Forklift capable of adjusting cargo postures and using method thereof

Abstract

The invention discloses a forklift capable of adjusting cargo postures and a using method of the forklift. The forklift comprises a forklift body, a telescopic arm is arranged on the forklift body, a goods forking frame is arranged on the telescopic arm, and a gravity center adjusting mechanism is arranged between the telescopic arm and the goods forking frame. The gravity center adjusting mechanism comprises a connecting arm which is rotationally connected to the end of the telescopic arm, the rotating axis of the connecting arm is arranged in the length direction of the telescopic arm, and the goods forking frame is connected with the connecting arm. The gravity center adjusting mechanism further comprises a support and a supporting base, the support is fixedly arranged on the connecting arm, the end of the telescopic arm is fixedly connected with the supporting base, a first power component is arranged between the support and the supporting base, the two ends of the first power component are hinged to the support and the supporting base respectively, and the first power component stretches out and draws back to drive the connecting arm to rotate. By arranging the gravity center adjusting mechanism, when the forklift main body travels along the slope in an S shape to transport goods, the goods are kept in a horizontal state all the time, and the problem that the goods are prone to inclining and sliding off when transported on the slope is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of forklifts, and in particular to a forklift capable of adjusting the posture of cargo and a method of using the forklift. Background Art

[0002] Telescopic forklift, also known as telescopic arm forklift or telescopic arm handling vehicle, is an industrial equipment with a telescopic arm, mainly used for material handling and loading and unloading operations. This forklift combines the functions of traditional forklifts and cranes, has excellent flexibility and scalability, and is widely used in construction sites, warehouses, logistics centers and farms. Telescopic forklifts can not only carry goods like traditional forklifts, but also carry goods at high altitudes and over long distances through telescopic arms. The design of the telescopic arm allows the operator to operate flexibly in a small space, and can also extend the arm distance for high-altitude or long-distance transportation when necessary. Due to its diverse design and functions, telescopic forklifts can work efficiently in various complex and changing environments, including rugged and uneven ground.

[0003] At present, when cargo is transported by a telescopic forklift, when the telescopic forklift inserts cargo and climbs a slope, if the cargo being transported is heavy, the power of the telescopic forklift cannot directly travel in a straight line from the slope to the top of the slope. Therefore, the telescopic forklift needs to travel in an S-shape along the slope when traveling. At this time, during the travel of the telescopic forklift on the slope, the cargo is easily tilted due to the tilt of the telescopic forklift, which easily causes the cargo to fall during the climbing process. For this reason, the prior art usually adopts side guard structures on both sides of the fork rack to clamp and fix the two sides of the cargo. However, for some longer and higher cargo, it is difficult to fix the two sides of the cargo by the side guard structure, and there is still a risk of the cargo slipping. At the same time, adding a side guard mechanism will interfere with the loading of the forklift to a certain extent. Summary of the invention

[0004] In order to enable a forklift to move cargo more stably, the present application provides a forklift capable of adjusting the posture of cargo and a method of using the forklift.

[0005] In a first aspect, the present application provides a forklift capable of adjusting the posture of cargo, adopting the following technical solution:

[0006] A forklift capable of adjusting the posture of cargo, comprising: a forklift body, a telescopic arm disposed on the forklift body, a fork shelf disposed on the telescopic arm, and a center of gravity adjustment mechanism disposed between the telescopic arm and the fork shelf;

[0007] The center of gravity adjustment mechanism includes a connecting arm, which is rotatably connected to the end of the telescopic arm, the rotation axis of the connecting arm is arranged along the length direction of the telescopic arm, and the forklift is connected to the connecting arm; the center of gravity adjustment mechanism also includes a bracket, which is fixedly arranged on the connecting arm, the end of the telescopic arm is fixedly connected to a support seat, a power component 1 is arranged between the bracket and the support seat, the two ends of the power component 1 are respectively hinged on the bracket and the support seat, and the power component 1 is extended and retracted to drive the connecting arm to rotate.

[0008] Optionally, an arc-shaped limiting groove is provided on the support seat, and the bracket is slidably arranged in the limiting groove.

[0009] Optionally, the connecting arm is hinged to the fork rack, and the rotation axis of the fork rack is arranged in the horizontal direction; the connecting arm is also provided with a tilt component for driving the fork rack to rotate, the telescopic end of the tilt component is hinged to the fork rack, and the fixed end thereof is fixedly connected to the connecting arm.

