Three-way AGV fork truck capable of bidirectional fork picking of goods

Abstract

This invention relates to a three-way AGV forklift capable of bidirectional forking of goods, comprising a forklift body, a mast system mounted thereon, and a fork carriage system mounted on the mast system. The mast system includes an outer mast hinged to the forklift body at its lower end and an inner mast slidably mounted on the outer mast. The fork carriage system slidably mounted on the inner mast includes a fork carriage connected to the mast, a bracket slidably mounted laterally on the fork carriage, a slide mounted front-to-back on the bracket, and forks mounted on the slide. The forks slide laterally at the bottom of the slide. A drive mechanism drives the forks to slide bidirectionally relative to the slide to adjust their extension position and form different oriented loading areas; a fixing device clamps the forks in place to prevent displacement. The bracket slides parallel to the forks, and its movement controls the forward and backward movement of the forks in the loading area. This solution can improve the efficiency of operations in narrow aisles and optimize warehouse space utilization.

Description

Technical Field

[0001] This invention relates to the field of forklift loading and unloading equipment technology, and in particular to a three-way AGV forklift capable of bidirectional forklifting of goods. Background Technology

[0002] With the rapid development of my country's manufacturing and logistics industries, automated warehouse storage has become a basic requirement for various industries. With the widespread application of AGV products, AGV forklifts are gradually being used in the field of operations. AGV forklifts are used for raw material distribution and transportation of semi-finished and finished products on the production line, as well as palletizing in factory warehouses. In industrial production, they can replace humans in certain monotonous, frequent, labor-intensive, repetitive, long-term operations, or operations in dangerous and harsh environments.

[0003] Existing AGV forklifts generally consist of a forklift body, a mast system mounted on the forklift body, and a fork carriage system mounted on the mast system. Traditional forklifts use a fixed fork structure, with the forks rigidly mounted to the carriage and unable to move. This presents significant drawbacks when operating in narrow aisles with racks on both sides: firstly, when goods need to be retrieved from the opposite side of the aisle, a complete vehicle turnaround is required, significantly increasing the time per operation and complicating the workflow; secondly, to accommodate the turnaround, the aisle width is forced to increase, directly reducing warehouse space utilization. Existing improvements, such as three-way stacker forklifts using a rotating fork design, while allowing adjustment of the retrieval angle, suffer from high drive torque requirements, high energy consumption, and poor load-bearing stability. Furthermore, the rotating motion requires additional space for support, which can exacerbate operational inconvenience in narrow aisles.

[0004] More importantly, this type of solution cannot achieve bidirectional fork translation adjustment, making it difficult to meet the dual requirements of modern warehousing and logistics for efficient space utilization and flexible operation. Summary of the Invention

[0005] To address the aforementioned problems, the present invention aims to provide a three-way AGV forklift capable of bidirectional picking up of goods, which improves the efficiency of operations in narrow passages and optimizes the utilization of warehouse space.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This application provides an AGV forklift, the technical solution of which is as follows: a three-way AGV forklift capable of bidirectional picking up of goods, comprising:

[0008] Forklift body, mast system mounted on forklift body, and fork carriage system mounted on mast system;

[0009] The mast system includes an outer mast hinged to the forklift body at its lower end, and an inner mast that slides longitudinally on the outer mast; the forklift body is provided with a diagonal brace assembly, the lower end of which is connected to the forklift body and the upper end of which is connected to the upper end of the outer mast; the fork carriage system slides longitudinally on the inner mast.

[0010] The fork carriage system includes

[0011] • Fork carriages used to connect to the mast;

[0012] • A bracket that slides laterally on the fork carriage;

[0013] • A sliding carriage mounted on the hanger, allowing it to slide back and forth.

[0014] • Forks mounted on the carriage;

[0015] • The forks are laterally slidable at the bottom of the carriage;

[0016] • Drive mechanism, drives the forks to slide in both directions relative to the carriage to adjust the extension position of the forks relative to the carriage, forming loading areas with different orientations;

[0017] • A securing device is used to hold the forks in place after they have been moved into position, preventing them from shifting.

[0018] • The sliding direction of the hanger is parallel to that of the forks, and the movement of the hanger is used to control the forward and backward movement of the forks in the loading area.

[0019] The structural foundation of the above solution lies in the forklift body, which integrates the power and travel mechanisms, providing movement and load-bearing support for the entire machine. The mast system, vertically positioned at the front of the forklift body, is key to cargo lifting. This system utilizes a multi-stage telescopic design to meet varying operational height requirements: specifically, the lower end of the outer mast is hinged to the forklift body, allowing adjustment of the mast's tilt angle within a set range, giving it adaptability to different working conditions and effectively mitigating structural stress during operation. The inner mast slides longitudinally within the outer mast and is driven by hydraulic cylinders and a chain assembly to achieve precise lifting and lowering along the vertical direction of the outer mast. The fork carriage system, as the platform directly supporting the cargo-taking mechanism, slides longitudinally on the inner mast and is also driven by hydraulic cylinders and a chain assembly to achieve precise lifting and lowering relative to the inner mast, forming the end effector for vertical cargo positioning. A double-layer sliding path is employed to increase the forklift's mast lifting height.

[0020] To enhance the overall rigidity and stability of the machine during high-level operations and resist the overturning moment of the mast under load, a diagonal tie rod assembly is installed on the forklift body. The lower end of this assembly connects to the forklift body, while the upper end is anchored to the upper end of the outer mast, forming a highly efficient triangular stabilizing structure. This significantly improves the mast system's resistance to deformation under lifting conditions and provides a solid mechanical foundation for the precise bidirectional adjustment of the rear forks. The diagonal tie rod assembly can also be adjusted in length via a threaded adjustment mechanism to accommodate mast installation requirements.

[0021] Unlike existing technologies, this solution achieves bidirectional adjustment and precise control of the forks through a multi-stage sliding structure. The fork carriage, as the basic connecting component, supports the lateral sliding of the mast. The mast adjusts the overall lateral position of the forks on the mast by lateral movement, adapting to different aisle widths. The carriage slides back and forth on the mast, controlling the longitudinal movement of the forks to achieve forward and backward movement. The forks themselves slide laterally at the bottom of the carriage and are driven by a drive mechanism to move bidirectionally, forming loading areas with different orientations, allowing for loading of goods on opposite sides without turning the entire vehicle around. A fixing device ensures operational stability by clamping the forks, avoiding displacement risks. The parallel sliding direction design of the mast and forks allows the movement of the mast to directly link the movement of the forks in the loading area, creating a spatial synergy effect. The overall structure achieves multi-degree-of-freedom adjustment within a limited space, solving the steering limitations of fixed forks and the space occupation problem of rotary forks.

