A stacking and piling handling vehicle and its application

Abstract

The present invention discloses a stacking and piling forklift and its application. The stacking and piling forklift includes a chassis; an extendable fork unit, a protection unit and symmetrically arranged lifting fork units are provided on the chassis; the extendable 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 extendable forks 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 transverse displacement component and lifting forks. The transverse displacement component is located on the vertical displacement component, and the lifting forks are connected to the transverse displacement component. The present invention solves the problem that a forklift driver is required for a forklift in existing production, reduces costs, especially can carry multiple stacks at one time, improves the handling efficiency, and also ensures the safety and stability during handling.

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:

[0007] A stacking and piling forklift truck includes a chassis; an extendable fork unit, a protection unit, and symmetrically arranged lifting fork units are provided on the chassis; the extendable fork unit is located between the symmetrically arranged lifting fork units and includes a longitudinal displacement assembly, a longitudinal moving frame, a vertical moving frame, and extendable forks located on the vertical moving frame. The longitudinal displacement assembly 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 assembly, a transverse displacement assembly, and lifting forks. The transverse displacement assembly is located on the vertical displacement assembly, and the lifting forks are connected to the transverse displacement assembly.

[0008] In the present invention, stacking means stacking goods in units of pallets; piling means stacking the stacked pallets together. The extendable fork unit is used to fork the stacked pallets onto the chassis or fork the stacked pallets on the chassis onto the unstacking platform; the lifting fork unit is used to lift the stacked pallets on the chassis to achieve the stacking of the stacked pallets, that is, piling, so that multiple stacked pallets can be transported at one time. During unstacking, single stacked pallets can also be unloaded successively as needed, or several stacked pallets can be unloaded simultaneously, or all stacked pallets can be unloaded at one time; when the device is operating, the protection unit cooperates with the extendable fork unit and the lifting fork unit to protect the stacked pallets on the chassis and prevent the stacked pallets from tipping over when the center of gravity is unstable.

[0009] 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 during loading. The chassis is designed in a concave structure, and the recessed part in the middle is used to carry the stacked pallets, and the two ends are used to install the traveling units to reduce the overall center of gravity height, so that the device remains stable during operation, and at the same time, the height that the stacked pallets need to be lifted is reduced, improving the loading and unloading efficiency.

[0010] Furthermore, the number of the lifting fork units is one pair or a plurality of pairs. In practical applications, the number of the lifting fork units is selected according to needs, which does not affect the realization of the technical effects of the present invention.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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 stacking is required, the lateral displacement driving device drives the lifting fork to move to the loading area. When stacking is not required, the lateral displacement driving device drives the lifting fork away from the loading area, so that stacking can be achieved within the device. When unstacking, it is also possible to unload individual stacks successively, or several stacks simultaneously, or all stacks at once according to needs, with high flexibility. Further, the lateral displacement driving device can be directly installed on the vertical displacement driving device, or can be installed on the movable member through a conventional connecting member. The movable member is installed on the second vertical displacement driving device. For example, a fixed column is provided on the chassis. The lateral displacement driving device is provided in the sliding column of the movable member through a connecting member slider. The sliding column is provided in the fixed column. The sliding column is connected to the driving end of the second vertical displacement driving device. A pulley is provided at the top of the sliding column. A chain is provided on the second vertical displacement driving device. 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 within the fixed column, thereby driving the chain connected to the sliding column to move, and further driving the slider connected to the chain to move, realizing the vertical up and down displacement of the lifting fork. Preferably, the lateral displacement driving device is installed on the conventional connecting member through the lifting fork fixing frame, and the lifting fork fixing frame is used to install the lifting fork. More preferably, a plurality of mounting openings are provided on the lifting fork fixing frame. In actual application, the distance between the lifting forks can be adjusted according to the size of the pallet to be lifted. As an example, the lateral displacement driving device selects a rotary motor. The gear can be directly installed on the rotary motor, or can be installed on the rotary motor through a transmission component. For example, the transmission component includes a main transmission shaft, a main sprocket, a driven sprocket, and a driven transmission shaft. The main transmission shaft is connected to the rotary motor. The main sprocket is connected to the main transmission shaft. The main sprocket is connected to the driven sprocket through a chain. The driven transmission shaft is connected to the driven sprocket. The gear is connected to the driven transmission shaft. The rotary driving device drives the main transmission shaft to rotate, thereby driving the driven transmission shaft to rotate, and further driving the gear to rotate, realizing the lateral left and right displacement of the lifting fork.

[0016] Preferably, the stacking and palletizing truck further includes a traveling unit; the traveling unit is provided on the chassis. The traveling unit is used to drive the device to travel to complete autonomous operations. The traveling unit is a conventional technology. Preferably, the traveling unit includes traveling wheels, at least one of which is a driving traveling wheel, and at least one of which is a driving steering wheel. The driving traveling wheel is used to drive the device to travel, 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 travel and turn autonomously, without affecting the realization of the technical effects of the present invention.

[0017] Preferably, the stacking and palletizing truck further includes a balancing unit; the balancing unit is movably arranged on the chassis; the movement includes one of folding, telescoping, and lifting. The balancing unit is used to maintain the stability of the device during operation, and in case of an accident, it can prevent the device from tipping over and improve the safety of operation. Further preferably, the balancing unit includes balancing legs, the balancing legs are movably arranged on the chassis, and the movement includes one of folding, telescoping, and lifting. As an example, the balancing legs are arranged on the chassis through a balancing leg driving device; the balancing leg driving device selects an oil cylinder, which is used to drive the retraction and extension of the balancing legs. When the device is stacking or unstacking, it can drive the balancing legs to abut against the ground, or when the device is moving, it can drive the balancing legs to disengage from the ground and be slightly higher than the ground to maintain the stability of the device during operation. When not in operation, the balancing leg driving device can drive the balancing legs to retract.

[0018] As common knowledge, the stacking and palletizing truck further includes a height sensor, a distance measuring sensor, a positioning radar, an obstacle avoidance radar group, a camera, and a collision sensor. The height sensor is used to measure the position of the lifting fork; the distance measuring 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 when the device is traveling; the obstacle avoidance radar group is used to detect the positions of surrounding obstacles when the device is traveling; the camera is used to detect the positions of the target stacking tray and the adjacent stacking trays and identify the objects around the upper protective cover and the target stack; the collision sensor sends a signal to the control unit when it contacts an object, and the control unit controls the operation of the device.

[0019] The present invention further 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 driving devices 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 supply power to 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 usage methods and control methods are conventional technologies, as long as the functions of each component can be realized.

[0020] The present invention discloses a method for stacking and unstacking using the above-mentioned stacking and palletizing truck.

[0021] The stacking method includes the following steps: When stacking, the protection unit protects the stack; the longitudinal moving frame and the vertical moving frame drive the telescopic fork to insert into the fork inlet of the target stacking tray, and move the target stack to the chassis. The vertical displacement component and the horizontal displacement component drive the lifting fork to insert into the fork inlet of the target stacking tray, and the vertical displacement component drives the lifting fork to lift the target stack to a position where the next target stack can be accommodated. Repeat the above steps to complete the stacking.

