A fork lift truck

Abstract

The application relates to the technical field of goods transportation, and provides a forklift, which comprises a forklift body, a fork arm, a load wheel and a driving assembly. The fork arm is movably arranged on the forklift body. The load wheel is rotatably arranged below the fork arm. The driving assembly is arranged on the forklift body, and is connected with the fork arm and the load wheel respectively, and is used for driving the fork arm to move relative to the forklift body in the height direction of the forklift body, and when the fork arm is lifted relative to the forklift body, the driving assembly drives the load wheel to move away from the fork arm, so that the load wheel contacts the ground, and when the fork arm is lowered relative to the forklift body, the driving assembly drives the load wheel to move close to the fork arm, so that the load wheel moves away from the ground. Through the arrangement, the load wheel moves away from the ground and is folded on the fork arm when the fork arm is lowered, and the load wheel moves away from the fork arm and contacts the ground when the fork arm is lifted, so that the actions of the fork arm and the load wheel are synchronized, the time for the forklift to enter a tray is reduced, and the load wheel is timely lowered when goods are transported, so that the forklift and the goods are more quickly supported.

Description

Technical Field

[0001] This application relates to the field of cargo transportation technology, and in particular to a forklift. Background Technology

[0002] When a forklift inserts its fork arm into the pallet hole, the load-bearing wheels at the bottom of the fork arm rub against the pallet. Over time, this can damage the pallet and affect its lifespan.

[0003] To address the aforementioned issues, a load-bearing wheel is currently installed at the bottom of the forklift's fork arm. During actual operation, when the fork arm extends into the pallet hole, the load-bearing wheel retracts towards the bottom of the fork arm to avoid friction with the bottom of the pallet. When the fork arm is inserted to the designated position, the load-bearing wheel moves away from the fork arm and contacts the ground to assist in supporting the forklift.

[0004] However, this solution uses different power mechanisms to drive the lifting and lowering of the fork arm and the movement of the load-bearing wheel respectively. Due to the time difference between the lifting and lowering of the fork arm and the swing of the load-bearing wheel, the synchronization between the fork arm and the load-bearing wheel is poor, which increases the time cost of fork arm entry and the design cost of the power system. Summary of the Invention

[0005] One objective of this application is to provide a forklift that solves the technical problem of poor synchronization between the fork arm and the load-bearing wheel in current forklifts that use load-bearing wheels.

[0006] This application provides a forklift, comprising:

[0007] Forklift body;

[0008] Fork arm, which is movably mounted on the forklift body;

[0009] A load wheel, rotatably disposed below the fork arm; and

[0010] A drive assembly is provided, which is connected to the fork arm and the load wheel respectively. The drive assembly is used to drive the fork arm to move relative to the fork body in the height direction of the fork body, and to drive the load wheel away from the fork arm when the fork arm rises relative to the fork body so that the load wheel contacts the ground, and to drive the load wheel closer to the fork arm when the fork arm falls relative to the fork body so that the load wheel moves away from the ground.

[0011] Compared with existing technologies, the drive assembly of this application for the forklift drives the fork arms to rise and fall, while simultaneously driving the load wheels to move away from or towards the fork arms. During operation, when the forklift picks up a pallet, the drive assembly drives the fork arms to descend, and simultaneously drives the load wheels off the ground and towards the fork arms, allowing the fork arms more room to move when entering the pallet openings and preventing friction with the pallet. When the forklift transports pallets and goods, the drive assembly drives the fork arms to rise, and simultaneously drives the load wheels away from the fork arms and into contact with the ground, so that the load wheels provide support for the forklift body and the goods. This configuration ensures that the load wheels leave the ground and retract towards the fork arms when they descend, and move away from the fork arms and into contact with the ground when they rise, thus achieving synchronized movement of the fork arms and load wheels. This reduces the time it takes for the forklift to enter the pallet, and simultaneously allows for timely lowering of the load wheels when transporting goods, providing faster support for the forklift and goods. Attached Figure Description

[0012] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings do not constitute a limitation on scale.

[0013] Figure 1 This is a first structural schematic diagram of a forklift provided in an embodiment of this application;

[0014] Figure 2 This is a schematic diagram of the second structure of the forklift provided in an embodiment of this application;

[0015] Figure 3 for Figure 2 Enlarged view of section A;

[0016] Figure 4 A schematic diagram of the third structure of the forklift provided in an embodiment of this application;

[0017] Figure 5 This is a schematic diagram of the structure of the fork assembly and transmission mechanism provided in the embodiments of this application;

[0018] Figure 6 Exploded view of the fork assembly and transmission mechanism provided in the embodiments of this application;

[0019] Figure 7 A schematic diagram of the fourth structure of the forklift provided in an embodiment of this application;

[0020] Figure 8 A schematic diagram of the fifth structure of the forklift provided in an embodiment of this application;

[0021] Figure 9 This is a first structural schematic diagram of the mounting bracket and load wheel provided in an embodiment of this application;

[0022] Figure 10 for Figure 2 Enlarged view of section B;

[0023] Figure 11 This is a schematic diagram of the transmission arm provided in an embodiment of this application;

[0024] Figure 12 for Figure 1 Enlarged view of section C;

[0025] Figure 13 for Figure 8 Enlarged view of section D;

[0026] Figure 14 This is a second structural schematic diagram of the mounting bracket and load wheel provided in an embodiment of this application.

[0027] Explanation of icon numbers:

[0028] 100. Forklift; 11. Forklift body; 111. Slide rail; 112. Steering wheel; 113. Balance wheel; 114. Control button; 115. Emergency stop button; 116. Tri-color indicator light; 117. Side marker light; 118. Control panel; 119. Radiator; 12. Fork assembly; 121. Fork arm; 1211. First connecting end; 1212. Fork take-up end; 1214. Housing; 12141. Receiving slot; 1215. Support arm; 122. Load wheel; 12 21. Differential wheel; 123. Mounting part; 1231. Mounting hole; 124. First obstacle avoidance sensor; 125. Base; 126. First motor; 127. Second motor; 13. Drive assembly; 131. Mounting bracket; 1311. Swing end; 13111. Fork; 13112. Platform; 1312. Movable end; 1313. First hinge part; 13131. First hinge hole; 13132. First hinge shaft; 132. Transmission mechanism; 1321 13211 Drive arm; 13212 First connecting rod; 13213 Screw; 13214 Second connecting rod; 13215 First hinge end; 13216 Second hinge end; 1322 Transmission arm; 13221 Third hinge end; 13222 Fixed end; 13223 Second hinge part; 132231 Second hinge shaft; 132232 Second hinge hole; 133 Power mechanism; 1331 Hydraulic cylinder; 13311 Cylinder body; 1331 2. First movable axis; 13313. Second movable axis; 1332. Sliding frame; 13321. Sliding wheel; 14. Auxiliary support assembly; 141. Orienting wheel; 142. Mounting platform; 15. Guide assembly; 151. Guide shaft; 152. Guide shaft sleeve; 16. Second obstacle avoidance sensor; 17. Cantilever; 171. Suspension end; 172. Second connecting end; 18. Column; 181. Third connecting end; 182. Fourth connecting end; 19. 3D LiDAR. Detailed Implementation

