Stacking carrying vehicle and application

Abstract

The invention discloses a stacking carrying vehicle and application. The stacking carrying vehicle comprises a chassis; a telescopic pallet fork unit, a protection unit and symmetrically arranged lifting pallet fork units are arranged on the chassis; the telescopic pallet fork unit is located between the symmetrically-arranged lifting pallet fork units and comprises a longitudinal displacement assembly, a longitudinal moving frame, a vertical moving frame and a telescopic pallet fork located on the vertical moving frame, the longitudinal displacement assembly is connected with the longitudinal moving frame, and the vertical moving frame is arranged on the longitudinal moving frame in a liftable mode; the lifting pallet fork unit comprises a vertical displacement assembly, a transverse displacement assembly and a lifting pallet fork, the transverse displacement assembly is located on the vertical displacement assembly, and the lifting pallet fork is connected with the transverse displacement assembly. The problem that a forklift driver needs to be equipped for a forklift in existing production is solved, the cost is reduced, particularly, a plurality of stacks can be carried at a time, the carrying efficiency is improved, and the safety and stability during carrying are also guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation equipment, and in particular to a stacking and transporting vehicle and its application. Background Art

[0002] A pallet stacker refers to a small vehicle equipped with a power transmission device and a power lifting device that can load, unload, transport and stack pallets and palletized goods. It is widely used in warehousing and logistics industries due to its high work efficiency and strong flexibility.

[0003] At present, in existing production, forklift operators usually drive forklifts to load, unload and transport stacking pallets, and most forklifts can only fork one stack at a time. After the stack is transported to a predetermined position, they fork the second stack and stack the second stack on the first stack. This is not only inefficient, but also requires extremely high driving skills for forklift operators, especially when facing high stacks, transporting and stacking stacks. Forklift operators need to control accurately. Any carelessness will cause the goods to fall over, causing losses and posing safety hazards. Patent CN218202036U discloses a pallet stacker, including a body, a frame, a flat fork, a support rail, a drive wheel, a guide wheel, and a first support wheel. Patent CN209291908U discloses an electric pallet stacker for cargo handling, including a body, a fork with anti-slip serrations on the surface, a fork frame, and a hydraulic cylinder, a telescopic rod, a gantry, and a chain for controlling the lifting of the fork. It can be seen that the existing device cannot carry multiple stacks at a time. When stacking stacks, the forklift operator needs to control the fork to align with the previous stack and then stack the stack on the fork on it. The handling efficiency is low, and the device has no protective structure and poor safety and stability.

[0004] Therefore, in view of the above problems and technical requirements, it is necessary to improve the existing stacking and transporting vehicles. Summary of the invention

[0005] In view of the above problems, the purpose of the present invention is to provide a stacking and stacking transport vehicle and its application. The transport vehicle of the present invention can transport multiple stacks at a time and complete the stacking of the stacks during loading, which solves the problem of complex and difficult stacking operations in the prior art and improves the transport efficiency.

[0006] The technical solution adopted by the present invention to solve its technical problem is: A stacking and stacking transporter comprises a chassis; a telescopic fork unit, a protection unit and a symmetrically arranged lifting fork unit are arranged on the chassis; the telescopic fork unit is located between the symmetrically arranged lifting fork units, and comprises a longitudinal displacement component, a longitudinal moving frame, a vertical moving frame and a telescopic fork located on the vertical moving frame, the longitudinal displacement component is connected to the longitudinal moving frame, and the vertical moving frame is liftably arranged on the longitudinal moving frame; the lifting fork unit comprises a vertical displacement component, a lateral displacement component and a lifting fork, the lateral displacement component is located on the vertical displacement component, and the lifting fork is connected to the lateral displacement component.

[0007] In the present invention, stacking refers to stacking goods in units of pallets; stacking refers to stacking together. The telescopic fork unit is used to place the stacking fork on the chassis, or to place the stacking fork on the chassis on the unloading platform; the lifting fork unit is used to lift the stack on the chassis to achieve stacking, i.e., stacking, so that multiple stacks can be transported at one time. When unloading, a single stack can be unloaded one by one, several stacks can be unloaded at the same time, or all stacks can be unloaded at one time according to needs; when the device is in operation, the protection unit cooperates with the telescopic fork unit and the lifting fork unit to protect the stack on the chassis to prevent it from tipping over when the center of gravity of the stack is unstable.

[0008] Preferably, the chassis is a load-bearing chassis. Further preferably, the chassis is a concave load-bearing chassis. The load-bearing chassis is used to ensure the structural strength of the device and the transportation capacity when loaded. The chassis is designed as a concave structure, the concave part in the middle is used to carry the stack, and the two ends are used to install the walking unit to reduce the overall center of gravity height, so that the device remains stable during operation, while reducing the height that the stack needs to be lifted, and improving the efficiency of loading and unloading.

[0009] Furthermore, the number of the lifting fork units is one pair or a plurality of pairs. In actual application, the number of the lifting fork units is selected according to needs, which does not affect the realization of the technical effect of the present invention.

[0010] Preferably, the longitudinal displacement assembly includes a longitudinal displacement drive device; the longitudinal displacement drive device is connected to the longitudinal moving frame; the vertical moving frame is arranged on the longitudinal moving frame through a vertical displacement drive device No. 1. The longitudinal displacement drive device is used to drive the telescopic fork to move forward and backward, and the vertical displacement drive device No. 1 is used to drive the telescopic fork to move up and down, so that the stacking fork can be placed on the chassis, or the stacking fork on the chassis can be placed on the unloading platform. Further preferably, the chassis is provided with a longitudinal moving frame guide rail, the longitudinal moving frame is provided with a sliding member, and the sliding member on the longitudinal moving frame is located in the longitudinal moving frame guide rail; the longitudinal moving frame is provided with a vertical moving frame guide rail, the vertical moving frame is provided with a sliding member, and the sliding member on the vertical moving frame is located in the vertical moving frame guide rail. By providing the longitudinal moving frame guide rail and the vertical moving frame guide rail, and cooperating with the sliding member, the stability of the longitudinal moving frame and the vertical moving frame during displacement is improved, thereby ensuring the stability of the forks during stacking.

[0011] Preferably, the protection unit is located outside the load-bearing area formed by the telescopic fork unit and the lifting fork unit; the protection unit includes an upper protection cover and side protection rails.

[0012] In the present invention, the load-bearing area refers to the area where the stack is placed. When transporting the stack, the upper protective cover is used to press the stack, and the side guardrails are used to prevent the stack from tipping over; the side guardrails are used to further protect the stack to prevent the stack from tipping over due to unstable center of gravity when the device is traveling. Further preferably, the upper protective cover is disposed above the chassis through a telescopic column; the side guardrails are rotatably disposed on the telescopic column. Even more preferably, the upper protective cover is provided with a lock that matches the side guardrail. The telescopic column is used to drive the upper protective cover to move up and down, and when the stacking is completed, the upper protective cover descends and presses the stack, the side guardrails are closed, the lock locks the side guardrails, and the device travels to the specified position.

[0013] Preferably, the vertical displacement assembly includes a second vertical displacement drive device; the lateral displacement assembly includes a lateral displacement drive device and a gear; the lateral displacement drive device is located on the second vertical displacement drive device; the gear is connected to the lateral displacement drive device; and the lifting fork is provided with a rack meshing with the gear.

[0014] In the present invention, the second vertical displacement driving device is used to drive the lifting fork to move up and down, and the lateral displacement driving device is used to drive the lifting fork to move left and right. When it is necessary to lift the stack, the lateral displacement driving device drives the lifting fork to move to the load-bearing area. When it is not necessary to lift the stack, the lateral displacement driving device drives the lifting fork to leave the load-bearing area, so that stacking can be achieved in the present device. When unloading, single stacks can be unloaded one by one, several stacks can be unloaded at the same time, or all stacks can be unloaded at one time according to needs, which has high flexibility. Further, the lateral displacement driving device can be directly installed on the vertical displacement driving device, or it can be installed on the movable part through a conventional connecting piece, and the movable part is installed on the second vertical displacement driving device. For example, a fixed column is set on the chassis, and the lateral displacement driving device is set in the movable part sliding column through a connecting piece slider, and the sliding column is set in the fixed column. The sliding column is connected to the driving end of the second vertical displacement driving device, and a pulley is set on the top of the sliding column. A chain is set on the second vertical displacement driving device, and the chain bypasses the pulley and is connected to the slider. The driving end of the second vertical displacement driving device drives the sliding column to move in the fixed column, thereby driving the chain connected to the sliding column to move, and then driving the slider connected to the chain to move, so as to realize the vertical up and down displacement of the lifting fork. Preferably, the lateral displacement driving device is installed on the conventional connecting piece through the lifting fork fixing frame, and the lifting fork fixing frame is used to install the lifting fork. More preferably, the lifting fork fixing frame is provided with a plurality of installation ports. In actual application, the spacing between the lifting forks can be adjusted according to the size of the forked pallet. As an example, the lateral displacement driving device uses a rotating motor, and the gear can be directly installed on the rotating motor or installed on the rotating motor through a transmission assembly; for example, the transmission assembly includes a main drive shaft, a main sprocket, a slave sprocket, and a slave drive shaft. The main drive shaft is connected to the rotating motor, the main sprocket is connected to the main drive shaft, the main sprocket is connected to the slave sprocket through a chain, the slave drive shaft is connected to the slave sprocket, and the gear is connected to the slave drive shaft. The rotating driving device drives the main drive shaft to rotate, thereby driving the slave drive shaft to rotate, and then driving the gear to rotate, thereby realizing the lateral left and right displacement of the lifting fork.

