An intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform

Abstract

The present invention relates to the field of aerospace engine production technology, and discloses an intelligent heavy-load fork-type omnidirectional mobile attitude adjustment platform, which is characterized by comprising: a frame, a drive assembly, a fork-type attitude adjustment mechanism, a sensor group, a cover, an electric power control system, a hydraulic system, and a pallet; the frame comprises: arm 1, arm 2, a lower connecting frame, an upper connecting frame, and a frame slide; the arm 1, arm 2, the lower connecting frame, the upper connecting frame, and the frame slide are connected to form a whole with high-strength bolts; the drive assembly, the fork-type attitude adjustment mechanism, the cover, the electric power control system, and the hydraulic system are installed on the frame. The present invention integrates automatic transportation and attitude adjustment, automatically navigates and omnidirectionally transports to a designated workstation, and automatically transports the engine to the next workstation after docking or inspection is completed, ensuring the accuracy of transportation and positioning of aerospace engines during the production process and improving transportation efficiency.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of aerospace engine production, and in particular to an intelligent heavy-load fork-type omnidirectional mobile attitude adjustment platform. Background Art

[0002] Aerospace engines are placed vertically on pallets and transported from designated locations to various workstations for docking and inspection. This requires frequent transfers, precise positioning, and fine-tuning of the engine's position. In a vertical position, the engine occupies a relatively small area. While heavy-duty forklifts or cranes can lift and transport the engine, they cannot automatically drive to the designated workstation, accurately position it, or fine-tune its position. Furthermore, heavy-duty forklifts lack omnidirectional mobility and have a large turning radius, requiring a large space. Currently, this work requires the coordination of multiple personnel, making it difficult to position and adjust the engine's position once it reaches the workstation. Smart factory workshops often require fully automated, unmanned operations, meaning no personnel are present in the workshop; instead, control is maintained from a control room via computers and video monitors. Military enterprises often require that wireless communication be prohibited for signal transmission. Given these current conditions and needs, a smart, heavy-duty, forklift-mounted, omnidirectional mobile position adjustment platform is needed. Summary of the Invention

[0003] The present invention aims to provide an intelligent, heavy-duty, fork-mounted, omnidirectional mobile attitude adjustment platform that addresses the aforementioned challenges. This platform integrates automated transport and attitude adjustment, automatically navigating and omnidirectionally transporting the engine to a designated workstation. After docking or testing, the engine is automatically transported to the next workstation, ensuring accurate transport and positioning of aerospace engines during production and improving transport efficiency.

[0004] In order to achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0005] An intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform, comprising: a frame, a drive assembly, a fork-type posture adjustment mechanism, a sensor group, a cover, an electric power and electronic control system, a hydraulic system, and a pallet;

[0006] The sensor group includes: a laser radar, an interactive screen, a laser obstacle avoidance sensor, a QR code sensor and a first laser ranging sensor;

[0007] The laser radar is used to build a spatial map and feedback position information;

[0008] The interactive screen is used to receive instructions from the dispatching system and feedback status information;

[0009] The laser obstacle avoidance sensor is used to detect dynamic obstacles in space. If an obstacle is detected, the intelligent heavy-load fork-type omnidirectional mobile attitude adjustment platform is forced to slow down or stop moving;

[0010] The two-dimensional code sensor is used to read information and locate;

[0011] The frame includes: arm 1, arm 2, lower connecting frame, upper connecting frame, and frame slide; the arm 1, arm 2, lower connecting frame, upper connecting frame and frame slide are connected to form a whole with high-strength bolts;

[0012] The drive assembly, fork-type posture adjustment mechanism, cover, electric power and electronic control system, and hydraulic system are installed on the frame;

[0013] The fork-type posture adjustment mechanism includes: a load fork arm, a fork arm mounting frame, a cylinder, a pitch bracket, a first cylinder, a pin shaft, an upper and lower bracket, a first roller assembly, a slide, a second cylinder, a front and rear bracket, a third cylinder, a second roller assembly, an inclination sensor, a second laser ranging sensor, a third laser ranging sensor, and a fourth laser ranging sensor;