[0029] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "connected" to another element, it can be directly on the other element, or one or more intermediate elements can exist between them. The terms "upper," "lower," "left," "right," "upper end," "lower end," "top," and "bottom," etc., used in this specification, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application.

[0031] This application provides a forklift, and the types of forklifts include, but are not limited to, manual forklifts, electric forklifts, and AVG (Automatic Guided Vehicle) forklifts.

[0032] Please see Figure 1 One embodiment of the forklift 100 includes a forklift body 11, a fork arm 121, a load wheel 122, and a drive assembly 13. The fork arm 121 is movably mounted on the forklift body 11. The load wheel 122 is rotatably mounted below the fork arm 121. The drive assembly 13 is connected to the fork arm 121 and the load wheel 122, respectively, and is used to drive the fork arm 121 to move relative to the forklift body 11 in the height direction. When the fork arm 121 rises relative to the forklift body 11, it drives the load wheel 122 away from the fork arm 121 so that the load wheel 122 contacts the ground. When the fork arm 121 falls relative to the forklift body 11, it drives the load wheel 122 to move closer to the fork arm 121 so that the load wheel 122 moves away from the ground. In this embodiment, the drive assembly 13 is mounted on the forklift body 11.

[0033] The working principle of the forklift 100 in this embodiment is as follows: The forklift 100 is equipped with a drive assembly 13, which drives the fork arm 121 to rise and fall, and simultaneously drives the load wheel 122 to move away from or towards the fork arm 121. During operation, when the forklift 100 picks up a pallet, the drive assembly 13 drives the fork arm 121 to fall, and simultaneously drives the load wheel 122 to leave the ground and move towards the fork arm 121, so that the fork arm 121 has more room to move when entering the pallet hole, avoiding friction with the pallet. When the forklift 100 transports pallets and goods, the drive assembly 13 drives the fork arm 121 to rise, and simultaneously drives the load wheel 122 to move away from the fork arm 121 and contact the ground, so that the load wheel 122 provides support for the forklift body 11 and the goods.

[0034] Understandably, this embodiment uses a drive assembly 13 to drive the fork arm 121 and the load wheel 122. When the fork arm 121 rises relative to the forklift body 11, the load wheel 122 moves away from the fork arm 121 and contacts the ground. When the fork arm 121 descends relative to the forklift body 11, the load wheel 122 moves away from the ground and approaches the fork arm 121. This achieves synchronized movement of the fork arm 121 and the load wheel 122, reducing the time it takes for the forklift 100 to enter the pallet. At the same time, the load wheel 122 is lowered in time when transporting goods, providing support for the forklift 100 and the goods more quickly.

[0035] In some embodiments, the forklift 100 includes a fork assembly 12, which includes the aforementioned fork arms 121 and load wheels 122. At least one fork arm 121 has a load wheel 122 located below it. The load wheel 122 may be a single load wheel located below the fork arm 121, or multiple load wheels 122 may form a wheel assembly located below the same fork arm 121; this is not a limitation.

[0036] In this embodiment, the forklift 100 has two fork arms 121 and two load wheels 122. The two fork arms 121 are spaced apart on the forklift body 11, and the two load wheels 122 correspond one-to-one with the two fork arms 121. The drive assembly 13 is connected to each fork arm 121 and each load wheel 122, and the drive assembly 13 can drive each fork arm 121 and each load wheel 122 to move synchronously.

[0037] Understandably, this embodiment features paired fork arms 121 and paired load wheels 122, with each fork arm 121 corresponding to one load wheel 122. This reduces the number of components on the forklift 100 while ensuring good support for pallets and goods, resulting in a lighter overall structure for the forklift 100. Simultaneously, the drive assembly 13 can drive each fork arm 121 and each load wheel 122 to move synchronously, thereby solving the problem of excessively long time and high operational difficulty in picking up and placing pallets due to the movement delay between each fork arm 121 and load wheel 122.

[0038] In some embodiments, the mounting position of the load wheel 122 can be adjusted relative to the fork arm 121 in the length direction of the fork arm 121. When the forklift 100 of this embodiment is picking up or transporting goods, the fork arm 121 extends into the pallet hole and the load wheel 122 is exposed outside the pallet hole. The load wheel 122 moves away from the fork arm 121 to contact the ground when the fork arm 121 is raised.

[0039] Understandably, since different pallets differ in length, the corresponding pallet hole lengths also differ. In this embodiment, the load wheel 122 can be adjusted in the length direction of the fork arm 121 to accommodate more pallet sizes, which helps improve the applicability of the forklift 100. Secondly, this embodiment can overcome the installation error between the load wheel 122 and the fork arm 121 by adjusting the installation position of the load wheel 122 on the fork arm 121.

[0040] In other embodiments, the fork arm 121 can also move relative to the forklift body 11 in the width direction. Meanwhile, the load wheel 122 moves with the fork arm 121 and is always located below the fork arm 121. Furthermore, the movement distance of each fork arm 121 is independent of each other.

[0041] Understandably, when the pallet is wide, the distance between the two fork arms 121 can be adjusted to better support the pallet, ensure the stability of goods transport, and prevent the pallet and goods from tilting due to inertia during transport. Alternatively, when the space where the pallet is placed is narrow and not conducive to the movement of the forklift 100, the fork arms 121 can be moved to align with the pallet holes to complete the picking, and then the fork arms 121 can be reset, thus allowing the forklift 100 to be used in more complex working conditions.

[0042] Please see Figure 2 and Figure 3 In some embodiments, the fork arm 121 is provided with a plurality of mounting portions 123 along its length, and the load wheel 122 is adapted to and connected to one of the plurality of mounting portions 123. The drive assembly 13 includes a mounting frame 131, the load wheel 122 is mounted on the mounting frame 131, and is adapted to and connected to the mounting portion 123 through the mounting frame 131.

