and a sensing plate 59. The sensing plate 59 is disposed on the mounting bracket 541 to sense the upper limit sensor 57 and the lower limit sensor 58.

[0107] In this embodiment, a sensor mounting base is provided inside the fork body near the fixed seat 55. The upper limit sensor 57 and the lower limit sensor 58 are arranged on the sensor mounting base and are distributed vertically at intervals. The sensing plate 59 is arranged on the mounting frame 541 and swings synchronously with the mounting frame 541. When the mounting frame 541 moves downward and the sensing plate 59 approaches the sensing area of ​​the lower limit sensor 58, the lower limit signal is triggered, indicating that the support wheel 53 has reached the lowest position, and the linear drive 542 stops driving. At this time, the support wheel 53 touches the ground. When the mounting frame 541 moves upward and the sensing plate 59 approaches the sensing area of ​​the upper limit sensor 57, the upper limit signal is triggered, indicating that the support wheel 53 has reached the highest position, and the linear drive 542 stops driving.

[0108] Furthermore, in a preferred embodiment of the present invention, the pallet jack transporter further includes a detection element for detecting pallet positioning information on the forks and a lifting mechanism disposed on the forks for lifting the pallet; the control method further includes:

[0109] Detect the tray's arrival information;

[0110] The lifting mechanism is controlled to rise based on the pallet positioning information;

[0111] Control the forks to move in the first posture.

[0112] In this embodiment, a detection element is provided at the front of the vehicle to detect whether the forks have moved to a preset end position on the pallet. For example, this detection element is a contact sensor, which controls the forks to maintain a first posture during travel. Figure 6 As shown in (d), when the forks travel to the contact sensor at the pallet contact head, the contact sensor outputs pallet positioning information, indicating that the forks have moved into position. The control unit receives this pallet positioning information and controls the lifting mechanism to rise, as shown in (d). Figure 6 As shown in (e), the tray is lifted off the ground.

[0113] Furthermore, after the pallet is lifted off the ground, the forks are controlled to move in a first posture to transfer the pallet to the target location, i.e., when the pallet jack is loaded, the forks move in the first posture.

[0114] In a preferred embodiment of the present invention, please refer to Figure 4The fork includes a base 30 and a cargo plate 31 arranged opposite to each other. The base 30 and the cargo plate 31 enclose the receiving space. The base 30 has an opening 32 for the first support device 51 and the second support device 52 to extend and retract. The cargo plate 31 is connected to the base 30 through a lifting mechanism 6. The lifting mechanism 6 drives the cargo plate 31 to move vertically relative to the base.

[0115] In this embodiment, the loading plate 31 is used to contact the pallet to lift it, thereby transferring the pallet from its current position to the target location. By configuring the loading plate 31 to move vertically relative to the base 30, this invention effectively prevents the forks from becoming suspended in mid-air when lifting heavy objects, thus avoiding instability. During pallet lifting and transfer, the base 30 and support wheels 53 support the loading plate 31, thereby increasing the forks' stress limit.

[0116] Please see Figures 7 to 10 The lifting mechanism 6 includes a lifting section 60, a drive assembly 61, and a linkage lifting assembly 62. The lifting section 60 is located within the receiving space and is connected to the surface of the cargo plate 31 facing the base 30 to drive the cargo plate 31 to rise or fall. The drive assembly 61 is located below the lifting section 60 to drive the lifting section 60 to rise or fall. The linkage lifting assembly 62 is configured to rise and fall synchronously with the lifting section 60, having an extended position and a folded position. It includes at least one linkage frame, which includes two supports. The system includes a support frame and a telescopic frame positioned between two support frames, which are vertically opposite each other. The support frames include a first support frame 621 and a second support frame 622. The first support frame 621 is connected to the cargo plate 31, and the second support frame 622 is connected to the base 30. The telescopic frame 623 includes four connecting rods that are connected to form a parallelogram structure. One end of one diagonal of the parallelogram structure is rotatably connected to the first support frame 621, and the other end of the diagonal is rotatably connected to the second support frame 622.