[0015] Preferably, the stacking and stacking transporter further comprises a walking unit; the walking unit is arranged on the chassis. The walking unit is used to drive the device to walk so as to complete autonomous operation. The walking unit is conventional technology. Preferably, the walking unit comprises walking wheels, at least one of the walking wheels is a driving walking wheel, at least one of the walking wheels is a driving steering wheel, the driving walking wheel is used to drive the device to walk, and the driving steering wheel is used to drive the device to turn. In actual application, other solutions can also be adopted, as long as the device can walk and turn autonomously, which does not affect the realization of the technical effect of the present invention.

[0016] Preferably, the stacking and stacking transporter further comprises a balancing unit; the balancing unit is movably arranged on the chassis; the movement comprises one of folding, telescoping and lifting. The balancing unit is used to maintain the stability of the device during operation, and can prevent the device from tipping over in the event of an unexpected situation, thereby improving the safety of the operation. Further preferably, the balancing unit comprises a balancing leg, the balancing leg is movably arranged on the chassis, and the movement comprises one of folding, telescoping and lifting. As an example, the balancing leg is arranged on the chassis through a balancing leg driving device; the balancing leg driving device uses an oil cylinder to drive the balancing leg to be retracted and extended, and the balancing leg can be driven against the ground when the device is stacking or unstacking, or can be driven off the ground and slightly above the ground when the device is moving, so as to maintain the stability of the device during operation. When not in operation, the balancing leg driving device can drive the balancing leg to be retracted.

[0017] As is common sense, the stacking and transporting vehicle also includes a height sensor, a distance sensor, a positioning radar, an obstacle avoidance radar group, a camera, and a collision sensor. The height sensor is used to determine the position of the lifting fork; the distance sensor is used to measure the distance between the upper protective cover and the chassis, and between the upper protective cover and the upper surface of the stack; the positioning radar is used for spatial positioning of the device when it is driving; the obstacle avoidance radar group is used to detect the position of surrounding obstacles when the device is driving; the camera is used to detect the position of the target stacking pallet and the adjacent stacking pallets and identify the objects around the upper protective cover and the target stack; when the collision sensor contacts the object, it sends a signal to the control unit, which controls the operation of the device.

[0018] The present invention also includes conventional components such as a hydraulic unit, a control unit, a power unit, and a housing unit. The hydraulic unit includes conventional hydraulic components, such as a hydraulic valve island, etc., which are used to control the drive equipment of each unit; the control unit includes conventional electrical components, such as a controller, etc., which are used to control the operation of each unit; the power unit includes a conventional power battery pack, which is used to power the electrical equipment of the device; the housing unit includes a plurality of housings, which are used to protect the hydraulic unit, the control unit, and the power unit. The above components are all existing products, and the specific use methods and control methods are conventional technologies, as long as the functions of each component can be achieved.

[0019] The present invention discloses a method for stacking and unstacking using the stacking and stacking transport vehicle. The palletizing method comprises the following steps: during palletizing, the protection unit protects the pallet; the longitudinal moving frame and the vertical moving frame drive the telescopic fork to insert into the fork entry of the target pallet stacking pallet, and move the target pallet stack to the chassis; the vertical displacement component and the horizontal displacement component drive the lifting fork to insert into the fork entry of the target pallet stacking pallet; the vertical displacement component drives the lifting fork to lift the target pallet stack to a position that can accommodate the next target pallet stack; the above steps are repeated to complete the palletizing; The unloading method comprises the following steps: during unloading, the protection unit protects the stack; when there is one stack on the stacking and stacking transporter, the longitudinal moving frame and the vertical moving frame drive the stack on the chassis to the unloading platform, and then reset to complete the unloading; when there are multiple stacks on the stacking and stacking transporter, the vertical displacement component and the transverse displacement component drive the lifting fork to insert into the fork entrance of the upper stacking pallet of the lowest stack, the vertical displacement component drives the stack on the lifting fork to separate from the lower stack, the longitudinal moving frame and the vertical moving frame drive the stack on the chassis to the unloading platform, and then reset, the vertical displacement component drives the stack on the lifting fork to move to the chassis, and the transverse displacement component drives the lifting fork to reset, and the above steps are repeated to complete the unloading of all stacks one by one; or the longitudinal moving frame and the vertical moving frame drive the stack on the chassis to the unloading platform, and then reset to complete the unloading of all stacks at one time.

[0020] Preferably, the stacking and stacking transport vehicle further comprises a balancing unit; the balancing unit is movably arranged on the chassis; during stacking or unstacking, the balancing unit is in contact with the ground.

[0021] The invention discloses the application of the stacking and stacking transport vehicle in stacking and unstacking.

[0022] The beneficial effects of the present invention are: (1) The present invention adopts an automated loading and unloading method, which solves the problems of poor stability and safety of manually operated forklifts in the prior art and reduces production costs. In particular, the present invention can carry multiple stacks at a time, greatly improving the handling efficiency; (2) By setting up a load-bearing chassis, the device can achieve a large load without the need for additional counterweight or increasing the weight of the vehicle body, and has a simple structure and strong feasibility; (3) By setting a lifting fork unit, the stack on the chassis of the present invention can be lifted, so as to achieve stacking of the stack. When unloading, a single stack can be unloaded one by one, several stacks can be unloaded at the same time, or all stacks can be unloaded at one time according to needs. It has high flexibility and strong practicality, and solves the problem of stacking the stacks in sequence when there is a need for unloading and stacking in the prior art, thereby further improving the handling efficiency; (4) By providing a protection unit, in cooperation with the lifting fork unit, the stack on the chassis can be protected, which can prevent the stack from tipping over, thereby improving the safety and stability of the device operation, making the present invention also suitable for the transportation of high stacks and having broad market application prospects; (5) By setting up a walking unit, the device can be driven to walk autonomously and realize autonomous operation; (6) By setting up a balancing unit, safety protection can be provided for the device during loading, unloading and driving, ensuring the balance of the device operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the stacking and stacking transport vehicle of the first embodiment.

[0024] Figure 2 yes Figure 1 The second state diagram.

[0025] Figure 3 It is a front view of the stacking and stacking transport vehicle of the first embodiment.

[0026] Figure 4 yes Figure 3 Enlarged schematic diagram of part C in the middle.

[0027] Figure 5 1 is a schematic structural diagram of the stacking and stacking transport vehicle of the first embodiment (the housing unit is omitted).

[0028] Figure 6 It is a structural schematic diagram of the upper protective cover lifting cylinder fixing frame of the first embodiment.

[0029] Figure 7 It is a structural schematic diagram of the telescopic fork unit of the first embodiment.

[0030] Figure 8 yes Figure 7 Enlarged schematic diagram of part A in the middle.

[0031] Fig. 9 yes Figure 7 Enlarged schematic diagram of part B in the middle.

[0032] Fig.10 It is a structural schematic diagram of the lifting fork unit of the first embodiment.