[0010] Optionally, the fork rack includes a fork frame and a fork arm, the fork frame is hinged to the connecting arm, the fork arm is installed on the fork frame, a telescopic mechanism is provided in the fork arm, and the telescopic mechanism is used to fix the fork arm and the pallet when the fork arm extends into a pallet hole opened on the pallet.

[0011] Optionally, the telescopic mechanism includes a power component 2, which is installed in the fork arm, and a telescopic plate is arranged in the fork arm for sliding in the horizontal direction, and the telescopic plate slides to extend or retract the fork arm; the output end of the power component 2 is hinged to one end of the articulated arm, and the other end of the articulated arm is hinged to the telescopic plate.

[0012] Optionally, a lateral adjustment mechanism is provided on the connecting arm, and the lateral adjustment mechanism includes a connecting seat, the connecting seat is hinged at the end of the connecting arm, a screw rod is rotatably connected to the connecting seat, the rotation axis of the screw rod is arranged in a horizontal direction, a sliding seat is connected to the screw rod through a screw rod nut, and the sliding seat is slidably connected to the connecting seat in a horizontal direction; the connecting seat is also provided with a power component three for driving the screw rod to rotate, and the forklift rack is fixedly mounted on the sliding seat.

[0013] Optionally, an angle adjustment mechanism is provided on the fork frame, and a fork arm seat is fixedly provided on the fork frame, the angle adjustment mechanism includes a power component four, the power component four is installed in the fork arm seat, a rack is installed at the output end of the power component four, and the power component four is used to drive the rack to slide in the horizontal direction; a connecting shaft is rotatably provided in the fork arm seat, and the fork arm is rotatably connected to the fork wall seat through the connecting shaft; a gear is coaxially fixed on the connecting shaft, and the rack is meshed with the gear.

[0014] In a second aspect, the present application provides a method for using a forklift capable of adjusting the posture of cargo, using the following technical solution:

[0015] A method for using a forklift capable of adjusting the posture of cargo comprises the following steps:

[0016] S1. Operate the forklift to drive and control the fork arm to insert into the pallet hole. At this time, the angle between the side of the fork arm and the side wall of the pallet hole is detected by the angle adjustment mechanism, and the fork arm is adjusted by the angle adjustment mechanism so that the side of the fork arm and the side wall of the pallet hole are parallel;

[0017] S2, detecting the position of the fork arm in the pallet hole through the lateral adjustment mechanism, and adjusting the fork arm to the center position of the pallet hole;

[0018] S3, then the telescopic mechanism drives the telescopic plate to extend, fixes the fork arm to the pallet, and controls the forklift body to fork up the cargo;

[0019] S4. Control the forklift body to travel in an S shape along the slope. During the travel, the tilt state of the forklift body is detected by the center of gravity adjustment mechanism, and the cargo is adjusted to a horizontal state.

[0020] In summary, this application includes the following beneficial technical effects:

[0021] The present invention provides a center of gravity adjustment mechanism so that when the forklift body is transporting goods in an S-shape along a slope, the goods can always be kept in a horizontal state, thereby solving the problem that the goods are prone to tilt and slide when being transported on a slope. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the working state structure of the center of gravity adjustment mechanism of the present invention;

[0024] Figure 3 This is a schematic diagram of the state structure of the forklift body of the present invention during the driving process;

[0025] Figure 4 It is a three-dimensional schematic diagram of a forklift rack and a pallet of the present invention;

[0026] Figure 5 It is a three-dimensional structural schematic diagram of the telescopic mechanism of the present invention in working state;

[0027] Figure 6 It is a structural schematic diagram of the telescopic mechanism of the present invention in working state;

[0028] Figure 7 The three-dimensional structure of the lateral adjustment mechanism of the present invention is shown in FIG. Figure 1 ;

[0029] Figure 8 The three-dimensional structure of the lateral adjustment mechanism of the present invention is shown in FIG. Figure 2 ;

[0030] Fig. 9 It is a three-dimensional structural schematic diagram of the angle adjustment mechanism of the present invention;

[0031] Fig.10 It is a cross-sectional structural schematic diagram of the angle adjustment mechanism of the present invention;

[0032] Fig.11 The figure is a flow chart of the method of the present invention.