[0117] Specifically, the lifting section 60 is a rigid, plate-like structure that can be connected to the lower surface of the cargo plate 31 by any suitable means, such as fasteners, welding, fusion, or adhesives. The drive assembly 61 drives the lifting section 60 to move up and down, thereby raising and lowering the cargo plate 31 relative to the base 30. The drive assembly 61 can be a cylinder, hydraulic cylinder, or other mechanically driven push rod. The first support frame 621 in the linkage frame is connected to the lower surface of the cargo plate 31, and the second support frame 622 in the lower frame is connected to the base 30. When the lifting section 60 drives the cargo plate 31 to move up and down, the linkage lifting assembly 62 is driven by the lifting section 60 to move up and down between the highest extended position and the lowest folded position. In other words, the linkage lifting assembly 62 has an extended state and a retracted state, providing support and guiding the lifting of the cargo plate 31.

[0118] like Figure 9 As shown, the telescopic frame 623 includes a first link 623-1, a second link 623-2, a third link 623-3, and a fourth link 623-4. One end of the first link 623-1 is rotatably connected to the first support frame 621 via a pin, and the other end is hinged to the second link 623-2 via a pin. The other end of the second link 623-2 is rotatably connected to the second support frame 622 via a pin. Similarly, one end of the third link 623-3 is rotatably connected to the first support frame 621 via a pin, and the other end is hinged to the fourth link 623-4 via a pin. The other end of the fourth link 623-4 is rotatably connected to the second support frame 622 via a pin. This forms a deformable tower with a parallelogram structure. When the telescopic frame 623 is fully retracted or folded, the cargo plate 31 is located at the lowest point on the base 30, i.e., the cargo plate 31 is connected to the base 30, and the fork body is in the initial position before cargo lifting. Figure 8 When the telescopic frame 623 is fully extended, the cargo platform 31 is at its highest lifting position. Figure 7 At this point, the cargo pallet 31 lifts the pallet off the ground, enabling it to be transferred to the target location.

[0119] In some embodiments, the ends of the first link 623-1 and the third link 623-3 connected to the first support frame 621 are rotatably connected to the first support frame 621 via the same pin, and the ends of the second link 623-2 and the fourth link 623-4 connected to the second support frame 622 are rotatably connected to the second support frame 622 via the same pin, i.e., the telescopic frame 623 includes four hinge points. In other embodiments, the ends of the first link 623-1 and the third link 623-3 connected to the first support frame 621 are each rotatably connected to the first support frame 621 via independent pins, and the ends of the second link 623-2 and the fourth link 623-4 connected to the second support frame 622 are each rotatably connected to the second support frame 622 via independent pins, i.e., the telescopic frame 623 has the following...Figure 9 The first hinge point 623-a, the second hinge point 623-b, the third hinge point 623-c, the fourth hinge point 623-d, the fifth hinge point 623-e, and the sixth hinge point 623-f are shown, wherein the second hinge point 623-b and the fifth hinge point 623-e are located on the same diagonal.

[0120] In one technical solution of the present invention, the linkage lifting assembly 62 includes two linkage frames, which are arranged opposite to each other in the width direction of the lifting part 60;

[0121] Among them, a first gear 624 and a second gear 625 are provided between the two linkage frames for meshing connection. The first gear 624 and the second gear 625 are configured to rotate along the hinge point between the parallelogram structure and the second support frame 622.

[0122] Specifically, two linkage frames are arranged parallel to each other on both sides of the lifting part 60. The two ends of the first gear 624 and the second gear 625 are respectively connected to two oppositely arranged second support frames 622. When the linkage frames extend or retract, the first gear 624 and the second gear 625 move synchronously, which on the one hand assists the telescopic frame 623 to extend and retract, and on the other hand plays a limiting and fixing role, improving the stability of the telescopic frame 623 and enhancing the strength of the fork body.

[0123] In some embodiments, the two ends of the first gear 624 are respectively fixedly connected to the hinge shaft between the second connecting rod 623-2 and the second support frame 622, and the two ends of the second gear 625 are respectively fixedly connected to the hinge shaft between the fourth connecting rod 623-4 and the second support frame 622. Specifically, the two ends of the first gear 624 are respectively fixedly connected to the hinge shaft of the first hinge point 623-a of the two linkage frames, and the two ends of the second gear 625 are respectively fixedly connected to the hinge shaft of the fourth hinge point 623-d of the two linkage frames. When the telescopic frame 623 extends or retracts, it drives the first gear 624 and the second gear 625 to rotate.

