A transverse limiting system and control method for a fork body assembly of a submerged forklift truck

Abstract

The application discloses a kind of fork body assembly transverse limiting system and control method of submerged forklift, it has adopted the method of simple mechanical structure and combining software control to existing structure, it is realized that submerged forklift moves in process, prevent the problem that fork body assembly at least part is thrown out and causes hidden danger in containing groove.Through setting blocking unit and locking recess, in process that fork body assembly extends and retracts in process, by the synergic control of existing lifting mechanism and telescopic translation mechanism, it can be realized that fork body assembly is unlocked before entering the fork groove of tray, and the process of locking is carried out in the process that fork body assembly enters containing groove after completing handling, it is not necessary to increase power element, it is not necessary to change control and power supply circuit, and anti-throwing-out structure itself structure is very simple, cost is very low, and it is very convenient to transform existing forklift.

Description

Technical Field

[0001] This invention relates to the field of warehouse handling equipment technology, and in particular to a lateral limiting system and control method for the fork assembly of a submersible forklift. Background Technology

[0002] A forklift is an automated device used for pallet handling in the field of mobile robotics. It typically consists of a main body and forks that can extend laterally relative to the main body. Through the coordinated movement of the forks and the main body, it completes the picking, placing, and moving of pallets. Because the forks need to actively extend beyond the main body, they are usually only connected to the main body via telescopic guide structures such as slide rails, without fixed constraints along the extension direction. When the forklift starts, stops, turns, or travels on uneven surfaces, the forks are prone to displacement along the extension direction due to inertia, and may even partially dislodge from the main body's receiving slots. This can cause asynchronous movement of the multiple forks, posing a safety hazard to personnel and equipment in the handling area.

[0003] In the prior art, patent CN112678730A discloses a method and component for preventing the fork arm of a mobile robot from being thrown out. This method involves installing a limit pin assembly within the fork arm, comprising components such as a limit pin, an elastic element, a guide surface, a guide wheel, and a limit shaft. A pin hole is provided on the main body, and an independent linear motion mechanism drives the guide surface to move laterally, thereby causing the limit pin to overcome the elastic element and enter or exit the pin hole, achieving locking and unlocking of the fork arm and the main body. While this solution can prevent the fork arm from being thrown out due to inertia to a certain extent, it requires an additional independent linear motion mechanism and its associated power source and control circuitry. This results in numerous components, a complex structure, high manufacturing and assembly costs, and significant work and implementation difficulties when modifying existing forklifts.

[0004] For example, patent CN116553431A discloses an AGV forklift that features a floating hook assembly on the wall of the frame guide groove. This assembly includes a hook base, hook, pin, limit screw, compression or tension spring, ball joint, and other parts. The top cover sidewall of the fork arm mechanism is machined with hook guide grooves and clearance openings. By utilizing the swinging clearance and reset of the hook under the action of the elastic element, the suspension and release of the fork arm mechanism relative to the frame are achieved. This solution improves the traditional rigid hook into a floating structure, but it still requires the addition of a complex floating hook assembly with many parts and high machining precision requirements. Furthermore, the locking and unlocking process depends on the alignment and cooperation of the hook guide groove and the floating hook at a specific position, making the control process relatively cumbersome. In addition, the elastic element is under repeated loading for a long time, which poses a risk of fatigue failure and incomplete reset.

[0005] Therefore, existing solutions require the addition of independent mechanical locking components, elastic elements, and even independent power components and control circuits, which generally result in complex structures, numerous parts, high costs, and difficulties in retrofitting existing forklifts. Summary of the Invention

[0006] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a lateral limiting system and control method for the fork assembly of a forklift with a simple structure, which does not require the addition of power components or modification of control circuits and achieves low cost.

[0007] Technical solution: To achieve the above objectives, the present invention provides a lateral limiting system for the fork assembly of a submersible forklift, wherein the submersible forklift includes a main body, a fork assembly, a telescopic translation mechanism, and a controller.

[0008] The main body is provided with a receiving groove corresponding to the fork assembly for accommodating the fork assembly; the lateral limiting system is used to lock the fork assembly in the receiving groove when the submersible forklift moves.

[0009] The fork assembly includes a fork body, a fork body base, and a lifting mechanism connecting the fork body and the fork body base. The fork body base includes a traveling wheel. The telescopic and translational mechanism enables the fork assembly to extend and retract laterally relative to the main vehicle body. The controller is connected to the lifting mechanism and the telescopic and translational mechanism.