[0043] Understandably, since there are various types of pallets, different pallet sizes require adjustments to the mounting position of the load wheel 122 to allow the fork arm 121 to better insert into the pallet hole and for the load wheel 122 to better support the forklift 100 and the goods. In this embodiment, the load wheel 122 is mounted on the mounting bracket 131, and several mounting parts 123 are provided along the length of the fork arm 121. By selecting different mounting parts 123 to adapt and connect with the load wheel 122, the mounting position of the load wheel 122 can be adjusted relative to the fork arm 121 along its length, thereby improving the applicability of the forklift 100.

[0044] Please see Figure 2 and Figure 4 In some embodiments, the drive assembly 13 includes a transmission mechanism 132 and a power mechanism 133. The transmission mechanism 132 is connected to the load wheel 122. The power mechanism 133 is disposed on the forklift body 11 and is connected to the fork arm 121 and the transmission mechanism 132 respectively. It is used to drive the fork arm 121 to move relative to the forklift body 11 in the height direction. When the fork arm 121 rises relative to the forklift body 11, it drives the transmission mechanism 132 to drive the load wheel 122 to swing downward so that the load wheel 122 moves away from the fork arm 121. When the fork arm 121 falls relative to the forklift body 11, it drives the transmission mechanism 132 to drive the load wheel 122 to swing upward so that the load wheel 122 moves closer to the fork arm 121.

[0045] Understandably, the power system in this embodiment uses a single power mechanism 133 to drive the fork arm 121 and the transmission mechanism 132, and the transmission mechanism 132 drives the load wheel 122. This causes the load wheel 122 to leave the ground and approach the fork arm 121 when the fork arm 121 descends, and to move away from the fork arm 121 and contact the ground when the fork arm 121 rises. This achieves synchronization of the movements of the fork arm 121 and the load wheel 122, reducing the time it takes for the forklift 100 to enter the pallet. Furthermore, since the forklift 100 can achieve synchronization of the movements of the fork arm 121 and the load wheel 122 using only a single power mechanism 133, it helps to reduce the design cost of the forklift power system.

[0046] Please continue reading. Figure 4 In some embodiments, the power mechanism 133 includes a sliding frame 1332 and a hydraulic cylinder 1331. The sliding frame 1332 is connected to the forklift body 11 and is movable relative to the forklift body 11 along the height direction of the forklift body 11. The hydraulic cylinder 1331 is disposed on the forklift body 11 and connected to the sliding frame 1332. Exemplarily, the fork assembly 12 includes a pair of spaced-apart fork arms 121 and a load wheel 122. Along the width direction of the forklift body 11, the two fork arms 121 are arranged side by side. Each fork arm 121 includes a first connecting end 1211 and a fork-taking end 1212 arranged opposite to each other. The first connecting end 1211 is fixedly connected to the sliding frame 1332. A mounting bracket 131 and a load wheel 122 mounted on the mounting bracket 131 are provided below the fork-taking end 1212. There are two sets of transmission mechanisms 132. Each set of transmission mechanisms 132 is installed on a corresponding fork arm 121. One end of each set of transmission mechanisms 132 is hinged to the forklift body 11 and the sliding frame 1332, and the other end is hinged to the corresponding mounting frame 131.

[0047] When the hydraulic cylinder 1331 drives the sliding frame 1332 to rise, thereby raising the fork arm 121, the sliding frame 1332 simultaneously drives two sets of transmission mechanisms 132, so that each set of transmission mechanisms 132 drives a corresponding load wheel 122 to approach the fork arm 121 and be housed within the fork arm 121. When the drive assembly 13 drives the sliding frame 1332 to descend, thereby lowering the fork arm 121, the sliding frame 1332 simultaneously drives two sets of transmission mechanisms 132, so that each set of transmission mechanisms 132 drives a corresponding load wheel 122 away from the fork arm 121 until it contacts the ground.

[0048] During operation, the hydraulic cylinder 1331 controls the raising and lowering of the sliding frame 1332. The fork arm 121 of the fork assembly 12 is fixedly connected to the sliding frame 1332, and the fork arm 121 moves up and down synchronously with the sliding frame 1332. The transmission mechanism 132 connects the sliding frame 1332 and the forklift body 11, and the load wheel 122 is connected to the transmission mechanism 132 through the mounting bracket 131. When the sliding frame 1332 descends, the transmission mechanism 132 follows the descent of the sliding frame 1332, causing the load wheel 122 to move closer to the fork arm 121 and be housed within the fork arm 121. This allows the fork arm 121 to have more room to move when entering the pallet hole, avoiding friction with the pallet. When the sliding frame 1332 rises, the transmission mechanism 132 follows the descent of the sliding frame 1332, causing the load wheel 122 to move away from the fork arm 121, thereby allowing the load wheel 122 to contact the ground and providing auxiliary support for the goods and the forklift 100.

[0049] Understandably, this embodiment uses a single power source, hydraulic cylinder 1331, to drive sliding frame 1332 to raise and lower fork arm 121. At the same time, sliding frame 1332 drives transmission mechanism 132 to drive mounting frame 131, thereby synchronizing the movement of fork arm 121 and load wheel 122, reducing the time for forklift 100 to enter pallet, and helping to reduce the design cost of forklift power system.

[0050] Please see Figure 5 and Figure 6In some embodiments, the fork arm 121 includes a housing 1214 and a support arm 1215, both of which are elongated. The housing 1214 has a receiving groove 12141 arranged along its length and a support surface located on the back of the receiving groove 12141 for supporting a pallet. The support arms 1215 are arranged in pairs and parallel to the housing 1214. One support arm 1215 is independently mounted on one side wall of the receiving groove 12141 along its length, and the other support arm 1215 is independently mounted on the other side wall of the receiving groove 12141 along its length. A transmission mechanism 132 is received within the receiving groove 12141 and located between the two support arms 1215. To facilitate picking up goods, the fork end 1212 of the fork arm 121 gradually narrows in width from the side closer to the forklift body 11 to the side farther away from the forklift body 11. Optionally, the support arm 1215 and the housing 1214 can be fixedly connected by welding, riveting, bolts and nuts, etc.