[0124] In other embodiments, the first gear 624 and the second gear 625 are rotatably connected to the second support frame 622 and the telescopic frame 623 via gear shafts. Specifically, the second connecting rod 623-2 and the second support frame 622 are rotatably connected via the gear shaft of the first gear 624, and the fourth connecting rod 623-4 and the second support frame 622 are rotatably connected via the gear shaft of the second gear 625, thereby achieving synchronous movement of the telescopic frame 623 with the first gear 624 and the second gear 625.

[0125] In one technical solution of the present invention, please refer to Figure 7The linkage lifting assembly 62 also includes several crossbeams. The two ends of the crossbeams are connected to other hinge points of the two linkage frames to further enhance the stability of the linkage lifting assembly 62. Specifically, it includes a first crossbeam 626, a second crossbeam 627, a third crossbeam 628, and a fourth crossbeam 629. The two ends of the first crossbeam 626 are respectively connected to the second hinge points 623-b of the two linkage frames. The two ends of the second crossbeam 627 are respectively connected to the third hinge points 623-c of the two linkage frames. The two ends of the third crossbeam 628 are respectively connected to the sixth hinge points 623-f of the two linkage frames. The two ends of the fourth crossbeam 629 are respectively connected to the fifth hinge points 623-e of the two linkage frames.

[0126] In one technical solution of the present invention, the lifting part 60 is connected to the second crossbeam 627 and the third crossbeam 628 of the linkage lifting assembly 62, so as to drive the linkage lifting assembly 62 to extend and retract synchronously while it is lifting and retracting.

[0127] In one technical solution of the present invention, the linkage lifting component 62 is configured as two sets, the two sets of linkage lifting components 62 are arranged opposite to each other, and the two ends of the lifting part 60 in the length direction are respectively arranged on the corresponding linkage lifting component 62.

[0128] In this embodiment, two sets of linkage lifting components 62 are symmetrically arranged corresponding to the tail end and head end of the fork body to provide strong support for the tail end and head end of the fork body. The two ends of the lifting part 60 are respectively fixed on the crossbeams corresponding to the linkage lifting components 62.

[0129] In one technical solution of the present invention, at least two lifting parts 60 are included. The two lifting parts 60 are evenly spaced apart in the width direction of the fork body to lift the cargo plate 31 in a balanced manner so that the force is evenly distributed.

[0130] In one technical solution of the present invention, please refer to Figure 10 The drive assembly 61 includes a lifting motor 611, a lead screw 612, and a movable part 613. The lifting motor 611 is connected to the lead screw 612 to drive the lead screw 612 to rotate. The movable part 613 is sleeved on the lead screw 612 to drive the movable part 613 to reciprocate along the length direction of the lead screw 612.

[0131] A support rod 614 is hinged to the lifting part 60. The support rod 614 is connected to the movable part 613. The connection position of the support rod 614 and the movable part 613 is at a distance from the hinge position of the lifting part 60 and the support rod 614. The support rod 614 swings relative to the lifting part 60 under the drive of the movable part 613, causing the lifting part 60 to rise or fall.

[0132] In this embodiment, the lifting motor 611 drives the lead screw 612 to rotate, thereby causing the movable part 613 to reciprocate linearly along the lead screw 612. One end of the support rod 614 is rotatably connected to the movable part 613, and the other end is rotatably connected to the lifting part 60. The reciprocating linear motion of the movable part 613 causes the connection position between the support rod 614 and the movable part 613 to move closer to or further away from the hinge position between the lifting part 60 and the support rod 614, thereby causing the support rod 614 to drive the lifting part 60 to rise or fall. When the lifting part 60 rises, it causes the linkage lifting assembly 62 to extend; when the lifting part 60 falls, it causes the linkage lifting assembly 62 to fold. In this embodiment, the driving direction of the drive assembly 61 is perpendicular to the lifting direction of the lifting part 60. Compared to related technologies where the driving direction of the hydraulic cylinder and the lifting direction of the lifting mechanism are in a straight line (both are vertical), this effectively reduces the space occupied by the lifting mechanism in the vertical direction, facilitating a compact and lightweight design of the lifting mechanism. The telescopic frame 623 can be used to limit the displacement of the fork body along the movement direction of the movable part, and allow the fork body to move along the lifting direction. That is, it prevents the lifting part 60 from simply following the support rod 614 to translate along the extension direction of the lead screw 612 when the support rod 614 swings, without producing vertical lifting movement.