[0010] The lateral limiting system includes two limiting parts: a blocking unit and a locking notch. The blocking unit is fixed on one of the main vehicle body and the fork, and the locking notch is provided on the other. In the locked state, the blocking unit is placed in the locking notch, and the blocking unit can only be dislodged from the locking notch in the vertical direction.

[0011] The controller is configured to execute both the unlocking and extending process and the retraction and locking process.

[0012] The unlocking and extension process is performed before the fork assembly enters the pallet fork slot. At this time, the fork assembly is completely placed in the receiving slot. The unlocking and extension process includes: first, the lifting mechanism moves the fork vertically relative to the initial height so that the blocking unit disengages from the locking notch; then, the telescopic translation mechanism moves the fork assembly laterally outward to a position where the limiting part included in the lateral limiting system does not affect the lifting of the fork. The lifting mechanism moves the fork vertically so that the top of the fork assembly is not higher than the top of the fork slot in the pallet to be transported.

[0013] When a forklift completes a pallet handling task, a retraction and locking process is required during the retraction of the fork assembly into the receiving slot. Initially, the fork assembly is not fully retracted into the receiving slot. The retraction and locking process includes: vertically moving the fork via the lifting mechanism to vertically offset the blocking unit from the locking recess; then, retracting the telescopic translation mechanism to align the locking recess with the blocking unit vertically; finally, vertically moving the fork via the lifting mechanism to engage the blocking unit with the locking recess.

[0014] Furthermore, the blocking unit is fixed on the side wall of the receiving groove, and the locking notch is formed directly on the side wall of the fork body, or on a part fixed to the side wall of the fork body.

[0015] Furthermore, the blocking unit is fixed on the side wall of the fork body; the locking notch is formed directly on the side wall of the receiving groove, or formed on a part fixed to the side wall of the receiving groove.

[0016] Furthermore, the blocking unit is a cylindrical pin or a square block; the locking notch is any one of a U-shaped notch, a V-shaped notch, or a rectangular notch, and the opening size of the locking notch is larger than the maximum lateral size of the blocking unit.

[0017] Furthermore, the two limiting parts included in the lateral limiting system are respectively installed at the tail end of the fork and the bottom end of the receiving groove. The blocking unit can be installed at the tail end of the fork or the bottom end of the receiving groove, and correspondingly, the locking notch is provided on another component.

[0018] Furthermore, the lifting mechanism of the submersible forklift is a scissor lift structure.

[0019] Furthermore, the telescopic translation mechanism includes a guide rail connected between the fork base and the main vehicle body, and also includes an active travel wheel assembly mounted on the fork base. In addition, the main vehicle body has an independent travel mechanism.

[0020] A method for lateral limiting control of the fork assembly of a forklift, the forklift comprising a main body, a fork assembly, a telescopic translation mechanism, a lateral limiting system, and a controller;

[0021] The main body is provided with a receiving groove corresponding to the fork assembly for accommodating the fork assembly; the lateral limiting system is used to lock the fork assembly in the receiving groove when the submersible forklift moves.

[0022] The fork assembly includes a fork body, a fork body base, and a lifting mechanism connecting the fork body and the fork body base. The fork body base includes a traveling wheel. The telescopic and translational mechanism enables the fork assembly to extend and retract laterally relative to the main vehicle body. The controller is connected to the lifting mechanism and the telescopic and translational mechanism.

[0023] The control methods include the unlocking and extension process and the retraction and locking process;

[0024] The unlocking and extension process is executed sequentially by the controller using the following steps:

[0025] S11. Drive the lifting mechanism to move the fork vertically by a first preset value, so that the blocking unit disengages from the locking notch;

[0026] S12. Drive the telescopic translation mechanism to move the fork assembly laterally outward by a second preset value;

[0027] S13. Drive the lifting mechanism to move the fork vertically, so that the top of the fork is not higher than the top of the fork slot of the pallet;

[0028] The retraction locking process is executed sequentially by the controller using the following steps:

[0029] S21. Drive the lifting mechanism to move the fork vertically, so that the blocking unit and the locking notch are vertically offset.

[0030] S22. Drive the telescopic translation mechanism to retract the fork assembly laterally inward, so that the blocking unit and the locking notch are aligned vertically.

[0031] S23. Drive the lifting mechanism to move the fork vertically, so that the blocking unit and the locking notch are reset to the locked state.

