A bottom fork assembly, a frame assembly, and a stacker forklift.

Abstract

This application provides a bottom fork assembly, a frame assembly, and a stacker forklift, relating to the field of forklift attachment technology. The bottom fork assembly includes a bottom fork component, an adjustable distance component, a first movable support component, and a second movable support component. The bottom fork component includes a first leg and a second leg spaced apart along a first direction. The adjustable distance component is connected to the first leg and the second leg on the same side along a second direction, respectively. The first movable support component is connected to the first leg on the other side along the second direction, and the second movable support component is connected to the second leg on the other side along the second direction. In the bottom fork assembly of this application, when the distance between the first leg and the second leg is adjusted by the adjustable distance component, the first movable support component and the second movable support component can move relative to the support surface, thereby smoothly adjusting the distance between the first leg and the second leg. This allows the bottom fork assembly to adapt to various pallets with different socket spacings, improving the versatility of the bottom fork assembly.

Description

Technical Field

[0001] This application relates to the field of forklift attachments technology, and particularly to a bottom fork assembly, a frame assembly, and a stacker forklift. Background Technology

[0002] Based on their structural type, forklifts can be mainly divided into counterbalance forklifts, reach trucks, and stacker forklifts. Among them, stacker forklifts are widely used in narrow warehouse and workshop operation scenarios due to their advantages such as simple structure, flexible operation, and excellent micro-motion performance.

[0003] In related technologies, stacker forklifts typically have two fixed-spaced bottom fork legs, which bear most of the weight of the goods when the stacker is fully loaded. However, because the fixed spacing of the bottom fork legs cannot be adjusted, they cannot be adapted to various pallets with different socket spacing, resulting in poor versatility of stacker forklifts. Summary of the Invention

[0004] This application aims to provide a bottom fork assembly, a frame assembly, and a stacker forklift, which at least solves the problem that the fixed and unadjustable spacing of the bottom fork outriggers makes it unsuitable for various pallets with different hole spacings, resulting in poor versatility of the stacker forklift.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows: In a first aspect, a bottom fork device is provided, the bottom fork device comprising: a bottom fork assembly, an adjustable pitch assembly, a first movable support assembly, and a second movable support assembly; The bottom fork assembly includes a first leg and a second leg spaced apart along a first direction; The distance adjustment component is connected to the first leg and the second leg on the same side along the second direction, respectively; the distance adjustment component is used to adjust the distance between the first leg and the second leg. The first movable support assembly is connected to the other side of the first leg along the second direction; the first movable support assembly is used to support the first leg and to move relative to the support surface; The second movable support assembly is connected to the other side of the second leg along the second direction; the second movable support assembly is used to support the second leg and to move relative to the support surface.

[0006] In a second aspect, a frame assembly is provided, including a body, a fork assembly, and a bottom fork assembly as described in the first aspect; The main body is connected to the fork assembly and the bottom fork assembly respectively, and the fork assembly is located on one side of the bottom fork assembly along a third direction.

[0007] Thirdly, a stacker forklift is provided, including the bottom fork assembly as described in the first aspect, or the frame assembly as described in the second aspect.

[0008] Fourthly, a method for controlling a stacker forklift is provided, including: Control the stacker forklift to travel to the loading area and identify the spacing information of the pallet slots.

[0009] Control the fork assembly to rise in a third direction, so that the forks of the fork assembly are completely detached from the outriggers of the base fork assembly.

[0010] Adjust the distance between the first and second forks in the fork assembly until the distance between the first and second forks matches the spacing of the pallet insertion holes, and lock the relative positions of the first and second forks.

[0011] The control adjustment component adjusts the distance between the first leg and the second leg until the distance between the first leg and the second leg matches the distance between the pallet insertion holes; at the same time, the control controls the first moving support component and the second moving support component to move relative to the support surface.

[0012] Control the stacker forklift to move towards the pallet until the first and second forks extend into and are accommodated in the pallet's slots, thereby moving the pallet and the goods on it to the unloading area.

[0013] Fifthly, a stacker forklift control device is provided, comprising: The fork lifting control module is used to control the fork assembly to rise in a third direction, so that the forks of the fork assembly are completely detached from the outriggers of the base fork assembly.

[0014] The fork spacing adjustment module is used to adjust the spacing between the first fork and the second fork in the fork device until the spacing between the first fork and the second fork matches the spacing of the pallet insertion holes, and to lock the relative position of the first fork and the second fork.

[0015] The fork spacing adjustment module is used to control the spacing adjustment component to adjust the spacing between the first leg and the second leg until the spacing between the first leg and the second leg matches the spacing of the pallet insertion holes; at the same time, it controls the first moving support component and the second moving support component to move relative to the support surface.

[0016] The second driving control module is used to control the stacker forklift to move towards the pallet until the first and second forks extend into and are accommodated in the pallet's insertion holes, so as to drive the pallet and the goods on it to the unloading area.

[0017] In a sixth aspect, a terminal is provided, the terminal including a processor and a memory; the memory stores at least one instruction, the at least one instruction being executed by the processor to implement the stacker forklift control method as described in the fourth aspect.

[0018] In a seventh aspect, a computer-readable storage medium is provided, the storage medium storing at least one instruction, the at least one instruction being executed by a processor to implement the stacker forklift control method as described in the fourth aspect.

[0019] Eighthly, a computer program product is provided, wherein the at least one instruction is loaded and executed by a processor to implement the stacker forklift control method as described in the above embodiments.