[0051] Understandably, the fork arm 121 in this embodiment includes a housing 1214. The housing 1214 is provided with a receiving groove 12141 to accommodate the transmission mechanism 132 and the load wheel 122, which helps to make the overall structure of the forklift simpler and the space utilization rate higher. In addition, the support arm 1215 is installed in the receiving groove 12141 to support the entire housing 1214, thereby improving the overall strength of the fork arm 121. Exemplarily, several mounting parts 123 in this embodiment are provided on the support arm 1215, so that the mounting bracket 131 establishes a reliable connection with the fork arm 121 by connecting to the support arm 1215. In this embodiment, the fork arm 121 houses the load wheel 122 and the transmission mechanism 132 through the receiving groove 12141, and also protects the load wheel 122 and the transmission mechanism 132 to avoid damage to the forklift 100 due to collision with obstacles during travel. In particular, the transmission mechanism 132, which is housed between a pair of support arms 1215, receives better collision protection under the protection of the stronger support arms 1215.

[0052] Please continue reading. Figure 1 In some embodiments, the forklift body 11 includes a control panel 118, several control buttons 114, and several sensors. A controller is electrically connected to the control panel, control buttons 114, and sensors. The controller can activate or deactivate corresponding functional modules based on control commands from the control panel or trigger signals from the control buttons 114. For example, it can control the drive assembly 13 to perform the lifting and lowering action of the sliding frame 1332, or activate or deactivate corresponding modules based on signals sent by sensors. For instance, when a sensor detects that the forklift 100 is approaching the edge of the platform, the emergency drive wheel assembly stops moving. In other embodiments, the control panel is equipped with a touchscreen to facilitate operator operation and control of the forklift 100.

[0053] The forklift body 11 is also equipped with an upper limit detection switch and a lower limit detection switch for detecting the height of the fork arm 121. The upper and lower limit detection switches are electrically connected to the controller. When the height of the fork arm 121 reaches the upper limit position, the upper limit detection switch sends a corresponding trigger signal to the controller to stop the fork arm 121 from rising; when the height of the fork arm 121 reaches the lower limit position, the lower limit detection switch sends a corresponding trigger signal to the controller to stop the fork arm 121 from falling. For example, the upper and lower limit switches can be photoelectric switches, etc.

[0054] Please see Figure 1 and Figure 7 In some embodiments, the forklift body 11 may also be equipped with an emergency stop button 115, an audible and visual alarm device, a voice announcer, a tri-color light 116, a marker light 117, a driving recorder, a barcode scanner, a radiator 119, etc. The audible and visual alarm device includes an alarm light and a speaker; when the forklift 100 encounters a malfunction, it emits a light alarm signal and an audible alarm signal respectively through the alarm light and speaker. The emergency stop button 115 is located on the outer shell of the forklift body 11, and the operator can also trigger the emergency stop button 115 to stop the forklift from operation. The marker light 117 is used to display the outline of the forklift 100 to attract the attention of others and avoid collisions, thus playing a safety protection role. The marker light 117 can be suspended above the forklift body 11 by a bracket.

[0055] Furthermore, the operator can remotely control the forklift 100 to perform corresponding actions by operating the control panel 118. Additionally, a bracket for storing the control panel 118 can be provided on the forklift body 11, allowing the control panel 118 to be placed on the bracket when not in use. A tri-color light 116 is installed on the outer casing of the forklift body 11 and displays a target color under the control of the controller. For example, the tri-color light 116 indicates the current status of the forklift 100; for instance, a red light indicates a forklift 100 malfunction, a yellow light indicates the forklift 100 has stopped working, and a green light indicates the forklift is operating normally.

[0056] The driving recorder is used to record the status, road conditions, and working process of the forklift during its movement, and saves the data to the memory. Alternatively, the controller can generate a work log based on the recorded content, which serves as a basis for daily maintenance and troubleshooting of the forklift. To facilitate the recording of information about the goods being handled, graphic codes containing the goods' information can be affixed to the goods or their outer packaging. When the forklift picks up the goods, the graphic code is scanned by a barcode scanner to obtain the goods information, which is then recorded and saved in the memory, thus facilitating the management of goods handling.

[0057] The radiator 119 is used to dissipate heat for the forklift 100. Since the drive assembly 13 (hydraulic cylinder 1331) and electrical system of the forklift 100 easily generate significant heat during operation, in order to ensure good vehicle condition, in this embodiment, the top of the forklift body 11 is provided with a perforated area (perforated groove or perforated hole, etc.) for air outlet. The perforated area connects the hollow area and gaps inside the forklift body 11. The radiator 119 is installed in the perforated area, and air is outleted to the outside of the forklift body 11 through the perforated area. When the forklift 100 is working, the radiator 119 operates, forming airflow inside the forklift body 11. This airflow carries away the heat generated by the drive assembly 13 and electrical system. Simultaneously, the hot airflow tends to flow upwards, making it easier to exit through the perforated area and reach the outside, thereby achieving a good heat dissipation effect. Furthermore, through the above-described configuration, the cooling fan can be easily housed within the forklift body 11, avoiding an increase in the external volume of the forklift body 11. In addition, the radiator 119 is installed in the hollow area on the top of the forklift body 11, which can effectively save installation space and thus improve the space utilization rate of the forklift 100.

[0058] Please see Figure 2 and Figure 8 In some embodiments, the sliding frame 1332 is a frame structure, with sliding wheels 13321 on both sides. The forklift body 11 has a movable space, and the movable space has a sliding groove 111 adapted to the sliding wheels 13321. The sliding frame 1332 is housed within the movable space of the forklift body 11 and is connected to the sliding groove 111 through the sliding wheels 13321 to achieve lifting and lowering within the movable space. Furthermore, the cooperation between the sliding wheels 13321 and the sliding groove 111 provides guidance for the movement of the sliding frame 1332, thereby ensuring the stability of the movement of the fork arm 121.

[0059] Please continue reading. Figure 5 and Figure 6 In some embodiments, the transmission mechanism 132 includes a drive arm 1321 and a transmission arm 1322. The length of the drive arm 1321 is adjustable. The drive arm 1321 is connected to the load wheel 122 and is used to adjust its length to adapt to the installation position of the load wheel 122 and drive the load wheel 122 to swing up and down. The transmission arm 1322 is disposed on the forklift body 11 and is hinged to the drive arm 1321 and the power mechanism 133 respectively. It is used to transmit power to the drive arm 1321 when the power mechanism 133 drives the fork arm 121 to rise and fall relative to the forklift body 11, so that the drive arm 1321 drives the load wheel 122 to swing up and down.