[0022] The pallet unstacking method includes the following steps: during unstacking, the protection unit protects the stack; when there is one stack on the stack stacking forklift truck, the longitudinal moving frame and the vertical moving frame drive the stack on the chassis to the unstacking platform, and then reset to complete unstacking; when there are multiple stacks on the stack stacking forklift truck, the vertical displacement assembly and the horizontal displacement assembly drive the lifting fork to insert into the fork inlet of the upper layer stack pallet of the bottom layer stack, the vertical displacement assembly drives the stack on the lifting fork to separate from the lower layer stack, the longitudinal moving frame and the vertical moving frame drive the stack on the chassis to the unstacking platform, and then reset, the vertical displacement assembly drives the stack on the lifting fork to be displaced onto the chassis, the horizontal displacement assembly drives the lifting fork to reset, and the above steps are repeated to complete the successive unloading of all stacks; or the longitudinal moving frame and the vertical moving frame drive the stack on the chassis to the unstacking platform, and then reset to complete the unloading of all stacks at one time.

[0023] Preferably, the stack stacking forklift truck further includes a balancing unit; the balancing unit is movably arranged on the chassis; during stacking or unstacking, the balancing unit contacts the ground.

[0024] The present invention discloses the application of the above stack stacking forklift truck in stacking and unstacking.

[0025] The beneficial effects of the present invention are as follows:

[0026] (1) The present invention adopts an automated loading and unloading method, solves the problems of poor stability and safety of manual operation of forklifts in the prior art, reduces production costs, especially the present invention can carry multiple stacks at one time, greatly improving the handling efficiency;

[0027] (2) By setting a load-bearing chassis, the device can achieve a large load with a large mass without additional counterweight or increasing the vehicle body weight, with a simple structure and strong feasibility;

[0028] (3) By setting a lifting fork unit, the stack on the chassis of the present invention can be lifted, so as to realize the stacking of stacks. During unstacking, single stacks can also be successively unloaded, several stacks can be unloaded simultaneously, or all stacks can be unloaded at one time according to needs, with high flexibility and strong practicability, solving the problem of the need to stack stacks in sequence when there is a need for unstacking and stacking in the prior art, and further improving the handling efficiency;

[0029] (4) By setting a protection unit, cooperating with the lifting fork unit, the stack on the chassis can be protected, the stack can be prevented from tipping over, the safety and stability of the device operation are improved, and the present invention is also applicable to the handling of high stacks, with a broad market application prospect;

[0030] (5) By setting a traveling unit, the device can be driven to walk autonomously to realize autonomous operation;

[0031] (6) By setting up a balancing unit, it can provide safety guarantees during the stacking, unstacking, and traveling of the device, ensuring the balance of the device during the operation process. DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic structural diagram of the stacking and piling truck in the first embodiment.

[0033] Figure 2 is Figure 1 the second state diagram of

[0034] Figure 3 It is a front view of the stacking and piling truck in the first embodiment.

[0035] Figure 4 is Figure 3 the enlarged schematic diagram of part C in

[0036] Figure 5 It is a schematic structural diagram of the stacking and piling truck in the first embodiment (the outer shell unit is omitted).

[0037] Figure 6 It is a schematic structural diagram of the fixing bracket of the upper protective cover lifting oil cylinder in the first embodiment.

[0038] Figure 7 It is a schematic structural diagram of the telescopic fork unit in the first embodiment.

[0039] Figure 8 is Figure 7 the enlarged schematic diagram of part A in

[0040] Figure 9 is Figure 7 the enlarged schematic diagram of part B in

[0041] Figure 10 It is a schematic structural diagram of the lifting fork unit in the first embodiment.

[0042] Among them: chassis 1, telescopic fork unit 2, protection unit 3, lifting fork unit 4, traveling unit 5, balancing unit 6, hydraulic unit 7, control unit 8, power unit 9, housing unit 10, longitudinal moving frame 201, vertical moving frame 202, telescopic fork 203, connecting rod guide 204, vertical moving frame guide 205, telescopic fork vertical moving oil cylinder 206, longitudinal moving frame pulley 207, longitudinal moving frame guide 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 oil cylinder 214, connecting rod pulley 215, upper protection cover 301, first-level upright column 302, second-level upright column 303, third-level upright column 304, first-level lifting column 305, second-level lifting column 306, third-level lifting column 307, upper protection cover lifting oil cylinder fixing frame 308, upper protection cover lifting oil cylinder 309, lifting pull plate 310, lifting pull plate guide wheel 311, lifting chain fixing seat 312, first-level lifting chain 313, second-level lifting chain 314, lifting chain pulley 315, lifting chain pulley group 316, lifting pull plate pulley 317, pressing plate 318, upper protection cover guardrail 319, first-level guardrail 320, second-level guardrail 321, third-level guardrail 322, guardrail hinge seat 323, guardrail motor 324, guardrail reducer 325, lock motor 326, lock screw rod 327, lock screw rod support seat 328, guardrail lock 329, guardrail lock column 330, first upper protection cover distance measuring sensor 331, second upper protection cover distance measuring sensor 332, lifting fork 401, first-level lifting fork upright column 402, second-level lifting fork upright column 403, lifting fork slider 404, lifting fork upright column chain 405, lifting fork oil cylinder 406, lifting fork fixing frame 407, lifting fork motor 408, main transmission shaft 409, main sprocket 410, driven sprocket 411, driven transmission shaft 412, gear 413, bearing seat 414, upright column connecting block 415, sprocket and chain 416, rack 417, lifting fork height sensor 418, first traveling wheel 501, second traveling wheel 502, third traveling wheel 503, fourth traveling wheel 504, first balancing leg 601, second balancing leg 602, third balancing leg 603, fourth balancing leg 604, first balancing leg oil cylinder 605, second balancing leg oil cylinder 606, third balancing leg oil cylinder 607, fourth balancing leg oil cylinder 608, support slider 609, hydraulic power module 701, hydraulic valve island 702, control box 801, touch screen 802, working indicator light 803, communication antenna 804, first emergency stop switch 805, second emergency stop switch 806, first positioning radar 807, second positioning radar 808, first obstacle avoidance radar group 809, second obstacle avoidance radar group 810, first pallet identification camera 811, second pallet identification camera 812, high-position identification camera 813, first power battery pack 901, second power battery pack 902The first housing 1001, the second housing 1002, the third housing 1003, the fourth housing 1004, the fifth housing 1005, the collision sensor 1006. Detailed implementation mode

[0043] The present invention will be further described below in conjunction with the attached drawings and embodiments. The specific components involved are existing products. Conventional mounting holes are provided on the specific components, and the connection and usage methods between the specific components are conventional technologies.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs; the terms used in the present 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", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or position based on the orientation or position shown in the attached drawings, which is only for convenience of description and cannot be understood as a limitation to the technical solution of the present invention. In the present invention, the vertical moving frame, the longitudinal moving frame, and the fixed frame are arranged in sequence from front to back. The position where the first housing is located is on the right, and the position where the second housing is located is on the left.