[0020] In the fork assembly provided in this application embodiment, the first and second legs of the fork assembly are spaced apart along a first direction, enabling the fork assembly to bear most of the weight of the goods. Furthermore, an adjustment component is connected to the first and second legs on the same side along a second direction, and a first movable support component is connected to the first leg on the other side along the second direction, and a second movable support component is connected to the second leg on the other side along the second direction. This allows the adjustment component to cooperate with the first and second movable support components. When the distance between the first and second legs is adjusted using the adjustment component, the first and second movable support components can move relative to the support surface, thereby smoothly adjusting the distance between the first and second legs. This allows the fork assembly to adapt to various pallets with different socket spacings, improving the versatility of the fork assembly. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments will be briefly introduced below, wherein: Figure 1 This is a first-view structural schematic diagram of a bottom fork device provided in an exemplary embodiment of this application; Figure 2 This is a structural schematic diagram of a bottom fork device from a second perspective, provided in an exemplary embodiment of this application; Figure 3 This is a first-view exploded structural diagram of a fork assembly provided in an exemplary embodiment of this application; Figure 4 This is a schematic diagram of the structure of an adjustable distance component provided in an exemplary embodiment of this application; Figure 5 This is a schematic diagram of the flow path principle of the reversing valve communicating with the inner cavity of the cylinder provided in an exemplary embodiment of this application; Figure 6This is a schematic diagram of the structure of a first movable support component from a first perspective, provided in an exemplary embodiment of this application; Figure 7 This is a schematic diagram of the structure of a first movable support component from a second perspective, provided in an exemplary embodiment of this application; Figure 8 This is a first-view structural schematic diagram of a vehicle frame assembly provided in an exemplary embodiment of this application; Figure 9 This is a structural schematic diagram of a vehicle frame assembly from a second perspective, provided in an exemplary embodiment of this application; Figure 10 This is a first-view exploded structural diagram of a vehicle frame assembly provided in an exemplary embodiment of this application; Figure 11 This is a schematic diagram of the fork structure of a frame assembly from a first-view perspective, provided by an exemplary embodiment of this application; Figure 12 This is a third-view structural schematic diagram of a vehicle frame assembly provided in an exemplary embodiment of this application; Figure 13 This is a structural schematic diagram of a forklift device from a first-view perspective, provided by an exemplary embodiment of this application.

[0022] Explanation of reference numerals in the attached figures: 100: Base fork assembly; 110: First support leg; 120: Second support leg; 200: Adjustable distance assembly; 210: First telescopic cylinder; 211: First cylinder barrel; 211a: First port; 211b: Second port; 212: First piston rod; 213: First bearing seat; 213a: First mounting hole; 220: Second telescopic cylinder; 221: Second cylinder barrel; 221a: Third port; 221b: Fourth port; 222: Second piston rod; 223: Second bearing seat; 223a: Second mounting hole; 230: Reversing valve; 231a: First valve port; 232a: Second valve port; 240: Locking assembly; 241: First pin; 242: Second pin; 301: Rolling wheel; 302: Slewing bearing seat; 303: Drive motor; 304: Steering motor; 310: First moving support assembly; 320: Second moving support assembly; 410: Mounting component; 411a: Receiving cavity; 411b: Opening; 412a: First mounting cavity; 413a: Second mounting cavity; 420: Fixing component; 430: Mounting shaft; 500: Main body; 600: Fork assembly; 610: First fork body; 610a: First receiving groove; 620: Second fork body; 620a: Second receiving groove; 630: Fork carriage; 640: Adjustable distance cylinder; X: First direction; Y: Second direction; Z: Third direction. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0024] In this article, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0025] Please refer to Figure 1 The diagram shows a first-view structural schematic of a fork assembly provided in an exemplary embodiment of this application; please refer to... Figure 2 The diagram shows a second-view structural schematic of a fork assembly provided in an exemplary embodiment of this application; please refer to... Figure 3 The diagram shows an exploded view of a fork assembly from a first perspective, provided in an exemplary embodiment of this application.

[0026] The bottom fork assembly includes a bottom fork assembly 100, a pitch adjustment assembly 200, a first movable support assembly 310, and a second movable support assembly 320. The bottom fork assembly 100 includes a first leg 110 and a second leg 120 spaced apart along a first direction X. The pitch adjustment assembly 200 is connected to the first leg 110 and the second leg 120 on the same side along a second direction Y. The pitch adjustment assembly 200 is used to adjust the distance between the first leg 110 and the second leg 120. The first movable support assembly 310 is connected to the first leg 110 on the other side along the second direction Y. The first movable support assembly 310 is used to support the first leg 110 and move relative to the support surface. The second movable support assembly 320 is connected to the second leg 120 on the other side along the second direction Y. The second movable support assembly 320 is used to support the second leg 120 and move relative to the support surface.

[0027] In the embodiments of this application, the first leg 110 and the second leg 120 of the bottom fork assembly 100 are spaced apart along a first direction X, enabling the bottom fork assembly 100 to bear most of the weight of the goods. Based on this, the pitch adjustment assembly 200 is connected to the first leg 110 and the second leg 120 on the same side along a second direction Y, and the first movable support assembly 310 is connected to the first leg 110 on the other side along the second direction Y, and the second movable support assembly 320 is connected to the second leg 120 on the other side along the second direction Y, allowing the pitch adjustment assembly 200 to cooperate with the first movable support assembly 310 and the second movable support assembly 320. When the pitch adjustment assembly 200 adjusts the distance between the first leg 110 and the second leg 120, the first movable support assembly 310 and the second movable support assembly 320 can move relative to the support surface, thereby smoothly adjusting the distance between the first leg 110 and the second leg 120. This allows the bottom fork device to adapt to various pallets with different socket spacings, improving the versatility of the bottom fork device.