[0133] In one technical solution of the present invention, please refer to Figure 10 The drive assembly 61 also includes a reducer 615 connected between the lifting motor 611 and the lead screw 612. The reducer 615 can provide different torques and high and low speeds, providing sufficient power to the drive assembly 61.

[0134] The lifting motor 611 and the reducer 615 are fixedly connected to the base 31 via the drive mounting seat 616, the lead screw 612 is fixedly connected to the base 31 via two spaced bearing seats 617, and the movable part 613 is located between the two bearing seats 617.

[0135] In one technical solution of the present invention, please refer to Figure 7 and Figure 8 The lifting mechanism 6 also includes a lifting sensor for detecting the position and height of the cargo platform.

[0136] In this embodiment, the lifting mechanism 6 includes at least a first lifting sensor 631 and a second lifting sensor 632. The first lifting sensor 631 is mounted on the base 30 and detects whether the lifting mechanism 6 has descended to a preset position by sensing the second hinge point 623-b of the telescopic frame 623. The second lifting sensor 632 is mounted on the second support frame 622 and detects whether the lifting mechanism 6 has risen to a preset position by sensing the fifth hinge point 623-e of the telescopic frame 623. The lifting mechanism 6 controls the lifting part 60 to rise according to the detection results. Specifically, when the lifting mechanism 6 drives the cargo plate 31 to move upward relative to the base 30, when the fifth hinge point 623-e of the telescopic frame 623 reaches the sensing area of ​​the second lifting sensor 632, the upper limit signal is triggered, indicating that the cargo plate 31 has reached the highest position and the drive assembly 61 stops driving; when the lifting mechanism 6 drives the cargo plate 31 to move downward relative to the base 30, when the second hinge point 623-b of the telescopic frame 623 reaches the sensing area of ​​the first lifting sensor 631, the lower limit signal is triggered, indicating that the cargo plate 31 has reached the lowest position and the drive assembly 61 stops driving.

[0137] In a preferred embodiment of the present invention, please refer to [link / reference]. Figure 4 To improve the space utilization of the fork 3, the present invention optimizes the spatial arrangement of the first support device 51, the second support device 52, and the lifting mechanism 6. The support wheels of the first support device 51 and the second support device 52 are arranged opposite each other in the length direction of the fork body, and the center lines of the two support wheels are on the same straight line. The linear drive components of the first support device 51 and the second support device 52 are arranged opposite each other in the width direction of the fork body. The drive assembly 61 of the lifting mechanism 6 is located between the two linear drive components. The support wheels of the first support device 51 and the second support device 52 are located on opposite sides of the drive assembly 61, which makes the integration of the components inside the fork body highly integrated and the space occupancy rate low.

[0138] Furthermore, in a preferred embodiment of the invention, such as Figure 11 As shown, the control method further includes:

[0139] Step S201: Control the forks to retract in the first posture, and detect the horizontal distance between the first support device and the pallet sill;

[0140] Step S202: Determine whether the horizontal distance between the first support device and the sill is less than or equal to a second preset threshold;

[0141] Step S203: If yes, then control the forks to switch from the first posture to the second posture, and control the forks to move backward in the second posture until the first support device passes the sill and reaches the third target position, wherein the third target position satisfies: when the first support device is located at the third target position, the sill is located on the side of the first support device away from the second support device;

[0142] Step S204: Control the forks to switch from the second posture to the first posture, and control the forks to move backward in the first posture so that the forks separate from the pallet.

[0143] In this embodiment, after the pallet is transferred to the target location, the lifting mechanism is controlled to descend to the ground. After the pallet is lowered to the ground, the forks are controlled to retract from the pallet to facilitate the handling of another pallet.