[0045] The terms "first level", "second level", "third level", "first", "second", "third", "fourth", "fifth", etc. in the description and claims of the present invention or the above-mentioned attached drawings are used to distinguish different objects and are not used to describe a specific order.

[0046] In the present invention, the number of levels of the telescopic column can be increased or decreased according to the height of the stacked goods to be carried, as long as the stacked goods to be carried can be accommodated.

[0047] Embodiment 1

[0048] As Figures 1 to 10 shown:

[0049] A stacking and palletizing truck includes 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.

[0050] The chassis 1 is a concave load-bearing chassis. The recessed part in the middle is used to carry goods, and both ends are used to install traveling wheels. The distance from the load-bearing surface to the ground of this structure is small, and the required vertical lifting distance of the goods is small, so that the overall center of gravity height is relatively low, which is beneficial to improving the stability of the vehicle when carrying a load and traveling.

[0051] The telescopic fork unit 2 is located between two lifting fork units 4, and includes a longitudinal displacement assembly, a longitudinal moving frame 201, a vertical moving frame 202, and two symmetrically arranged telescopic forks 203 located on the vertical moving frame 202. The longitudinal moving frame 201 has a left-right symmetric structure, and is provided with two symmetrically arranged first vertical displacement driving devices, a connecting rod guide rail 204, and a vertical moving frame guide rail 205. In this embodiment, the first vertical displacement driving device is a telescopic fork vertical moving oil cylinder 206; both ends of the vertical moving frame guide rail 205 are reserved with 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; symmetrically arranged longitudinal moving frame pulleys 207 are provided on the longitudinal moving frame 201, and the longitudinal moving frame pulleys 207 are located in the longitudinal moving frame guide rails 208 installed on the chassis 1. The number of the longitudinal moving frame guide rails 208 is two, and they are symmetrically arranged to improve the stability of the longitudinal displacement of the longitudinal moving frame 201; 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. Symmetrically arranged vertical moving frame pulleys 209 are provided on the vertical moving frame 202, and the vertical moving frame pulleys 209 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 forks 203. A telescopic fork guardrail 210 is provided at the top of the vertical moving frame 202 for protecting the 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 moving oil cylinder 214; the connecting rod fixing frame 211 has a left-right symmetric structure and 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 moving oil cylinder 214 is hinged to the connecting rod fixing frame 211, and the piston rod is connected to the push rod 212. Both ends of the push rod 212 are respectively connected to two symmetrically arranged telescopic connecting rod groups 213. The telescopic connecting rod group 213 has a scissor fork structure and includes two groups of crossed connecting rods. One end of one connecting rod in one group of connecting rods is hinged to the connecting rod fixing frame 211, and the other end of the other connecting rod is provided with a connecting rod pulley 215. The connecting rod pulley 215 is located in the connecting rod guide rail 204 on the connecting rod fixing frame 211. One end of one connecting rod in the other group of connecting rods is hinged to the longitudinal moving frame 201, and the other end of the other connecting rod is provided with a connecting rod pulley 215. The connecting rod pulley 215 is located in the connecting rod guide rail 204 on the longitudinal moving frame 201. The telescopic fork longitudinal moving oil cylinder 214 drives the telescopic connecting rod group 213 to expand and contract through the push rod 212, thereby driving the longitudinal displacement of the longitudinal moving frame 201 in the longitudinal moving frame guide rails 208, and further driving the longitudinal forward and backward movement of the telescopic forks 203.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] The upper protective cover lifting oil cylinder fixing bracket 308 is installed on the chassis 1. The cylinder body of the upper protective cover lifting oil cylinder 309 is vertically installed on the upper protective cover lifting oil cylinder fixing bracket 308, and the piston rod is connected to the lifting pull plate 310. On both sides of the lifting pull plate 310, there are symmetrically arranged lifting pull plate guide wheels 311, and the lifting pull plate guide wheels 311 are located in the vertical section steel of the upper protective cover lifting oil cylinder fixing bracket 308. In this embodiment, the number of unilateral lifting pull plate guide wheels 311 is 2. In actual application, the number of unilateral lifting pull plate guide wheels 311 is not less than 2, which can be designed according to needs without affecting the realization of the technical effect of the present invention.

[0057] The lifting chain fixing seat 312 is installed on the chassis 1, on the side close to the lifting pull plate 310, and the number is 2, corresponding to the fixation of 2 first-stage lifting chains 313 respectively; the lifting chain pulley 315 is installed on the chassis 1, on the side close to the lifting pull plate 310, and the number is 2, corresponding to 2 first-stage lifting chains 313 respectively; the lifting chain pulley group 316 is installed on the chassis 1, on the side far from the lifting pull plate 310, and is composed of two fixed pulleys arranged at vertical intervals; the lifting pull plate pulley 317 is installed at the lower part of the lifting pull plate 310, and the number is 2, symmetrically arranged.

[0058] The number of the first-stage lifting chains 313 is 2. One end of one first-stage lifting chain 313 is connected to the corresponding lifting chain fixing seat 312, and the other end sequentially bypasses the corresponding lifting pull plate pulley 317, the lifting chain pulley 315, the fixed pulley at the top of the first-stage lifting column 305 on the side close to the lifting pull plate 310 and then is connected to the bottom of the second-stage lifting column 306 on the same side. One end of the other first-stage lifting chain 313 is connected to the corresponding lifting chain fixing seat 312, and the other end sequentially bypasses the corresponding lifting pull plate pulley 317, the lifting chain pulley 315, the lifting chain pulley group 316, the fixed pulley at the top of the first-stage lifting column 305 on the side far from the lifting pull plate 310 and then is connected to the bottom of the second-stage lifting column 306 on the same side; the number of the second-stage lifting chains 314 is 2. One end of one second-stage lifting chain 314 is fixed at the top of the first-stage lifting column 305 on the side close to the lifting pull plate 310, and the other end bypasses the fixed pulley at the top of the second-stage lifting column 306 on the same side and then is connected to the bottom of the third-stage lifting column 307 on the same side. One end of the other second-stage lifting chain 314 is fixed at the top of the first-stage lifting column 305 on the side far from the lifting pull plate 310, and the other end bypasses the fixed pulley at the top of the second-stage lifting column 306 on the same side and then is connected to the bottom of the third-stage lifting column 307 on the same side.

[0059] The upper protective cover lifting oil cylinder 309 drives the lifting pull plate 310 to displace within the vertical section steel of the upper protective cover lifting oil cylinder fixing bracket 308, thereby driving the displacement of the first-stage lifting chain 313 wound around the pulley 317 of the lifting pull plate, further driving the displacement of the second-stage lifting column 306 connected to the first-stage lifting chain 313, and even further driving the displacement of the second-stage lifting chain 314 wound around the fixed pulley of the second-stage lifting column 306 to drive the displacement of the third-stage lifting column 307 connected to the second-stage lifting chain 314, so as to realize the up-and-down lifting of the upper protective cover 301.