[0028] Specifically, the bottom fork assembly has a first direction X and a second direction Y. The first direction X can be either the length direction or the width direction of the bottom fork assembly, and the second direction Y can be either the length direction or the width direction of the bottom fork assembly. The first direction X and the second direction Y are perpendicular to each other. In addition, the bottom fork assembly also has a third direction Z. The third direction Z can be the height direction of the bottom fork assembly. The third direction Z is perpendicular to the first direction X and the second direction Y.

[0029] The bottom fork assembly includes a bottom fork assembly 100, which is used to bear most of the weight of the goods; the bottom fork assembly 100 includes a first leg 110 and a second leg 120, which together constitute the load-bearing structure of the bottom fork assembly.

[0030] The first leg 110 can be a long strip extending along the second direction Y, or a T-shaped or L-shaped structure extending partially along the second direction Y. On a projection plane perpendicular to the second direction Y, the orthographic projection shape of the portion of the first leg 110 extending along the second direction Y can be rectangular, I-shaped, or channel steel-shaped. The bottom fork device can move at least along the second direction Y.

[0031] The second leg 120 is spaced apart along the first direction X on one side of the first leg 110. The second leg 120 and the first leg 110 can be arranged parallel to each other, or they can be arranged from one side of the second direction Y toward the other side of the second direction Y, either closer to each other or further apart. The structure of the second leg 120 is similar to that of the first leg 110, and the second leg 120 can be understood by referring to the first leg 110, so it will not be described again here.

[0032] The bottom fork assembly also includes a pitch adjustment component 200, which is located on one side of the first outrigger 110 along the second direction Y and is connected to the first outrigger 110; at the same time, the pitch adjustment component 200 is located on the same side of the second outrigger 120 along the second direction Y and is connected to the second outrigger 120; wherein, the connection method between the pitch adjustment component 200 and the first outrigger 110 and the second outrigger 120 can be bolted, welded or hinged, etc.

[0033] The pitch adjustment assembly 200 can be a pneumatic cylinder telescopic assembly, a hydraulic cylinder telescopic assembly, an electric push rod telescopic assembly, a screw and nut transmission mechanism, a gear and rack transmission mechanism, or a linkage adjustment mechanism, etc. The pitch adjustment assembly 200 can adjust its length or position through its own telescopic and transmission actions, thereby adjusting the distance between the first leg 110 and the second leg 120.

[0034] In related technologies, the first leg 110 and the second leg 120 are typically in direct contact with the support surface along the Z-direction, resulting in significant friction between the two legs and the support surface. This makes it difficult for the adjusting assembly 200 to smoothly adjust the distance between the two legs. Therefore, the fork assembly also includes a first movable support assembly 310 and a second movable support assembly 320, both of which can move relative to the support surface. This reduces the friction between the first leg 110 and the second leg 120 and the support surface, or prevents the two legs from directly contacting the support surface, allowing the adjusting assembly 200 to more smoothly adjust the distance between the first leg 110 and the second leg 120.

[0035] The first movable support assembly 310 is used to support the first leg 110 and assist the first leg 110 in moving. The first movable support assembly 310 can be a wheeled bracket, specifically including casters, directional wheels, or Mecanum wheels, etc., to achieve rolling movement. The directional wheels can rotate at a preset angle or within a preset angle range. The first movable support assembly 310 can also be a bracket with ball bearings to achieve rolling movement. The first movable support assembly 310 can also be a retractable support base, specifically a hydraulic telescopic support foot or folding support wheel, etc. The distance adjustment assembly 200 can adjust the distance between the first leg 110 and the second leg 120 when the retractable support base is retracted.

[0036] The first movable support assembly 310 is located on the side of the first leg 110 opposite to the adjusting assembly 200 along the second direction Y. The first movable support assembly 310 is connected to the first leg 110. The connection between the two can be bolted, welded, or detachable snap-fit, etc. The connection between the first movable support assembly 310 and the first leg 110 is firm and does not affect the movable function of the first movable support assembly 310 itself.

[0037] The structure of the second movable support component 320 is similar to that of the first movable support component 310. The second movable support component 320 can be understood with reference to the first movable support component 310, and will not be described again here.

[0038] In one embodiment of this application, please refer to Figure 4 This illustration shows a schematic diagram of an adjustable distance assembly provided in an exemplary embodiment of this application. The adjustable distance assembly 200 includes a first telescopic cylinder 210 and a second telescopic cylinder 220; the first telescopic cylinder 210 includes a first cylinder barrel 211 and a first piston rod 212, one end of the first piston rod 212 is connected to a first support leg 110, and the other end of the first piston rod 212 is slidably engaged with the first cylinder barrel 211 along a first direction X; the second telescopic cylinder 220 includes a second cylinder barrel 221 and a second piston rod 222, one end of the second piston rod 222 is connected to a second support leg 120, and the other end of the second piston rod 222 is slidably engaged with the second cylinder barrel 221 along a first direction X; the first cylinder barrel 211 and the second cylinder barrel 221 are connected.

[0039] In the embodiments of this application, in the adjusting assembly 200, one end of the first piston rod 212 of the first telescopic cylinder 210 is connected to the first support leg 110, and the other end is in sliding engagement with the first cylinder 211 along the first direction X; and one end of the second piston rod 222 of the second telescopic cylinder 220 is connected to the second support leg 120, and the other end is in sliding engagement with the second cylinder 221 along the first direction X. Based on this structure, the first cylinder 211 and the second cylinder 221 are connected to each other, so that when at least one piston rod slides relative to the corresponding cylinder, it can drive the corresponding support leg to move along the first direction X, thereby realizing the adjustment of the distance between the first support leg 110 and the second support leg 120 along the first direction X.