[0033] Description of reference numerals:

[0034] 1. Forklift body; 11. Telescopic arm; 12. Fork rack; 121. Fork frame; 1211. Fork arm seat; 122. Fork arm; 2. Center of gravity adjustment mechanism; 21. Sensor 1; 22. Connecting arm; 23. Bracket; 24. Support assembly; 241. Support seat; 242. Limiting groove; 25. Power component 1; 3. Inclination assembly; 4. Pallet; 41. Pallet hole; 5. Telescopic mechanism; 51. Power component 2; 52. Articulated arm; 53. Telescopic plate; 6. Lateral adjustment mechanism; 61. Sensor 2; 62. Connecting seat; 63. Power component 3; 64. Screw; 65. Slide; 7. Angle adjustment mechanism; 71. Sensor 3; 72. Power component 4; 73. Rack; 74. Connecting shaft; 75. Gear. DETAILED DESCRIPTION

[0035] The following is combined with Figure 1-11 This application is described in further detail.

[0036] The embodiment of the present application discloses a forklift capable of adjusting the posture of cargo. Figures 1 to 3 A forklift with a telescopic arm mechanism comprises: a forklift body 1, a telescopic arm 11 is arranged on the forklift body 1, a fork shelf 12 is arranged at the end of the telescopic arm 11, and a center of gravity adjustment mechanism 2 is also arranged at the end of the telescopic arm 11, and the center of gravity adjustment mechanism 2 is used to adjust the center of gravity of the cargo;

[0037] The center of gravity adjustment mechanism 2 includes a connecting arm 22, which is hinged at the end of the telescopic arm 11. A sensor 21 and a controller are provided on the forklift body 1. The output end of the sensor 21 is connected to the input end of the controller. A power component 25 is provided at the end of the telescopic arm 11. The output end of the power component 25 is connected to the connecting arm 22, and the output end of the controller is connected to the input end of the power component 25. When the sensor 21 detects that the forklift body 1 is in a tilted state, the controller adjusts the cargo to a horizontal state through the power component 25.

[0038] It should be noted that the sensor 21 is a tilt sensor, the controller is a PLC controller, and the power component 25 is a hydraulic cylinder. When the forklift body 1 is traveling on a slope, the tilt sensor detects the tilt state of the forklift body 1, and then transmits the signal to the PLC controller, which controls the center of gravity adjustment mechanism 2 to adjust the forklift rack 12 from the tilted state to the horizontal state.

[0039] The specific implementation scenario is as follows: when the forklift body 1 is traveling in an S-shape on a slope, the tilt state of the forklift body 1 is detected by the tilt sensor, and then the signal is transmitted to the PLC controller, and the PLC controller controls the hydraulic cylinder to push the connecting arm 22 to swing, so that the connecting arm 22 drives the forklift rack 12 to swing, and adjusts from a tilted state to a horizontal state, so that when the forklift body 1 transports goods on a slope, the goods are always kept in a horizontal state, which solves the problem that goods are prone to tilting and sliding when transporting goods on a slope.

[0040] For further information, please refer to the attached manual. Figure 2 The center of gravity adjustment mechanism 2 also includes a bracket 23, which is fixedly arranged on the connecting arm 22. A support assembly 24 is installed at the end of the telescopic arm 11. The support assembly 24 includes a support seat 241, which is fixedly installed at the end of the telescopic arm 11. The power component 25 is installed on the support seat 241, and the output end of the power component 25 is connected to the bracket 23. A limiting groove 242 is provided on the support seat 241, and the bracket 23 is slidably arranged in the limiting groove 242.

[0041] It should be noted that the power component 25 is a hydraulic cylinder, which is hingedly mounted on the support seat 241, and the output end of the hydraulic cylinder is hingedly connected to the bracket 23. When the forklift body 1 is traveling in an S-shape on a slope to transport goods, when the sensor 21 detects that the forklift body 1 is in a tilted state, the hydraulic cylinder is controlled to push the bracket 23 to swing, so that the bracket 23 can drive the forklift rack 12 to swing and adjust to a horizontal state through the connecting arm 22.

[0042] For further information, please refer to the attached manual. Figure 1 One end of the connecting arm 22 away from the telescopic arm 11 is hinged to the fork rack 12 , and a tilt assembly 3 is provided on the connecting arm 22 . The tilt assembly 3 is installed on the connecting arm 22 , and the output end of the tilt assembly 3 is connected to the fork rack 12 .