[0060] The side protective fence includes a first-stage protective fence 320, a second-stage protective fence 321, a third-stage protective fence 322, a protective fence hinge seat 323, a protective fence motor 324, and a protective fence speed reducer 325; the locking component includes a locking motor 326, a locking lead screw 327, a locking lead screw support seat 328, a protective fence lock 329, and a protective fence lock column 330.

[0061] The protective fence is in the style of double-leaf doors, located on both sides of the loading and unloading opening of the device, and is symmetrically arranged with respect to the horizontal central plane of the device; the protective fence motor 324 and the protective fence speed reducer 325 are both installed on the chassis 1, on one side of the loading and unloading opening of the device. The protective fence motor 324 is directly connected to the protective fence speed reducer 325. The lower end of the first-stage protective fence is connected to the protective fence speed reducer through a coupling, and the upper end is installed on the first-stage upright column 302 through the protective fence hinge seat 323; the second-stage protective fence 321 is located inside the first-stage protective fence 320, and its upper end is installed on the second-stage upright column 303 through the protective fence hinge seat 323. The third-stage protective fence 322 is located inside the second-stage protective fence 321, and its upper end is installed on the third-stage upright column 304 through the protective fence hinge seat 323.

[0062] The locking motor 326 is a double-output shaft motor, installed on the upper protective cover 301, and the two output shafts are respectively connected to the locking lead screw 327 through couplings; the locking lead screw 327 is installed on the upper protective cover 301 through the locking lead screw support seat 328; the upper end of the protective fence 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 lead screw 327. The lower end of the protective fence lock 329 is a hook-like structure, which can cooperate with the protective fence lock column 330 to achieve locking; the protective fence lock column 330 is located at the upper part of the third-stage protective fence 322 and consists of multiple vertically arranged cylinders at intervals to form a multi-stage locking structure to cope with the locking of stacks of different sizes.

[0063] The lifting fork unit 4 includes a vertical displacement assembly, a lateral displacement assembly, and two symmetrically arranged lifting forks 401; the vertical displacement assembly includes a second vertical displacement driving device, a first-stage lifting fork column 402, a second-stage lifting fork column 403, a lifting fork slider 404, and a lifting fork column chain 405. In this embodiment, the vertical displacement driving device is a lifting fork oil cylinder 406; the lateral displacement assembly 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 block 414. The lifting fork oil cylinder 406 is installed on the chassis 1. The cylinder block of the lifting fork oil cylinder 406 is connected to the first-stage lifting fork column 402 through two symmetrically arranged column connection blocks 415. The cross-sections of the first-stage lifting fork column 402 and the second-stage lifting fork column 403 are both C-shaped open structures. The first-stage lifting fork column 402 is installed on the chassis 1. The second-stage lifting fork column 403 is located inside the first-stage lifting fork column 402, and its top is connected to the piston rod of the lifting fork oil cylinder 406. A fixed pulley is provided at the top of the second-stage lifting fork column 403. The lifting fork slider 404 is located inside the second-stage lifting fork column 403. The lifting fork column chain 405 bypasses the fixed pulley, one end is connected to the lifting fork slider 404, and the other end is connected to the cylinder block of the lifting fork oil cylinder 406. The piston rod of the lifting fork oil cylinder 406 drives the second-stage lifting fork column 403 connected thereto to slide up and down inside the first-stage lifting fork column 402, so as to drive the lifting fork slider 404 to slide up and down inside the second-stage lifting fork column 403 through the lifting fork column chain 405, and further drive the vertical up and down movement of the lifting fork 401. The lifting fork fixing frame 407 is installed on the lifting fork slider 404. Four mounting openings are provided on the lifting fork fixing frame 407 for mounting the lifting forks 401. In actual application, the distance between the lifting forks 401 can be adjusted according to the size of the pallet to be lifted; the lifting fork motor 408 is installed on the lifting fork fixing frame 407. The main transmission shaft 409 and the slave transmission shaft 412 are installed on the lifting fork fixing frame 407 through the bearing block 414. The main transmission shaft 409 is connected to the lifting fork motor 408, and its two ends are connected to the main sprocket 410. 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, and the gear 413 is connected to the slave transmission shaft 412. A rack 417 meshing with the gear 413 is provided on the lifting fork 401. 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, so as to drive the gear 413 to rotate through the slave sprocket 411, and further drive the lateral left and right movement of the lifting fork 401.

[0064] The traveling unit 5 includes a first traveling wheel 501, a second traveling wheel 502, a third traveling wheel 503, and a fourth traveling wheel 504, which are respectively installed at both ends of the chassis 1. In this embodiment, the second traveling wheel 502 and the third traveling wheel 503 are steering wheels with the functions of driving travel and driving steering. The two are arranged diagonally. The first traveling wheel 501 and the fourth traveling wheel 504 are universal casters, and the two are arranged diagonally.

[0065] The balancing unit 6 includes a first balancing leg 601, a second balancing leg 602, a third balancing leg 603, a fourth balancing leg 604, and a balancing leg driving device. The balancing leg driving device includes a first balancing leg oil cylinder 605, a second balancing leg oil cylinder 606, a third balancing leg oil cylinder 607, and a fourth balancing leg oil cylinder 608. Support sliders 609 are respectively provided on the first balancing leg 601, the second balancing leg 602, the third balancing leg 603, and the fourth balancing leg 604. When the device travels longitudinally, the balancing leg driving device drives the balancing legs to contact the ground to prevent the device from tipping over. The support sliders 609 are used to ensure that when the balancing legs contact the ground, the device can walk normally. In practical applications, the shape and size of the support sliders 609 are designed according to needs, as long as the function that the device can walk normally when the balancing legs contact the ground can be realized. In this embodiment, the first balancing leg 601 and the first balancing leg oil cylinder 605 are of the same specification as the second balancing leg 602 and the second balancing leg oil cylinder 606, and are arranged symmetrically about the horizontal symmetry axis of the device. The first balancing leg oil cylinder 605 and the second balancing leg oil cylinder 606 are horizontally installed on one side of the loading and unloading port of the device, one end is hinged to the chassis 1, and the other ends are respectively hinged to the first balancing leg 601 and the second balancing leg 602. The first balancing leg 601 and the second balancing leg 602 are of a low-flat structure and are respectively hinged and installed on the chassis 1 and can extend into the fork insertion port of the pallet; the third balancing leg 603 and the third balancing leg oil cylinder 607 are of the same specification as the fourth balancing leg 604 and the fourth balancing leg oil cylinder 608, and are arranged symmetrically about the horizontal symmetry axis of the device. The third balancing leg oil cylinder 607 and the fourth balancing leg oil cylinder 608 are located on the side of the device far from the loading and unloading port, one end is hinged to the chassis 1, and the other ends are respectively hinged to the third balancing leg 603 and the fourth balancing leg 604. The third balancing leg 603 and the fourth balancing leg 604 are respectively hinged and installed on the chassis 1. When the third balancing leg 603 and the fourth balancing leg 604 are retracted, the third balancing leg oil cylinder 607 and the fourth balancing leg oil cylinder 608 are vertical. When the third balancing leg 603 and the fourth balancing leg 604 are lowered, the third balancing leg oil cylinder 607 and the fourth balancing leg oil cylinder 608 are horizontal.