[0040] Specifically, the first telescopic cylinder 210 is a driving component capable of telescopic movement along a straight line. The first telescopic cylinder 210 is used to provide the first support leg 110 with a moving driving force along the first direction X. The first telescopic cylinder 210 can be disposed between the first support leg 110 and the second support leg 120, or disposed on the side of the first support leg 110 away from the second support leg 120 along the first direction X, so that the first telescopic cylinder 210 can telescopically move along the first direction X; the first telescopic cylinder 210 can also be disposed on the side of the first support leg 110 away from the first movable support assembly 310 along the second direction Y, so that the first telescopic cylinder 210 can telescopically move along the second direction Y.

[0041] The first telescopic cylinder 210 can be a hydraulic telescopic cylinder, a pneumatic telescopic cylinder, or an electric telescopic cylinder, etc., and its sliding can be achieved by fluid pressure drive or motor drive. The first telescopic cylinder 210 includes a first cylinder barrel 211 and a first piston rod 212. The first cylinder barrel 211 is a hollow cylindrical structure, used to provide sliding guidance and movement space for the first piston rod 212. One end of the first piston rod 212 is connected to the first support leg 110, and the connection between the two can be bolted or hinged; or, the first telescopic cylinder 210 also includes a first bearing seat 213 disposed on the side of the first piston rod 212 away from the first cylinder barrel 211. The first bearing seat 213 is connected to the first piston rod 212, and a first mounting hole 213a is opened on the first bearing seat 213; accordingly, please refer to Figure 3 The first leg 110 is fitted with a first pin 241 on the side opposite to the first movable support assembly 310. The first pin 241 passes through the first mounting hole 213a, thereby realizing the hinged assembly between the first piston rod 212 and the first leg 110.

[0042] The structure of the second telescopic cylinder 220 is similar to that of the first telescopic cylinder 210, the structure of the second cylinder barrel 221 is similar to that of the first cylinder barrel 211, and the structure of the second piston rod 222 is similar to that of the first piston rod 212. The second telescopic cylinder 220, the second cylinder barrel 221, and the second piston rod 222 can be understood by referring to the first telescopic cylinder 210, the first cylinder barrel 211, and the first piston rod 212, respectively, and will not be elaborated here.

[0043] Meanwhile, the second telescopic cylinder 220 also includes a second bearing seat 223 disposed on the side of the second piston rod 222 away from the second cylinder barrel 221. The second bearing seat 223 is connected to the second piston rod 222, and a second mounting hole 223a is provided on the second bearing seat 223; correspondingly, please refer to Figure 3 The second leg 120 is equipped with a second pin 242 on the side opposite to the second movable support assembly 320. The second pin 242 passes through the second mounting hole 223a, thereby realizing the hinged assembly between the second piston rod 222 and the second leg 120.

[0044] The first cylinder 211 and the second cylinder 221 can be directly fixedly connected, or indirectly connected through mounting parts or fasteners. The connection method can be welding, bolting, or snap-fitting. Alternatively, the first cylinder 211 and the second cylinder 221 can be integrally formed. After the first cylinder 211 and the second cylinder 221 are connected to each other, they form an integral mounting base to ensure that the motion axes of the two telescopic cylinders are relatively fixed, providing a stable structural foundation for adjusting the distance between the two legs.

[0045] Furthermore, adjusting the distance between the first leg 110 and the second leg 120 can be achieved by sliding the first piston rod 212 alone, or by sliding the second piston rod 222 alone, or by sliding both piston rods simultaneously relative to their respective cylinders. Preferably, both piston rods slide simultaneously relative to their respective cylinders. This method allows for smoother movement and more balanced force distribution between the first leg 110 and the second leg 120, making the distance adjustment process more stable and reliable. The sliding amount of the first piston rod 212 relative to the first cylinder 211 and the sliding amount of the second piston rod 222 relative to the second cylinder 221 can be the same or different per unit time. Preferably, the sliding amounts are the same per unit time. In this case, the first leg 110 and the second leg 120 can move closer or further away synchronously at the same speed, ensuring symmetrical and uniform distance adjustment and further improving the stability and controllability of the adjustment process.

[0046] In one embodiment of this application, please refer to Figure 1 and Figure 3 The first cylinder 211 and the second cylinder 221 are both located between the first support leg 110 and the second support leg 120.

[0047] In the embodiments of this application, the first cylinder 211 and the second cylinder 221 are both disposed between the first support leg 110 and the second support leg 120. This arrangement can make full use of the reserved space between the first support leg 110 and the second support leg 120 for cylinder arrangement without occupying additional external space, thereby making the overall structure of the bottom fork device more compact. At the same time, this arrangement can prevent the first cylinder 211 and the second cylinder 221 from protruding outward along the first direction X towards the outside of the two support legs, reducing the risk of movement interference between the cylinder and external components.

[0048] The bottom fork device has an inherent structural feature, namely, the distance between the first leg 110 and the second leg 120 cannot be set too small. This setting can expand the support range of the bottom fork device and improve the overall stability of the stacker forklift during operation. As a result, a reserved space is naturally formed between the first leg 110 and the second leg 120 for arranging the first cylinder 211 and the second cylinder 221.

[0049] In one embodiment of this application, please refer to Figure 5 This illustration shows a schematic diagram of the flow path principle of a directional valve communicating with the inner cavity of a cylinder according to an exemplary embodiment of this application. The pitch adjustment assembly 200 also includes a directional valve 230, which has a first valve port 231a and a second valve port 232a; the first cylinder 211 and the second cylinder 221 are each provided with a rod chamber and a rodless chamber, the first valve port 231a communicates with the two rod chambers, and the second valve port 232a communicates with the two rodless chambers.