[0014] The load fork arm is mounted on the fork arm mounting frame; the oil cylinder is mounted on the pitch bracket for pushing the fork arm mounting frame; the pitch bracket is mounted to the upper and lower brackets through the pin shaft; the first oil cylinder is mounted on the upper and lower brackets for pushing the pitch bracket; the first roller assembly is mounted on the upper and lower brackets, and the first rolling assembly can slide in the slide groove; the slide groove is mounted on the front and rear brackets; the second oil cylinder is mounted on the front and rear brackets, and the upper and lower brackets are mounted above the second oil cylinder; the tail of the third oil cylinder body is mounted on the frame, and the rod end is mounted on the front and rear brackets; the second roller assembly is mounted on the front and rear brackets, and the second roller assembly can slide in the frame slide groove; the inclination sensor is mounted on the pitch bracket; the second laser ranging sensor, the third laser ranging sensor, and the fourth laser ranging sensor are respectively mounted on the front and rear brackets;

[0015] The tray comprises: a first reflector, a second reflector, and a third reflector; the first reflector and the third reflector are perpendicular to the central axis of the tray; the second reflector forms an angle of 45 degrees with the central axis of the tray; the first laser ranging sensor detects that the distances between the first reflector, the second reflector, and the third reflector are a first distance L, a second distance L2, and a third distance L3, respectively;

[0016] If the first distance L is not equal to the third distance L3, calculate the deflection direction and angle between the central axis of the pallet and the central axis of the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform, and adjust the first distance L to be equal to the third distance L3;

[0017] The difference between the first distance L and the second distance L2 is compared with a reference value, and the direction and distance of the central axis of the pallet deviating from the central axis of the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform are converted.

[0018] Optionally, the drive assembly provides power for the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform; the drive assembly includes: a motor, a reducer, a transmission shaft, a bearing seat, a Mecanum wheel, a support and a suspension cylinder;

[0019] The Mecanum wheels are arranged in a diamond shape and are used to support the weight of the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform;

[0020] The Mecanum wheels are combined with different steering speeds to enable the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform to move in all directions.

[0021] Optionally, the third oil cylinder pushes the front and rear brackets to move forward and backward; the second roller assembly and the frame slide groove form a first rolling pair;

[0022] The second laser ranging sensor feeds back a forward and backward motion position signal; the second oil cylinder pushes the upper and lower brackets to move up and down, and the first roller assembly rolls in the slide groove to form a second rolling pair;

[0023] The third laser ranging sensor feeds back an up and down motion position signal; the first oil cylinder pushes the pitch bracket to perform pitch motion around the pin shaft;

[0024] The tilt sensor feeds back a pitch motion position signal; the oil cylinder drives the fork arm mounting frame to move horizontally left and right; the groove machined on the fork arm mounting frame is embedded in the boss machined on the pitch bracket to form a first sliding pair;

[0025] The fourth laser ranging sensor feeds back left and right lateral motion position signals.

[0026] Optionally, after receiving the feedback signal from the inclination sensor, the intelligent heavy-load fork-type omnidirectional mobile attitude adjustment platform first performs a pitch adjustment as a reference position, and then moves away from the loading station.

[0027] Optionally, the covering member includes: an outer cover shell and a decorative object;

[0028] The power and electronic control system includes: a lithium battery, an inverter, a driver, and a PLC controller; the power and electronic control system provides power, converts voltage, and controls the execution of actions of each motor for the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform;

[0029] The hydraulic system includes: a valve group and a pump station; the hydraulic system provides hydraulic oil for the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform, establishes oil pressure, and controls each cylinder to perform actions.