[0033] Wherein: chassis 1, telescopic fork unit 2, protection unit 3, lifting fork unit 4, walking unit 5, balancing unit 6, hydraulic unit 7, control unit 8, power battery 9, shell unit 10, longitudinal moving frame 201, vertical moving frame 202, telescopic fork 203, connecting rod guide rail 204, vertical moving frame guide rail 205, telescopic fork vertical moving cylinder 206, longitudinal moving frame pulley 207, longitudinal moving frame guide rail 208, vertical moving frame pulley 209, telescopic fork guardrail 210, connecting rod fixing frame 211, push rod 212, telescopic connecting rod group 213, telescopic fork longitudinal moving cylinder 214, connecting rod pulley 215, upper protective cover 301, primary column 302, secondary column 303, tertiary column 304, primary Lifting column 305, secondary lifting column 306, tertiary lifting column 307, upper protective cover lifting cylinder fixing frame 308, upper protective cover lifting cylinder 309, lifting plate 310, lifting plate guide wheel 311, lifting chain fixing seat 312, primary lifting chain 313, secondary lifting chain 314, lifting chain pulley 315, lifting chain pulley group 316, lifting plate pulley 317, pressing plate 318, upper protective cover guardrail 319, primary guardrail 320, secondary guardrail 321, tertiary guardrail 322, guardrail hinge seat 323, guardrail motor 324, guardrail reducer 325, lock motor 326, lock screw 327, lock screw support seat 328, guardrail lock 329, guardrail lock column 33 0, No. 1 upper protective cover distance sensor 331, No. 2 upper protective cover distance sensor 332, lifting fork 401, first-level lifting fork column 402, second-level lifting fork column 403, lifting fork slider 404, lifting fork column chain 405, lifting fork oil cylinder 406, lifting fork fixing frame 407, lifting fork motor 408, main transmission shaft 409, main sprocket 410, slave sprocket 411, slave transmission shaft 412, gear 413, bearing seat 414, column connecting block 415, sprocket chain 414, rack 417, lifting fork height sensor 418, No. 1 walking wheel 501, No. 2 walking wheel 502, No. 3 walking wheel 503, No. 4 walking wheel 504, No. 1 balancing leg 601, No. 2 balancing leg 6 02. No. 3 balancing leg 603, No. 4 balancing leg 604, No. 1 balancing leg cylinder 605, No. 2 balancing leg cylinder 606, No. 3 balancing leg cylinder 607, No. 4 balancing leg cylinder 608, supporting slide block 609, hydraulic power module 701, hydraulic valve island 702, control box 801, touch screen 802, working indicator light 803, communication antenna 804, No. 1 emergency stop switch 805, No. 2 emergency stop switch 806, No. 1 positioning radar 807, No. 2 positioning radar 808, No. 1 obstacle avoidance radar group 809, No. 2 obstacle avoidance radar group 810, No. 1 pallet recognition camera 811, No. 2 pallet recognition camera 812, high-position recognition camera 813, No. 1 power battery pack 901, No. 2 power battery pack 902,No. 1 housing 1001, No. 2 housing 1002, No. 3 housing 1003, No. 4 housing 1004, No. 5 housing 1005, and collision sensor 1006. DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with the accompanying drawings and embodiments. The specific components involved are existing products, conventional mounting holes are provided on the specific components, and the connection and use methods between the specific components are conventional technologies.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which the present invention belongs; the terms used in the specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. For example, the terms "length", "width", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate directions or positions based on the directions or positions shown in the accompanying drawings, which are only for the convenience of description and cannot be understood as limitations on the present technical solution. In the present invention, the vertical movable frame, the longitudinal movable frame and the fixed frame are arranged front and back, the position of the No. 1 shell is on the right, and the position of the No. 2 shell is on the left.

[0036] The terms "primary", "secondary", "tertiary", "No. 1", "No. 2", "No. 3", "No. 4", "No. 5", etc. in the specification and claims of the present invention or the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order.

[0037] In the present invention, the number of telescopic columns can be increased or decreased according to the height of the stack carried, as long as the stack can be accommodated.

[0038] Embodiment 1 like Figures 1 to 10 As shown: A stacking and stacking transport vehicle comprises a chassis 1, and a telescopic fork unit 2, a protection unit 3, two symmetrically arranged lifting fork units 4, a traveling unit 5, and a balancing unit 6 located on the chassis 1.

[0039] The chassis 1 is a concave load-bearing chassis, the concave part in the middle is used to carry goods, and the two ends are used to install running wheels. The load-bearing surface of this structure is close to the ground, and the vertical lifting distance required for the goods is small, so that the overall center of gravity height is low, which is conducive to improving the stability of the vehicle when it is loaded.

[0040] The telescopic fork unit 2 is located between the two lifting fork units 4, and includes a longitudinal displacement component, a longitudinal moving frame 201, a vertical moving frame 202, and two symmetrically arranged telescopic forks 203 located on the vertical moving frame. The longitudinal moving frame 201 is a left-right symmetrical structure, on which are provided two symmetrically arranged No. 1 vertical displacement drive devices, a connecting rod guide rail 204, and a vertical moving frame guide rail 205. In this embodiment, the No. 1 vertical displacement drive device is a telescopic fork vertical movement cylinder 206; the two ends of the vertical moving frame guide rail 205 are respectively left at a certain distance from the upper and lower top surfaces of the longitudinal moving frame 201 to facilitate the installation and maintenance of the vertical moving frame 202; the longitudinal moving frame 201 is provided with symmetrically arranged longitudinal moving frame pulleys 207, which are located on the longitudinal moving frame guide rail 2 installed on the chassis 1. 08, there are two longitudinal moving frame guide rails 208, which are arranged symmetrically to improve the stability of the longitudinal moving frame 201 during displacement; the cylinder body of the telescopic fork vertical moving oil cylinder 206 is hinged to the longitudinal moving frame 201, and the piston rod is hinged to the vertical moving frame 202. The vertical moving frame 202 is provided with symmetrically arranged vertical moving frame pulleys 209, which are located in the vertical moving frame guide rails 205. The telescopic fork vertical moving oil cylinder 206 drives the vertical moving frame 202 to vertically displace in the vertical moving frame guide rails 205, thereby driving the vertical up and down movement of the telescopic fork 203. A telescopic fork guardrail 210 is provided on the top of the vertical moving frame 202 for the protection of goods. The longitudinal displacement assembly includes a connecting rod fixing frame 211, a push rod 212, two symmetrically arranged longitudinal displacement driving devices, and a telescopic connecting rod group 213. In this embodiment, the longitudinal displacement driving device is a telescopic fork longitudinal movement cylinder 214; the connecting rod fixing frame 211 is a bilaterally symmetrical structure, which is installed on the chassis 1, and is provided with two symmetrically arranged connecting rod guide rails 204. The cylinder body of the telescopic fork longitudinal movement cylinder 214 is hinged to the connecting rod fixing frame 211, and the piston rod is connected to the push rod 212. The two ends of the push rod 212 are respectively connected to two symmetrically arranged telescopic connecting rod groups 213. The telescopic connecting rod group 213 is a scissor fork structure, including two groups of crossed connecting rods, one of which is a connecting rod. One end of one of the connecting rods is hinged to the connecting rod fixing frame 211, and one end of the other connecting rod is provided with a connecting rod pulley 215, which is located in the connecting rod guide rail 204 on the connecting rod fixing frame 211. One end of a connecting rod in the other group of connecting rods is hinged to the longitudinal moving frame 201, and one end of the other connecting rod is provided with a connecting rod pulley 215, which is located in the connecting rod guide rail 204 on the longitudinal moving frame 201. The telescopic fork longitudinal moving cylinder 214 drives the telescopic connecting rod group 213 to extend and retract through the push rod 212, thereby driving the longitudinal moving frame 201 to longitudinally move in the longitudinal moving frame guide rail 208, and then driving the telescopic fork 203 to move forward and backward longitudinally.

[0041] The protection unit 3 is located outside the load-bearing area formed by the telescopic fork unit 2 and the lifting fork unit 4, and includes an upper protection cover 301, an upper protection cover drive assembly, a side protection fence, and a lock assembly matching the protection fence. The upper protection cover 301 is arranged above the chassis through a telescopic column, and the side protection fence is rotatably arranged on the telescopic column.

[0042] In this embodiment, the telescopic column includes four first-level columns 302, a second-level column 303, and a third-level column 304; the upper protective cover driving assembly includes a first-level lifting column 305, a second-level lifting column 306, a third-level lifting column 307, an upper protective cover lifting cylinder fixing frame 308, an upper protective cover lifting cylinder 309, a lifting pull plate 310, a lifting pull plate guide wheel 311, a lifting chain fixing seat 312, a first-level lifting chain 313, a second-level lifting chain 314, a lifting chain pulley 315, a lifting chain pulley group 316, and a lifting pull plate pulley 317.

[0043] The four first-level columns 302 are all installed on the chassis 1, the four second-level columns 303 are respectively located in the corresponding first-level columns 302, and the four third-level columns 304 are respectively located in the corresponding second-level columns 303; the upper protective cover 301 is a rectangular structure, and the four corners are respectively connected to the four third-level columns 304. A pressing plate 318 is provided at the bottom of the upper protective cover 301, which is located near the loading and unloading port of the device, and plays a guiding role during stacking or unloading, and plays a pressing role during transportation of stacks. In this embodiment, the number of pressing plates 318 is 3. In actual application, the number of pressing plates 318 is not less than 2, and it can be designed according to needs without affecting the realization of the technical effects of the present invention; an upper protective cover guardrail 319 is also provided on the upper protective cover for protecting the loaded stack; the distance between the lower surface of the pressing plate 318 and the lower surface of the upper protective cover 301 is not less than the distance between the lower surface of other components installed on the upper protective cover 301 except the upper protective cover guardrail 319 and the lower surface of the upper protective cover 301.

[0044] There are two first-stage lifting columns 305 installed on the chassis 1, and a fixed pulley is provided at the top of each of them; there are two second-stage lifting columns 306, which are respectively located in the corresponding first-stage lifting columns 305, and a fixed pulley is provided at the top of each of them; there are two third-stage lifting columns 307, which are respectively located in the corresponding second-stage lifting columns 306, and the tops of each of them are connected to the upper protective cover 301.