[0043] It should be noted that the tilting assembly 3 is a hydraulic cylinder, which pushes the forklift 12 to swing to a desired angle so that the goods are kept at a desired tilting angle when being inserted or put down.

[0044] In the above technical scheme, when the fork rack 12 inserts the goods, the current pallet 4 usually has a pallet hole 41 to insert the fork arm 122 of the fork rack 12 into the pallet hole 41, and then the goods are inserted for transportation. The current pallet hole 41 is usually set larger to facilitate the operator to insert the fork arm 122 into the pallet hole 41. However, when the center of gravity adjustment mechanism 2 adjusts the center of gravity of the goods, it is necessary to adjust the center of gravity when the tilt of the goods is detected. However, when the goods are tilted, due to the large pallet hole 41, the pallet 4 will slide on the fork arm 122 with the goods. Although the center of gravity adjustment mechanism 2 can adjust the goods to a horizontal state, due to the sliding of the goods when tilting, the center of gravity of the goods will be inconsistent with the center of gravity of the fork rack 12, which will cause the problem that the goods are prone to slipping and falling. For this reason, the present invention proposes a telescopic mechanism 5, which fixes the fork arm 122 and the pallet 4 after the fork arm 122 is inserted into the pallet hole 41 to solve the above problem.

[0045] For details, please refer to the attached manual. Figures 4 to 6 The fork rack 12 includes a fork frame 121 and a fork arm 122, the fork arm 122 is installed on the fork frame 121, a telescopic mechanism 5 is arranged in the fork arm 122, and the telescopic mechanism 5 is used to fix the fork arm 122 and the pallet 4 when the fork arm 122 extends into the pallet hole 41 opened on the pallet 4, the telescopic mechanism 5 includes a power component 2 51, the power component 2 51 is installed in the fork arm 122, a telescopic plate 53 is slidably arranged in the fork arm 122, an articulated arm 52 is hinged at the output end of the power component 2 51, and the articulated arm 52 is hinged to the telescopic plate 53. When the fork arm 122 extends into the pallet hole 41 opened on the pallet 4, the telescopic mechanism 5 drives the telescopic plate 53 to slide out of the fork arm 122 through the power component 2 51, so that the telescopic plate 53 contacts and abuts against the pallet hole 41.

[0046] It should be noted that the power component 2 51 is a hydraulic cylinder, which pushes the articulated arm 52 so that the articulated arm 52 pushes the telescopic plate 53 to slide out of the fork arm 122, so that the side wall of the telescopic plate 53 can contact the inner wall of the pallet hole 41, and since there are two fork arms 122, the two fork arms 122 are respectively in contact with the inner walls of the corresponding pallet holes 41, thereby achieving the fixation between the fork arms 122 and the pallet 4.

[0047] In the above technical solution, since the operator operates the forklift body 1 to insert the fork arm 122 into the pallet hole 41, it is difficult for the operator to ensure that the fork arm 122 is accurately inserted into the middle position of the pallet hole 41. If a deviation occurs during the operation, when the fork arm 122 is fixed to the pallet 4 through the telescopic mechanism 5, since the forklift body 1 is usually heavy and the cargo is also heavy at this time, it is easy for the center of gravity of the cargo to be inconsistent with the center of gravity of the fork rack 12 after fixation. For this reason, the present invention proposes a lateral adjustment mechanism 6 for solving the above problem.

[0048] For details, please refer to the attached manual. Figure 7 and Figure 8 A lateral adjustment mechanism 6 is provided at the end of the connecting arm 22, and the lateral adjustment mechanism 6 includes a second sensor 61. The output end of the second sensor 61 is connected to the controller. The second sensor 61 is used to detect the position of the fork arm 122 in the pallet hole 41. The lateral adjustment mechanism 6 also includes a connecting seat 62. The connecting seat 62 is hinged at the end of the connecting arm 22. A power component three 63 is installed on the connecting seat 62. The output end of the controller is connected to the input end of the power component three 63. A screw rod 64 is installed at the output end of the power component three 63. A slide seat 65 is slidably provided on the connecting seat 62. The slide seat 65 is threadedly connected to the screw rod 64, and the fork rack 12 is fixedly installed on the slide seat 65.