[0144] Specifically, the forks are controlled to maintain a first posture while retracting, so that the tips of the forks move away from the pallet, and the horizontal distance between the first support device and the pallet sill is detected in real time during this process.

[0145] Determine whether the horizontal distance between the first support device and the sill is less than or equal to a second preset threshold.

[0146] As described above, the second preset position is the response position for attitude switching when the forks retract. The second preset threshold is set according to actual needs. For example, it can be set based on the traveling speed of the pallet jack, the time required for the first support device and the second support device to switch states, etc. The second preset threshold can be 20 cm, 15 cm, 10 cm, etc.

[0147] If so, control the forks to switch from the first posture to the second posture, and control the forks to move backward in the second posture until the first support device passes the sill and reaches the third target position.

[0148] In this step, when the horizontal distance between the first support device and the sill is less than or equal to a second preset threshold, it indicates that the first support device has reached a position close to the sill. The first support device needs to retract into the fork body so that the sill does not interfere with the fork's backward movement. During this process, the second support device needs to extend downward relative to the fork body to support the fork body after the first support device retracts. In this step, the third target position is the position where the first support device passes the sill and reaches the other side of the sill. When the fork reaches this third target position, it indicates that the fork has successfully crossed the obstacle. The third target position and the first target position are located on opposite sides of the sill, and the specific location of the third target position is set according to the actual operating conditions.

[0149] If not, it means that the first support device has not reached the position close to the sill. Then, the forks are controlled to maintain the first posture and move backward, and the horizontal distance between the first support device and the sill of the pallet is detected until the horizontal distance between the first support device and the sill is less than or equal to the second preset threshold. Then, the forks are controlled to switch to the corresponding posture.

[0150] After the first support device passes the sill and reaches the third target position, that is, after the first support device has completed the obstacle crossing, the fork is controlled to switch from the second posture to the first posture, so that the fork returns from the obstacle crossing posture to the traveling posture, so as to ensure that the fork stably and efficiently exits the pallet and separates from the pallet.

[0151] The control method of the pallet jack transporter provided by this invention enables the forks to overcome obstacles and insert into pallets with sills without interference, without the need for human intervention. This achieves automated handling of goods that match the H-shaped pallet, resulting in a superior user experience.

[0152] In yet another embodiment provided by the present invention, please refer to Figure 12 The present invention provides a control device 8, comprising:

[0153] Memory 80, wherein programs or instructions are stored in the memory;

[0154] Processor 81, the processor executes the program or instructions to implement the steps of the control method for the pallet jack transporter as described above.

[0155] The control device 8 includes all the beneficial effects of the control method for the pallet jack transporter provided in any of the above technical solutions, and will not be repeated here to avoid repetition.

[0156] In another embodiment of the present invention, a jackhammer transporter is provided, comprising:

[0157] The front of the car;

[0158] A fork, connected to the front of the vehicle, includes a fork body and a first support device and a second support device spaced apart along the length of the fork body. The first support device is located between the second support device and the tail end of the fork. Both the first and second support devices are equipped with support wheels. Both the first and second support devices have an extended state that extends downward relative to the fork body to support it, and a retracted state that retracts into the fork body. Both can switch between the extended and retracted states.

[0159] The control device described above is communicatively connected to the forks.

[0160] The earthworm transporter includes all the beneficial effects of the control method of the earthworm transporter provided in any of the above technical solutions, and will not be repeated here to avoid repetition.

[0161] In another embodiment of the present invention, the present invention provides a computer-readable storage medium having a program or instructions stored thereon, which, when executed by a processor, implement the steps of the control method for the pallet jack transporter as described above.

[0162] According to embodiments of the present invention, a computer-readable storage medium may be a non-volatile computer-readable storage medium. Examples include, but are not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0163] It should be noted that the descriptions of the above-described control device, pallet jack transporter, and computer-readable storage medium embodiments are similar to the descriptions of the above-described method embodiments. For any technical details not disclosed in the embodiments of the control device, pallet jack transporter, and computer-readable storage medium of the present invention, please refer to the descriptions of the method embodiments of the present invention for understanding.