[0030] The beneficial effects of the embodiments of the present invention are as follows: the present invention discloses an intelligent heavy-duty fork-type omnidirectional mobile attitude adjustment platform. After receiving the instruction from the dispatching system, the platform automatically drives to the designated position to lift the engine in a vertical state (the engine has been positioned on the pallet), and can automatically adjust to the reference position. The platform automatically navigates and transports omnidirectionally to the designated workstation, accurately positions it, and then automatically adjusts the engine's attitude to complete docking or testing. After the work at this workstation is completed, the engine is automatically transported to the next workstation. Since the intelligent heavy-duty fork-type omnidirectional mobile attitude adjustment platform disclosed by the present invention is omnidirectional and has a zero turning radius, the required site space is small, and entering the workstation is direct and convenient; it realizes the difficult work that previously required a forklift combined with a crane, and multiple people coordinated to push the tooling and add lifting equipment. On the one hand, the staff only needs to monitor the status of the present invention and the engine in the control room and issue instructions to complete the entire process. On the other hand, the instructions are transmitted through the interactive screen without the need for wireless network communication, meeting confidential requirements. In addition, the technical means disclosed in the present invention can be extended and applied to other similar working conditions: for example, heavy objects that do not occupy a large area; only one device is needed to directly lift them (and adjust them to the reference position), enter the automatic omnidirectional navigation state, and transport them to the required workstation; accurately locate and adjust the posture, and transport them to the next workstation after completing the work at the current workstation, and the entire process only requires issuing instructions from the control room. In terms of structure, the intelligent heavy-duty fork-type omnidirectional mobile posture adjustment platform disclosed in the present invention takes into account the situation where the load mass is large, it needs to be lifted easily, and the load can be adjusted in posture. It adopts an adjustable posture mechanism with a heavy-duty fork installed on a special-shaped frame and utilizes the principle of omnidirectional movement using a Mecanum wheel drive combination, so that this device can move in all directions, solving the problems of large load mass, the need for easy lifting, and the load can be adjusted in posture. Finally, three laser ranging sensors are installed on the frame of the intelligent heavy-duty fork-type omnidirectional mobile posture adjustment platform disclosed in the present invention. They are used in combination with the reflector on the pallet to detect the positional relationship between the pallet and the frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0032] Figure 1 This is a structural diagram of an intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform provided by an embodiment of the present invention;

[0033] Figure 2This is a bottom view of an intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform provided by an embodiment of the present invention;

[0034] Figure 3 is a schematic diagram of a frame structure provided by an embodiment of the present invention;

[0035] Figure 4 2 is a schematic structural diagram of a fork-type posture adjustment mechanism provided by an embodiment of the present invention in a first direction;

[0036] Figure 5 2 is a schematic structural diagram of a fork-type posture adjustment mechanism provided by an embodiment of the present invention in a second direction;

[0037] Figure 6 2 is a schematic structural diagram of a fork-type posture adjustment mechanism provided by an embodiment of the present invention in a third direction;

[0038] Figure 7 This is a schematic structural diagram of a pallet before correction provided by an embodiment of the present invention;

[0039] Figure 8 It is a structural schematic diagram of a corrected pallet provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device schematic and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different module division from the device schematic or in the order in the flow chart.

[0041] Unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art to which this invention belongs. The terms used in this specification and in the description of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the relevant listed items.

[0042] See also Figure 1 , Figure 1 A structural schematic diagram of an intelligent heavy-load fork-type omnidirectional mobile attitude adjustment platform provided in an embodiment of the present invention, wherein the intelligent heavy-load fork-type omnidirectional mobile attitude adjustment platform includes: a laser radar 4-1, an interactive screen 4-2, a laser obstacle avoidance sensor 4-3, a frame 1, a fork-type attitude adjustment mechanism 3 and a cover 5.

[0043] In some embodiments, the cover 5 includes an outer shell and a decoration.

[0044] Please refer to Figure 2 , Figure 2 This is an overhead view of an intelligent heavy-load fork-type omnidirectional mobile attitude adjustment platform provided by an embodiment of the present invention. The overhead view of the intelligent heavy-load fork-type omnidirectional mobile attitude adjustment platform includes: a drive component 2, a QR code sensor 4-4 and a first laser ranging sensor 4-5.