[0032] Beneficial effects: The lateral limiting system and control method for the fork assembly of the submersible forklift of the present invention have the following beneficial effects:

[0033] By employing a minimalist mechanical structure combined with software control of existing structures, this method prevents at least a partial ejection of the fork assembly from the receiving slot during the movement of a forklift, thus preventing potential hazards. Through the inclusion of blocking units and locking notches, and the coordinated control of existing lifting and telescopic mechanisms during fork assembly extension and retraction, the fork assembly can be unlocked before entering the pallet's fork slot and locked again as it enters the receiving slot after handling. This process requires no additional power components, eliminating the need to modify control and power supply wiring. Furthermore, the anti-ejection structure itself is very simple, low-cost, and easily adaptable to existing forklifts. Attached Figure Description

[0034] Figure 1 This is a top view of the first state of the forklift in the first embodiment;

[0035] Figure 2 This is a first-state sectional view of the submersible forklift in the first embodiment (i.e.) Figure 1 (AA section view in the middle)

[0036] Figure 3 This is a second-state cross-sectional view of the submersible forklift in the first embodiment;

[0037] Figure 4 This is a perspective view of the second state of the forklift in the first embodiment;

[0038] Figure 5 This is a third-state cross-sectional view of the submersible forklift in the first embodiment;

[0039] Figure 6 This is a cross-sectional view of the fourth state of the submersible forklift in the first embodiment;

[0040] Figure 7 This is a top view of the submersible forklift in the second embodiment;

[0041] Figure 8 This is a cross-sectional view of the submersible forklift in the second embodiment.

[0042] In the diagram: 1-Main vehicle body; 11-Accommodation slot; 12-Traveling mechanism; 2-Fork assembly; 21-Fork; 22-Fork base; 23-Lifting mechanism; 24-Locking notch; 3-Telescopic translation mechanism; 31-Guide rail; 32-Active travel wheel assembly; 4-Blocking unit. Detailed Implementation

[0043] The invention will now be further described with reference to the accompanying drawings.

[0044] like Figure 1 and Figure 2 The forklift shown includes a main body 1, a fork assembly 2, a telescopic translation mechanism 3, and a controller.

[0045] The main vehicle body 1 is provided with a receiving groove 11 corresponding to the fork assembly 2 for accommodating the fork assembly 2; the lateral limiting system is used to lock the fork assembly 2 in the receiving groove 11 when the submersible forklift moves.

[0046] The fork assembly 2 includes a fork body 21, a fork base 22, and a lifting mechanism 23 connecting the fork body 21 and the fork base 22. The fork base 22 includes a traveling wheel. The telescopic translation mechanism 3 enables the fork assembly 2 to extend and retract laterally relative to the main vehicle body 1. The controller is connected to the lifting mechanism 23 and the telescopic translation mechanism 3.

[0047] The lateral limiting system includes two limiting parts: a blocking unit 4 and a locking recess 24. The blocking unit 4 is fixed on one of the main vehicle body 1 and the fork body 21, and the locking recess 24 is provided on the other. In the locked state, the blocking unit 4 is placed in the locking recess 24, and the blocking unit 4 can only be dislodged from the locking recess 24 in the vertical direction.

[0048] The controller is configured to execute both the unlocking and extending process and the retraction and locking process.

[0049] The unlocking and extension process is performed before the fork assembly 2 enters the pallet fork slot, such as... Figure 1 and Figure 2 As shown, at this time, the fork assembly 2 is completely placed in the receiving groove 11. The unlocking and extension process includes: first, the lifting mechanism 23 moves the fork 21 vertically relative to the initial height, causing the blocking unit 4 to disengage from the locking recess 24. Preferably, the lifting mechanism 23 raises the fork 21 so that the fork 21 and its limiting part are higher than the main vehicle body 1. This can avoid the component interference problem that may occur when the fork 21 moves laterally. Figure 3 and Figure 4 As shown; then, the fork assembly 2 is moved laterally outward by the telescopic translation mechanism 3 to a position where the limiting part of the lateral limiting system does not affect the lifting and lowering of the fork 21 (e.g. Figure 5 As shown), finally, the lifting mechanism 23 causes the fork 21 to move vertically so that the top of the fork assembly 2 is not higher than the top of the fork slot in the pallet to be transported (as shown). Figure 6 (As shown); Compared to the existing technology where the fork assembly directly moves laterally into the pallet fork slot, this process uses a sequence of lifting and then moving, and leverages the coordination of the existing lifting mechanism and telescopic moving mechanism to complete the unlocking without adding any power components.