[0045] The upper protective cover lifting cylinder fixing frame 308 is installed on the chassis 1, the cylinder body of the upper protective cover lifting cylinder 309 is vertically installed on the upper protective cover lifting cylinder fixing frame 308, the piston rod is connected to the lifting pull plate 310, and the lifting pull plate 310 is provided with symmetrically arranged lifting pull plate guide wheels 311 on both sides, and the lifting pull plate guide wheels 311 are located in the vertical steel section of the upper protective cover lifting cylinder fixing frame 308; in this embodiment, the number of single-sided lifting pull plate guide wheels 311 is 2. In actual application, the number of single-sided lifting pull plate guide wheels 311 can be no less than 2. It can be designed according to needs without affecting the realization of the technical effect of the present invention.

[0046] The lifting chain fixing seat 312 is installed on the chassis 1, located on the side close to the lifting plate 310, and there are two of them, corresponding to the fixing of two primary lifting chains 313 respectively; the lifting chain pulley 315 is installed on the chassis 1, located on the side close to the lifting plate 310, and there are two of them, corresponding to the fixing of two primary lifting chains 313 respectively; the lifting chain pulley group 316 is installed on the chassis 1, located on the side away from the lifting plate 310, and consists of two fixed pulleys arranged vertically at intervals; the lifting plate pulley 317 is installed on the lower part of the lifting plate 310, and there are two of them, which are arranged symmetrically.

[0047] There are two first-level lifting chains 313, one end of which is connected to the corresponding lifting chain fixing seat 312, and the other end is passed around the corresponding lifting plate pulley 317, the lifting chain pulley 315, the fixed pulley at the top of the first-level lifting column 305 close to the lifting plate 310 side, and then connected to the bottom of the second-level lifting column 306 on the same side; one end of the other first-level lifting chain 313 is connected to the corresponding lifting chain fixing seat 312, and the other end is passed around the corresponding lifting plate pulley 317, the lifting chain pulley 315, the lifting chain pulley group 316, the first-level lifting column 305 away from the lifting plate 310 side. The fixed pulley at the top of the lifting column 305 is connected to the bottom of the secondary lifting column 306 on the same side; there are two secondary lifting chains 314, one end of which is fixed to the top of the primary lifting column 305 close to the lifting plate 310, and the other end passes around the fixed pulley at the top of the secondary lifting column 306 on the same side and is connected to the bottom of the tertiary lifting column 307 on the same side; one end of the other secondary lifting chain 314 is fixed to the top of the primary lifting column 305 away from the lifting plate 310, and the other end passes around the fixed pulley at the top of the secondary lifting column 306 on the same side and is connected to the bottom of the tertiary lifting column 307 on the same side.

[0048] The upper protective cover lifting cylinder 309 drives the lifting plate 310 to move in the vertical steel section of the upper protective cover lifting cylinder fixing frame 308, thereby driving the first-level lifting chain 313 wound around the lifting plate pulley 317 to move, and then driving the second-level lifting column 306 connected to the first-level lifting chain 313 to move, and further driving the second-level lifting chain 314 wound around the fixed pulley of the second-level lifting column 306 to move, so as to drive the third-level lifting column 307 connected to the second-level lifting chain 314 to move, thereby realizing the up and down lifting of the upper protective cover 301.

[0049] The side guardrail includes a primary guardrail 320 , a secondary guardrail 321 , a tertiary guardrail 322 , a guardrail hinge seat 323 , a guardrail motor 324 , and a guardrail reducer 325 ; the locking assembly includes a locking motor 326 , a locking screw 327 , a locking screw support seat 328 , a guardrail lock 329 , and a guardrail locking column 330 .

[0050] The guardrail is a double-door style, located on both sides of the loading and unloading port of the device, and is symmetrically arranged in the transverse center plane of the device; the guardrail motor 324 and the guardrail reducer 325 are both installed on the chassis 1, located on one side of the loading and unloading port of the device, the guardrail motor 324 is directly connected to the guardrail reducer 325, the lower end of the first-level guardrail is connected to the guardrail reducer through a coupling, and the upper end is installed on the first-level column 302 through the guardrail hinge seat 323; the second-level guardrail 321 is located in the first-level guardrail 320, and its upper end is installed on the second-level column 303 through the guardrail hinge seat 323, and the third-level guardrail 322 is located in the second-level guardrail 321, and its upper end is installed on the third-level column 304 through the guardrail hinge seat 323.

[0051] The locking motor 326 is a dual-output shaft motor installed on the upper protective cover 301, and the two output shafts are connected to the locking screw 327 through a coupling respectively; the locking screw 327 is installed on the upper protective cover 301 through a locking screw support seat 328; the upper end of the guardrail lock 329 is a sleeve-like structure, which can slide along the upper protective cover 301, and its upper end is connected to the locking screw 327, and the lower end of the guardrail lock 327 is a hook-like structure, which can cooperate with the guardrail locking column 330 to achieve locking; the guardrail locking column 330 is located at the upper part of the third-level guardrail 322, and is composed of a plurality of vertical cylinders arranged at intervals to form a multi-stage locking structure to cope with the locking of stacks of different sizes.

[0052] The lifting fork unit 4 includes a vertical displacement component, a lateral displacement component and two symmetrically arranged lifting forks 401; the vertical displacement component includes a second vertical displacement drive device, a first-level lifting fork column 402, a second-level lifting fork column 403, a lifting fork slider 404, and a lifting fork column chain 405. In this embodiment, the vertical displacement drive device is a lifting fork cylinder 406; the lateral displacement component includes a lifting fork fixing frame 407, a lifting fork motor 408, a main transmission shaft 409, a main sprocket 410, a slave sprocket 411, a slave transmission shaft 412, a gear 413, and a bearing seat 414. The lifting fork cylinder 406 is installed on the chassis 1, and the cylinder body of the lifting fork cylinder 406 is connected to the first-level lifting fork column 402 through two symmetrically arranged column connecting blocks 415. The cross-sections of the first-level lifting fork column 402 and the second-level lifting fork column 403 are both C-shaped opening structures. The first-level lifting fork column 402 is installed on the chassis 1, and the second-level lifting fork column 403 is located in the first-level lifting fork column 402. The top of the second-level lifting fork column 403 is connected to the piston rod of the lifting fork cylinder 406. The top of the second-level lifting fork column 403 is provided with a fixed pulley. The fork slider 404 is located in the secondary lifting fork column 403, and the lifting fork column chain 405 passes around the fixed pulley, one end of which is connected to the lifting fork slider 404, and the other end is connected to the cylinder body of the lifting fork cylinder 406. The piston rod of the lifting fork cylinder 406 drives the secondary lifting fork column 403 connected thereto to slide up and down in the primary lifting fork column 402, thereby driving the lifting fork slider 404 to slide up and down in the secondary lifting fork column 403 through the lifting fork column chain 405, thereby driving the lifting fork 401 to move vertically up and down. The lifting fork fixing frame 407 is installed on the lifting fork slider 404. The lifting fork fixing frame 407 is provided with 4 mounting holes for installing the lifting forks 401. In actual application, the spacing between the lifting forks 401 can be adjusted according to the size of the forked pallet; the lifting fork motor 408 is installed on the lifting fork fixing frame 407, and the main transmission shaft 409 and the slave transmission shaft 412 are installed on the lifting fork fixing frame 407 through the bearing seat 414. The main transmission shaft 409 is connected to the lifting fork motor 408, and its two ends are connected to the main sprocket 41 0, the main sprocket 410 is connected to the slave sprocket 411 through a sprocket chain 416, one end of the slave transmission shaft 412 is connected to the slave sprocket 411, the gear 413 is connected to the slave transmission shaft 412, and the lifting fork 401 is provided with a rack 417 meshing with the gear 413, and the upper surface of the rack 417 is not higher than the upper surface of the lifting fork 401. The lifting fork motor 408 drives the main sprocket 410 connected thereto to rotate, thereby driving the gear 413 to rotate through the slave sprocket 411, and then driving the lifting fork 401 to move horizontally left and right.

[0053] The walking unit 5 includes a first walking wheel 501, a second walking wheel 502, a third walking wheel 503, and a fourth walking wheel 504, which are respectively installed at both ends of the chassis 1. In this embodiment, the second walking wheel 502 and the third walking wheel 503 are steering wheels with driving walking and driving steering functions, and the two are arranged diagonally, and the first walking wheel 501 and the fourth walking wheel 504 are universal casters, and the two are arranged diagonally.