[0045] In some embodiments, the drive assembly 2 provides power for the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform; the drive assembly 2 includes: a motor, a reducer, a drive shaft, a bearing seat, a Mecanum wheel, a support and a suspension cylinder; the Mecanum wheels are arranged in a diamond shape and are used to support the weight of the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform; the Mecanum wheels are combined with different steering speeds to enable the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform to move omnidirectionally.

[0046] Combine Figure 1 、 2 In some embodiments, the driving assembly 2 , the fork-type posture adjustment mechanism 3 , the cover 5 , the electronic control system, and the hydraulic system are installed with the frame 1 .

[0047] Combine Figure 1 、 2 In some embodiments, the sensor group includes: a laser radar 4-1, an interactive screen 4-2, a laser obstacle avoidance sensor 4-3, a QR code sensor 4-4, and a first laser ranging sensor 4-5; the laser radar 4-1 is used to establish a spatial map and feedback position information; the interactive screen 4-2 is used to receive instructions issued by the scheduling system and feedback status information; the laser obstacle avoidance sensor 4-3 is used to detect dynamic obstacles in space. If an obstacle is detected, the intelligent heavy-load fork-type omnidirectional mobile attitude adjustment platform is forced to slow down or stop moving; the QR code sensor 4-4 is used to read information and locate.

[0048] Please refer to Figure 3 , Figure 3 It is a structural diagram of a vehicle frame provided by an embodiment of the present invention, wherein the vehicle frame structure includes: arm one 1-1, arm two 1-2, a lower connecting frame 1-3, an upper connecting frame 1-4 and a vehicle frame slide 1-5.

[0049] In some embodiments, arm 1-1, arm 2 1-2, lower connecting frame 1-3, upper connecting frame 1-4 and frame slide 1-5 are connected with high-strength bolts to form a whole.

[0050] Please refer to Figure 4 , Figure 4It is a structural schematic diagram of the fork-type attitude adjustment mechanism provided by an embodiment of the present invention in the first direction. The structure of the fork-type attitude adjustment mechanism in the first direction includes: a load fork arm 3-1, a fork arm mounting frame 3-2, a cylinder 3-3, a pitch bracket 3-4, a pin shaft 3-6, an upper and lower bracket 3-7, a first roller assembly 3-8, a slide 3-9, an inclination sensor 3-14, a second laser ranging sensor 3-15 and a third laser ranging sensor 3-16.

[0051] See also Figure 5 , Figure 5 It is a structural schematic diagram of the fork-type attitude adjustment mechanism provided by an embodiment of the present invention in the second direction. The structure of the fork-type attitude adjustment mechanism in the second direction includes: a first oil cylinder 3-5 and a fourth laser ranging sensor 3-17.

[0052] See also Figure 6 , Figure 6 It is a structural schematic diagram of the fork-type attitude adjustment mechanism provided by an embodiment of the present invention in the third direction. The structure of the fork-type attitude adjustment mechanism in the third direction includes: a first cylinder 3-5, a second cylinder 3-10, front and rear brackets 3-11, a third cylinder 3-12 and a second roller assembly 3-13.

[0053] Combine Figure 4 、 5and 6. In some embodiments, the fork-type posture adjustment mechanism 3 includes: a load-carrying fork arm 3-1, a fork arm mounting frame 3-2, a cylinder 3-3, a pitch bracket 3-4, a first cylinder 3-5, a pin 3-6, an upper and lower bracket 3-7, a first roller assembly 3-8, a slide 3-9, a second cylinder 3-10, front and rear brackets 3-11, a third cylinder 3-12, a second roller assembly 3-13, an inclination sensor 3-14, a second laser ranging sensor 3-15, a third laser ranging sensor 3-16, and a fourth laser ranging sensor 3-17. Among them, the load fork arm 3-1 is installed on the fork arm mounting frame 3-2; the cylinder 3-3 is installed on the pitch bracket 3-4, used to push the fork arm mounting frame 3-2; the pitch bracket 3-4 is installed with the upper and lower brackets 3-7 through the pin 3-6; the first cylinder 3-5 is installed on the upper and lower brackets 3-7, used to push the pitch bracket 3-4; the first roller assembly 3-8 is installed on the upper and lower brackets 3-7, and the first roller assembly 3-8 can slide in the slide 3-9; the slide 3-9 is installed on the front and rear brackets 3-11; the second cylinder 3-10 is installed on the front and rear brackets 3 -11, the upper and lower brackets 3-7 are installed above the second oil cylinder 3-10; the tail of the cylinder body of the third oil cylinder 3-12 is installed on the frame 1, and the end of the rod is installed with the front and rear brackets 3-11; the second roller assembly 3-13 is installed on the front and rear brackets 3-11, and the second roller assembly 3-13 can slide in the frame slide groove 1-5; the inclination sensor 3-14 is installed on the pitch bracket 3-4; the second laser ranging sensor 3-15, the third laser ranging sensor 3-16, and the fourth laser ranging sensor 3-17 are respectively installed on the front and rear brackets 3-11.