[0050] In embodiments of this application, the pitch adjustment assembly 200 further includes a reversing valve 230 having a first valve port 231a and a second valve port 232a, and both the first cylinder 211 and the second cylinder 221 are provided with rod chambers and rodless chambers, with the first valve port 231a communicating with the two rod chambers and the second valve port 232a communicating with the two rodless chambers. Based on this, the first telescopic cylinder 210 and the second telescopic cylinder 220 can be synchronously controlled by a single reversing valve 230, thereby causing the first outrigger 110 and the second outrigger 120 to move closer or further apart, simplifying the control structure and reducing control difficulty.

[0051] Specifically, the pitch adjustment assembly 200 also includes a directional control valve 230. The directional control valve 230 can be located beside the first cylinder 211 and the second cylinder 221, or it can be integrated into the frame of the stacker forklift or within a preset hydraulic control area. The directional control valve 230 can be an electromagnetic directional control valve, an electro-hydraulic directional control valve, or a hydraulic directional control valve, etc. The directional control valve 230 is used to switch fluid pathways to control the extension and retraction directions of the first telescopic cylinder 210 and the second telescopic cylinder 220. Furthermore, when the directional control valve 230 is an electromagnetic proportional directional control valve, the extension and retraction speeds of the piston rod can be further adjusted. The directional control valve 230 has a first valve port 231a and a second valve port 232a, both of which serve as flow channels for fluid to enter and exit the directional control valve 230.

[0052] The first cylinder 211 forms a first cavity, and the first piston rod 212 is disposed in the first cavity, dividing the first cavity into a rod chamber and a rodless chamber. The rod chamber refers to the side of the first cavity occupied by the first piston rod 212, which has a smaller effective flow area; the rodless chamber refers to the side of the first cavity not occupied by the first piston rod 212, which has a larger effective flow area.

[0053] The first cylinder 211 has a first port 211a and a second port 211b. The first port 211a communicates with the rod chamber of the first cylinder 211 and also communicates with the first valve port 231a of the directional valve 230. The second port 211b communicates with the rodless chamber of the first cylinder 211 and also communicates with the second valve port 232a of the directional valve 230. The ports and valve ports can be connected by means of oil pipe connection, connector plug-in connection or pipeline flange connection.

[0054] The structure of the second cylinder 221 is similar to that of the first cylinder 211. The second cylinder 221 also has a rod chamber and a rodless chamber, and includes a third port 221a and a fourth port 221b. The third port 221a communicates with the rod chamber of the second cylinder 221 and also with the first valve port 231a of the directional valve 230. The fourth port 221b communicates with the rodless chamber of the second cylinder 221 and also with the second valve port 232a of the directional valve 230. The second cylinder 221 can be understood with reference to the first cylinder 211, and will not be described further here.

[0055] Furthermore, the bottom fork assembly also includes a locking assembly 240, which is used to maintain the extension length of the first telescopic cylinder 210 and the second telescopic cylinder 220 unchanged when the reversing valve 230 stops supplying oil, thereby locking the relative position of the first outrigger 110 and the second outrigger 120 and preventing accidental displacement of the two outriggers when carrying cargo. Specifically, the locking assembly 240 includes two hydraulically controlled check valves. One end of one hydraulically controlled check valve is simultaneously connected to two rod-side chambers, and the other end is simultaneously connected to the first valve port 231a and the second valve port 232a. The other hydraulically controlled check valve is simultaneously connected to two rodless chambers, and the other end is also simultaneously connected to the first valve port 231a and the second valve port 232a.

[0056] In one embodiment of this application, please refer to Figures 1 to 3 The bottom fork assembly also includes a mounting component 410, which is connected to the first outrigger 110, the second outrigger 120, and the pitch adjustment assembly 200, respectively.

[0057] In the embodiments of this application, the mounting member 410 is connected to the first leg 110, the second leg 120 and the adjusting assembly 200 respectively, which can improve the connection strength between the first leg 110, the second leg 120 and the adjusting assembly 200, thereby improving the accuracy of the distance adjustment between the first leg 110 and the second leg 120.

[0058] Specifically, the bottom fork assembly also includes a mounting component 410, which is used to centrally assemble multiple components. The shape of the mounting component 410 can be plate-shaped, block-shaped, or frame-shaped. The mounting component 410 is connected to the first outrigger 110, the second outrigger 120, and the adjusting assembly 200, respectively, and the connection method can be bolted, welded, or snap-fitted. The mounting component 410 is the main load-bearing component of the bottom fork assembly, and at least part of the load of the bottom fork assembly 100 and the adjusting assembly 200 is transmitted to the mounting component 410. In terms of arrangement, the first outrigger 110, the second outrigger 120, and the adjusting assembly 200 can all be located on the same side of the mounting component 410; or, the first outrigger 110 and the second outrigger 120 can be located on the side of the mounting component 410 along the third direction Z, and the adjusting assembly 200 can be located on the side of the mounting component 410 along the second direction Y.

[0059] In one embodiment of this application, please refer to Figure 3 The mounting component 410 has a receiving cavity 411a, in which the first cylinder 211 and the second cylinder 221 of the adjusting assembly 200 are both received.

[0060] In the embodiments of this application, the first cylinder 211 and the second cylinder 221 are both housed in the receiving cavity 411a of the mounting member 410, which can prevent the cylinders from being directly exposed to the external environment, thereby achieving protection for the first cylinder 211 and the second cylinder 221.

[0061] Specifically, the mounting member 410 has a receiving cavity 411a. The receiving cavity 411a can be a concave cavity structure formed by the inward indentation of a local structure of the mounting member 410, or it can be a through hole structure that penetrates the mounting member 410. The receiving cavity 411a can be opened in the mounting member 410 along the third direction Z or the second direction Y.