[0022] Furthermore, this application proposes that a lifting frame for connecting the mast is provided in the middle of the fork carriage; a lateral groove and a second rack are provided on the surface of the fork carriage; rollers embedded in the grooves and a drive gear meshing with the second rack are provided on the hanger; a hydraulic motor controls the rotation of the drive gear, driving the hanger to move laterally along the fork carriage; a front-to-back optical shaft and a double-acting hydraulic cylinder are provided on the hanger; the hanger is slidably mounted on the optical shaft and connected to the output shaft of the double-acting hydraulic cylinder; the double-acting hydraulic cylinder controls the back-to-back sliding of the hanger relative to the hanger through the extension and retraction of the output shaft. This technical solution achieves dual control of the lateral movement of the hanger and the front-to-back sliding of the hanger through structural co-design. The lifting frame in the middle of the fork carriage provides a stable support base for the mast connection; the cooperation between the lateral groove and the rollers realizes the mechanical guidance of the lateral movement of the hanger, avoiding deviation; the meshing of the second rack and the drive gear converts the rotational motion of the hydraulic motor into the linear motion of the hanger, enhancing the transmission accuracy of the lateral drive. The optical axis provides a low-friction linear sliding track for the carriage, and the output shaft of the double-acting hydraulic cylinder directly drives the carriage to move back and forth through a rigid connection. The bidirectional hydraulic action of the cylinder enables precise control of the carriage's forward and backward movement. Through the combination of mechanical coordination and hydraulic drive, these features ensure the stability of the lateral movement of the carriage while achieving efficient adjustment of the carriage's forward and backward sliding. This solves the problems of inaccurate positioning and load fluctuation caused by mechanical backlash or a single drive method in traditional forklift carriages.

[0023] Furthermore, this application proposes that a fork base be provided at the bottom of the carriage; a sliding channel is constructed on the fork base, penetrating the opposite sides of the carriage; and the forks are movable within the fork base. This technical solution, by providing a fork base with a through-type sliding channel at the bottom of the carriage, constructs a mechanical foundation that allows the forks to slide in both directions. The fork base, as a load-bearing structure, provides a linear movement path for the forks without obstruction by the carriage body through its through-type sliding channel, allowing the forks to freely extend or retract along both sides of the carriage. The structural design of the forks and fork base forming a sliding pair ensures both a compact layout of the forks in the space at the bottom of the carriage and stability and accuracy of the fork translation process through the sliding channel that defines the movement trajectory. This bidirectional adjustable structure allows the forks to select different loading areas according to operational needs, breaking through the operational limitations of traditional fixed forks.

[0024] Furthermore, this application proposes that a first rack is welded onto the fork; the drive mechanism includes a translation drive component located at the bottom of the carriage and an adjusting gear meshing with the first rack; the translation drive component drives the first rack to cause the fork to slide bidirectionally relative to the carriage. This technical solution achieves precise bidirectional translation control of the fork through a mechanical transmission structure involving the meshing of a rack and gear. Specifically, by welding a first rack to the fork body, the driving force can be directly transmitted through the rack when the fork moves, avoiding the complex transmission chain required by traditional rotating mechanisms; the translation drive component at the bottom of the carriage cooperates with the adjusting gear, utilizing the meshing transmission relationship between the gear and rack to convert the rotational motion of the drive component into the linear translational motion of the fork, resulting in high transmission efficiency and superior displacement control accuracy; by driving the bidirectional adjustment gear in both directions, the fork can be adjusted in both left and right directions. Compared to the overall rotating fork solution, this structure occupies less space and does not require high torque drive. This design effectively reduces energy consumption and improves adaptability to operation in confined spaces while ensuring the fork position adjustment function.

[0025] Furthermore, this application also proposes that the fixing device includes:

[0026] • The clamping cylinder and clamping spring are fixed inside the carriage;

[0027] • The shaft fixed to the piston rod of the clamping cylinder;

[0028] • A bushing is axially movable and fitted at the lower end of the shaft; a clamping spring is fitted on the shaft above the bushing, with both ends pressing against the shaft and the bushing respectively; when the piston rod of the clamping cylinder presses down, the downward pressure is transmitted to the bushing through the clamping spring, and the bushing clamps the fork and prevents overpressure damage.

[0029] This technology uses a hydraulic cylinder to drive a piston rod downwards, and the elastic deformation of a clamping spring transmits the downward force to the bushing, thus clamping the forks. The bushing's axially movable design, fitted onto the lower end of the shaft, allows the clamping spring to buffer the force between the shaft and the bushing, preventing excessive direct force during rigid clamping that could damage the forks or carriage structure. When the piston rod of the hydraulic cylinder presses down, the elastic compression of the clamping spring adaptively adjusts the clamping force, ensuring the forks are securely clamped by the bushing while absorbing overload pressure through the spring's buffering effect, preventing overpressure. As the component that ultimately contacts the forks, the bushing's axial movement ensures uniform force distribution during clamping, avoiding localized stress concentration.

[0030] Furthermore, this application proposes that a pressure plate be provided at the upper end of the shaft, with the upper end of the clamping spring pressing against the pressure plate; a contact switch is provided inside the carriage, including an upper contact switch and a lower contact switch; when the piston rod drives the shaft to move, the pressure plate cooperates with the upper contact switch to provide feedback on the fork movement state, and cooperates with the lower contact switch to provide feedback on the clamping state. This technical solution achieves accurate feedback on the fork state through the linkage design of the pressure plate and the contact switch. A pressure plate is provided at the upper end of the shaft, so that the upper end of the clamping spring presses against the pressure plate, forming a stable transmission path of the spring force. The carriage is equipped with a contact switch including an upper contact switch and a lower contact switch, and dual-state detection is achieved through the contact of the pressure plate with different contacts: when the piston rod drives the shaft to move, the pressure plate contacts the upper contact switch to trigger a movement state signal, reflecting whether the fork is in an adjustable movement stage; when the pressure plate contacts the lower contact switch, it indicates that the clamping action has been completed and a locked state has been formed. This staged triggering design achieves independent feedback of the fork movement process and the fixing process, which can not only avoid damage to components caused by continued pressure during misoperation, but also ensure safe locking after clamping. Compared to electronic sensors, the physical contact structure of contact switches has stronger anti-interference capabilities and can maintain reliable detection even in the vibration environment of forklift operation.

[0031] Furthermore, this application proposes that the carriage be equipped with two sets of detection components; feedback components are provided at both ends of the fork; during bidirectional translational sliding of the fork, the two sets of detection components respectively detect the feedback components at both ends of the fork to determine the extension direction and positioning status of the fork. This technical solution achieves precise monitoring of the bidirectional translational sliding process of the fork by setting two sets of detection components on the carriage and configuring feedback components at both ends of the fork. The two sets of detection components on the carriage correspond to the feedback components at both ends of the fork. When the fork moves in either direction, the corresponding detection component can capture the signal from the feedback component. This design allows the system to synchronously acquire displacement information at both ends during bidirectional translation of the fork, thereby accurately determining the extension direction of the fork and whether it has reached the predetermined position. The symmetrical arrangement of the feedback components at both ends of the fork ensures that regardless of whether the fork slides to the left or right, the detection components can trigger detection signals through the corresponding feedback components, avoiding blind spots or misjudgments that may exist in unidirectional detection. The collaborative operation of the two sets of detection components further enhances the detection redundancy, ensuring that the positioning status can be reliably identified during the movement of the forks, thus solving the problem of inaccurate positioning caused by the lack of a bidirectional detection mechanism in traditional forks.