[0054] The balancing unit 6 includes a No. 1 balancing leg 601, a No. 2 balancing leg 602, a No. 3 balancing leg 603, a No. 4 balancing leg 604, and a balancing leg driving device. The balancing leg driving device includes a No. 1 balancing leg oil cylinder 605, a No. 2 balancing leg oil cylinder 606, a No. 3 balancing leg oil cylinder 607, and a No. 4 balancing leg oil cylinder 608. The No. 1 balancing leg 601, the No. 2 balancing leg 602, the No. 3 balancing leg 603, and the No. 4 balancing leg 604 are respectively provided with a supporting slider 609. When the device travels longitudinally, the balancing leg driving device drives the balancing leg to contact the ground to prevent the device from tipping over. The supporting slider 609 is used to ensure that the device can walk normally when the balancing leg contacts the ground. In actual application, the shape and size of the supporting slider 609 are designed according to needs, as long as the function of the device being able to walk normally when the balancing leg contacts the ground can be realized. In this embodiment, the specifications of the No. 1 balancing leg 601 and the No. 1 balancing leg cylinder 605 are consistent with the No. 2 balancing leg 602 and the No. 2 balancing leg cylinder 606, and they are symmetrically arranged with the transverse symmetry axis of the device. The No. 1 balancing leg cylinder 605 and the No. 2 balancing leg cylinder 606 are horizontally installed, located on one side of the loading and unloading port of the device, one end is hinged to the chassis 1, and the other end is respectively hinged to the No. 1 balancing leg 601 and the No. 2 balancing leg 602. The No. 1 balancing leg 601 and the No. 2 balancing leg 602 are low-flat structures, which are respectively hingedly installed on the chassis 1 and can be extended into the fork entrance of the pallet; the No. 3 balancing leg 603 and the No. 3 balancing leg cylinder 607 are consistent with the No. 4 balancing leg 604 and the No. 4 balancing leg The specifications of the outrigger cylinders 608 are consistent and they are symmetrically arranged with respect to the transverse axis of symmetry of the device. The No. 3 balancing leg cylinder 607 and the No. 4 balancing leg cylinder 608 are located on the side of the device away from the loading and unloading port. One end is hinged to the chassis 1, and the other end is hinged to the No. 3 balancing leg 603 and the No. 4 balancing leg 604 respectively. The No. 3 balancing leg 603 and the No. 4 balancing leg 604 are hingedly mounted on the chassis 1 respectively. When the No. 3 balancing leg 603 and the No. 4 balancing leg 604 are folded up, the No. 3 balancing leg cylinder 607 and the No. 4 balancing leg cylinder 608 are in a vertical position. When the No. 3 balancing leg 603 and the No. 4 balancing leg 604 are put down, the No. 3 balancing leg cylinder 607 and the No. 4 balancing leg cylinder 608 are in a horizontal position.

[0055] As is common sense, the present invention further includes conventional components such as a hydraulic unit 7 , a control unit 8 , a power unit 9 , and a housing unit 10 .

[0056] The hydraulic unit 7 includes a hydraulic power module 701, a hydraulic valve island 702 and other conventional hydraulic components, such as oil pipes, pipe joints, filters, pressure sensors, temperature sensors, radiators, etc., which can be selected according to actual needs. The hydraulic power module 501 is installed on the chassis 1 to provide a power source for the hydraulic unit 7; the hydraulic valve island 702 is installed on the chassis 1, and is connected to the telescopic fork vertical movement cylinder 206, the telescopic fork longitudinal movement cylinder 214, the upper protective cover lifting cylinder 309, the lifting fork cylinder 406, the No. 1 balance leg cylinder 605, the No. 2 balance leg cylinder 606, the No. 3 balance leg cylinder 607, and the No. 4 balance leg cylinder 608 through hydraulic oil pipes to control the opening and closing of each hydraulic oil circuit, thereby driving the corresponding cylinder action.

[0057] The control unit 8 includes a control box 801, a touch screen 802, a working indicator light 803, a communication antenna 804, a No. 1 emergency stop switch 805, a No. 2 emergency stop switch 806, and other conventional electrical components, such as a master controller, a motion controller, a PLC, a photoelectric sensor, a motor controller, cables, connectors, etc. The control box 801 is an integrally detachable structure, which is installed on the chassis 1 and is used for the installation and protection of the electrical components of the device, and is convenient for the repair and maintenance of other equipment of the device; the touch screen 802, the working indicator light 803, the communication antenna 804, and the No. 1 emergency stop switch 805 are respectively installed on the control box 801; the touch screen 802 is used for the operation and information exchange of the device, and the working indicator light 803 is used to indicate the working status of the device; the communication antenna 804 is used for the communication between the device and the external terminal; the No. 2 emergency stop switch 806 is installed on the No. 1 housing 1001. When the device is operating abnormally, the device can be stopped by pressing the emergency stop switch.

[0058] The power unit 9 includes a No. 1 power battery pack 901, a No. 2 power battery pack 902, and other conventional electrical components, such as power cables, power switches, cable connectors, power supply fuse boxes, etc., which can be selected according to actual application needs. The No. 1 power battery pack 901 and the No. 2 power battery pack 902 are respectively installed at the two ends of the chassis 1 in the horizontal direction, and can independently supply power to the corresponding electrical equipment at the two ends of the device in the horizontal direction, or can uniformly supply power to the electrical equipment of the device.

[0059] The housing unit 10 includes a No. 1 housing 1001, a No. 2 housing 1002, a No. 3 housing 1003, a No. 4 housing 1004, and a No. 5 housing 1005 fixedly mounted on the chassis 1, and is used to protect the components of each unit. The No. 1 housing 1001 is located above the No. 1 power battery pack 701, the No. 2 housing 1002 is located above the No. 2 power battery pack 702, and the No. 3 housing 1003 is located behind the connecting rod fixing frame 211; the No. 4 housing 1004 and the No. 5 housing 1005 are respectively located on both sides of the loading and unloading port of the device, which can play a protective role and also play a guiding role during stacking and loading and unloading.

[0060] As common sense, the present invention also includes a No. 1 upper protective cover ranging sensor 331, a No. 2 upper protective cover ranging sensor 332, a lifting fork height sensor 418, a No. 1 positioning radar 807, a No. 2 positioning radar 808, a No. 1 obstacle avoidance radar group 809, a No. 2 obstacle avoidance radar group 810, a No. 1 pallet recognition camera 811, a No. 2 pallet recognition camera 812, a high-position recognition camera 813, and a collision sensor 1006. The No. 1 upper protective cover distance measuring sensor 331 is installed on the upper protective cover 301 near the loading and unloading port of the device, and is used to measure the distance between the upper protective cover 301 and the chassis 1; the No. 2 upper protective cover distance measuring sensor 332 is installed on the upper protective cover 301 near the center of the stack, and is used to measure the distance between the upper protective cover 301 and the upper surface of the stack; the lifting fork height sensor 418 is installed at the bottom center of the lifting fork fixing frame 407, and determines the position of the lifting fork 401 by measuring the distance between the bottom of the lifting fork fixing frame 407 and the upper surface of the chassis 1; the No. 1 positioning radar 807 and the No. 2 positioning radar 808 are respectively installed on the No. 1 shell 1001 and the No. 2 shell 1002, and are used for spatial positioning of the device when it is driving; the No. 1 obstacle avoidance radar group 809 and the No. 2 obstacle avoidance radar group 810 are respectively installed on the bottom of the No. 1 shell 1001 and the No. 2 shell 1002, and are used to detect the position of surrounding obstacles when the device is driving; the No. 1 The pallet recognition camera 811 and the second pallet recognition camera 812 are respectively installed on the fourth shell 1004 and the fifth shell 1005, and are used to detect the positions of the target stacking pallet and the adjacent pallets to ensure that the telescopic fork 203, the first balance leg 601, and the second balance leg 602 can be accurately inserted into the corresponding stacking pallet fork entrance; the high-position recognition camera 813 is installed on the upper protective cover 301, and is used to identify objects and target stacks around the upper protective cover 301 to ensure the safety and accuracy of the device during operation. In actual application, the types of pallet recognition cameras and high-position recognition cameras are selected as needed, and visual sensors with depth detection capabilities are preferred; the collision sensor 1006 is a flexible strip structure, with 3 in number, which are respectively installed on the first shell 1001, the second shell 1002, and the third shell 1003. When it contacts an object, it sends a signal to the control unit, and the control unit controls the operation of the device. Embodiment 2

[0061] Based on the first embodiment, the difference of this embodiment is that the side guardrail and the locking assembly matching the guardrail are omitted, and the rest are the same. Embodiment 3

[0062] Based on the first embodiment, the present embodiment is different in that the balancing unit 6 is omitted, and the rest is the same. Embodiment 4

[0063] On the basis of the first embodiment, the difference of this embodiment is that the first running wheel 501, the second running wheel 502, the third running wheel 503 and the fourth running wheel 504 are all steering wheels with driving walking and driving steering functions, and the rest are the same. Embodiment 5

[0064] The method for loading and unloading a single stack using the device of the first embodiment comprises the following steps: Initial position of the telescopic fork unit 2: the longitudinal moving frame 201 moves to the minimum position toward the connecting rod fixing frame 211, and the vertical moving frame 202 drives the telescopic fork 203 to move until the lower surface of the telescopic fork 203 contacts the upper surface of the chassis 1; Initial position of the protection unit 3: the upper protection cover 301 moves toward the chassis 1 to the minimum position, and the side protection fence is closed; Initial position of the lifting fork unit 4: the lifting fork 401 moves away from the load-bearing area to the maximum position, and the lower surface of the lifting fork 401 contacts the upper surface of the longitudinal moving frame guide rail 208; Initial position of the balancing unit 6: the balancing legs are retracted to the maximum position away from the ground.