[0062] The receiving cavity 411a is used to provide assembly space for the first cylinder 211 and the second cylinder 221. By accommodating both cylinders in the receiving cavity 411a, the cylinders can be prevented from being directly exposed to the external environment, reducing the damage to the cylinders caused by external collisions, thereby achieving protection for the first cylinder 211 and the second cylinder 221.

[0063] Furthermore, the first port 211a, the second port 211b, the third port 221a and the fourth port 221b are all located outside the receiving cavity 411a, which can improve the pipeline assembly efficiency between the above ports and the reversing valve 230.

[0064] In one embodiment of this application, please refer to Figures 1 to 3 The first leg 110 and the second leg 120 extend along the second direction Y.

[0065] In the embodiments of this application, extending the first leg 110 and the second leg 120 along the second direction Y enables the two legs to form a support structure with the same extension direction, thereby making the support posture of the fork device more regular and making the distance adjustment action of the two legs smoother and more stable.

[0066] In one embodiment of this application, please refer to Figure 3 The receiving cavity 411a extends from one side surface of the mounting member 410 along the third direction Z to the other side surface of the mounting member 410 along the third direction Z.

[0067] In the embodiments of this application, the receiving cavity 411a extends from one side surface of the mounting member 410 along the third direction Z to the other side surface of the mounting member 410 along the third direction Z, which can improve the assembly efficiency of the first cylinder 211 and the second cylinder 221.

[0068] In one embodiment of this application, please refer to Figures 1 to 3 The first leg 110 and the second leg 120 extend along the second direction Y; the receiving cavity 411a extends from one side surface of the mounting member 410 along the third direction Z to the other side surface of the mounting member 410 along the third direction Z.

[0069] In the embodiments of this application, the first leg 110 and the second leg 120 extend along the second direction Y, and the receiving cavity 411a extends from one side surface of the mounting member 410 along the third direction Z to the other side surface, so that the structural layout of the mounting member 410, the adjusting assembly 200, and the two legs can be adapted to each other.

[0070] Specifically, in related technologies, the pitch adjustment component 200 is usually located on the side of the mounting component 410 away from the support leg along the second direction Y. However, in this application, since the first support leg 110 and the second support leg 120 extend along the second direction Y, the installation space of the mounting component 410 away from the support leg along the second direction Y is small and crowded, which makes it inconvenient to assemble the pitch adjustment component 200, difficult to arrange the pipeline, and easy for interference and collision to occur between the components.

[0071] Based on this, the receiving cavity 411a extends from one side surface of the mounting member 410 along the third direction Z to the other side surface of the mounting member 410 along the third direction Z, which can avoid the narrow space in the second direction Y, thereby making reasonable use of the mounting space of the mounting member 410 in the third direction Z.

[0072] In one embodiment of this application, please refer to Figure 3 and Figure 4 The bottom fork assembly also includes a fixing member 420; the receiving cavity 411a has an opening 411b on at least one side along the third direction Z, the fixing member 420 is disposed in the opening 411b, and the fixing member 420 is connected to the first cylinder 211, the second cylinder 221 and the mounting member 410 respectively.

[0073] In the embodiments of this application, the fixing member 420 is disposed in the opening 411b at least one side of the receiving cavity 411a along the third direction Z, and the fixing member 420 is connected to the first cylinder 211, the second cylinder 221 and the mounting member 410 respectively. Based on this, the cylinders can be limited and fastened, further improving the installation stability of the first cylinder 211 and the second cylinder 221.

[0074] Specifically, the bottom fork assembly also includes a fixing member 420, which is a connecting member used for locking and limiting. The fixing member 420 can be plate-shaped, block-shaped, or end cap-shaped. The fixing member 420 is located at the opening 411b of the receiving cavity 411a and is connected to the first cylinder 211, the second cylinder 221, and the mounting member 410 respectively. The connection between the fixing member 420 and the mounting member 410 can be bolted, screwed, or pinned. The connection between the fixing member 420 and the first cylinder 211 and the second cylinder 221 can be welded or glued. Alternatively, the fixing member 420 and the mounting member 410 cooperate to press the first cylinder 211 and the second cylinder 221, so that the fixing member 420 and the cylinder are indirectly connected through the mounting member 410.

[0075] The fastener 420 is used to circumferentially fasten the first cylinder 211 and the second cylinder 221 in the receiving cavity 411a, to prevent the cylinder from moving or shifting during operation, and to further improve the installation stability of the cylinder.

[0076] Furthermore, since both the first cylinder 211 and the second cylinder 221 are housed within the receiving cavity 411a, the two side surfaces of the fixing member 420 and the mounting member 410 facing each other along the third direction Z can be tightly fitted, thereby improving the connection strength between the fixing member 420 and the mounting member 410.

[0077] Furthermore, the fasteners 420 can be configured as at least two, with at least two fasteners 420 spaced apart along the first direction X, so as to jointly achieve uniform pressing and reliable limiting of the first cylinder 211 and the second cylinder 221, making the cylinder more evenly stressed and further improving the assembly stability.

[0078] In one embodiment of this application, please refer to Figure 2 and Figure 3 The bottom fork assembly also includes a mounting shaft 430, which is connected to the mounting member 410; a first leg 110 is sleeved on the mounting shaft 430, and the first leg 110 can slide relative to the mounting shaft 430 along the first direction X.