[0050] When a forklift completes a pallet handling task, during the retraction of the fork assembly 2 into the receiving slot 11, a retraction locking process needs to be executed. At the start of this process, the fork assembly 2 is not fully retracted into the receiving slot 11. The retraction locking process includes: the lifting mechanism 23 vertically moves the fork 21, causing the blocking unit 4 and the locking recess 24 to be vertically misaligned. In this embodiment, the lifting mechanism 23 first raises the fork 21; then, the telescopic translation mechanism 3 retracts, aligning the locking recess 24 with the blocking unit 4 vertically; finally, the lifting mechanism 23 vertically moves the fork 21. In this embodiment, the lifting mechanism 23 lowers the fork 21, causing the blocking unit 4 to engage with the locking recess 24. Compared to the prior art where the fork assembly retracts laterally into the receiving slot directly after leaving the fork slot, this process completes locking during the retraction process. When the forklift subsequently moves, the fork assembly is reliably locked, eliminating the risk of it being thrown out.

[0051] This invention employs a minimalist mechanical structure combined with software control of existing structures to prevent the fork assembly 2 from being at least partially ejected from the receiving slot 11 during the movement of a submersible forklift, thus preventing potential hazards. By setting up a blocking unit 4 and a locking notch 24, and combining the coordinated control of the existing lifting mechanism 23 and telescopic translation mechanism 3 during the extension and retraction of the fork assembly 2, the fork assembly 2 can be unlocked before entering the pallet's fork slot and locked during the process of entering the receiving slot 11 after handling. This process requires no additional power components, thus eliminating the need to modify the control and power supply lines. Furthermore, the anti-ejection structure itself is very simple, low-cost, and easy to modify forklifts.

[0052] Preferably, in the first embodiment, such as Figure 1 As shown, the blocking unit 4 is fixed on the side wall of the receiving groove 11, and the locking notch 24 is formed directly on the side wall of the fork 21, or on a part fixed to the side wall of the fork 21. Preferably, the lower end of the locking notch 24 is open. In the locked state, the lifting mechanism 23 moves the fork 21 upward, causing the blocking unit 4 to disengage from the locking notch 24.

[0053] Preferably, in the second embodiment, as Figure 7 As shown, the blocking unit 4 is fixed to the side wall of the fork 21; the locking recess 24 is formed directly on the side wall of the receiving groove 11, or on a part fixed to the side wall of the receiving groove 11. Preferably, the upper end of the locking recess 24 is open. In the locked state, the lifting mechanism 23 moves the fork 21 upward, causing the blocking unit 4 to disengage from the locking recess 24.

[0054] Preferably, the blocking unit 4 is a cylindrical pin or a square block; the locking notch 24 is any one of a U-shaped notch, a V-shaped notch or a rectangular notch, and the opening size of the locking notch 24 is larger than the maximum lateral size of the blocking unit 4.

[0055] Preferably, in the third embodiment, as Figure 8 As shown, the two limiting parts of the lateral limiting system are respectively installed at the tail end of the fork 21 and the bottom end of the receiving groove 11. The blocking unit 4 can be installed at the tail end of the fork 21 or the bottom end of the receiving groove 11, and correspondingly, the locking notch 24 is provided on another component.

[0056] The first or third embodiment of the present invention is preferred, as this solution does not require additional installation space and can save costs.

[0057] Preferably, the lifting mechanism 23 of the submersible forklift is a scissor lift structure.

[0058] Preferably, the telescopic translation mechanism 3 includes a guide rail 31 connected between the fork base 22 and the main vehicle body 1, and also includes an active travel wheel assembly 32 mounted on the fork base 22. Furthermore, the main vehicle body 1 has an independent travel mechanism 12. The travel mechanism 12 of the main vehicle body 1 enables the entire embedded forklift to move, and the travel wheel assembly 32 enables the fork assembly 2 to move independently, realizing the telescopic translational movement of the fork assembly 2 relative to the main vehicle body 1.

[0059] The present invention also provides a lateral limiting control method for the fork assembly of a submersible forklift, the submersible forklift including a main body 1, a fork assembly 2, a telescopic translation mechanism 3, a lateral limiting system and a controller;

[0060] The main vehicle body 1 is provided with a receiving groove 11 corresponding to the fork assembly 2 for accommodating the fork assembly 2; the lateral limiting system is used to lock the fork assembly 2 in the receiving groove 11 when the submersible forklift moves.