[0049] It should be noted that sensor 2 61 is a visual sensor, and power component 3 63 is a motor. The visual sensor detects the position of the fork arm 122 and the pallet hole 41, and then transmits the signal to the controller. The controller drives the motor to drive the screw rod 64 to rotate. The screw rod 64 is threadedly connected with the slide 65 to drive the fork rack 12 to move horizontally and adjust the position through the slide 65. After the fork arm 122 is adjusted to the middle position of the pallet hole 41, the fork arm 122 is fixed to the pallet 4 through the telescopic mechanism 5, so that the center of gravity of the goods and the fork rack 12 are kept consistent.

[0050] In the above technical solution, since the operator operates the forklift body 1 to insert the fork arm 122 into the pallet hole 41, it is also difficult for the operator to ensure that the fork arm 122 remains parallel to the pallet 4. When inserting the fork arm 122 into the pallet hole 41, if the fork arm 122 is inserted into the pallet hole 41 at an angle, and because the cargo and the forklift body 1 are heavy, it is difficult for the telescopic mechanism 5 to ensure that the fork arm 122 and the pallet 4 are tightly fixed, resulting in loose contact between the fork arm 122 and the inner wall of the pallet hole 41, poor fixing effect, and causing the cargo to shake or slip during transportation, especially when the forklift body 1 is traveling in an S shape along a slope, which is more likely to cause the cargo to slip. For this reason, the present invention proposes an angle adjustment mechanism 7, so that the fork arm 122 can remain parallel to the pallet 4 and the fork arm 122 can be inserted into the pallet hole 41.

[0051] For details, please refer to the attached manual. Fig. 9 and Fig.10An angle adjustment mechanism 7 is provided on the fork frame 121, and the angle adjustment mechanism 7 includes a sensor three 71. The output end of the sensor three 71 is connected to the controller. The sensor three 71 is used to detect the angle between the side of the fork arm 122 and the side wall of the pallet hole 41. A fork arm seat 1211 is fixedly provided on the fork frame 121. The angle adjustment mechanism 7 also includes a power component four 72. The output end of the controller is connected to the input end of the power component four 72. The power component four 72 is installed in the fork arm seat 1211. A rack 73 is installed at the output end of the power component four 72. A connecting shaft 74 is rotatably provided in the fork arm seat 1211. The end of the fork arm 122 is fixedly installed on the connecting shaft 74. A gear 75 is fixedly provided on the connecting shaft 74, and the rack 73 is meshed with the gear 75.

[0052] It should be noted that sensor three 71 is an angle sensor, and power component four 72 is a hydraulic cylinder. The angle between the fork arm 122 and the side wall of the pallet hole 41 is detected by the angle sensor, and the signal is transmitted to the controller. The hydraulic cylinder is driven by the controller to push the rack 73 to move. When the rack 73 moves, the meshing transmission between the rack 73 and the gear 75 can drive the fork arm 122 to swing and adjust the angle, so that the fork arm 122 and the pallet 4 remain parallel. The fork arm 122 is inserted into the pallet hole 41. After the goods are inserted, the hydraulic cylinder is driven to drive the rack 73 to reset, so that the fork arm 122 can be reset.

[0053] Refer to the instruction manual Fig.11 , a method for using a forklift with a telescopic arm mechanism, comprising the following steps:

[0054] Step 1: The driver drives the forklift body 1 to drive and controls the fork arm 122 to be inserted into the pallet hole 41. At this time, the angle between the side of the fork arm 122 and the side wall of the pallet hole 41 is detected by the angle adjustment mechanism 7, and the fork arm 122 is adjusted by the angle adjustment mechanism 7 so that the side of the fork arm 122 and the side wall of the pallet hole 41 are in a parallel state;

[0055] Step 2: Then the lateral adjustment mechanism 6 detects the position of the fork arm 122 in the tray hole 41 and adjusts the fork arm 122 to the center position of the tray hole 41;

[0056] Step 3: Then the telescopic mechanism 5 drives the telescopic plate 53 to extend, fixes the fork arm 122 to the pallet 4, and controls the forklift body 1 to fork up the goods;

[0057] Step 4: Control the forklift body 1 to travel in an S-shape along the slope. During the travel, the center of gravity adjustment mechanism 2 detects the tilt state of the forklift body 1 and adjusts the cargo to a horizontal state.