[0066] As common knowledge, 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.

[0067] 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 are selected according to needs in actual applications. The hydraulic power module 701 is installed on the chassis 1 and is used 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 vertical movement cylinder 206 of the telescopic fork, the longitudinal movement cylinder 214 of the telescopic fork, the lifting cylinder 309 of the upper protective cover, the lifting fork cylinder 406, the first balance leg cylinder 605, the second balance leg cylinder 606, the third balance leg cylinder 607, and the fourth balance leg cylinder 608 through hydraulic oil pipes to control the opening and closing of each hydraulic oil circuit, thereby driving the corresponding cylinders to act.

[0068] The control unit 8 includes a control box 801, a touch screen 802, a working indicator light 803, a communication antenna 804, a first emergency stop switch 805, a second emergency stop switch 806, and other conventional electrical components, such as a main controller, a motion controller, a PLC, a photoelectric sensor, a motor controller, cables, connectors, etc. The control box 801 is of an integrally detachable structure and is installed on the chassis 1 for the installation and protection of the electrical components of this device, facilitating the maintenance and repair of other equipment of this device; the touch screen 802, the working indicator light 803, the communication antenna 804, and the first emergency stop switch 805 are respectively installed on the control box 801; the touch screen 802 is used for the operation and information interaction of this device, and the working indicator light 803 is used to indicate the working state of this device; the communication antenna 804 is used for the communication between this device and an external terminal; the second emergency stop switch 806 is installed on the first housing 1001, and when this device runs abnormally, this device can be stopped by pressing the emergency stop switch.

[0069] The power unit 9 includes a first power battery pack 901, a second power battery pack 902, and other conventional electrical components, such as power cable lines, power switches, cable connectors, power supply fuse boxes, etc., which are selected according to needs in actual applications. The first power battery pack 901 and the second power battery pack 902 are respectively installed at both ends of the chassis 1 horizontally and can independently supply power to the corresponding electrical equipment at both ends of this device horizontally or can supply power to the electrical equipment of this device uniformly.

[0070] The housing unit 10 includes a first housing 1001, a second housing 1002, a third housing 1003, a fourth housing 1004, and a fifth housing 1005 fixedly installed on the chassis 1, which are used to protect each unit component. The first housing 1001 is located above the first power battery pack 901, the second housing 1002 is located above the second power battery pack 902, and the third housing 1003 is located behind the connecting rod fixing frame 211; the fourth housing 1004 and the fifth housing 1005 are respectively located on both sides of the loading and unloading port of the device, which can not only play a protective role but also play a guiding role during stacking loading and unloading.

[0071] As common knowledge, the present invention also includes a first upper protective cover ranging sensor 331, a second upper protective cover ranging sensor 332, a lift fork height sensor 418, a first positioning radar 807, a second positioning radar 808, a first obstacle avoidance radar group 809, a second obstacle avoidance radar group 810, a first pallet identification camera 811, a second pallet identification camera 812, a high-position identification camera 813, and a collision sensor 1006. The first upper protective cover ranging sensor 331 is installed at a position of the upper protective cover 301 close to 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 second upper protective cover ranging sensor 332 is installed at a position of the upper protective cover 301 close to the stacking center, and is used to measure the distance between the upper protective cover 301 and the upper surface of the stack; the lift fork height sensor 418 is installed at the center of the bottom of the lift fork fixing frame 407, and determines the position of the lift fork 401 by measuring the distance between the bottom of the lift fork fixing frame 407 and the upper surface of the chassis 1; the first positioning radar 807 and the second positioning radar 808 are respectively installed on the first housing 1001 and the second housing 1002, and are used for spatial positioning when the device is running; the first obstacle avoidance radar group 809 and the second obstacle avoidance radar group 810 are respectively installed at the bottoms of the first housing 1001 and the second housing 1002, and are used to detect the positions of surrounding obstacles when the device is running; the first pallet identification camera 811 and the second pallet identification camera 812 are respectively installed on the fourth housing 1004 and the fifth housing 1005, and are used to detect the positions of the target stacking pallet and the adjacent pallet, so as to ensure that the telescopic fork 203, the first balance leg 601, and the second balance leg 602 can accurately insert into the corresponding fork openings of the stacking pallet; the high-position identification camera 813 is installed on the upper protective cover 301, and is used to identify the objects around the upper protective cover 301 and the target stack, so as to ensure the safety and accuracy of the device during operation. In actual application, the types of the pallet identification camera and the high-position identification camera are selected according to needs, and preferably, a visual sensor with depth detection ability is used; the collision sensor 1006 is a flexible strip structure, and the number is 3, which are respectively installed on the first housing 1001, the second housing 1002, and the third housing 1003, and send signals to the control unit when contacting an object, and the control unit controls the operation of the device. Example Two

[0072] Based on Example One, the difference in this example is that the side guardrail and the latch assembly matching the guardrail are omitted, and the rest remains the same. Example Three

[0073] Based on Example One, the difference in this example is that the balance unit 6 is omitted, and the rest remains the same. Example Four

[0074] Based on Example One, the difference in this example is that the first driving wheel 501, the second driving wheel 502, the third driving wheel 503, and the fourth driving wheel 504 are all steering wheels with the functions of driving forward and driving for steering, and the rest remains the same. Example Five

[0075] A method for single stack loading and unloading using the device of Example One includes the following steps:

[0076] Initial position of the telescopic fork unit 2: The longitudinal moving frame 201 moves towards the link fixing frame 211 to the minimum position, 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;

[0077] Initial position of the protection unit 3: The upper protection cover 301 moves towards the chassis 1 to the minimum position, and the side guardrail is closed;

[0078] Initial position of the lifting fork unit 4: The lifting fork 401 moves away from the loading 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;

[0079] Initial position of the balance unit 6: The balance legs are retracted to the maximum position away from the ground.