[0079] In the embodiments of this application, the mounting shaft 430 is connected to the mounting member 410, and the first leg 110 is sleeved on the mounting shaft 430 and can slide relative to the mounting shaft 430 in the first direction X, so that the mounting shaft 430 can provide stable guidance for the first leg 110 and facilitate adjustment of the distance between the first leg 110 and the second leg 120.

[0080] Specifically, the fork assembly also includes a mounting shaft 430, which is a guide shaft component. The cross-sectional shape of the mounting shaft 430 perpendicular to the first direction X can be circular, polygonal, or splined, etc. The mounting shaft 430 is fixedly connected to the mounting component 410, and the connection method can be interference fit, bolt fastening, or pin fastening, etc.

[0081] The first leg 110 is sleeved on the outside of the mounting shaft 430, and a sliding fit is formed between the first leg 110 and the mounting shaft 430. The fit can be a clearance fit or a linear bearing fit, etc., so that the first leg 110 can slide smoothly relative to the mounting shaft 430 along the first direction X.

[0082] The mounting shaft 430 is used to provide stable sliding support and linear guidance for the first leg 110, ensuring that the movement trajectory of the first leg 110 does not deviate, thereby facilitating smooth adjustment of the distance between the first leg 110 and the second leg 120.

[0083] In one embodiment of this application, please refer to Figure 2 and Figure 3 The bottom fork assembly also includes a mounting shaft 430, which is connected to the mounting member 410; a second leg 120 is sleeved on the mounting shaft 430, and the second leg 120 can slide relative to the mounting shaft 430 along the first direction X.

[0084] In the embodiments of this application, the mounting shaft 430 is connected to the mounting member 410, and the second leg 120 is sleeved on the mounting shaft 430 and can slide relative to the mounting shaft 430 along the first direction X, so that the mounting shaft 430 can provide stable guidance for the second leg 120, which facilitates the adjustment of the distance between the first leg 110 and the second leg 120.

[0085] Furthermore, the mounting shaft 430 can extend along the first direction X so that the first leg 110 and the second leg 120 are both sleeved on the same mounting shaft 430; or, there can be two mounting shafts 430, which are spaced apart along the first direction X, and the first leg 110 and the second leg 120 are respectively sleeved on the corresponding mounting shaft 430.

[0086] In one embodiment of this application, please refer to Figure 3 There are at least two mounting shafts 430, and the at least two mounting shafts 430 are spaced apart along the second direction Y.

[0087] In the embodiments of this application, at least two mounting shafts 430 are provided, and the at least two mounting shafts 430 are spaced apart along the second direction Y. This enables the at least two mounting shafts 430 to form a multi-point guide support, effectively limiting the deflection and swaying of the outriggers, thereby improving the sliding stability of the outriggers.

[0088] In one embodiment of this application, please refer to Figure 3 The mounting component 410 also has a first mounting cavity 412a and a second mounting cavity 413a spaced apart along the first direction X; the portion of the mounting shaft 430 that is fitted with the first support leg 110 is located in the first mounting cavity 412a, and the portion of the mounting shaft 430 that is fitted with the second support leg 120 is located in the second mounting cavity 413a.

[0089] In the embodiments of this application, a first mounting cavity 412a and a second mounting cavity 413a are provided on the mounting member 410 at intervals along the first direction X, such that the portion of the mounting shaft 430 that is fitted with the first support leg 110 is located in the first mounting cavity 412a, and the portion of the mounting shaft 430 that is fitted with the second support leg 120 is located in the second mounting cavity 413a. This allows the sliding engagement portion of the support leg and the mounting shaft 430 to be housed within the mounting cavity, preventing structural interference when the support leg slides.

[0090] In one embodiment of this application, please refer to Figure 6The diagram shows a first-view structural schematic of a first movable support component provided in an exemplary embodiment of this application; please refer to... Figure 7 The diagram shows a second-view structural schematic of a first movable support component provided in an exemplary embodiment of this application.

[0091] The first movable support assembly 310 and the second movable support assembly 320 each include a roller 301; the roller 301 is connected to the corresponding first support leg 110 or second support leg 120, and the roller 301 can roll in a direction parallel to the extension direction of the support leg or in a direction perpendicular to the extension direction of the support leg.

[0092] In the embodiments of this application, both the first movable support assembly 310 and the second movable support assembly 320 include rolling wheels 301 connected to the corresponding outriggers. Based on this, rolling the rolling wheels 301 in a direction parallel to the outrigger extension direction can drive the entire bottom fork assembly to move, realizing the travel and displacement of the stacker forklift; alternatively, rolling the rolling wheels 301 in a direction perpendicular to the outrigger extension direction can cooperate with the pitch adjustment assembly 200 to improve the efficiency and flexibility of adjusting the distance between the first outrigger 110 and the second outrigger 120, and realize the steering of the bottom fork assembly.

[0093] Specifically, taking the first movable support assembly 310 as an example, the first movable support assembly 310 includes a rolling wheel 301. The rolling wheel 301 can roll in a directional manner or in an omnidirectional manner. The rolling direction of the rolling wheel 301 includes at least a direction parallel to the extension direction of the outrigger and a direction perpendicular to the extension direction of the outrigger. Furthermore, the driving power of the rolling wheel 301 can be selected from an electric motor, a hydraulic motor, or driven by other components of the stacker forklift.

[0094] Furthermore, the first movable support assembly 310 also includes a slewing bearing seat 302, which includes a fixed part and a rotating part that are rotatably engaged with each other. The fixed part is connected to the first support leg 110, and a roller 301 is mounted on the rotating part. The roller 301 can be rotated by the rotation of the rotating part relative to the fixed part.