[0032] Furthermore, this application proposes that the fork be equipped with two sets of collision sensing components; each set includes a fork tip collision switch located at the end of the fork, used to provide feedback on collision signals from the fork tip; the two sets of fork tip collision switches are adapted to different loading areas formed by the bidirectional extension and retraction of the fork. This technical solution uses two independently operating collision sensing components to detect collisions in different loading directions formed by the bidirectional extension and retraction of the fork. The two sets of fork tip collision switches are installed at both ends of the fork. When the fork extends in any direction to form a loading area, the fork tip collision switch of the corresponding direction can detect the contact or collision between the fork tip and the cargo in real time. This bidirectional symmetrical detection mechanism ensures that regardless of whether the fork extends to the left or right to form a loading area, the collision signal can be captured in a timely manner by the fork tip collision switch on the corresponding side, solving the technical defect that traditional unidirectional detection devices cannot adapt to bidirectional extension structures. The fork tip collision switches are directly located at the end of the fork, which can accurately locate the collision location and avoid detection failure due to changes in the position of the fork tip after extension and retraction, ensuring operational safety under different loading directions.

[0033] Furthermore, this application also proposes that the collision sensing component further includes a brush plate connected to the fork tip collision switch; the brush plate is installed on the other end of the fork away from the corresponding fork tip collision switch; a wiring harness connection device is provided on the carriage, whose probe can selectively contact the surface of the fork; when the fork moves into position in any direction, the probe contacts the copper sheet of the brush plate, realizing the circuit connection of the fork tip collision switch and collision feedback.

[0034] This technical solution separates the brush plate and the fork tip collision switch at both ends of the fork, forming detection circuits corresponding to different fork extension directions. When the fork moves laterally to a certain extreme position, the probe contacts the brush plate, activating the circuit of the fork tip collision switch on that side, thereby transmitting the collision signal to the control system. The contact method between the brush plate and the probe avoids the tangling or breakage problems caused by the reciprocating motion of the fork in traditional cables. The wiring harness connection device, through the elastic contact design of the probe, ensures that the probe and the fork surface remain in a non-contact state during fork movement, conducting electricity only through the copper sheet when the fork is in position, reducing frictional loss. The combination of an electromagnet and a spring controls the extension and retraction of the probe. When the fork moves, the electromagnet attracts the probe away from the surface; after the probe is in position, the power is cut off, releasing the spring pressure to ensure reliable contact. This design ensures both freedom of movement and contact stability.

[0035] Furthermore, this application also proposes that the wire harness connection device includes:

[0036] • Probe holder for mounting the probe;

[0037] • An electromagnet fixed to the probe holder;

[0038] • A base corresponding to the electromagnet; the probe bracket is slidably mounted on the slide bar of the base; a spring is sleeved on the slide bar between the probe bracket and the base; when the fork moves, the electromagnet is energized and attracts the base, causing the probe to detach from the fork surface; when the fork is in position, the electromagnet is de-energized, and the spring pushes the probe to contact the brush plate.

[0039] This technical solution dynamically controls the contact state between the probe and the fork surface through the synergistic action of an electromagnet and a spring. A sliding rod and spring positioned between the probe holder and the base provide the probe holder with elastic sliding functionality. When the fork moves, the electromagnet is energized and attracts the base, using magnetic force to overcome spring resistance and lift the probe away from the fork surface, avoiding wear on the probe and fork surface caused by friction during movement. The probe holder is slidably mounted on the sliding rod, ensuring the stability of the probe's movement trajectory. After the fork reaches its final position, the electromagnet is de-energized, and the spring releases its stored elastic potential energy, pushing the probe holder to slide along the sliding rod, ensuring precise contact between the probe and the copper plate of the brush plate, thus activating the circuit of the fork tip collision switch. This design ensures a contactless state during fork movement and a reliable electrical connection after the fork reaches its final position, while also eliminating mechanical impact damage to the probe through the cooperation of the electromagnet and spring.

[0040] As can be seen from the above, the forklift system and its control method provided in this application, which can pick up goods in both directions, form loading areas with different orientations by adjusting the bidirectional translation of the forks. Combined with the coordinated sliding control of the hanger and the carriage, it solves the problems of traditional forklifts needing to turn around and the waste of aisle space. It has the effect of improving the efficiency of operation in narrow aisles and optimizing the utilization rate of warehouse space. Attached Figure Description

[0041] Figure 1 This application provides a three-dimensional schematic diagram of a three-way AGV forklift capable of bidirectional forking of goods. Figure 1 .

[0042] Figure 2 This application provides a three-dimensional schematic diagram of a three-way AGV forklift capable of bidirectional forking of goods. Figure 2 .

[0043] Figure 3 This is a three-dimensional schematic diagram of a bidirectional forklift system for picking up goods, provided in this application.

[0044] Figure 4 This is a schematic diagram of a forklift system provided in this application in the state of having the side panel of the mounting bracket hidden.

[0045] Figure 5 This is a cross-sectional schematic diagram of a forklift system provided in this application.

[0046] Figure 6 This is a three-dimensional schematic diagram of a bidirectional telescopic fork structure, with the forks located on the right side of the carriage.

[0047] Figure 7 This is a three-dimensional schematic diagram of a bidirectional telescopic fork structure, with the forks located on the left side of the carriage.

[0048] Figure 8 This is a front sectional view of the bidirectional telescopic fork structure.

[0049] Figure 9 This is a side sectional view of the bidirectional telescopic fork structure.

[0050] Figure 10 for Figure 9 Enlarged view of part A.

[0051] Figure 11 This is a 3D view of the forks from the outside.

[0052] Figure 12 This is a 3D view of the inside of the forks.

[0053] Figure 13 This is a schematic diagram of the top surface of the forks.

[0054] Figure 14 for Figure 13 Enlarged view of part B.

[0055] Figure 15 for Figure 14 Enlarged view of part C. Detailed Implementation

[0056] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0057] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0058] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more, unless explicitly defined otherwise.

[0059] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0060] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0061] In existing technologies, the fork carriage 1, as a crucial component of a forklift, typically employs a fixed structure, with the forks 4 rigidly installed and unable to move. When operating in narrow aisles, retrieving goods from the opposite side requires the entire vehicle to be turned around, resulting in decreased operational efficiency and wasted aisle space. While rotating forks 4 can be angled, they require high torque drive and have limited load-bearing capacity, and their large rotational space requirements make them unsuitable for confined environments.