[0080] (1) The control unit 8 receives operation instructions from an external terminal through the communication antenna 804, or an operator makes settings by operating the touch screen 802. The content of the operation instructions includes but is not limited to the target stack loading position, stack size, stack weight, whether stacking is required, the number of stacked stacks, the stack unloading position, and the stack unloading method;

[0081] (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;

[0082] (3) The control unit 8 controls the device to automatically drive towards 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 809 and the second obstacle avoidance radar group 810 until it drives near the target operation position;

[0083] (4) The control unit 8 controls the second walking wheel 502 and the third walking wheel 503 to walk according to the position information of the fork insertion port of the target stacking pallet provided by the first pallet recognition camera 811 and the second pallet recognition camera 812, so as to align the telescopic fork 203 with the fork insertion port of the target stacking pallet, completing the alignment of the device with the target stack (if the target stack is of large mass, the first balance leg 601 and the second balance leg 602 are lowered to a position slightly higher than the ground under the drive of their corresponding oil cylinders. If there are stacks on both sides or either side of the target stack, the control unit 8 controls the second walking wheel 502 and the third walking wheel 503 to walk according to the position information of the fork insertion ports of the target stacking pallet and the adjacent stacking pallets thereto provided by the first pallet recognition camera 811 and the second pallet recognition camera 812, so as to align the telescopic fork 203, the first balance leg 601 and the second balance leg 602 in the lowered state with the fork insertion ports of the pallets. At this time, the protective fence is opened to the maximum position, and the upper protective cover 301 is raised to a position that can accommodate the target stack under the drive of the upper protective cover drive assembly, and the elevation position information of the upper protective cover 301 is provided by the first upper protective cover distance measuring sensor 331);

[0084] (5) The longitudinal movement oil cylinder 214 of the telescopic fork drives the longitudinal movement frame 201 to longitudinally move towards the loading and unloading port of the device until the vertical movement frame 202 moves to a position where it can move vertically downward;

[0085] (6) The vertical movement oil cylinder 206 of the telescopic fork 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 position information of the downward movement of the telescopic fork 203 is provided by the first pallet recognition camera 811 and the second pallet recognition camera 812);

[0086] (7) The control unit 8 controls the second walking wheel 502 and the third walking wheel 503 to walk, so that the device aligns with the target stack and longitudinally drives until the telescopic fork 203 is completely inserted into the fork insertion port of the target stacking pallet. At this time, the first balance leg 601 and the second balance leg 602 also insert into the fork insertion ports of the adjacent stacking pallets of the target stacking pallet;

[0087] (8) The first balance leg 601 and the second balance leg 602 contact the ground under the drive of their corresponding oil cylinders and resist the ground;

[0088] The telescopic fork vertical movement oil cylinder 206 drives the vertical movement frame 202 to drive the telescopic fork 203 to move vertically upward until the lower surface of the target stacking tray moves slightly higher than the upper surface of the chassis 1 (the position information of the upward movement of the telescopic fork 203 is provided by the first pallet identification camera 811 and the second pallet identification camera 812).

[0089] (10)The telescopic fork longitudinal movement oil cylinder 214 drives the longitudinal movement frame 201 to drive the vertical movement frame 202 and the lifted target stack to move towards the link fixing frame 211 to the minimum position;

[0090] (11)The telescopic fork vertical movement oil cylinder 206 drives the vertical movement frame 202 to move downward. The lower surface of the target stacking tray and the lower surface of the telescopic fork 203 are successively in contact with the upper surface of the chassis 1. When the lower surface of the telescopic fork 203 is in contact with the upper surface of the chassis 1, the telescopic fork vertical movement oil cylinder 206 stops operating, and the loading operation of the target stack is completed; at this time, the protective fence is closed and locked, the upper protective cover 301 descends and presses the target stack, and the first balance leg 601 and the second balance leg 602 are lifted to a position slightly higher than the ground under the drive of their corresponding oil cylinders;

[0091] (12)The control unit 8 controls the second traveling wheel 502 and the third traveling wheel 503 to travel so that the device travels longitudinally until the first balance leg 601 and the second balance leg 602 are completely withdrawn from the adjacent stacking trays, and the first balance leg 601 and the second balance leg 602 are retracted to their initial positions under the drive of their corresponding oil cylinders;

[0092] (13)The control unit 8 controls the device to automatically travel to the target stack unloading position with the target stack;

[0093] (14)The first balance leg 601 and the second balance leg 602 are in contact with the ground under the drive of their corresponding oil cylinders, resisting the ground. The protective fence is opened to the maximum position, and the upper protective cover 301 is raised to a position where the bottom surface of the pressing plate 318 is slightly higher than the upper surface of the stack;

[0094] (15)The telescopic fork vertical movement oil cylinder 206 drives the telescopic fork 203 to move upward until the lower surface of the loaded stacking tray is slightly higher than the upper surface of the chassis 1;

[0095] (16)The telescopic fork longitudinal movement oil cylinder 214 drives the longitudinal movement frame 201 to drive the vertical movement frame 202 and the lifted target stack to move longitudinally towards the loading and unloading port of the device until the vertical movement frame 202 moves to a position where it can move vertically downward;

[0096] (17)The target stack is placed at the target unloading position under the action of the telescopic fork vertical movement oil cylinder 206, and the unloading operation is completed. The relevant moving parts of the device are reset to the initial position.

[0097] During the cargo transportation process, especially when driving along a non-linear path, the first balance leg 601, the second balance leg 602, the third balance leg 603, and the fourth balance leg 604 can be lowered to a position slightly higher than the ground under the drive of their corresponding oil cylinders to ensure the smoothness of the driving process.

[0098] During the operation of the device, the operation of the device can be stopped by operating any emergency stop switch; during the driving process, when any collision sensor 1006 touches an object, the control unit 8 controls the device to stop driving. Embodiment Six

[0099] A method for three-stack loading using the device of Embodiment One includes the following steps;

[0100] Initial position of the telescopic fork unit 2: The longitudinal moving frame 201 moves towards the link fixing frame 211 to the minimum position, 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;

[0101] Initial position of the protection unit 3: The upper protection cover 301 moves towards the chassis 1 to the minimum position, and the side protection rail is closed;

[0102] Initial position of the lifting fork unit 4: The lifting fork 401 moves away from the loading 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;

[0103] Initial position of the balance unit 6: The balance legs are retracted to the maximum position away from the ground.

[0104] (1) The control unit 8 receives operation instructions from an external terminal through the communication antenna 804, or an operator sets them by operating the touch screen 802. The content of the operation instructions includes but is not limited to the target stack loading position, stack size, stack weight, whether stacking is required, number of stacked stacks, stack unloading position, and stack unloading method;

[0105] (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;

[0106] (3) The control unit 8 controls the device to automatically drive towards 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 809 and the second obstacle avoidance radar group 810 until it drives near the target operation position;

[0107] (4) The control unit 8 controls the movement of the second walking wheel 502 and the third walking wheel 503 according to the position information of the fork insertion opening of the target stacking pallet provided by the first pallet recognition camera 811 and the second pallet recognition camera 812, so as to align the telescopic fork 203 with the fork insertion opening of the target stacking pallet, and complete the alignment of the device with the target stack (if the target stack is of large mass, the first balance leg 601 and the second balance leg 602 are lowered to a position slightly higher than the ground under the drive of their corresponding hydraulic cylinders; if there are stacks on both sides or either side of the target stack, the control unit 8 controls the movement of the second walking wheel 502 and the third walking wheel 503 according to the position information of the fork insertion openings of the target stacking pallet and the adjacent stacking pallets, so as to align the telescopic fork 203, the first balance leg 601 and the second balance leg 602 in the lowered state with the fork insertion openings of the pallets. At this time, the guardrail is opened to the maximum position, and the upper protective cover 301 is lifted to a position that can accommodate the target stack under the drive of the upper protective cover drive assembly, and the elevation position information of the upper protective cover 301 is provided by the first upper protective cover distance measuring sensor 331);