[0061] The fork assembly 2 includes a fork body 21, a fork base 22, and a lifting mechanism 23 connecting the fork body 21 and the fork base 22. The fork base 22 includes a traveling wheel. The telescopic translation mechanism 3 enables the fork assembly 2 to extend and retract laterally relative to the main vehicle body 1. The controller is connected to the lifting mechanism 23 and the telescopic translation mechanism 3.

[0062] The control methods include the unlocking and extension process and the retraction and locking process;

[0063] The unlocking and extension process is executed sequentially by the controller using the following steps:

[0064] S11. Drive the lifting mechanism 23 to operate so that the fork 21 moves vertically from the initial height by a first preset value, so that the blocking unit 4 disengages from the locking notch 24; in this embodiment, the fork 21 moves upward to the first preset value.

[0065] S12. Drive the telescopic translation mechanism 3 to move the fork assembly 2 laterally outward by a second preset value. At this time, if the fork assembly 2 has not completely disengaged from the receiving groove 11 and the height of the fork 21 has returned to the initial height, there will be no interference between the fork 21, the receiving groove 11, the blocking unit 4 and the locking notch 24, and there will be no other parts of the submersible forklift that will cause interference.

[0066] S13. Drive the lifting mechanism 23 to move the fork 21 vertically, so that the top of the fork 21 is not higher than the top of the fork slot of the pallet. In this embodiment, the fork 21 moves downward to a first preset value and returns to its initial height.

[0067] The above steps S11-S13 are performed before the fork assembly 2 enters the pallet fork slot, which can make the blocking unit 4 disengage smoothly from the locking notch 24, and the height of the fork assembly 2 when it enters the pallet fork slot is lower than the top of the fork slot.

[0068] The retraction locking process is executed sequentially by the controller using the following steps:

[0069] S21. Drive the lifting mechanism 23 to operate so that the fork 21 moves vertically, so that the blocking unit 4 and the locking recess 24 are vertically offset. In this embodiment, step S21 is performed when the fork 21 is completely out of the pallet fork groove and there is still a second preset distance between the fork 21 and the fully retracted receiving groove 11. When step S21 is performed, the height of the fork 21 is the same as the initial height. The fork 21 moves upward by a first preset distance, so that the blocking unit 4 and the locking recess 24 are vertically offset.

[0070] S22. Drive the telescopic translation mechanism 3 to retract the fork assembly 2 laterally inward, so that the blocking unit 4 and the locking notch 24 are aligned vertically; In this embodiment, the fork assembly 2 retracts laterally inward by a second preset distance so that the blocking unit 4 and the locking notch 24 are aligned vertically.

[0071] S23. Drive the lifting mechanism 23 to move the fork 21 vertically, so that the blocking unit 4 and the locking notch 24 are reset to the locked state. In this embodiment, the fork 21 moves downward a first preset distance, so that the blocking unit 4 is embedded in the locking notch 24.

[0072] The above steps S21-S23 are performed when the fork body 21 is completely out of the pallet fork slot and not completely retracted into the receiving slot 11, which can avoid interference between the components of the forklift during the process of the blocking unit 4 and the locking notch 24 returning to the locked state.

[0073] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A lateral limiting system for the fork assembly of a submersible forklift, the submersible forklift comprising a main body (1), a fork assembly (2), a telescopic translation mechanism (3), and a controller; The main body (1) is provided with a receiving groove (11) corresponding to the fork assembly (2) for accommodating the fork assembly (2); the lateral limiting system is used to lock the fork assembly (2) in the receiving groove (11) when the forklift moves; The fork assembly (2) includes a fork (21), a fork base (22), and a lifting mechanism (23) connecting the fork (21) and the fork base (22); the telescopic translation mechanism (3) enables the fork assembly (2) to extend and retract laterally relative to the main vehicle body (1); the controller is connected to the lifting mechanism (23) and the telescopic translation mechanism (3). Its features are, The lateral limiting system includes two limiting parts: a blocking unit (4) and a locking notch (24). The blocking unit (4) is fixed on one of the main vehicle body (1) and the fork body (21), and the locking notch (24) is provided on the other. In the locked state, the blocking unit (4) is placed in the locking notch (24), and the blocking unit (4) can only be dislodged from the locking notch (24) in the vertical direction. The controller is configured to execute both the unlocking and extending process and the retraction and locking process. The unlocking and extension process includes: first, the lifting mechanism (23) moves the fork (21) vertically so that the blocking unit (4) disengages from the locking notch (24); then, the telescopic translation mechanism (3) moves the fork assembly (2) horizontally outward as a whole; finally, the lifting mechanism (23) moves the fork (21) vertically so that the top of the fork assembly (2) is not higher than the top of the fork slot in the pallet to be transported. The retraction and locking process includes: the lifting mechanism (23) causing the fork (21) to move vertically so that the blocking unit (4) and the locking notch (24) are vertically offset; then, the telescopic translation mechanism (3) retracts so that the locking notch (24) and the blocking unit (4) are vertically aligned; finally, the lifting mechanism (23) causes the fork (21) to move vertically so that the blocking unit (4) is embedded in the locking notch (24).