[0058] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A forklift capable of adjusting the posture of cargo, characterized in that: include: A forklift body, wherein a telescopic arm is arranged on the forklift body, a fork shelf is arranged on the telescopic arm, and a center of gravity adjustment mechanism is arranged between the telescopic arm and the fork shelf; The center of gravity adjustment mechanism includes a connecting arm, which is rotatably connected to the end of the telescopic arm, the rotation axis of the connecting arm is arranged along the length direction of the telescopic arm, and the forklift is connected to the connecting arm; the center of gravity adjustment mechanism also includes a bracket and a support seat, the bracket is fixedly arranged on the connecting arm, the end of the telescopic arm is fixedly connected to the support seat, a power component one is arranged between the bracket and the support seat, the two ends of the power component one are respectively hinged on the bracket and the support seat, and the power component one is telescoped to drive the connecting arm to rotate.

2. A forklift capable of adjusting cargo posture according to claim 1, characterized in that: The support seat is provided with an arc-shaped limiting groove, and the bracket is slidably arranged in the limiting groove.

3. A forklift capable of adjusting the cargo posture according to claim 2, characterized in that: The connecting arm is hinged to the fork rack, and the rotation axis of the fork rack is arranged in the horizontal direction; the connecting arm is also provided with a tilt component for driving the fork rack to rotate, the telescopic end of the tilt component is hinged to the fork rack, and the fixed end thereof is fixedly connected to the connecting arm.

4. A forklift capable of adjusting cargo posture according to claim 3, characterized in that: The fork rack comprises a fork frame and a fork arm, the fork frame is hinged to the connecting arm, the fork arm is mounted on the fork frame, a telescopic mechanism is arranged in the fork arm, and the telescopic mechanism is used to fix the fork arm and the pallet when the fork arm extends into a pallet hole opened on the pallet.

5. A forklift capable of adjusting cargo posture according to claim 4, characterized in that: The telescopic mechanism includes a power component 2, which is installed in the fork arm. A telescopic plate is provided in the fork arm for sliding in the horizontal direction. The telescopic plate slides to extend or retract the fork arm. The output end of the power component 2 is hinged to one end of the articulated arm, and the other end of the articulated arm is hinged to the telescopic plate.

6. A forklift capable of adjusting cargo posture according to claim 1, characterized in that: The connecting arm is provided with a lateral adjustment mechanism, which includes a connecting seat, which is hinged at the end of the connecting arm, and a screw rod is rotatably connected to the connecting seat, and the rotation axis of the screw rod is arranged in the horizontal direction. A sliding seat is connected to the screw rod through a screw rod nut, and the sliding seat is slidably connected to the connecting seat in the horizontal direction; a power component three for driving the screw rod to rotate is also provided on the connecting seat, and the forklift rack is fixedly installed on the sliding seat.

7. A forklift capable of adjusting cargo posture according to claim 1, characterized in that: The fork frame is provided with an angle adjustment mechanism, and a fork arm seat is fixedly provided on the fork shelf. The angle adjustment mechanism includes a power component four, which is installed in the fork arm seat. A rack is installed at the output end of the power component four, and the power component four is used to drive the rack to slide in the horizontal direction; a connecting shaft is rotatably provided in the fork arm seat, and the fork arm is rotatably connected to the fork wall seat through the connecting shaft; a gear is coaxially fixed on the connecting shaft, and the rack is meshed with the gear.

8. A method for using a forklift capable of adjusting the posture of cargo, using the forklift capable of adjusting the posture of cargo as claimed in claim 7, characterized in that The steps include: S1. Operate the forklift to drive and control the fork arm to insert into the pallet hole. At this time, the angle between the side of the fork arm and the side wall of the pallet hole is detected by the angle adjustment mechanism, and the fork arm is adjusted by the angle adjustment mechanism so that the side of the fork arm and the side wall of the pallet hole are parallel; S2, detecting the position of the fork arm in the pallet hole through the lateral adjustment mechanism, and adjusting the fork arm to the center position of the pallet hole; S3, then the telescopic mechanism drives the telescopic plate to extend, fixes the fork arm to the pallet, and controls the forklift body to fork up the cargo; S4. Control the forklift body to travel in an S shape along the slope. During the travel, the tilt state of the forklift body is detected by the center of gravity adjustment mechanism, and the cargo is adjusted to a horizontal state.

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