[0062] To address the aforementioned problems, this application proposes a three-way AGV forklift capable of bidirectional picking up and dropping goods. For example... Figure 1-15 As shown, a three-way AGV forklift capable of bidirectional forking of goods includes: a forklift body 8, a mast system mounted on the forklift body 8, and a fork carriage system mounted on the mast system; the mast system includes an outer mast 8.1 hinged at its lower end to the forklift body 8, and an inner mast 8.2 slidably mounted on the outer mast 8.1; a diagonal brace assembly 8.3 is provided on the forklift body 8, the lower end of the diagonal brace assembly 8.3 being connected to the forklift body 8, and the upper end being connected to the upper end of the outer mast 8.1; the fork carriage system is slidably mounted on the inner mast 8.2.

[0063] The structural foundation of the above scheme lies in the forklift body 8, which integrates the power and travel mechanisms, providing movement and load-bearing support for the entire machine. The mast system, vertically positioned at the front of the forklift body 8, is key to achieving cargo lifting. This system utilizes a multi-stage telescopic design to meet different height operation requirements: specifically, the lower end of the outer mast 8.1 is hinged to the forklift body 8, allowing adjustment of the mast system's tilt angle within a set range, giving it adaptability to different working conditions and effectively alleviating structural stress during operation. The inner mast 8.2 is longitudinally slidably nested inside the outer mast 8.1, driven by a hydraulic cylinder 8.4 and a chain assembly 8.5 to achieve precise lifting and lowering along the vertical direction of the outer mast 8.1. The fork carriage system, as the platform directly supporting the cargo-taking mechanism, is longitudinally slidably mounted on the inner mast 8.2, also driven by a hydraulic cylinder 8.4 and a chain assembly 8.5 to achieve precise lifting and lowering relative to the inner mast 8.2, forming the end effector for vertical cargo positioning. A double-layer sliding path is employed to increase the forklift's mast lifting height.

[0064] To enhance the overall rigidity and stability of the machine during high-level operations and resist the overturning moment of the mast under load, a diagonal tie rod assembly 8.3 is installed on the forklift body 8. The lower end of this assembly is connected to the forklift body 8, while the upper end is anchored to the upper end of the outer mast 8.1, forming a highly efficient triangular stabilizing structure. This significantly improves the mast system's resistance to deformation under lifting conditions and provides a solid mechanical foundation for the precise bidirectional adjustment of the rear forks. The diagonal tie rod assembly 8.3 can also be adjusted in length via a threaded adjustment mechanism to accommodate mast installation requirements.

[0065] like Figure 3-15As shown, the fork carriage system includes a fork carriage 1 connected to the mast, a bracket 2 slidably mounted on the fork carriage 1, a slide 3 slidably mounted on the bracket 2, and forks 4 mounted on the slide 3. The forks 4 are slidably mounted on the bottom of the slide 3. A drive mechanism drives the forks 4 to move bidirectionally to adjust their extension position. A fixing device 5 presses the forks 4 to prevent displacement. The bracket 2 slides parallel to the forks 4 to control the forward and backward movement of the loading area.

[0066] The fork carriage 1 refers to the base structure that supports other components, which can be implemented using a welded frame structure. It connects to the forklift mast and provides sliding rail support. The bracket 2 refers to the load-bearing component with lateral movement function, used to adjust the overall lateral position of the forks 4. The carriage 3 refers to the transition component with forward and backward movement function, used to control the longitudinal movement of the forks 4. Lateral sliding of the forks 4 refers to lateral movement along the bottom of the carriage 3, used to form loading areas with different orientations. The drive mechanism is the translational power source. The fixing device 5 is the fork 4 positioning mechanism, used to stabilize the forks 4 during operation. Specifically, the fork carriage 1 serves as the basic support structure, the bracket 2 adjusts the lateral position of the forks 4 through lateral sliding, and the carriage 3 controls the longitudinal movement of the forks 4 through forward and backward sliding. The forks 4 themselves move bidirectionally at the bottom of the carriage 3, forming loading areas on the left and right sides. When it is necessary to pick up goods on the opposite side, the drive mechanism moves the forks 4 laterally to the target side, the bracket 2 moves forward and backward simultaneously to adjust the direction, and the fixing device 5 clamps and locks after the forks 4 are in position. The parallel sliding design of the bracket 2 and fork 4 enables spatial coordination between lateral position adjustment and longitudinal forward / backward movement, avoiding vehicle turning. Through the above technical solution, this application achieves bidirectional forklift function for fork 4, eliminating vehicle turning and improving efficiency in narrow passages. Fork 4's translational adjustment replaces rotation, reducing energy consumption while maintaining structural strength. Multi-stage sliding coordination control makes fork 4 positioning more precise, avoiding the space waste problem of traditional solutions. The fixing device 5 ensures operational stability and prevents fork 4 displacement risks.