2. The lateral limiting system for the fork assembly of the submersible forklift according to claim 1, characterized in that, The blocking unit (4) is fixed on the side wall of the receiving groove (11), and the locking notch (24) is formed directly on the side wall of the fork (21), or on a part fixed to the side wall of the fork (21).

3. The lateral limiting system for the fork assembly of the submersible forklift according to claim 1, characterized in that, The blocking unit (4) is fixed on the side wall of the fork (21); the locking notch (24) is formed directly on the side wall of the receiving groove (11), or on a part fixed to the side wall of the receiving groove (11).

4. The lateral limiting system for the fork assembly of the submersible forklift according to claim 2 or 3, characterized in that, The blocking unit (4) is a cylindrical pin or a square block; the locking notch (24) is any one of a U-shaped notch, a V-shaped notch or a rectangular notch, and the opening size of the locking notch (24) is greater than the maximum lateral size of the blocking unit (4).

5. The lateral limiting system for the fork assembly of the submersible forklift according to claim 1, characterized in that, The two limiting parts of the lateral limiting system are respectively installed at the tail end of the fork (21) and the bottom end of the receiving groove (11).

6. The lateral limiting system for the fork assembly of the submersible forklift according to claim 1, characterized in that, The lifting mechanism (23) of the submersible forklift is a scissor fork structure.

7. The lateral limiting system for the fork assembly of the submersible forklift according to claim 1, characterized in that, The telescopic translation mechanism (3) includes a guide rail (31) connected between the fork base (22) and the main vehicle body (1), and also includes an active walking wheel assembly (32) mounted on the fork base (22).

8. A method for lateral limit control of the fork assembly of a submersible forklift, characterized in that, The submersible forklift includes a main body (1), a fork assembly (2), a telescopic translation mechanism (3), a lateral limiting system, and a controller; The main body (1) is provided with a receiving groove (11) corresponding to the fork assembly (2) for accommodating the fork assembly (2); the lateral limiting system is used to lock the fork assembly (2) in the receiving groove (11) when the forklift moves; The fork assembly (2) includes a fork (21), a fork base (22), and a lifting mechanism (23) connecting the fork (21) and the fork base (22); the telescopic translation mechanism (3) enables the fork assembly (2) to extend and retract laterally relative to the main vehicle body (1); the controller is connected to the lifting mechanism (23) and the telescopic translation mechanism (3). The control methods include the unlocking and extension process and the retraction and locking process; The unlocking and extension process is executed sequentially by the controller using the following steps: S11. Drive the lifting mechanism (23) to operate so that the fork (21) moves vertically by a first preset value, so that the blocking unit (4) disengages from the locking notch (24). S12. Drive the telescopic translation mechanism (3) to operate so that the fork assembly (2) moves laterally outward by a second preset value; S13. Drive the lifting mechanism (23) to operate so that the fork (21) moves vertically, so that the top of the fork (21) is not higher than the top of the fork slot of the pallet; The retraction locking process is executed sequentially by the controller using the following steps: S21. Drive the lifting mechanism (23) to operate so that the fork (21) moves vertically, so that the blocking unit (4) and the locking notch (24) are vertically offset. S22. Drive the telescopic translation mechanism (3) to retract the fork assembly (2) laterally inward, so that the blocking unit (4) and the locking notch (24) are aligned vertically. S23. Drive the lifting mechanism (23) to move the fork (21) vertically, so that the blocking unit (4) and the locking notch (24) are reset to the locked state.

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