[0065] (1) The control unit 8 receives operation instructions from an external terminal via the communication antenna 804, or the operator sets the instructions by operating the touch screen 802. The contents of the operation instructions include but are not limited to the target stack loading position, stack size, stack weight, whether stacking is required, the number of stacks to be stacked, the stack unloading position, and the stack unloading method; (2) The telescopic fork unit 2, the protection unit 3 and the lifting fork unit 4 are all reset to their initial positions under the control of the control unit 8; (3) The control unit 8 controls the device to automatically drive to the target operation position according to the positioning information provided by the first positioning radar 807 and the second positioning radar 808. During the automatic driving process, the control unit 8 optimizes the driving path according to the information provided by the first obstacle avoidance radar group 808 and the second obstacle avoidance radar group 809 until the device drives to the vicinity of the target operation position; (4) The control unit 8 controls the No. 2 and No. 3 travel wheels 502 and 503 to move according to the position information of the target stacking pallet fork entrance provided by the No. 1 and No. 2 pallet recognition cameras 811 and 812, so as to align the telescopic fork 203 with the target stacking pallet fork entrance, thereby completing the alignment between the device and the target stacking pallet (if the target stacking pallet is heavy, the No. 1 and No. 2 balance legs 601 and 602 are driven by their corresponding cylinders to a position slightly above the ground. If there are stacks on both sides or on either side of the target stacking pallet, the control unit controls the No. 2 and No. 3 travel wheels 502 and 503 to move according to the position information of the target stacking pallet fork entrance provided by the No. 1 and No. 2 pallet recognition cameras 812, so as to align the telescopic fork 203 with the target stacking pallet fork entrance, thereby completing the alignment between the device and the target stacking pallet (if the target stacking pallet is heavy, the No. 1 and No. 2 balance legs 601 and 602 are driven by their corresponding cylinders to a position slightly above the ground. If there are stacks on both sides or on either side of the target stacking pallet, the control unit controls the No. 1 and No. 3 balance legs 601 and 602 to move according to the No. 1 pallet recognition cameras 811 and 812, respectively). The position information of the target stacking pallet and the adjacent stacking pallet entrance provided by the identification camera 811 and the second pallet identification camera 812 is used to control the movement of the second and third travel wheels 502 and 503, so as to align the telescopic fork 203, the first and second balance legs 601 and 602 in the lowered state with the pallet entrance. At this time, the guardrail is opened to the maximum position, and the upper protective cover 301 is driven by the upper protective cover driving assembly to rise to a position that can accommodate the target stacking. The rising position information of the upper protective cover 301 is provided by the first upper protective cover distance measuring sensor 331); (5) The telescopic fork longitudinal movement cylinder 214 drives the longitudinal moving frame 201 to move longitudinally toward the loading and unloading port of the device until the vertical moving frame 202 moves to a position where it can move vertically downward; (6) The telescopic fork vertical movement cylinder 206 drives the vertical movement frame 202 to move vertically downward until the telescopic fork 203 moves to a position where its lower surface is slightly higher than the ground (the downward movement position information of the telescopic fork 203 is provided by the No. 1 pallet recognition camera 811 and the No. 2 pallet recognition camera 812); (7) The control unit 8 controls the No. 2 running wheel 502 and the No. 3 running wheel 503 to move, so that the device is aligned with the target stack and moves longitudinally until the telescopic fork 203 is completely inserted into the fork entry of the target stacking pallet, and at this time, the No. 1 balancing leg 601 and the No. 2 balancing leg 602 are also inserted into the fork entry of the adjacent stacking pallet of the target stacking pallet; (8) The first balancing leg 601 and the second balancing leg 602 are driven by their corresponding cylinders to contact the ground and press against the ground; (9) The telescopic fork vertical movement cylinder 206 drives the vertical movement frame 202 to move vertically upward with the telescopic fork 203 until the lower surface of the target stacking pallet moves to a position slightly higher than the upper surface of the chassis 1 (the upward movement position information of the telescopic fork 203 is provided by the No. 1 pallet recognition camera 811 and the No. 2 pallet recognition camera 812); (10) The telescopic fork longitudinal movement cylinder 214 drives the longitudinal moving frame 201 to move the vertical moving frame 202 and the lifted target stack toward the connecting rod fixing frame 211 to the minimum position; (11) The telescopic fork vertical movement cylinder 206 drives the vertical movement frame 202 to move downward, and the lower surface of the target stacking pallet and the lower surface of the telescopic fork 203 contact the upper surface of the chassis 1 in sequence. When the lower surface of the telescopic fork 203 contacts the upper surface of the chassis 1, the telescopic fork vertical movement cylinder 206 stops moving, completing the loading operation of the target stacking; at this time, the guardrail is closed and locked, the upper protective cover 301 descends and presses the target stacking, and the No. 1 balancing leg 601 and the No. 2 balancing leg 602 are lifted to a position slightly above the ground under the drive of their corresponding cylinders; (12) The control unit 8 controls the No. 2 running wheel 502 and the No. 3 running wheel 503 to run, so that the device moves longitudinally, until the No. 1 balancing leg 601 and the No. 2 balancing leg 602 are completely withdrawn from the adjacent stacking pallet, and the No. 1 balancing leg 601 and the No. 2 balancing leg 602 are retracted to their initial positions under the drive of their corresponding cylinders; (13) The control unit 8 controls the device to automatically drive the target stack to the target stack unloading position; (14) The first balancing leg 601 and the second balancing leg 602 are driven by their corresponding cylinders to contact the ground and press against the ground. The guardrail is opened to the maximum position, and the upper protective cover 301 is raised to a position where the bottom surface of the pressure plate 318 is slightly higher than the upper surface of the stack. (15) The telescopic fork vertical movement cylinder 206 drives the telescopic fork 203 to move upward until the lower surface of the loaded stacking pallet is slightly higher than the upper surface of the chassis 1; (16) The telescopic fork longitudinal movement cylinder 214 drives the longitudinal moving frame 201 to move longitudinally with the vertical moving frame 202 and the lifted target stack toward the loading and unloading port of the device until the vertical moving frame 202 moves to a position where it can move vertically downward; (17) The target stack is placed at the target unloading position under the action of the telescopic fork vertical movement cylinder 214, completing the unloading operation, and the relevant moving parts of the device are reset to the initial position.

[0066] During cargo transportation, especially on non-straight driving paths, the No. 1 balancing leg 601, the No. 2 balancing leg 602, the No. 3 balancing leg 603 and the No. 4 balancing leg 604 can be lowered to a position slightly above the ground under the drive of their corresponding cylinders to ensure the stability of the driving process.

[0067] During the operation of the device, any emergency stop switch can be operated to stop the device from operating; during driving, when any collision sensor 1006 contacts an object, the control unit 8 controls the device to stop driving. Embodiment 6

[0068] The method for performing three stack loading using the device of embodiment 1 comprises the following steps: Initial position of the telescopic fork unit 2: the longitudinal moving frame 201 moves to the minimum position toward the connecting rod fixing frame 211, and the vertical moving frame 202 drives the telescopic fork 203 to move until the lower surface of the telescopic fork 203 contacts the upper surface of the chassis 1; Initial position of the protection unit 3: the upper protection cover 301 moves toward the chassis 1 to the minimum position, and the side protection fence is closed; Initial position of the lifting fork unit 4: the lifting fork 401 moves away from the load-bearing area to the maximum position, and the lower surface of the lifting fork 401 contacts the upper surface of the longitudinal moving frame guide rail 208; Initial position of the balancing unit 6: the balancing legs are retracted to the maximum position away from the ground.