[0054] In some embodiments, the third cylinder 3-12 pushes the front and rear brackets 3-11 to move forward and backward; the second roller assembly 3-13 and the frame slide 1-5 form a first rolling pair; the second laser ranging sensor 3-15 feedbacks the forward and backward movement position signal; the second cylinder 3-10 pushes the upper and lower brackets 3-7 to move up and down, and the first roller assembly 3-8 rolls in the slide 3-9 to form a second rolling pair; the third laser ranging sensor 3-16 feedbacks the upper and lower movement position signal; the first cylinder 3-5 pushes the pitch bracket 3-4 to perform pitch movement around the pin 3-6; the inclination sensor 3-14 feedbacks the pitch movement position signal; the cylinder 3-3 pushes the fork arm mounting frame 3-2 to move horizontally left and right; the groove machined on the fork arm mounting frame 3-2 is embedded in the machined boss on the pitch bracket 3-4 to form a first sliding pair; the fourth laser ranging sensor 3-17 feedbacks the left and right lateral movement position signal.

[0055] In some embodiments, after the intelligent heavy-load fork-type omnidirectional mobile attitude adjustment platform receives the feedback signal from the inclination sensor 3-14, it first performs a pitch adjustment as a reference position and then drives away from the loading station.

[0056] In some embodiments, the power and electronic control system includes: a lithium battery, an inverter, a driver, and a PLC controller; the power and electronic control system provides power, converts voltage, and controls each motor to perform actions for the intelligent heavy-load fork-type omnidirectional mobile attitude adjustment platform.

[0057] In some embodiments, the hydraulic system includes: a valve group and a pump station; the hydraulic system provides hydraulic oil, establishes oil pressure, and controls each cylinder to perform actions for the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform.

[0058] See also Figure 7 、 8 , Figure 7 、 8 Schematic diagrams of the structures of the pallet before and after correction provided in embodiments of the present invention, respectively, wherein the pallet structure includes: a first reflector, a second reflector, and a third reflector; the first reflector and the third reflector are perpendicular to the central axis of the pallet; the second reflector forms a 45-degree angle with the central axis of the pallet; the first laser ranging sensor 4-5 detects that the distances to the first reflector, the second reflector, and the third reflector are a first distance L1, a second distance L2, and a third distance L3, respectively.

[0059] In some embodiments, when the first distance L1 is not equal to the third distance L3, the deflection direction and angle between the central axis of the pallet and the central axis of the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform are calculated, and the first distance L1 is adjusted to be equal to the third distance L3.

[0060] In some embodiments, the difference between the first distance L1 and the second distance L2 is compared with a reference value, and the direction and distance of the central axis of the pallet deviating from the central axis of the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform are converted.