[0108] (5) The longitudinal movement oil cylinder 214 of the telescopic fork drives the longitudinal movement frame 201 to longitudinally move towards the loading and unloading opening of the device until the vertical movement frame 202 moves to a position where it can move vertically downward;

[0109] (6) The vertical movement oil cylinder 206 of the telescopic fork 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 position information of the downward movement of the telescopic fork 203 is provided by the first pallet recognition camera 811 and the second pallet recognition camera 812);

[0110] (7) The control unit 8 controls the movement of the second walking wheel 502 and the third walking wheel 503 to align the device with the target stack and longitudinally travel until the telescopic fork 203 is completely inserted into the fork insertion opening of the target stacking pallet. At this time, the first balance leg 601 and the second balance leg 602 also insert into the fork insertion openings of the adjacent stacking pallets of the target stacking pallet;

[0111] (8) The first balance leg 601 and the second balance leg 602 contact the ground under the drive of their corresponding hydraulic cylinders and resist the ground;

[0112] (9) The vertical movement oil cylinder 206 of the telescopic fork drives the vertical movement frame 202 to drive the telescopic fork 203 to move vertically upward until the lower surface of the target stacking pallet moves to a position slightly higher than the upper surface of the chassis 1 (the position information of the upward movement of the telescopic fork 203 is provided by the first pallet recognition camera 811 and the second pallet recognition camera 812);

[0113] (10) The telescopic fork longitudinal movement oil cylinder 214 drives the longitudinal movement frame 201 to move the vertical movement frame 202 and the lifted target stack towards the connecting rod fixed frame 211 to the minimum position;

[0114] (11) The telescopic fork vertical movement oil cylinder 206 drives the vertical movement frame 202 to move downward. The lower surface of the target stack pallet and the lower surface of the telescopic fork 203 successively contact the upper surface of the chassis 1. When the lower surface of the telescopic fork 203 contacts the upper surface of the chassis 1, the telescopic fork vertical movement oil cylinder 206 stops operating, completing the loading operation of the first stack;

[0115] (12) The upper protective cover drive assembly drives the upper protective cover 301 to rise to a position where it can accommodate the second stack. The elevation position information of the upper protective cover 301 is provided by the second upper protective cover ranging sensor 332;

[0116] (13) The lifting fork motor 408 drives the lifting forks 401 on both sides of the device's loading area to move simultaneously towards the lateral fork insertion opening of the first stack pallet until they are fully inserted;

[0117] (14) The lifting fork oil cylinder 406 drives the lifting forks 401 to move upward until their upper surfaces contact the first stack pallet, and then continues to drive the lifting forks 401 to carry the first stack upward until the upper surface of the first stack contacts the lower surface of the pressing plate 318;

[0118] (15) Repeat steps (5) to (11) to complete the loading operation of the second stack;

[0119] (16) The lifting fork oil cylinder 406 drives the lifting forks 401 to carry the first stack downward and place the first stack on the upper surface of the second stack;

[0120] (17) The lifting fork motor 408 drives the lifting forks 401 on both sides of the device's loading area to be simultaneously withdrawn from the lateral fork insertion opening of the first stack pallet until they are fully withdrawn, and then the lifting fork oil cylinder 406 drives the lifting forks 401 to descend to the lowest position;

[0121] (18) Repeat steps (12) to (17) to complete the loading operation of the third stack;

[0122] (19) The guardrail is closed and locked, the upper protective cover 301 descends and presses against the target stack, the first balance leg 601 and the second balance leg 602 are lifted to a position slightly higher than the ground under the drive of their corresponding oil cylinders; the control unit 8 controls the second traveling wheel 502 and the third traveling wheel 503 to travel, so that the device travels longitudinally until the first balance leg 601 and the second balance leg 602 are completely withdrawn from the adjacent stack trays, and the third balance leg 603 and the fourth balance leg 604 are lowered to a position slightly higher than the ground under the drive of their corresponding oil cylinders to ensure the smoothness of the traveling process. Embodiment Seven

[0123] A method for successively unloading the three stacks loaded in Embodiment Six by using the device of Embodiment One, comprising the following steps;

[0124] (1) The first balance leg 601 and the second balance leg 602 are lowered to contact the ground under the drive of their corresponding oil cylinders, resist 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 pressing plate 318 is slightly higher than the upper surface of the first stack;

[0125] (2) The lift fork oil cylinder 406 drives the lift fork 401 to move upward to align with the lateral fork insertion port of the second stack tray, and the lift fork motor 408 drives the lift fork 401 to move towards the lateral fork insertion port of the second stack tray until it is completely inserted;

[0126] (3) The lift fork oil cylinder 406 drives the lift fork 401 to move upward until its upper surface contacts the second stack tray, and then continues to drive the lift fork 401 to carry the second stack and the first stack upward until the upper surface of the first stack contacts the lower surface of the pressing plate 318;

[0127] (4) The telescopic fork vertical movement oil cylinder 206 drives the telescopic fork 203 to move upward until the lower surface of the loaded third stack tray is slightly higher than the upper surface of the chassis 1;

[0128] (5) The telescopic fork longitudinal movement oil cylinder 214 drives the longitudinal moving frame 201 to carry the vertical moving frame 202 and the lifted third stack to move longitudinally towards the loading and unloading port of the device until the vertical moving frame 202 moves to a position where it can move vertically downward;

[0129] (6) The third stack is placed at the target unloading position under the action of the telescopic fork vertical movement oil cylinder 206, the unloading operation of the third stack is completed, and the telescopic fork unit is reset to the initial position;

[0130] (7) The lift fork oil cylinder 406 drives the lift fork 401 to carry the second stack and the first stack to fall onto the chassis 1, and the upper protective cover 301 is lowered to a position where the lower surface of the pressing plate 318 is slightly higher than the upper surface of the first stack;

[0131] (8) Repeat steps (2) to (6) to complete the unloading operation of the second stack;

[0132] (9) The lifting fork cylinder 406 drives the lifting fork 401 to carry the first stack and land on the chassis 1, and the upper protective cover 301 descends to a position slightly higher than the upper surface of the first stack under the lower surface of the pressing plate 318;

[0133] (8) Repeat steps (4) to (6) to complete the unloading operation of the first stack, and the relevant moving parts of the device are reset to the initial position. Example VIII

[0134] A method for unloading three stacks loaded in Example VI using the device of Example I, including the following steps;

[0135] (1) The first balance leg 601 and the second balance leg 602 are lowered by their corresponding cylinders to contact the ground and resist the ground, the protective fence is opened to the maximum position, and the upper protective cover 301 rises to a position slightly higher than the upper surface of the first stack under the lower surface of the pressing plate 318;

[0136] (2) The telescopic fork vertical movement cylinder 206 drives the telescopic fork 203 to move upward until the lower surface of the pallet of the third stack being loaded is slightly higher than the upper surface of the chassis 1;