[0067] In a specific implementation, the fork carriage 1 includes a lifting frame 1.3 located in the middle for connecting the mast; the surface of the fork carriage 1 is provided with a lateral groove 1.4 and a second rack 1.5; the bracket 2 is provided with a roller 2.1 embedded in the groove 1.4 and a drive gear 2.2 meshing with the second rack 1.5; a hydraulic motor 2.3 controls the rotation of the drive gear 2.2 to drive the bracket 2 to move laterally along the fork carriage 1; the bracket 2 is provided with a front-to-back optical shaft 2.4 and a double-acting hydraulic cylinder 2.5; the carriage 3 is slidably mounted on the optical shaft 2.4 and connected to the output shaft of the double-acting hydraulic cylinder 2.5; the double-acting hydraulic cylinder 2.5 controls the carriage 3 to slide back and forth relative to the bracket 2 through the extension and retraction of the output shaft. The lifting frame 1.3 refers to the support structure connecting the mast and the fork carriage 1, and can be fixed in the middle of the fork carriage 1 by welding or bolting. Its function is to provide a stable support base for the mast and ensure the overall structural rigidity of the fork carriage 1 during the lateral movement of the bracket 2. The lateral groove 1.4 refers to a linear guide groove opened along the length of the fork carriage 1, specifically a U-shaped or T-shaped groove structure. Its function is to limit the lateral movement trajectory of the carriage 2 and prevent deviation. The second rack 1.5 refers to a straight toothed structure set parallel to the lateral groove 1.4. Its function is to mesh with the drive gear 2.2 to convert rotational motion into linear motion. The roller 2.1 refers to a guide element embedded in the lateral groove 1.4, specifically a nylon roller with a deep groove ball bearing. Its function is to reduce the frictional resistance when the carriage 2 moves laterally. The drive gear 2.2 refers to a transmission component that meshes with the second rack 1.5. Its function is to convert the torque output by the hydraulic motor 2.3 into the linear driving force of the carriage 2. The optical shaft 2.4 refers to a cylindrical guide shaft arranged along the front-rear direction of the carriage 2. Its function is to provide a low-friction sliding track for the carriage 3. The double-acting cylinder 2.5 refers to a bidirectional hydraulically driven linear actuator, specifically a hydraulic cylinder, whose function is to directly control the forward and backward movement of the carriage 3 through the extension and retraction of the output shaft. In this scheme, the lifting frame 1.3 serves as the connection node between the fork carriage 1 and the mast, and by enhancing the rigidity of the central structure, it ensures the stability of the fork carriage 1 under load. The cooperation between the lateral slide 1.4 and the roller 2.1 forms a mechanical guiding mechanism, eliminating lateral offset when the carriage 2 moves laterally. The meshing transmission between the second rack 1.5 and the drive gear 2.2 converts the rotational power of the hydraulic motor 2.3 into precise linear displacement, and the precise control of the lateral movement speed of the carriage 2 is achieved by adjusting the speed of the hydraulic motor 2.3. The optical shaft 2.4 provides a linear sliding track for the carriage 3, and its surface hardening treatment ensures wear resistance during long-term use. The double-acting cylinder 2.5 achieves bidirectional smooth drive through symmetrically arranged hydraulic circuits, and the rigid connection between the output shaft and the carriage 3 ensures effective transmission of driving force. When the position of the fork 4 needs to be adjusted, the hydraulic motor 2.3 drives the gear 2.2 to move the bracket 2 laterally along the fork carriage 1, while the double-acting cylinder 2.5 pushes the carriage 3 to slide back and forth along the optical axis 2.4. The combination of the two movements realizes the multi-dimensional adjustment of the spatial position of the fork 4.This solution effectively improves the smoothness and positioning accuracy of the lateral movement of the carriage 2 by using the mechanical guidance and constraint of the lateral slide 1.4 and roller 2.1, combined with the precision transmission of the rack and pinion. The combination design of the optical shaft 2.4 and the double-acting hydraulic cylinder 2.5 ensures the straightness of the forward and backward movement of the carriage 3, and achieves rapid response and precise control through hydraulic drive.

[0068] like Figure 6 As shown, the bottom of the carriage 3 is provided with a fork base 4.2, on which a sliding channel is constructed to pass through the opposite sides of the carriage 3. The forks 4 are movably disposed within the fork base 4.2. The fork base 4.2 refers to the load-bearing structure fixed to the bottom of the carriage 3, which can be implemented using a welded or bolted metal frame. Its function is to provide guidance and support for the bidirectional movement of the forks 4. The sliding channel is a linear movement path set along the length of the fork base 4.2, which can be implemented using a groove or guide rail structure. The design of passing through the two sides of the carriage 3 forms a bidirectional movement space. The moving arrangement of the forks 4 means that the forks 4 and the sliding channel form a sliding pair, which can be achieved by the cooperation of a slider and a guide rail, ensuring that the forks 4 move stably within the sliding channel.

[0069] In this design, the fork base 4.2 serves as the basic load-bearing component and is rigidly connected to the bottom of the carriage 3. Its laterally extending sliding channel runs through both sides of the carriage 3, forming a bidirectional through-flow movement space. The forks 4 are embedded in the guide rails of the sliding channel via sliders at the bottom, creating a constraint that allows only translational movement along the channel axis. When the drive mechanism applies thrust, the forks 4 move to the left or right along the sliding channel, with the range of movement limited by the channel length. When the forks 4 move outward, the ends of the forks 4 can extend from the left or right side of the carriage 3, forming loading areas with different orientations. This structure, through the sliding channel that limits the movement trajectory of the forks 4, prevents the forks 4 from shifting or wobbling. Simultaneously, the through-flow design ensures that the forks 4 are not obstructed by the space of the carriage 3 body when extending in both directions. Compared to existing technologies, the existing fork carriage 1 uses a fixed installation or an integral rotating structure. The former cannot adjust the position of the forks 4, resulting in insufficient operational flexibility, while the latter requires high torque drive and occupies rotation space. This solution achieves bidirectional position adjustment of the forks 4 within a limited space through the linear movement design of the fork base 4.2 and the sliding channel, eliminating the need for overall rotation and reducing energy consumption while avoiding space waste. Through this technical solution, this application enables flexible position adjustment of the forks 4 in narrow aisles. During operation, only the forks 4 need to be moved horizontally to switch loading directions, avoiding the need for the entire vehicle to turn around, significantly improving cargo storage and retrieval efficiency and reducing aisle width requirements. The cooperative structure between the fork base 4.2 and the sliding channel ensures load-bearing stability while making the movement of the forks 4 precise and controllable, effectively adapting to the space constraints of different operating scenarios.

[0070] In a specific implementation, a first rack 4.1 is welded onto the fork 4. The drive mechanism includes a translation drive component 4.3 located at the bottom of the carriage 3, and an adjusting gear 4.4 meshing with the first rack 4.1. The translation drive component 4.3 drives the first rack 4.1 to cause the fork 4 to slide bidirectionally relative to the carriage 3. The first rack 4.1 is a metal strip structure with continuous teeth welded onto the fork 4. Its tooth surface meshes with the tooth groove of the adjusting gear 4.4, transmitting driving force through tooth surface meshing. The translation drive component 4.3 is a mechanical device that outputs rotational power, which can be implemented using a servo motor or a hydraulic motor. Its output shaft is connected to the central shaft of the adjusting gear 4.4 via a coupling. The adjusting gear 4.4 is a cylindrical gear that meshes with the first rack 4.1, converting rotational motion into linear displacement through tooth surface contact. When the translation drive component 4.3 drives the adjusting gear 4.4 to rotate clockwise or counterclockwise, the first rack 4.1, which meshes with the adjusting gear 4.4, will move linearly along the preset sliding channel at the bottom of the carriage 3. When the adjusting gear 4.4 rotates clockwise, the first rack 4.1 drives the fork 4 to translate to the left; when the adjusting gear 4.4 rotates counterclockwise, the first rack 4.1 drives the fork 4 to translate to the right. Since the meshing transmission between the gear and rack has a fixed transmission ratio, the moving distance of the fork 4 is linearly proportional to the number of rotations of the adjusting gear 4.4, thereby achieving precise displacement control. The entire drive mechanism acts directly on the fork 4 body, without the need for an intermediate transmission chain or rotating support structure.