[0061] The beneficial effects of the embodiments of the present invention are as follows: the present invention discloses an intelligent heavy-duty fork-type omnidirectional mobile attitude adjustment platform. After receiving a command from the dispatching system, the platform automatically drives to a designated position to lift an engine in a vertical state (the engine has been positioned on a pallet), and can automatically adjust to a reference position. The platform automatically navigates and transports omnidirectionally to a designated workstation, accurately positions it, and then automatically adjusts the engine's attitude to complete docking or testing. After the work at this workstation is completed, the engine is automatically transported to the next workstation. Since the intelligent heavy-duty fork-type omnidirectional mobile attitude adjustment platform disclosed by the present invention is omnidirectional and has a zero turning radius, the required site space is small, and entering the workstation is direct and convenient; this has achieved work that previously required a forklift combined with a crane, and multiple people coordinating and pushing the tooling and adding lifting equipment, which was difficult to complete. On the one hand, the staff only needs to monitor the status of the present invention and the engine in the control room and issue commands to complete the entire process. On the other hand, the commands are transmitted through an interactive screen without the need for wireless network communication, meeting confidentiality requirements. Furthermore, the technical approach disclosed in this invention can be extended and applied to other similar work situations: for example, heavy objects that require minimal floor space can be directly lifted (and adjusted to a reference position) using a single device, then automatically navigated and transported to the desired workstation. Precise positioning and posture adjustment are required, and after completing work at one station, the object can be transported to the next, all with commands issued from the control room. Structurally, the intelligent heavy-duty fork-mounted omnidirectional mobile and posture-adjustable platform disclosed in this invention addresses the challenges of large loads, the need for convenient lifting, and the ability to adjust the load's posture. It utilizes a specially shaped frame with an adjustable posture mechanism equipped with heavy-duty forks, combined with the principle of omnidirectional motion using Mecanum wheels. This allows for omnidirectional movement, addressing the challenges of large loads, the need for convenient lifting, and the ability to adjust the load's posture. Finally, the intelligent heavy-duty fork-mounted omnidirectional mobile and posture-adjustable platform's frame features three laser rangefinder sensors that, when used in conjunction with reflectors on the pallet, detect the positional relationship between the pallet and the frame.

[0062] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Under the idea of ​​the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform, characterized in that: include: Frame (1), drive assembly (2), fork-type posture adjustment mechanism (3), sensor group, cover (5), power electronic control system, hydraulic system, pallet; The sensor group includes: a laser radar (4-1), an interactive screen (4-2), a laser obstacle avoidance sensor (4-3), a QR code sensor (4-4), and a first laser ranging sensor (4-5); The laser radar (4-1) is used to establish a spatial map and feedback position information; The interactive screen (4-2) is used to receive instructions from the dispatching system and feedback status information; The laser obstacle avoidance sensor (4-3) is used to detect dynamic obstacles in space, and if an obstacle is detected, the intelligent heavy-load fork-type omnidirectional mobile attitude adjustment platform is forced to slow down or stop moving; The two-dimensional code sensor (4-4) is used to read information and locate; The vehicle frame (1) comprises arm frame 1 (1-1), arm frame 2 (1-2), a lower connecting frame (1-3), an upper connecting frame (1-4) and a vehicle frame slide groove (1-5); the arm frame 1 (1-1), arm frame 2 (1-2), the lower connecting frame (1-3), the upper connecting frame (1-4) and the vehicle frame slide groove (1-5) are connected to form a whole by high-strength bolts; The drive assembly (2), the fork-type posture adjustment mechanism (3), the cover (5), the electric power control system, and the hydraulic system are installed on the vehicle frame (1); The fork-type posture adjustment mechanism (3) comprises: a load fork arm (3-1), a fork arm mounting frame (3-2), an oil cylinder (3-3), a pitch bracket (3-4), a first oil cylinder (3-5), a pin shaft (3-6), an upper and lower bracket (3-7), a first roller assembly (3-8), a slide groove (3-9), a second oil cylinder (3-10), front and rear brackets (3-11), a third oil cylinder (3-12), a second roller assembly (3-13), an inclination sensor (3-14), a second laser distance sensor (3-15), a third laser distance sensor (3-16), and a fourth laser distance sensor (3-17); The load-carrying fork arm (3-1) is mounted on the fork arm mounting frame (3-2); the oil cylinder (3-3) is mounted on the pitching bracket (3-4) and is used to push the fork arm mounting frame (3-2); the pitching bracket (3-4) is mounted on the upper and lower brackets (3-7) through the pin shaft (3-6); the first oil cylinder (3-5) is mounted on the upper and lower brackets (3-7) and is used to push the pitching bracket (3-4); the first roller assembly (3-8) is mounted on the upper and lower brackets (3-7), and the first roller assembly (3-8) can slide in the slide groove (3-9); the slide groove (3-9) is mounted on the front and rear brackets (3-11); the second oil cylinder (3-10) is mounted on the front On the rear bracket (3-11), the upper and lower brackets (3-7) are installed above the second oil cylinder (3-10); the tail of the cylinder body of the third oil cylinder (3-12) is installed on the frame (1), and the end of the rod is installed with the front and rear brackets (3-11); the second roller assembly (3-13) is installed on the front and rear brackets (3-11), and the second roller assembly (3-13) can slide in the frame slide groove (1-5); the inclination sensor (3-14) is installed on the pitch bracket (3-4); the second laser distance sensor (3-15), the third laser distance sensor (3-16), and the fourth laser distance sensor (3-17) are respectively installed on the front and rear brackets (3-11); The tray comprises: a first reflector, a second reflector, and a third reflector; the first reflector and the third reflector are perpendicular to the central axis of the tray; the second reflector forms an angle of 45 degrees with the central axis of the tray; the first laser ranging sensor (4-5) detects that the distances between the first reflector, the second reflector, and the third reflector are a first distance L1, a second distance L2, and a third distance L3, respectively; If the first distance L1 is not equal to the third distance L3, calculate the deflection direction and angle between the central axis of the pallet and the central axis of the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform, and adjust the first distance L1 to be equal to the third distance L3; The difference between the first distance L1 and the second distance L2 is compared with a reference value, and the direction and distance of the central axis of the pallet deviating from the central axis of the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform are converted.