[0069] (1) The control unit 8 receives operation instructions from an external terminal via the communication antenna 804, or the operator sets the instructions by operating the touch screen 802. The contents of the operation instructions include but are not limited to the target stack loading position, stack size, stack weight, whether stacking is required, the number of stacks to be stacked, the stack unloading position, and the stack unloading method; (2) The telescopic fork unit 2, the protection unit 3 and the lifting fork unit 4 are all reset to their initial positions under the control of the control unit 8; (3) The control unit 8 controls the device to automatically drive to the target operation position according to the positioning information provided by the first positioning radar 805 and the second positioning radar 806; during the automatic driving process, the control unit 8 optimizes the driving path according to the information provided by the first obstacle avoidance radar group 807 and the second obstacle avoidance radar group 808 until it drives to the vicinity of the target operation position; (4) The control unit 8 controls the No. 2 and No. 3 travel wheels 502 and 503 to move according to the position information of the target stacking pallet fork entrance provided by the No. 1 and No. 2 pallet recognition cameras 811 and 812, so as to align the telescopic fork 203 with the target stacking pallet fork entrance, thereby completing the alignment between the device and the target stacking pallet (if the target stacking pallet is heavy, the No. 1 and No. 2 balance legs 601 and 602 are driven by their corresponding cylinders to a position slightly above the ground. If there are stacks on both sides or on either side of the target stacking pallet, the control unit controls the No. 2 and No. 3 travel wheels 502 and 503 to move according to the position information of the target stacking pallet fork entrance provided by the No. 1 and No. 2 pallet recognition cameras 812, so as to align the telescopic fork 203 with the target stacking pallet fork entrance, thereby completing the alignment between the device and the target stacking pallet (if the target stacking pallet is heavy, the No. 1 and No. 2 balance legs 601 and 602 are driven by their corresponding cylinders to a position slightly above the ground. If there are stacks on both sides or on either side of the target stacking pallet, the control unit controls the No. 1 and No. 3 balance legs 601 and 602 to move according to the No. 1 pallet recognition cameras 811 and 812, respectively). The position information of the target stacking pallet and the adjacent stacking pallet entrance provided by the identification camera 811 and the second pallet identification camera 812 is used to control the movement of the second and third travel wheels 502 and 503, so as to align the telescopic fork 203, the first and second balance legs 601 and 602 in the lowered state with the pallet entrance. At this time, the guardrail is opened to the maximum position, and the upper protective cover 301 is driven by the upper protective cover driving assembly to rise to a position that can accommodate the target stacking. The rising position information of the upper protective cover 301 is provided by the first upper protective cover distance measuring sensor 331); (5) The telescopic fork longitudinal movement cylinder 214 drives the longitudinal moving frame 201 to move longitudinally toward the loading and unloading port of the device until the vertical moving frame 202 moves to a position where it can move vertically downward; (6) The telescopic fork vertical movement cylinder 206 drives the vertical movement frame 202 to move vertically downward until the telescopic fork 203 moves to a position where its lower surface is slightly higher than the ground (the downward movement position information of the telescopic fork 203 is provided by the No. 1 pallet recognition camera 811 and the No. 2 pallet recognition camera 812); (7) The control unit 8 controls the No. 2 running wheel 502 and the No. 3 running wheel 503 to move, so that the device is aligned with the target stack and moves longitudinally until the telescopic fork 203 is completely inserted into the fork entry of the target stacking pallet, and at this time, the No. 1 balancing leg 601 and the No. 2 balancing leg 602 are also inserted into the fork entry of the adjacent stacking pallet of the target stacking pallet; (8) The first balancing leg 601 and the second balancing leg 602 are driven by their corresponding cylinders to contact the ground and press against the ground; (9) The telescopic fork vertical movement cylinder 206 drives the vertical movement frame 202 to move vertically upward with the telescopic fork 203 until the lower surface of the target stacking pallet moves to a position slightly higher than the upper surface of the chassis 1 (the upward movement position information of the telescopic fork 203 is provided by the No. 1 pallet recognition camera 811 and the No. 2 pallet recognition camera 812); (10) The telescopic fork longitudinal movement cylinder 214 drives the longitudinal moving frame 201 to move the vertical moving frame 202 and the lifted target stack toward the connecting rod fixing frame 211 to the minimum position; (11) The telescopic fork vertical movement cylinder 206 drives the vertical movement frame 202 to move downward, and the lower surface of the target stacking pallet and the lower surface of the telescopic fork 203 contact the upper surface of the chassis 1 in sequence. When the lower surface of the telescopic fork 203 contacts the upper surface of the chassis 1, the telescopic fork vertical movement cylinder 206 stops moving, completing the loading operation of the No. 1 stacking pallet; (12) The upper protective cover driving assembly drives the upper protective cover 301 to rise to a position that can accommodate the second stack. The raised position information of the upper protective cover 301 is provided by the second upper protective cover distance measuring sensor 332; (13) The lifting fork motor 408 drives the lifting forks 401 on both sides of the load-bearing area of ​​the device to move simultaneously toward the lateral fork entry of the No. 1 stacking pallet until it is fully inserted; (14) The lifting fork cylinder 406 drives the lifting fork 401 to move upward until its upper surface contacts the No. 1 stacking pallet, and then continues to drive the lifting fork 308 to carry the No. 1 stacking pallet upward until the upper surface of the No. 1 stacking pallet contacts the lower surface of the pressing plate 318; (15) Repeat steps (5) to (11) to complete the loading operation of the second stack; (16) The lifting fork cylinder 406 drives the lifting fork 401 to carry the No. 1 stack down, and the No. 1 stack is placed on the upper surface of the No. 2 stack; (17) The lifting fork motor 408 drives the lifting forks 401 on both sides of the load-bearing area of ​​the device to be simultaneously withdrawn from the lateral fork entry of the No. 1 stacking pallet until they are fully withdrawn, and then the lifting fork cylinder 406 drives the lifting fork 308 to descend to the lowest position; (18) Repeat steps (12) to (17) to complete the loading operation of stack No. 3; (19) The guardrail is closed and locked, the upper protective cover 301 is lowered and pressed against the target stack, and the No. 1 balancing leg 601 and the No. 2 balancing leg 602 are lifted to a position slightly above the ground under the drive of their corresponding cylinders; the control unit 8 controls the No. 2 running wheel 502 and the No. 3 running wheel 503 to move so that the device can move longitudinally until the No. 1 balancing leg 601 and the No. 2 balancing leg 602 are completely pulled out of the adjacent stacking pallet, and the No. 3 balancing leg 603 and the No. 4 balancing leg 604 are lowered to a position slightly above the ground under the drive of their corresponding cylinders to ensure the stability of the driving process. Embodiment 7

[0070] The method of unloading three stacks loaded in Example 6 one by one using the device in Example 1 comprises the following steps: (1) The No. 1 balancing leg 601 and the No. 2 balancing leg 602 are driven by their corresponding cylinders to be lowered to the ground, against the ground, the guardrail is opened to the maximum position, and the upper protective cover 301 is raised to a position where the lower surface of the pressure plate 318 is slightly higher than the upper surface of the No. 1 stack; (2) The lifting fork oil cylinder 406 drives the lifting fork 401 to move upward to align with the lateral fork entry of the second stacking pallet, and the lifting fork motor 408 drives the lifting fork 401 to move toward the lateral fork entry of the second stacking pallet until it is fully inserted; (3) The lifting fork cylinder 406 drives the lifting fork 401 to move upward until its upper surface contacts the No. 2 stacking pallet, and then continues to drive the lifting fork 308 to carry the No. 2 stacking pallet and the No. 1 stacking pallet upward until the upper surface of the No. 1 stacking pallet contacts the lower surface of the pressing plate 318; (4) The telescopic fork vertical movement cylinder 206 drives the telescopic fork 203 to move upward until the lower surface of the loaded No. 3 stacking pallet is slightly higher than the upper surface of the chassis 1; (5) The telescopic fork longitudinal movement cylinder 214 drives the longitudinal moving frame 201 to move longitudinally with the vertical moving frame 202 and the lifted No. 3 stack toward the loading and unloading port of the device until the vertical moving frame 202 moves to a position where it can move vertically downward; (6) The No. 3 stack is placed at the target unloading position under the action of the telescopic fork vertical movement cylinder 214, completing the unloading operation of the No. 3 stack, and the telescopic fork unit is reset to the initial position; (7) The lifting fork cylinder 406 drives the lifting fork 401 to carry the No. 2 stack and the No. 1 stack onto the chassis 1, and the upper protective cover 301 is lowered to a position where the lower surface of the pressure plate 318 is slightly higher than the upper surface of the No. 1 stack; (8) Repeat steps (2) to (6) to complete the unloading operation of stack No. 2; (9) The lifting fork cylinder 406 drives the lifting fork 401 to carry the No. 1 stack onto the chassis 1, and the upper protective cover 301 is lowered to a position where the lower surface of the pressure plate 318 is slightly higher than the upper surface of the No. 1 stack; (8) Repeat steps (4) to (6) to complete the unloading operation of stack No. 1, and the relevant moving parts of the device are reset to the initial position. Embodiment 8

[0071] The method of unloading three stacks loaded in Example 6 at one time using the device in Example 1 comprises the following steps: (1) The No. 1 balancing leg 601 and the No. 2 balancing leg 602 are driven by their corresponding cylinders to be lowered to the ground, against the ground, the guardrail is opened to the maximum position, and the upper protective cover 301 is raised to a position where the lower surface of the pressure plate 318 is slightly higher than the upper surface of the No. 1 stack; (2) The telescopic fork vertical movement cylinder 206 drives the telescopic fork 203 to move upward until the lower surface of the loaded stacking pallet No. 3 is slightly higher than the upper surface of the chassis 1; (3) The telescopic fork longitudinal movement cylinder 214 drives the longitudinal moving frame 201 to move the vertical moving frame 202 and the three stacks (stack No. 3, stack No. 2, and stack No. 1) longitudinally toward the loading and unloading port of the device until the vertical moving frame 202 moves to a position where it can move vertically downward; (4) The three stacked stacks are placed at the target unloading position under the action of the telescopic fork vertical movement cylinder 214, completing the unloading operation of the three stacked stacks, and the relevant moving parts of the device are reset to the initial position. Embodiment 9