[0071] like Figure 8-10 As shown, this embodiment also proposes a fixing device 5 including a clamping cylinder 5.1 and a clamping spring 5.2 fixed inside the slide 3, a shaft 5.3 fixed on the piston rod of the clamping cylinder 5.1, and a bushing 5.4 axially movably sleeved on the lower end of the shaft 5.3; the clamping spring 5.2 is sleeved on the shaft 5.3 above the bushing 5.4, with both ends pressing against the shaft 5.3 and the bushing 5.4 respectively; when the piston rod of the clamping cylinder 5.1 presses down, the downward pressure is transmitted to the bushing 5.4 through the clamping spring 5.2, and the bushing 5.4 clamps the fork 4 and prevents overpressure damage.

[0072] The clamping cylinder 5.1 is a hydraulically driven linear actuator, which can be a double-acting or single-acting cylinder, used to provide axial clamping force. The clamping spring 5.2 is a mechanical element with elastic deformation capability, which can be a helical spring or a disc spring, used to buffer the impact force during the clamping process; in practice, a high-pressure spring is used to ensure the clamping force. The shaft 5.3 is a transmission component rigidly connected to the piston rod of the clamping cylinder 5.1, which can be made of medium carbon steel or alloy steel, used to transmit the output force of the clamping cylinder 5.1. The bushing 5.4 is a contact component that can slide axially along the shaft 5.3, which can be made of copper alloy or steel-based composite material, used to evenly transmit the clamping force to the surface of the fork 4. When the piston rod of the clamping cylinder 5.1 moves downward, the shaft 5.3 moves downward accordingly, the clamping spring 5.2 is compressed and undergoes elastic deformation; the elastic force of the spring is applied to the surface of the fork 4 through the bushing 5.4, achieving the clamping effect. During the contact between the bushing 5.4 and the fork 4, if there is a positional deviation of the fork 4 or a change in external load, the elastic deformation of the clamping spring 5.2 can adaptively adjust the clamping force to avoid stress concentration caused by rigid contact. The axial sliding design of the bushing 5.4 allows it to freely adjust the contact angle within a certain range, ensuring that the clamping force is evenly distributed on the surface of the fork 4.

[0073] This solution combines elastic elements and sliding components to form a buffer protection mechanism while maintaining clamping force, eliminating the risk of structural damage caused by rigid impact. Through the above technical solution, this application solves the problem of overpressure damage caused by rigid clamping when fixing the forks 4. Abnormal loads are absorbed through the elastic buffering effect of the spring, while ensuring that the forks 4 achieve a stable clamping and fixing effect after moving into position, avoiding displacement caused by vibration or impact during operation.

[0074] Furthermore, a pressure plate 5.5 is provided at the upper end of the shaft 5.3, and the upper end of the compression spring 5.2 presses against the pressure plate 5.5; the slide 3 is equipped with contact switches, including an upper contact switch 5.6 and a lower contact switch 5.7; when the piston rod drives the shaft 5.3 to move, the pressure plate 5.5 cooperates with the upper contact switch 5.6 to provide feedback on the movement state of the fork 4, and cooperates with the lower contact switch 5.7 to provide feedback on the clamping state. The pressure plate 5.5 refers to a plate-like structure set on the top of the shaft 5.3, which can be made of metal plate welded or bolted to the top of the shaft 5.3, used to transmit the pressure of the compression spring 5.2 and trigger the contact switches. The contact switch refers to an electrical signal triggering device containing independent contacts, which can be a mechanical micro switch or a spring contact switch. The upper contact switch 5.6 is arranged above the moving path of the pressure plate 5.5, and the lower contact switch 5.7 is arranged below the moving path of the pressure plate 5.5, with the distance between them determined according to the clamping stroke. The compression spring 5.2 refers to the elastic element sleeved on the shaft 5.3. Specifically, it can be a cylindrical helical spring, with its two ends pressing against the pressure plate 5.5 and the bushing 5.4 respectively. During the compression process, it buffers the pressure through elastic deformation and maintains a stable compression force.

[0075] Specifically, when the piston rod of the clamping cylinder 5.1 drives the shaft 5.3 downward, the pressure plate 5.5 moves synchronously with the shaft 5.3 and gradually disengages from the upper contact switch 5.6. At this time, the movement status signal is released, indicating that the fork 4 has entered the adjusted position. When the pressure plate 5.5 continues to move downward and contacts the lower contact switch 5.7, the clamping status signal is triggered, indicating that the bushing 5.4 has fully clamped the fork 4. When the fork 4 needs to be released, the piston rod drives the shaft 5.3 upward, the pressure plate 5.5 disengages from the lower contact switch 5.7 and contacts the upper contact switch 5.6. At this time, the clamping status signal is released, and the movement status signal is activated. Through the linkage between the pressure plate 5.5 and the contact switch, the movement and clamping status of the fork 4 are detected in real time and fed back to the control system, preventing the fixing device 5 from accidentally moving the fork 4 before it is fully released, or from handling goods before it is fully clamped. Through the above technical solution, this application realizes independent detection and real-time feedback of the movement and clamping state of the fork 4, ensuring that the fixing device 5 is allowed to move only after the fork 4 is fully released, and locks the fork 4 after clamping in place, preventing the fork 4 from slipping or the parts from being damaged by excessive pressure due to inaccurate operation, thereby improving operational safety and reliability.

[0076] like Figure 10As shown in Figures 12 and 13, the carriage 3 is equipped with two sets of detection components 7; feedback components 4.7 are provided at both ends of the fork 4; when the fork 4 slides in both directions, the two sets of detection components 7 detect the feedback components 4.7 at both ends of the fork 4 respectively to determine the extension direction and the position status of the fork 4. The detection component 7 refers to a sensing device used to detect the position status of the fork 4, which can be implemented using a photoelectric sensor or a proximity switch. Its function is to acquire the position signal of the fork 4 in real time. The feedback component 4.7 refers to an identifiable mark fixed at both ends of the fork 4, which can be implemented using a metal block, a reflector, or a through hole. Its function is to provide identifiable physical triggering conditions for the detection component 7. When the fork 4 moves in a certain direction, the feedback components 4.7 at both ends of the fork 4 will enter the sensing area of ​​the corresponding detection component 7. For example, when the fork 4 slides to the right to a preset position, the left feedback component 4.7 triggers the left detection component 7 to generate a first signal, and the right feedback component 4.7 moves away from the right detection component 7, causing the second signal to disappear. By analyzing the timing of signal changes from the two sets of detection components 7, the system can determine that the fork 4 has moved to the right and is in position. The corresponding feedback component 4.7 continuously senses the detected component 7 and generates a position locking signal. When the fork 4 slides to the left, the cooperation logic between the right-side detection component 7 and the feedback component 4.7 is reversed, thus achieving accurate judgment of bidirectional movement. Through the above technical solution, this application solves the problems of fuzzy direction recognition and misjudgment of the position status during bidirectional translation of the fork 4, avoiding cargo collisions or loading / unloading failures due to positioning errors, and improving operational efficiency and system stability.