2. The intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform according to claim 1 is characterized in that: The driving assembly (2) provides power for the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform; the driving assembly (2) includes: a motor, a reducer, a transmission shaft, a bearing seat, a Mecanum wheel, a support and a suspension cylinder; The Mecanum wheels are arranged in a diamond shape and are used to support the weight of the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform; The Mecanum wheels are combined with different steering speeds to enable the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform to move in all directions.

3. The intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform according to claim 1 is characterized in that: The third oil cylinder (3-12) pushes the front and rear brackets (3-11) to move forward and backward; the second roller assembly (3-13) and the frame slide groove (1-5) form a first rolling pair; The second laser distance measuring sensor (3-15) feeds back a forward and backward motion position signal; the second oil cylinder (3-10) pushes the upper and lower brackets (3-7) to move up and down, and the first roller assembly (3-8) rolls in the slide groove (3-9) to form a second rolling pair; The third laser distance measuring sensor (3-16) feeds back an up and down motion position signal; the first oil cylinder (3-5) pushes the pitch bracket (3-4) to perform pitch motion around the pin shaft (3-6); The tilt sensor (3-14) feeds back a pitch motion position signal; the oil cylinder (3-3) pushes the fork arm mounting frame (3-2) to move horizontally left and right; a groove machined on the fork arm mounting frame (3-2) is embedded in a boss machined on the pitch bracket (3-4) to form a first sliding pair; The fourth laser ranging sensor (3-17) feeds back left and right lateral motion position signals.

4. The intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform according to claim 3 is characterized in that: After receiving the feedback signal from the tilt sensor (3-14), the intelligent heavy-load fork-type omnidirectional mobile attitude adjustment platform first performs a pitch adjustment as a reference position and then moves away from the loading station.

5. The intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform according to claim 1 is characterized in that: The covering member (5) comprises: an outer cover shell and a decorative object; The power and electronic control system includes: a lithium battery, an inverter, a driver, and a PLC controller; the power and electronic control system provides power, converts voltage, and controls the execution of actions of each motor for the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform; The hydraulic system includes: a valve group and a pump station; the hydraulic system provides hydraulic oil for the intelligent heavy-load fork-type omnidirectional mobile posture adjustment platform, establishes oil pressure, and controls each cylinder to perform actions.

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