[0072] The method of unloading the three stacks loaded in Example 6 by using the device of Example 1, first unloading two stacks and then unloading one stack, comprises the following steps: (1) The No. 1 balancing leg 601 and the No. 2 balancing leg 602 are driven by their corresponding cylinders to be lowered to the ground, against the ground, the guardrail is opened to the maximum position, and the upper protective cover 301 is raised to a position where the lower surface of the pressure plate 318 is slightly higher than the upper surface of the No. 1 stack; (2) The lifting fork oil cylinder 406 drives the lifting fork 401 to move upward to align with the lateral fork entry of the No. 1 stacking pallet, and the lifting fork motor 408 drives the lifting fork 401 to move toward the lateral fork entry of the No. 1 stacking pallet until it is fully inserted; (3) The lifting fork cylinder 406 drives the lifting fork 401 to move upward until its upper surface contacts the No. 1 stacking pallet, and then continues to drive the lifting fork 308 to move upward with the No. 1 stacking pallet until the upper surface of the No. 1 stacking pallet contacts the lower surface of the pressing plate 318; (4) The telescopic fork vertical movement cylinder 206 drives the telescopic fork 203 to move upward until the lower surface of the loaded No. 3 stacking pallet is slightly higher than the upper surface of the chassis 1; (5) The telescopic fork longitudinal movement cylinder 214 drives the longitudinal moving frame 201 to move longitudinally toward the loading and unloading port of the device with the vertical moving frame 202 and the lifted stack No. 3 and stack No. 2, until the vertical moving frame 202 moves to a position where it can move vertically downward; (6) The No. 3 stack and the No. 2 stack are placed at the target unloading position under the action of the telescopic fork vertical movement cylinder 214, and the unloading operation of the No. 3 stack and the No. 2 stack is completed, and the telescopic fork unit is reset to the initial position; (7) The lifting fork cylinder 406 drives the lifting fork 401 to carry the No. 1 stack onto the chassis 1, and the upper protective cover 301 is lowered to a position where the lower surface of the pressure plate 318 is slightly higher than the upper surface of the No. 1 stack; (8) Repeat steps (4) to (6) to complete the unloading operation of stack No. 1, and the relevant moving parts of the device are reset to the initial position. Embodiment 10

[0073] The method of unloading the three stacks loaded in Example 6 by using the device of Example 1, first unloading one stack and then unloading two stacks, comprises the following steps: (1) The No. 1 balancing leg 601 and the No. 2 balancing leg 602 are driven by their corresponding cylinders to be lowered to the ground, against the ground, the guardrail is opened to the maximum position, and the upper protective cover 301 is raised to a position where the lower surface of the pressure plate 318 is slightly higher than the upper surface of the No. 1 stack; (2) The lifting fork oil cylinder 406 drives the lifting fork 401 to move upward to align with the lateral fork entry of the second stacking pallet, and the lifting fork motor 408 drives the lifting fork 401 to move toward the lateral fork entry of the second stacking pallet until it is fully inserted; (3) The lifting fork cylinder 406 drives the lifting fork 401 to move upward until its upper surface contacts the No. 2 stacking pallet, and then continues to drive the lifting fork 308 to carry the No. 2 stacking pallet and the No. 1 stacking pallet upward until the upper surface of the No. 1 stacking pallet contacts the lower surface of the pressing plate 318; (4) The telescopic fork vertical movement cylinder 206 drives the telescopic fork 203 to move upward until the lower surface of the loaded No. 3 stacking pallet is slightly higher than the upper surface of the chassis 1; (5) The telescopic fork longitudinal movement cylinder 214 drives the longitudinal moving frame 201 to move longitudinally with the vertical moving frame 202 and the lifted No. 3 stack toward the loading and unloading port of the device until the vertical moving frame 202 moves to a position where it can move vertically downward; (6) The No. 3 stack is placed at the target unloading position under the action of the telescopic fork vertical movement cylinder 214, completing the unloading operation of the No. 3 stack, and the telescopic fork unit is reset to the initial position; (7) The lifting fork cylinder 406 drives the lifting fork 401 to carry the No. 2 stack and the No. 1 stack onto the chassis 1, and the upper protective cover 301 is lowered to a position where the lower surface of the pressure plate 318 is slightly higher than the upper surface of the No. 1 stack; (8) Repeat steps (4) to (6) to complete the unloading operation of stack No. 2 and stack No. 1, and the relevant moving parts of the device are reset to the initial position.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A stacking and stacking transport vehicle, characterized in that: It includes a chassis; the chassis is provided with a telescopic fork unit, a protection unit and a symmetrically arranged lifting fork unit; the telescopic fork unit is located between the symmetrically arranged lifting fork units, and includes a longitudinal displacement component, a longitudinal moving frame, a vertical moving frame and a telescopic fork located on the vertical moving frame, the longitudinal displacement component is connected to the longitudinal moving frame, and the vertical moving frame is liftably arranged on the longitudinal moving frame; the lifting fork unit includes a vertical displacement component, a lateral displacement component and a lifting fork, the lateral displacement component is located on the vertical displacement component, and the lifting fork is connected to the lateral displacement component.

2. The stacking and stacking transport vehicle according to claim 1, characterized in that: The chassis is a load-bearing chassis; the number of the lifting fork units is one pair or multiple pairs.

3. The stacking and stacking transport vehicle according to claim 1, characterized in that: The longitudinal displacement assembly includes a longitudinal displacement driving device; the longitudinal displacement driving device is connected to the longitudinal moving frame; the vertical moving frame is arranged on the longitudinal moving frame through a vertical displacement driving device No.

1.

4. The stacking and stacking transport vehicle according to claim 1, characterized in that: The protection unit is located outside the load-bearing area formed by the telescopic fork unit and the lifting fork unit; the protection unit includes an upper protection cover and a side protection fence.

5. The stacking and stacking transport vehicle according to claim 1, characterized in that: The vertical displacement assembly includes a second vertical displacement drive device; the lateral displacement assembly includes a lateral displacement drive device and a gear; the lateral displacement drive device is located on the second vertical displacement drive device; the gear is connected to the lateral displacement drive device; and the lifting fork is provided with a rack meshing with the gear.

6. The stacking and stacking transport vehicle according to claim 1, characterized in that: The stacking and stacking transport vehicle further comprises a traveling unit.

7. The stacking and stacking transport vehicle according to claim 1, characterized in that: The stacking and stacking transport vehicle further comprises a balancing unit; the balancing unit is movably arranged on the chassis.

8. A method for stacking and unstacking using the stacking and stacking transport vehicle according to any one of claims 1 to 7, characterized in that: The palletizing method comprises the following steps: during palletizing, the protection unit protects the pallet; the longitudinal moving frame and the vertical moving frame drive the telescopic fork to insert into the fork entry of the target pallet stacking pallet, and move the target pallet stack to the chassis; the vertical displacement component and the horizontal displacement component drive the lifting fork to insert into the fork entry of the target pallet stacking pallet; the vertical displacement component drives the lifting fork to lift the target pallet stack to a position that can accommodate the next target pallet stack; the above steps are repeated to complete the palletizing; The unloading method comprises the following steps: during unloading, the protection unit protects the stack; when there is one stack on the stacking and stacking transporter, the longitudinal moving frame and the vertical moving frame drive the stack on the chassis to the unloading platform, and then reset to complete the unloading; when there are multiple stacks on the stacking and stacking transporter, the vertical displacement component and the transverse displacement component drive the lifting fork to insert into the fork entrance of the upper stacking pallet of the lowest stack, the vertical displacement component drives the stack on the lifting fork to separate from the lower stack, the longitudinal moving frame and the vertical moving frame drive the stack on the chassis to the unloading platform, and then reset, the vertical displacement component drives the stack on the lifting fork to move to the chassis, and the transverse displacement component drives the lifting fork to reset, and the above steps are repeated to complete the unloading of all stacks one by one; or the longitudinal moving frame and the vertical moving frame drive the stack on the chassis to the unloading platform, and then reset to complete the unloading of all stacks at one time.

9. The method for stacking and unstacking using a stacking and stacking transport vehicle according to claim 8, characterized in that: The stacking and stacking transporter also includes a balancing unit; the balancing unit is movably arranged on the chassis; when stacking or unstacking, the balancing unit is in contact with the ground.

10. Use of the stacking and stacking transport vehicle according to any one of claims 1 to 7 in stacking and unstacking.

Images