[0077] like Figure 11-15As shown, two sets of collision sensing components are installed on the fork 4. Each set of collision sensing components includes a fork tip collision switch 6.5 located at the end of the fork 4. The two sets of fork tip collision switches 6.5 are adapted to different loading areas formed by the bidirectional extension and retraction of the fork 4. The collision sensing component refers to the device used to sense the contact or collision between the front end of the fork 4 and the goods. Specifically, it can be implemented using a contact mechanical switch or a pressure sensor, and the collision status is fed back through a trigger signal. The fork tip collision switch 6.5 is a contact sensor installed at the end of the fork 4. Specifically, it can be implemented using a micro switch or an elastic conductive sheet structure. When the front end of the fork 4 contacts the goods, the fork tip collision switch 6.5 is pressed and closed, generating an electrical signal. The different loading areas formed by bidirectional extension and retraction refer to the loading directions formed when the fork 4 extends to the left and right sides by lateral sliding. Specifically, this can be achieved by controlling the bidirectional translation of the fork 4 at the bottom of the carriage 3 through a drive mechanism. The two sets of fork tip collision switches 6.5 correspond to the front end positions when the fork 4 extends to the left and right sides, respectively. When the fork 4 extends to the left, the fork tip collision switch 6.5 at the left end is at the front of the loading area. If the front of the fork 4 comes into contact with the goods, the left fork tip collision switch 6.5 is triggered by pressure. When the fork 4 extends to the right, the fork tip collision switch 6.5 at the right end switches to the front detection position to monitor the collision status on the right side in real time. The two sets of collision sensing components work independently, and their trigger signals are automatically matched with the extension direction of the fork 4, ensuring that the collision signal at the corresponding front end can be accurately captured regardless of the extension or retraction state of the fork 4. During the movement of the fork 4, the installation position of the fork tip collision switch 6.5 is always synchronized with the front end of the current loading direction to avoid detection blind spots caused by changes in the position of the fork 4.

[0078] In the specific solution, the collision sensing component also includes a brush plate 6.1 connected to the fork tip collision switch 6.5; the brush plate 6.1 is installed on the other end of the fork 4 away from the corresponding fork tip collision switch 6.5; the carriage 3 is provided with a wiring harness connection device 6, whose probe 6.3 can selectively contact the surface of the fork 4; when the fork 4 moves into position in any direction, the probe 6.3 contacts the copper sheet of the brush plate 6.1, realizing the circuit connection and collision feedback of the fork tip collision switch 6.5.

[0079] The brush plate 6.1 refers to a conductive component with copper sheets on its surface, which can be achieved by copper plating on a metal substrate. It is used to form a conductive circuit by contacting the probe 6.3 when the fork 4 moves into position. The wiring harness connection device 6 refers to a circuit connection mechanism with an elastic probe 6.3, which can be achieved by a structure in which a probe bracket 6.6 and a slide bar 6.8 cooperate. It is used to establish stable electrical contact when the fork 4 is stationary, as described in detail below. The probe 6.3 refers to a conductive component with elastic telescopic function, which can be implemented using a spring-loaded copper needle. It is used to automatically contact the brush plate 6.1 to connect the circuit when the fork 4 is in position.

[0080] In some specific embodiments, a limit block is provided between the probe holder 6.6 and the base 6.7 to limit the maximum extension stroke of the probe 6.3; the surface of the copper sheet may be covered with an anti-oxidation coating to improve conductivity stability; the contact pressure between the probe 6.3 and the brush plate 6.1 is controlled by adjusting the spring preload.

[0081] Through the above technical solutions, this application achieves directional feedback of collision detection signals during the bidirectional movement of the forks, preventing interference between sensor signals from different directions; the non-contact circuit connection design avoids the risk of cable breakage caused by repeated bending; the compact contact matching structure adapts to the space constraints of narrow working environments, ensuring detection accuracy and equipment reliability.

[0082] In a specific implementation, the wiring harness connection device 6 includes a probe bracket 6.6 for mounting the probe 6.3, an electromagnet 6.4 fixed on the probe bracket 6.6, and a base 6.7 corresponding to the electromagnet 6.4. The probe bracket 6.6 is slidably mounted on a slide rod 6.8 of the base 6.7. A spring 6.9 is sleeved on the slide rod 6.8 between the probe bracket 6.6 and the base 6.7. When the fork 4 moves, the electromagnet 6.4 is energized and attracts the base 6.7, causing the probe 6.3 to detach from the surface of the fork 4. When the fork 4 is in position, the electromagnet 6.4 is de-energized, and the spring 6.9 pushes the probe 6.3 to contact the brush plate 6.1. The probe bracket 6.6 refers to the moving part that supports the probe 6.3. Specifically, it can be formed from aluminum alloy profiles and achieves axial displacement through the cooperation of a sliding sleeve and the slide rod 6.8. Its function is to provide a stable sliding path for the probe 6.3.

[0083] Among them, electromagnet 6.4 refers to an electromagnetic element that generates a magnetic field when energized. Specifically, it can be a DC electromagnetic coil structure, installed on the top of probe bracket 6.6, used to lift probe 6.3 by magnetically adsorbing the base 6.7 during the movement of fork 4. Slide rod 6.8 refers to a guide component that supports probe bracket 6.6. Specifically, it can be a chrome-plated optical shaft that cooperates with the linear bearing inside probe bracket 6.6 to ensure the vertical accuracy of the movement trajectory of probe bracket 6.6. Spring 6.9 refers to an energy storage elastic element. Specifically, it can be a cylindrical helical compression spring, sleeved on the outside of slide rod 6.8, used to provide a downward elastic thrust to reset probe 6.3 when electromagnet 6.4 is de-energized.

[0084] Specifically, during the bidirectional movement of the fork 4, the electromagnet 6.4 is energized, generating a magnetic attraction that causes the probe bracket 6.6 to overcome the resistance of the spring 6.9 and slide upwards along the slide bar 6.8, completely detaching the probe 6.3 from the surface of the fork 4, creating a non-contact state. When the fork 4 moves to its rightmost position, the left-end brush plate 6.1 aligns with the probe 6.3. At this point, the electromagnet 6.4 is de-energized, and the spring 6.9 pushes the probe bracket 6.6 to slide along the slide bar 6.8, causing the probe 6.3 to contact the copper plate of the brush plate 6.1, and activating the circuit of the right-side fork tip collision switch 6.5. When the fork 4 moves to its leftmost position, the right-end brush plate 6.1 aligns with the probe 6.3, and the probe 6.3 contacts the brush plate 6.1 under the action of the spring 6.9, activating the circuit of the left-side fork tip collision switch 6.5. This method, through contact matching corresponding to physical positions, ensures that only the collision switch on the corresponding side is activated when moving to the correct position in different directions. Through the above technical solution, this application achieves controllable contact separation between the probe 6.3 and the surface of the fork 4, avoiding wear caused by friction between the probe 6.3 and the surface of the fork 4 during the fork 4 movement phase, and ensuring accurate triggering of circuit signals through elastic contact during the positioning phase. This device solves the technical defects of poor contact caused by wear accumulation in traditional fixed probes, while eliminating the space occupation limitations of rotary contact mechanisms.