[0060] Understandably, the transmission structure in this embodiment employs a linkage mechanism. Power transmitted through the power mechanism 133 drives the mounting bracket 131 to swing upwards or downwards, thereby moving the load wheel 122 away from or towards the fork arm 121. The power system design used in this embodiment to drive the load wheel 122 is highly efficient and simple. Furthermore, the drive arm 1321 in this embodiment can adjust its length to match the mounting position of the mounting bracket 131, avoiding cumbersome replacement operations when the mounting position of the load wheel 122 changes, making the adjustment of the load wheel 122 and the transmission mechanism 132 more flexible.

[0061] Please see Figure 3 and Figure 9 The mounting bracket 131 includes a swing end 1311 and a movable end 1312 arranged opposite to each other. A first hinge part 1313 is provided between the swing end 1311 and the movable end 1312. The first hinge part 1313 is hinged to the fork arm 121. The load wheel 122 is rotatably mounted on the swing end 1311.

[0062] Please continue reading. Figure 5 and Figure 6 The drive arm 1321 includes a first hinge end 13214 and a second hinge end 13215 that are disposed opposite to each other, and the first hinge end 13214 is hinged to the movable end 1312.

[0063] Please see Figure 5 , Figure 6 and Figure 10 The transmission arm 1322 includes a third hinge end 13221 and a fixed end 13222 that are disposed opposite to each other. A second hinge part 13223 is provided between the third hinge end 13221 and the fixed end 13222. The third hinge end 13221 is hinged to the sliding frame 1332, the fixed end 13222 is hinged to the forklift body 11, and the second hinge part 13223 is hinged to the second hinge end 13215.

[0064] When the third hinge end 13221 rises with the sliding frame 1332, the drive arm 1321 drives the mounting frame 131 to swing downward, thereby driving the load wheel 122 to approach the fork arm 121 and be housed within the fork arm 121; when the third hinge end 13221 falls with the sliding frame 1332, the drive arm 1321 drives the mounting frame 131 to swing upward, thereby driving the load wheel 122 away from the fork arm 121 to contact the ground.

[0065] In this embodiment, the fixed end 13222 of the drive arm 1322 is hinged to the bottom of the forklift body 11, and the third hinge end 13221 of the drive arm 1322 is hinged to the bottom of the sliding frame 1332. When the drive assembly 13 drives the sliding frame 1332 to rise, the third hinge end 13221 of the drive arm 1322 rotates around its fixed end 13222 as a fulcrum. At the same time, the second hinge portion 13223 of the drive arm 1322 is driven. The second hinge end 13215 of the drive arm 1321 swings with the movement of the second hinge portion 13223. The first hinge end 13214 of the drive arm 1321 pulls the movable end 1312 of the mounting frame 131, so that the swing end 1311 of the mounting frame 131 swings around its first hinge portion 1313 as a fulcrum, thereby causing the load wheel 122 to move downward away from the fork arm 121 and contact the ground.

[0066] Correspondingly, when the drive assembly 13 drives the sliding frame 1332 to descend, the third hinge end 13221 of the transmission arm 1322 rotates in the opposite direction with its fixed end 13222 as the fulcrum. At the same time, the second hinge portion 13223 of the transmission arm 1322 is driven. The second hinge end 13215 of the drive arm 1321 swings with the movement of the second hinge portion 13223. The first hinge end 13214 of the drive arm 1321 pushes the movable end 1312 of the mounting frame 131, so that the swing end 1311 of the mounting frame 131 swings with its first hinge portion 1313 as the fulcrum, thereby lifting the load wheel 122 and receiving it upward into the receiving groove 12141 of the fork arm 121.

[0067] Understandably, this embodiment uses a linkage mechanism transmission component, which enables the load wheel 122 to move away from the fork arm 121 as it rises until it contacts the ground, supporting the forklift 100 and the goods when transporting them. At the same time, the load wheel 122 moves up and retracts to the bottom of the fork arm 121 as it descends.

[0068] Please continue reading. Figure 5 and Figure 6 In some embodiments, the drive arm 1321 includes a first connecting rod 13211, a screw 13212, and a second connecting rod 13213 connected in sequence. The end of the first connecting rod 13211 away from the screw 13212 is hinged to the load wheel 122, and the end of the second connecting rod 13213 away from the screw 13212 is hinged to the transmission arm 1322. The screw 13212 is threadedly connected to at least one of the first connecting rod 13211 and the second connecting rod 13213. The end of the first connecting rod 13211 away from the screw 13212 (the first hinge end 13214) is hinged to the movable end 1312 of the mounting bracket 131, and the end of the second connecting rod 13213 away from the screw 13212 (the second hinge end 13215) is hinged to the second hinge portion 13223 of the transmission arm 1322.

[0069] It is understood that the drive arm 1321 in this embodiment adopts a first connecting rod 13211, a second connecting rod 13213 and a screw 13212, which realizes the detachable structure of the drive arm 1321. At the same time, the length of the drive arm 1321 can be adjusted by adjusting the connection length between the screw 13212 and one of the first connecting rod 13211 or the second connecting rod 13213.

[0070] In other embodiments, the drive arm 1321 may include a third link and a fourth link. The third link is a hollow rod, and its wall surface has a plurality of spaced through holes along its length. The fourth link is partially housed within the third link and is slidably connected to it. A spring plunger is provided on one end of the fourth link housed within the third link, and the spring plunger passes through one of the through holes in the third link and is exposed.

[0071] Understandably, the relative sliding between the third and fourth links is restricted by the through hole and the hole of the spring plunger. When the spring plunger is pressed, the relative sliding between the third and fourth links resumes. At this time, by aligning the spring plunger with other through holes and connecting them, the length adjustment of the drive arm 1321 can be achieved.

[0072] Please see Figure 9 In some embodiments, the first hinge portion 1313 includes a first hinge hole 13131 and a first hinge shaft 13132, with the first hinge hole 13131 sleeved on the first hinge shaft 13132. The mounting portion 123 on the fork arm 121 is a mounting hole 1231, and one of the several sets of mounting holes 1231 is sleeved on the first hinge shaft 13132.

[0073] Understandably, the fork arm 121 of this embodiment is provided with a plurality of mounting holes 1231 for alignment and connection with the first hinge hole 13131. The mounting bracket 131 can be aligned with different mounting holes 1231 through the first hinge hole 13131 and complete the insertion fit through the first hinge shaft 13132 to adjust the installation position of the load wheel 122 in the length direction of the fork arm 121, thereby improving the applicability of the forklift 100.