[0164] Although this application has been described with reference to several typical embodiments, it should be understood that the terminology used is descriptive and exemplary, and not restrictive. Because this application can be embodied in many forms without departing from the spirit or essence of the embodiments, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims. Therefore, all variations and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A control method for a pallet jack transporter, the pallet jack transporter comprising forks and a front end, the forks comprising fork bodies and a first support device and a second support device spaced apart along the length direction of the fork bodies, the first support device being located between the second support device and the tail end of the fork, both the first and second support devices being provided with support wheels, both the first and second support devices having an extended state extending downward relative to the fork body to support the fork body and a retracted state retracted into the fork body, and both being able to switch between the extended state and the retracted state, characterized in that... The control method includes: Control the forks to travel in a first posture with the first support device extended and the second support device retracted, and detect the horizontal distance between the first support device and the pallet sill; Determine whether the horizontal distance between the first support device and the sill is less than or equal to a first preset threshold. If so, control the forks to switch from the first posture to a second posture where the first support device is in a retracted state and the second support device is in an extended state, and control the forks to move in the second posture until the first support device passes the sill and reaches the first target position. Control the forks to switch from the second posture to the first posture.

2. The control method according to claim 1, characterized in that, After the step of controlling the forks to switch from the second posture to the first posture, the method further includes: The forks are controlled to travel in the first posture, so that the second support device passes the sill and reaches the second target position. The second target position satisfies the following condition: when the second support device is in the second target position, the sill is located on the side of the second support device away from the first support device.

3. The control method according to claim 1, characterized in that, The first target position satisfies the following: when the first support device is located at the first target position, the sill corresponds to the distance between the first support device and the second support device, the sill has a first horizontal distance from the first support device, and the sill has a second horizontal distance from the second support device.

4. The control method according to claim 1, characterized in that, The step of controlling the forks to switch from the first posture to a second posture in which the first support device is in a retracted state and the second support device is in an extended state specifically includes: Control the second support device to extend downward until the extension length of the second support device relative to the fork body reaches a first preset length or until the second support device is touched; Control the first support device to retract into the fork body.

5. The control method according to claim 1, characterized in that, The step of controlling the forks to switch from the second posture to the first posture specifically includes: Control the first support device to extend downward until the extension length of the first support device relative to the fork body reaches a second preset length or until the first support device is touched; Control the second support device to retract into the fork body.

6. The control method according to claim 1, characterized in that, The pallet jack transporter further includes a detection element for detecting pallet positioning information on the forks and a lifting mechanism disposed on the forks for lifting the pallet. The control method further includes: Detect the tray's arrival information; The lifting mechanism is controlled to rise based on the pallet positioning information; Control the forks to move in the first posture.

7. The control method according to claim 1, characterized in that, Also includes: Control the forks to retreat in the first posture, and detect the horizontal distance between the first support device and the pallet sill; Determine whether the horizontal distance between the first support device and the sill is less than or equal to a second preset threshold. If so, control the forks to switch from the first posture to the second posture, and control the forks to move backward in the second posture until the first support device passes the sill and reaches the third target position, wherein the third target position satisfies: when the first support device is located at the third target position, the sill is located on the side of the first support device away from the second support device; Control the forks to switch from the second posture to the first posture, and control the forks to move backward in the first posture so that the forks separate from the pallet.

8. A control device, characterized in that, include: A memory, on which programs or instructions are stored; A processor that executes the program or instructions to implement the steps of the control method for the pallet jack transporter as described in any one of claims 1 to 7.

9. A ground ox transporter, characterized in that, include: The front of the car; A fork connected to the front of the vehicle, the fork comprising a fork body and a first support device and a second support device spaced apart along the length of the fork body, the first support device being located between the second support device and the tail end of the fork, both the first support device and the second support device being provided with support wheels, both the first support device and the second support device having an extended state that extends downward relative to the fork body to support the fork body and a retracted state that retracts into the fork body, and both being able to switch between the extended state and the retracted state; The control device as described in claim 8 is communicatively connected to the forks.

10. A computer-readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps of the control method for the pallet jack transporter as described in any one of claims 1 to 7.

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