[0085] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0086] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. A three-way AGV forklift capable of bidirectional picking up and dropping goods, comprising: Forklift body (8), mast system mounted on forklift body (8), and fork carriage system mounted on mast system; The mast system includes an outer mast (8.1) hinged at its lower end to the forklift body (8) and an inner mast (8.2) slidably mounted on the outer mast (8.1); the forklift body (8) is provided with a diagonal brace assembly (8.3), the lower end of which is connected to the forklift body (8) and the upper end of which is connected to the upper end of the outer mast (8.1); the fork carriage system is slidably mounted on the inner mast (8.2). Its features are: Forklift systems include - The fork carriage (1) is slidably mounted on the inner mast (8.2); - A bracket (2) that slides laterally on the fork carriage (1); - A sliding bracket (3) that slides back and forth on the hanger (2); - Forks (4) mounted on the carriage (3); - The forks (4) are laterally slidably disposed at the bottom of the carriage (3); - Drive mechanism, drive the forks (4) to slide in both directions relative to the carriage (3) to adjust the extension position of the forks (4) relative to the carriage (3) to form loading areas with different orientations; - Fixing device (5) is used to press the forks (4) into place after they have moved to prevent displacement; - The sliding direction of the bracket (2) is parallel to that of the fork (4), and the movement of the bracket (2) is used to control the forward and backward movement of the fork loading area.

2. The three-way AGV forklift capable of bidirectional forking of goods according to claim 1, characterized in that: - A lifting frame (1.3) for connecting the mast is provided in the middle of the fork carriage (1); - The fork carriage (1) has a lateral groove (1.4) and a second rack (1.5) on its surface; - The hanger (2) is provided with a roller (2.1) embedded in the slide groove (1.4) and a drive gear (2.2) that meshes with the second rack (1.5); - The hydraulic motor (2.3) controls the rotation of the drive gear (2.2), driving the hanger (2) to move laterally along the fork carriage (1); - The bracket (2) is equipped with a front-to-back optical axis (2.4) and a double-acting hydraulic cylinder (2.5); -The carriage (3) is slidably mounted on the optical axis (2.4) and connected to the output shaft of the double-acting cylinder (2.5); - The double-acting hydraulic cylinder (2.5) controls the slide (3) to slide back and forth relative to the bracket (2) by extending and retracting the output shaft.

3. A three-way AGV forklift capable of bidirectional forking of goods according to claim 1, characterized in that: - A fork base (4.2) is provided at the bottom of the carriage (3); - A sliding channel is constructed on the fork base (4.2) that runs through the opposite sides of its carriage; - The forks (4) are movably disposed in the fork base (4.2).

4. A three-way AGV forklift capable of bidirectional forking of goods according to claim 3, characterized in that: - A first toothed rack (4.1) is welded onto the fork (4); - The drive mechanism includes a translation drive component (4.3) located at the bottom of the carriage (3) and an adjusting gear (4.4) meshing with the first rack (4.1); - The translation drive component (4.3) drives the first rack (4.1) to drive the forks (4) to slide bidirectionally relative to the carriage (3).

5. A three-way AGV forklift capable of bidirectional forking of goods according to claim 1, characterized in that: -The fixing device (5) includes: -A clamping cylinder (5.1) and a clamping spring (5.2) fixed inside the slide (3); - Shaft (5.3) fixed on piston rod of clamping cylinder (5.1); - A bushing (5.4) that is axially movable and fitted onto the lower end of the shaft (5.3); - The compression spring (5.2) is sleeved on the shaft (5.3) above the bushing (5.4), and its two ends press against the shaft (5.3) and the bushing (5.4) respectively; When the piston rod of the clamping cylinder (5.1) is pressed down, the downward pressure is transmitted to the bushing (5.4) through the clamping spring (5.2), and the bushing (5.4) clamps the fork (4) and prevents overpressure damage.

6. A three-way AGV forklift capable of bidirectional forking of goods according to claim 5, characterized in that: - A pressure plate (5.5) is provided at the upper end of the shaft (5.3), and the upper end of the compression spring (5.2) presses against the pressure plate (5.5); -The carriage (3) is equipped with contact switches inside, including an upper contact switch (5.6) and a lower contact switch (5.7); - When the piston rod drives the shaft (5.3) to move, the pressure plate (5.5) cooperates with the upper contact switch (5.6) to provide feedback on the movement status of the forks, and cooperates with the lower contact switch (5.7) to provide feedback on the pressing status.

7. A three-way AGV forklift capable of bidirectional forking of goods according to claim 1, characterized in that: - The slide (3) is equipped with two sets of detection components (7); - Feedback components (4.7) are provided at both ends of the forks (4); - When the fork (4) slides in both directions, the two sets of detection components detect the feedback components at both ends of the fork to determine the fork extension direction and the position.

8. A three-way AGV forklift capable of bidirectional forking of goods according to claim 1, characterized in that: - The forks (4) are equipped with two sets of collision sensing components; - Each collision sensing assembly includes a fork tip collision switch (6.5) located at the end of the fork, used to provide feedback on the collision signal at the front end of the fork; - Two sets of fork tip collision switches (6.5) are adapted to different orientation loading areas formed by the bidirectional extension and retraction of the forks.

9. A three-way AGV forklift capable of bidirectional forking of goods according to claim 8, characterized in that: - The collision sensing assembly also includes a brush plate (6.1) connected to the fork tip collision switch (6.5); - The brush plate (6.1) is installed on the fork (4) at the other end away from the corresponding fork tip collision switch (6.5); - A wire harness connection device (6) is provided on the carriage (3), and its probe (6.3) can selectively contact the surface of the fork; - When the fork (4) moves into position in any direction, the probe (6.3) contacts the copper sheet of the brush plate (6.1), realizing the circuit connection and collision feedback of the fork tip collision switch (6.5).

10. A three-way AGV forklift capable of bidirectional forking of goods according to claim 9, characterized in that: -The wire harness connection device (6) includes: - Probe holder (6.6) for mounting probes (6.3); - An electromagnet (6.4) fixed on the probe holder (6.6); - The base (6.7) corresponding to the electromagnet (6.4); - The probe holder (6.6) is slidably mounted on the slide bar (6.8) of the base (6.7); - A spring (6.9) is fitted onto the slide rod (6.8) between the probe holder (6.6) and the base (6.7); - When the forks move, the electromagnet (6.4) is energized and attracts the base (6.7), causing the probe (6.3) to detach from the fork surface; - When the forks are in position, the electromagnet is de-energized, and the spring (6.9) pushes the probe (6.3) to contact the brush plate (6.1).

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