[0074] Please see Figure 11 Optionally, the second hinge portion 13223 of the transmission arm 1322 includes a second hinge hole 132232 and a second hinge shaft 132231. The second hinge hole 132232 is sleeved on the second hinge shaft 132231. The second hinge end 13215 of the drive arm 1321 is provided with a third hinge hole and is sleeved on the second hinge shaft 132231 to realize the hinge of the transmission arm 1322 and the drive arm 1321.

[0075] Please see Figure 4In some embodiments, the hydraulic cylinder 1331 includes a cylinder body 13311 and a first movable shaft 13312. The cylinder body 13311 is fixedly connected to the forklift body 11. The first movable shaft 13312 is movable relative to the cylinder body 13311 along the height direction of the forklift body 11. One end of the first movable shaft 13312 is housed within the cylinder body 13311, and the other end of the first movable shaft 13312 is connected to a sliding frame 1332.

[0076] In this embodiment, a hydraulic cylinder 1331 is used to hydraulically drive the first movable shaft 13312, thereby lifting the sliding frame 1332 and achieving the raising and lowering of the sliding frame 1332. In other embodiments, a linear stepper motor or similar device can also be used to drive the raising and lowering of the sliding frame 1332.

[0077] Please see Figure 4 and Figure 12 In some embodiments, the forklift 100 further includes an auxiliary support assembly 14, which is movably disposed on the forklift body 11 and connected to the drive assembly 13. The drive assembly 13 is also used to drive the auxiliary support assembly 14 to move relative to the forklift body 11 in the height direction, and to drive the auxiliary support assembly 14 to rise away from the ground when the fork arm 121 rises relative to the forklift body 11, and to drive the auxiliary support assembly 14 to fall so that the auxiliary support assembly 14 contacts the ground when the fork arm 121 falls relative to the forklift body 11.

[0078] Understandably, in this embodiment, by setting the auxiliary support component 14, the fork arm 121 is lowered to provide auxiliary support to the forklift 100.

[0079] In some embodiments, the auxiliary support assembly 14 includes a directional wheel 141 and a mounting platform 142. The mounting platform 142 is located below the sliding frame 1332 and is connected to the drive assembly 13. The directional wheel 141 is rotatably mounted on the bottom of the mounting platform 142. The drive assembly 13 is also used to drive the mounting platform 142 to rise when the sliding frame 1332 rises, causing the directional wheel 141 to leave the ground, and to drive the mounting platform 142 to fall when the sliding frame 1332 falls, causing the directional wheel 141 to abut against the ground.

[0080] Understandably, when the sliding frame 1332 rises, the drive assembly 13 drives the mounting platform 142 to rise, so that the guide wheel 141 is raised; when the sliding frame 1332 falls, the drive assembly 13 drives the mounting platform 142 to fall, so that the guide wheel 141 touches the ground, thereby assisting in supporting the fork arm 121 and increasing the load capacity of the fork arm 121.

[0081] Please see Figure 13In this embodiment, the forklift body 11 is also equipped with a balance wheel 113 and a steering wheel 112, which provide support and facilitate movement. When the forklift 100 is running normally, the fork arm 121 is in a high position. When the fork arm 121 picks up goods, the forklift 100 moves to the front of the pallet and drives the fork arm 121 to descend to a low position through the hydraulic cylinder 1331. At this time, the load wheel 122 rotates towards the fork arm 121 under the drive of the transmission mechanism 132 to retract to the bottom of the fork arm 121. At this time, the directional wheel 141, the balance wheel 113, and the steering wheel 112 form a new support to maintain the balance of the forklift 100.

[0082] The forklift 100 moves toward the pallet and inserts into the pallet's slot. When the forklift 100 is in position, the hydraulic cylinder 1331 raises the fork arm 121 to a high position. At this time, the directional wheel 141 is off the ground, and the load wheel 122, steering wheel 112, and balance wheel 113 re-form a support system, simultaneously lifting the goods off the ground. After the forklift 100 moves the goods to the destination, the hydraulic cylinder 1331 drives the fork arm 121 to a low position. At this time, the directional wheel 141, balance wheel 113, and steering wheel 112 form a new support to maintain the balance of the vehicle.

[0083] After the fork arm 121 is fully retracted, the fork arm 121 moves to a high position under the action of the hydraulic cylinder 1331. At this time, the directional wheel 141 is off the ground, and the load wheel 122 rotates in the direction away from the fork arm 121 under the drive of the transmission mechanism 132. By contacting the ground, the load wheel 122, the steering wheel 112, and the balance wheel 113 support the forklift 100 again.

[0084] Please see Figure 4 , Figure 12 and Figure 13 In some embodiments, the hydraulic cylinder 1331 further includes a second movable shaft 13313. The first movable shaft 13312 and the second movable shaft 13313 are coaxially arranged, and the first movable shaft 13312 and the second movable shaft 13313 are respectively located on both sides of the cylinder body 13311. The second movable shaft 13313 can move relative to the cylinder body 13311 along the height direction of the forklift body 11. One end of the second movable shaft 13313 is received in the cylinder body 13311, and the other end of the second movable shaft 13313 is connected to the mounting platform 142.

[0085] Understandably, the hydraulic cylinder 1331 also includes a second movable shaft 13313, through which the forklift 100 drives the guide wheel 141 to rise and fall. For example, the hydraulic cylinder 1331 in this embodiment can be a double-acting, double-rod hydraulic cylinder 1331. Through the above-described configuration, this embodiment achieves the lifting and lowering of the fork arm 121, the up-and-down swing of the load wheel 122, and the lifting and lowering of the guide wheel 141 using a single power source. This helps reduce the design cost of the forklift 100's power system while ensuring the synchronized movement of the fork arm 121, load wheel 122, and guide wheel 141.

[0086] Please continue reading. Figure 12 In some embodiments, the forklift 100 further includes a guide assembly 15, which is connected to the auxiliary support assembly 14 and the forklift body 11 respectively, and is used to guide the mounting platform 142 to move in the height direction of the forklift body 11.

[0087] Understandably, in order to prevent the directional wheel 141 from deflecting and making it difficult for the fork arm 121 to be inserted into the tray hole, this embodiment sets a guide component 15 so that the mounting platform 142 can only be raised and lowered, and cannot rotate around the second movable shaft 13313 as the rotation axis, so as to prevent the directional wheel 141 from deflecting.