[0137] (3) The telescopic fork longitudinal movement cylinder 214 drives the longitudinal movement frame 201 to carry the vertical movement frame 202 and the three stacked stacks (the third stack, the second stack, and the first stack) being lifted and move longitudinally towards the loading and unloading port of the device until the vertical movement frame 202 moves to a position where it can move vertically downward;

[0138] (4) The three stacked stacks are placed at the target unloading position under the action of the telescopic fork vertical movement cylinder 206 to complete the unloading operation of the three stacked stacks, and the relevant moving parts of the device are reset to the initial position. Example IX

[0139] A method for unloading three stacks loaded in Example VI using the device of Example I, first unloading two stacks and then unloading one stack, including the following steps;

[0140] (1) The first balance leg 601 and the second balance leg 602 are lowered by their corresponding cylinders to contact the ground and resist the ground, the protective fence is opened to the maximum position, and the upper protective cover 301 rises to a position slightly higher than the upper surface of the first stack under the lower surface of the pressing plate 318;

[0141] (2) The lifting fork cylinder 406 drives the lifting fork 401 to move upward until it aligns with the lateral fork insertion opening of the first stacking pallet. The lifting fork motor 408 drives the lifting fork 401 to move towards the lateral fork insertion opening of the first stacking pallet until it is fully inserted.

[0142] (3) The lifting fork cylinder 406 drives the lifting fork 401 to move upward until its upper surface contacts the first stacking pallet, and then continues to drive the lifting fork 401 to carry the first stack upward until the upper surface of the first stack contacts the lower surface of the pressure plate 318.

[0143] (4) The telescopic fork vertical movement cylinder 206 drives the telescopic fork 203 to move upward until the lower surface of the loaded third stacking pallet is slightly higher than the upper surface of the chassis 1.

[0144] (5) The telescopic fork longitudinal movement cylinder 214 drives the longitudinal movement frame 201 to carry the vertical movement frame 202 and the lifted third and second stacks and move longitudinally towards the loading and unloading port of the device until the vertical movement frame 202 moves to a position where it can move vertically downward.

[0145] (6) Under the action of the telescopic fork vertical movement cylinder 206, the third and second stacks are placed at the target unloading position, completing the unloading operation of the third and second stacks. The telescopic fork unit resets to the initial position.

[0146] (7) The lifting fork cylinder 406 drives the lifting fork 401 to carry the first stack and lower it onto the chassis 1. The upper protective cover 301 is lowered to a position where its lower surface is slightly higher than the upper surface of the first stack.

[0147] (8) Repeat steps (4) to (6) to complete the unloading operation of the first stack. The relevant moving parts of the device reset to the initial position. Embodiment Ten

[0148] A method for unloading three stacks loaded in Embodiment Six using the device in Embodiment One, unloading one stack first and then two stacks, includes the following steps;

[0149] (1) The first balance leg 601 and the second balance leg 602 are lowered by their corresponding cylinders until they contact the ground and resist the ground. The protective fence is opened to the maximum position. The upper protective cover 301 is raised to a position where its lower surface is slightly higher than the upper surface of the first stack.

[0150] (2) The lifting fork cylinder 406 drives the lifting fork 401 to move upward until it aligns with the lateral fork insertion opening of the second stacking pallet. The lifting fork motor 408 drives the lifting fork 401 to move towards the lateral fork insertion opening of the second stacking pallet until it is fully inserted.

[0151] (3) The lift fork cylinder 406 drives the lift fork 401 to move upward until its upper surface contacts the second stacking pallet, and then continues to drive the lift fork 401 to carry the second stacking and the first stacking upward until the upper surface of the first stacking contacts the lower surface of the pressing plate 318;

[0152] (4) The telescopic fork vertical movement cylinder 206 drives the telescopic fork 203 to move upward until the lower surface of the loaded third stacking pallet is slightly higher than the upper surface of the chassis 1;

[0153] (5) The telescopic fork longitudinal movement cylinder 214 drives the longitudinal movement frame 201 to carry the vertical movement frame 202 and the lifted third stacking to move longitudinally towards the loading and unloading port of the device until the vertical movement frame 202 moves to a position where it can move vertically downward;

[0154] (6) Under the action of the telescopic fork vertical movement cylinder 206, the third stacking is placed at the target unloading position, completing the unloading operation of the third stacking, and the telescopic fork unit 2 resets to the initial position;

[0155] (7) The lift fork cylinder 406 drives the lift fork 401 to carry the second stacking and the first stacking to fall onto the chassis 1, and the upper protective cover 301 descends to a position where its lower surface is slightly higher than the upper surface of the first stacking;

[0156] (8) Repeat steps (4) to (6) to complete the unloading operations of the second stacking and the first stacking, and the relevant moving parts of the device reset to the initial position.

[0157] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A stacking and stacking transport vehicle, characterized in that: The invention 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 transverse displacement component and a lifting fork, the transverse displacement component is located on the vertical displacement component, and the lifting fork is connected to the transverse displacement component; the protection unit is located outside the load-bearing area enclosed by the telescopic fork unit and the lifting fork unit; the protection unit comprises an upper protection cover and a side protection fence; the upper protection cover is telescopically The column is arranged above the chassis; the side guardrail is rotatably arranged on the telescopic column; the upper protective cover is provided with a lock that matches the side guardrail; the chassis is a concave load-bearing chassis; the number of the lifting fork units is a pair; the vertical moving frame is arranged on the longitudinal moving frame through a No. 1 vertical displacement drive device; 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; the vertical displacement assembly includes a No. 2 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 No. 2 vertical displacement drive device; the gear is connected to the lateral displacement drive device; the lifting fork is provided with a rack meshing with the gear.

2. 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.

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

4. 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.

5. A method for stacking and unstacking using the stacking and stacking transport vehicle according to any one of claims 1 to 4, characterized in that: The stacking method comprises the following steps: during stacking, the protection unit protects the stack; the longitudinal moving frame and the vertical moving frame drive the telescopic fork to insert into the fork entrance of the target stacking pallet, and move the target stack to the chassis; the vertical displacement component and the lateral displacement component drive the lifting fork to insert into the fork entrance of the target stacking pallet, and the vertical displacement component drives the lifting fork to lift the target stack to a position that can accommodate the next target stack, and the above steps are repeated to complete the stacking; the unloading method comprises the following steps: during unloading, the protection unit protects the stack; when there is a 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 The stacking truck then resets to complete unloading; when there are multiple stacks on the stacking truck, the vertical displacement assembly and the lateral displacement assembly drive the lifting fork to insert into the fork entrance of the stacking pallet on the upper layer of the lowest stack, the vertical displacement assembly drives the stack on the lifting fork to separate from the stack under it, 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 assembly drives the stack on the lifting fork to move to the chassis, and the lateral displacement assembly drives the lifting fork to reset, repeat the above steps 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.

6. The method for stacking and unstacking using a stacking and stacking transport vehicle according to claim 5, 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.

7. Use of the stacking and stacking transport vehicle according to any one of claims 1 to 4 in stacking and unstacking.

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