[0088] In some embodiments, the guide assembly 15 includes at least one guide shaft 151 and a guide sleeve 152 slidably connected to the guide shaft 151. One end of the guide shaft 151 is fixedly connected to the mounting platform 142, and the other end of the guide shaft 151 passes through the guide sleeve 152. The guide shaft 151 is arranged parallel to the second movable shaft 13313, and the guide sleeve 152 is mounted on the sliding frame 1332.

[0089] Understandably, since the mounting platform 142 and the sliding frame 1332 are connected by at least two parallel shafts, the second movable shaft 13313 and the mounting platform 142 cannot rotate around the axis of the second movable shaft 13313. The mounting platform 142 can only move in the height direction, so that the directional wheel 141 does not deflect.

[0090] For example, this embodiment provides two guide shafts 151, and the second movable shaft 13313 is located between the two guide shafts 151, with the guide shaft sleeve 152 mounted on the lower frame of the sliding bracket 1332. In other embodiments, the guide shaft 151 can be an optical axis with a cross-section of polygonal or elliptical shape, etc.

[0091] In some embodiments, the load wheel 122 is a one-way wheel or an omnidirectional wheel. It is understood that in this embodiment, a one-way wheel can meet the needs of simple handling scenarios, while an omnidirectional wheel can meet the omnidirectional movement requirements of the forklift 100, allowing for better obstacle avoidance and goods stacking in load-carrying scenarios. Optionally, the omnidirectional wheel can be a differential wheel 1221, a spherical wheel, a Mecanum wheel, etc.

[0092] Please see Figure 9 For example, when the load wheel 122 is a one-way wheel, the swing end 1311 of the mounting bracket 131 adopts a U-shaped fork structure. Taking one of the fork arms 121 as an example, each fork portion 13111 of the U-shaped fork is provided with a through hole. The load wheel 122 is located between the two fork portions 13111 of the U-shaped fork. A rotating shaft is provided at the axis of the load wheel 122, and it is rotatably connected to the U-shaped fork through the cooperation of the rotating shaft and the through hole.

[0093] Please see Figure 14 For example, when the load wheel 122 is a differential wheel 1221, the swing end 1311 of the mounting bracket 131 adopts a platform 13112 structure. Taking one of the fork arms 121 as an example, the differential wheels 1221 are arranged in pairs at intervals below the platform 13112. The bottom of the platform 13112 is connected to a base 125, on which a first motor 126 and a second motor 127 are mounted. Each motor drives one of the differential wheels 1221 below the platform 13112. When the forklift 100 needs to turn, the two motors drive the corresponding differential wheels 1221 at different speeds, so that there is a speed difference between the two differential wheels 1221, thereby realizing the turning of the forklift 100.

[0094] Please see Figure 1 In some embodiments, a 3D LiDAR 19 is provided on the top of the forklift body 11. The 3D LiDAR 19 is used to monitor the terrain and objects in the surrounding environment.

[0095] Understandably, this embodiment includes a 3D LiDAR 19 to monitor the surrounding terrain and objects, thereby locating the forklift 100. The 3D LiDAR 19 is electrically connected to the forklift's controller. The controller receives monitoring information from the 3D LiDAR 19 and controls the forklift's power system (e.g., drive assembly 13) to perform corresponding actions based on this information. Furthermore, when the forklift 100 is an unmanned electric forklift, the monitoring information generated by the 3D LiDAR 19 can be used to plan the forklift's path and adjust the movement of the load wheels 122, guide wheels 141, and fork arms 121. For example, the 3D LiDAR 19 uses acquired 3D point cloud data to sense whether there are goods or pallets at the forklift station and can determine the location and distance of the goods. The forklift 100's controller automatically adjusts the travel path and the movements of the fork arms 121, load wheels 122, and guide wheels 141 based on this perception result.

[0096] Furthermore, the 3D LiDAR 19 senses obstacles on the top, front, and sides of the forklift 100, enabling multi-directional obstacle avoidance. It also eliminates the need to install other obstacle avoidance sensors on the top of the forklift and reduces the number of obstacle avoidance sensors installed on the bottom of the vehicle for front and side protection of the forklift 100, thereby effectively simplifying the overall structure of the forklift 100 and reducing its design cost.

[0097] For example, the 3D LiDAR 19 detects the road surface condition along the forward and backward travel paths of the forklift 100. When an abnormality is detected in the road surface condition (i.e., when no point cloud data of obstacles is acquired), the forklift 100 performs an emergency stop to eliminate the risk of the forklift 100 falling during docking tasks with elevators or outdoor platform scenarios. Furthermore, the 3D LiDAR 19 used in this embodiment can monitor the distance between the forklift 100 and any suspended surface in real time, and limit the forklift's travel distance based on the monitoring results to ensure that the forklift 100 does not approach the suspended edge while traveling, thereby preventing a fall accident.

[0098] As can be seen, the forklift 100 in this embodiment achieves positioning, perception, obstacle avoidance and other functions through a single 3D LiDAR 19, which simplifies the structure of the forklift 100 and reduces the design cost of the forklift 100.

[0099] Please continue reading. Figure 1In some embodiments, the forklift 100 further includes a cantilever 17 and a column 18. The cantilever 17 includes a suspended end 171 and a second connecting end 172. The suspended end 171 is located above the forklift body 11, and a 3D LiDAR 19 is mounted on the suspended end 171. The column 18 includes a third connecting end 181 and a fourth connecting end 182. The third connecting end 181 is connected to the top of the forklift body 11, and the fourth connecting end 182 is connected to the second connecting end 172.

[0100] The column 18 and the cantilever combine to form a support for the 3D LiDAR 19, placing the 3D LiDAR 19 at a high position to avoid obstruction by the forklift 100, goods, etc., thereby obtaining a wider detection range. For example, the column 18 and the cantilever can be fixedly connected or rotatably connected; no limitation is made here.

[0101] In this embodiment, the 3D LiDAR 19 is suspended above the forklift body 11, making it less likely for the detection laser to be blocked by the forklift body 11 and the cargo, thus avoiding the loss of point cloud data for certain areas during the detection process. Furthermore, in an optional embodiment, the cantilever 17 is an arched cantilever. The arched structure of the cantilever 17 not only provides a suitable height for the 3D LiDAR 19 but also offers a better overhead viewing angle, thus expanding the detection range of the 3D LiDAR 19.

[0102] In other embodiments, the 3D LiDAR 19 is provided with a connecting shaft, and the suspension end 171 of the cantilever 17 is provided with a receiving cavity. At least one side wall of the receiving cavity is provided with a connecting hole adapted to the connecting shaft. The 3D LiDAR 19 is housed in the receiving cavity and rotates through the cooperation of the connecting shaft and the connecting hole, thereby achieving an adjustable detection direction and a wider detection range.

[0103] Please see Figure 8 In some embodiments, a first obstacle avoidance sensor 124 is provided at the end of the fork arm 121 away from the forklift body 11. The first obstacle avoidance sensor 124 can be a 2D LiDAR and is used to monitor obstacles located in front of the fork arm 121.

[0104] Understandably, the fork arm 121 in this embodiment is equipped with a first obstacle avoidance sensor 124 to monitor obstacles in front of the fork arm 121. This facilitates the emergency stop of the forklift 100 when an obstacle is detected, avoiding collisions and further improving the safety of the forklift 100. The first obstacle avoidance sensor 124 is electrically connected to the controller of the forklift 100. The controller receives the monitoring information sent by the first obstacle avoidance sensor 124 and controls the forklift power system to perform corresponding actions based on the monitoring information. For example, the first obstacle avoidance sensor 124 in this embodiment can also be a photoelectric sensor, an ultrasonic sensor, etc.

[0105] Please read Figure 1and Figure 7 In some embodiments, at least two second obstacle avoidance sensors 16 are provided circumferentially at the bottom of the forklift body 11. The second obstacle avoidance sensors 16 can be 2D LiDAR and are used to monitor obstacles located circumferentially at the bottom of the forklift body 11.

[0106] Understandably, although the top of the forklift body 11 in this embodiment is equipped with a 3D LiDAR 19 and the front end of the fork arm 121 is equipped with a first obstacle avoidance sensor 124, there are still some blind spots at the bottom of the forklift body 11 that cannot be detected by the 3D LiDAR 19 and the first obstacle avoidance sensor 124. Therefore, in this embodiment, a second obstacle avoidance sensor 16 is provided at the bottom of the forklift body 11 to monitor obstacles around the bottom of the forklift body 11, further improving the safety protection of the forklift 100. The second obstacle avoidance sensor 16 is electrically connected to the controller of the forklift 100. The controller receives the monitoring information sent by the second obstacle avoidance sensor 16 and controls the forklift power system to perform corresponding actions based on the monitoring information. For example, in this embodiment, the forklift body 11 has second obstacle avoidance sensors 16 on both sides of its bottom along the length direction (the same length direction as the fork arm 121).

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A forklift, characterized in that, include: Forklift body; Fork arm, which is movably mounted on the forklift body; The load wheel is rotatably disposed below the fork arm, and the load wheel is one of a one-way wheel, a differential wheel, a spherical wheel, or a Mecanum wheel; as well as A drive assembly is connected to the fork arm and the load wheel respectively. The drive assembly is used to drive the fork arm to move relative to the fork body in the height direction of the fork body, and when the fork arm rises relative to the fork body, it drives the load wheel away from the fork arm so that the load wheel contacts the ground, and when the fork arm falls relative to the fork body, it drives the load wheel to move closer to the fork arm so that the load wheel moves away from the ground. An auxiliary support assembly is movably mounted on the forklift body and connected to the drive assembly; The drive assembly is further configured to drive the auxiliary support assembly to move relative to the forklift body in the height direction of the forklift body, and to drive the auxiliary support assembly to rise away from the ground when the fork arm rises relative to the forklift body, and to drive the auxiliary support assembly to fall so that the auxiliary support assembly contacts the ground when the fork arm falls relative to the forklift body.

2. The forklift according to claim 1, characterized in that, The mounting position of the load wheel can be adjusted relative to the fork arm along its length.

3. The forklift according to claim 2, characterized in that, The fork arm has several mounting parts along its length, and the load wheel is adapted to be connected to one of the several mounting parts.

4. The forklift according to claim 3, characterized in that, The driving component includes: A transmission mechanism, wherein the transmission mechanism is connected to the load wheel; and A power mechanism, connected to the fork arm and the transmission mechanism respectively, is used to drive the fork arm to move relative to the fork body in the height direction of the fork body. When the fork arm rises relative to the fork body, it drives the transmission mechanism to cause the load wheel to swing downward so that the load wheel moves away from the fork arm. When the fork arm falls relative to the fork body, it drives the transmission mechanism to cause the load wheel to swing upward so that the load wheel moves closer to the fork arm.

5. The forklift according to claim 4, characterized in that, The transmission mechanism includes: A drive arm, the length of which is adjustable, is connected to the load wheel and is used to adjust its length to fit the installation position of the load wheel, thereby driving the load wheel to swing up and down; and A drive arm is mounted on the forklift body and is hinged to the drive arm and the power mechanism, respectively. When the power mechanism drives the fork arm to rise and fall relative to the forklift body, the drive arm transmits power to the drive arm so that the drive arm drives the load wheel to swing up and down.

6. The forklift according to claim 5, characterized in that, The drive arm includes a first connecting rod, a screw, and a second connecting rod connected in sequence. The end of the first connecting rod away from the screw is hinged to the load wheel, and the end of the second connecting rod away from the screw is hinged to the transmission arm. The screw is threadedly connected to at least one of the first connecting rod and the second connecting rod.

7. The forklift according to claim 1, characterized in that, It also includes a guide component, which is connected to the auxiliary support component and the forklift body respectively, and is used to guide the auxiliary support component to move relative to the forklift body in the height direction of the forklift body.

8. The forklift according to claim 1, characterized in that, There are two fork arms and two load wheels. The two fork arms are spaced apart on the forklift body. The two load wheels correspond one-to-one with the two fork arms. The drive assembly is connected to each fork arm and each load wheel. The drive assembly can drive each fork arm and each load wheel to move synchronously.

9. The forklift according to claim 1, characterized in that, The top of the forklift body is equipped with a 3D LiDAR, which is used to monitor the terrain and objects in the surrounding environment; and / or The forklift also includes a first obstacle avoidance sensor, which is disposed on the end of the fork arm away from the forklift body. The first obstacle avoidance sensor is used to monitor obstacles located in front of the fork arm. and / or The forklift also includes a second obstacle avoidance sensor, which is circumferentially disposed at the bottom of the forklift body. The second obstacle avoidance sensor is used to monitor obstacles located around the bottom of the forklift body.

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