[0095] Furthermore, the first movable support assembly 310 also includes a drive motor 303 and a steering motor 304. The drive motor 303 is used to drive the rolling wheel 301 to roll, specifically by providing the rolling wheel 301 with walking power through internal gear transmission; the steering motor 304 is used to drive the rolling wheel 301 to turn, specifically by driving the rotating part of the slewing bearing seat 302 to rotate relative to the fixed part, and the rotation angle preferably includes 0° and 90°.

[0096] Furthermore, the first movable support assembly 310 is also provided with a wiring harness (not shown in the figure), and the first leg 110 has a wiring groove (not shown in the figure) inside. The wiring harness is arranged in the wiring groove, which can realize the concealed layout of the wiring harness, avoid interference or wear caused by exposed wiring harness, and thus ensure stable and reliable electrical connection.

[0097] Furthermore, the fork extends in the second direction Y, meaning that the rolling wheel 301 can roll along either the first direction X or the second direction Y.

[0098] The structure of the second movable support component 320 is similar to that of the first movable support component 310. The second movable support component 320 can be understood with reference to the first movable support component 310, and will not be described again here.

[0099] This application also provides a frame assembly, please refer to... Figure 8 The diagram shows a first-view structural schematic of a frame assembly provided in an exemplary embodiment of this application; please refer to... Figure 9 The diagram shows a second-view structural schematic of a frame assembly provided in an exemplary embodiment of this application; please refer to... Figure 10 The diagram shows an exploded view of a frame assembly from a first perspective, provided in an exemplary embodiment of this application.

[0100] The frame assembly includes a main body 500, a fork assembly 600, and a bottom fork assembly as described in the above embodiment; the main body 500 is connected to the fork assembly 600 and the bottom fork assembly respectively, and the fork assembly 600 is located on the side of the bottom fork assembly along the third direction Z.

[0101] In embodiments of this application, the frame assembly includes a bottom fork assembly. In the bottom fork assembly, the first leg 110 and the second leg 120 of the bottom fork assembly 100 are spaced apart along a first direction X, enabling the bottom fork assembly 100 to bear most of the weight of the cargo. Furthermore, an adjustment assembly 200 is connected to the first leg 110 and the second leg 120 on the same side along a second direction Y, and a first movable support assembly 310 is connected to the first leg 110 on the other side along the second direction Y, and a second movable support assembly 320 is connected to the second leg 120 on the other side along the second direction Y, allowing the adjustment assembly 200 to cooperate with the first movable support assembly 310 and the second movable support assembly 320. When the distance between the first leg 110 and the second leg 120 is adjusted by the distance adjustment component 200, the first moving support component 310 and the second moving support component 320 can move relative to the support surface, thereby driving the first leg 110 and the second leg 120 to smoothly adjust the distance between them, so that the bottom fork device can be adapted to various pallets with different hole spacings, thus improving the versatility of the bottom fork device.

[0102] Specifically, the main body 500 of the frame assembly is an integral load-bearing structural component. The main body 500 can be a frame type, plate type, or box type structure, etc. The main body 500 is used to integrate and install the fork assembly 600 and the bottom fork assembly.

[0103] The fork assembly 600 is used to carry goods. The fork assembly 600 is slidably connected to the main body 500. The connection method can be roller sliding connection, slider guide rail connection, or guide sleeve guide connection, etc. The fork assembly 600 can move relative to the main body 500 in a third direction Z. For example, the main body 500 includes an inner mast, an outer mast, a lifting cylinder, and a lifting chain, etc. The fork assembly 600 is nested in the channel steel of the inner mast through composite rollers, and the lifting chain is driven by the lifting cylinder, thereby driving the fork assembly 600 to achieve lifting and lowering actions.

[0104] The bottom fork assembly is fixedly connected to the main body 500, and the connection method can be bolted, welded, or hinged. The fork assembly 600 is located on one side of the bottom fork assembly along the third direction Z. Through the main body 500, the fork assembly 600 and the bottom fork assembly can be arranged vertically along the third direction Z, which not only ensures the normal operation of forklift loading, but also provides stable support, flexible spacing adjustment, and mobility for the frame assembly through the bottom fork assembly, thereby improving the structural integrity and operational applicability of the frame assembly.

[0105] In addition, the distance between the first leg 110 and the second leg 120 in the bottom fork assembly is adjustable, which can broaden the applicable scenarios of the frame assembly and improve its versatility, thereby reducing equipment management costs.

[0106] Furthermore, the bottom fork assembly is detachably connected to the main body 500, allowing it to be disassembled independently when maintenance is required, thus improving the maintenance efficiency of the bottom fork assembly.

[0107] Furthermore, the fork assembly 600 is an adjustable-pitch fork. This adjustable-pitch fork is a forklift-specific attachment, mainly suitable for irregular freight yards and operation scenarios where pallet sizes are not fixed. The fork assembly 600 can adjust the fork spacing through its own hydraulic system or motor drive to adapt to the handling operations of palletized goods of different sizes.

[0108] In one embodiment of this application, please refer to Figures 8 to 12 ,in, Figure 11 This invention provides a schematic diagram of the fork structure of a frame assembly from a first-view perspective, according to an exemplary embodiment of the present application. Figure 12 This illustration shows a structural schematic diagram of a chassis assembly from a third-person perspective, provided in an exemplary embodiment of this application.

[0109] The fork assembly 600 includes a first fork body 610 and a second fork body 620 spaced apart along a first direction X; the first fork body 610 has a first receiving groove 610a on the side facing the first support leg 110 along a third direction Z, and the second fork body 620 has a second receiving groove 620a on the side facing the second support leg 120 along a third direction Z; the frame assembly has a folded state; in the folded state, the first support leg 110 is embedded in the first receiving groove 610a, and the second support leg 120 is embedded in the second receiving groove 620a.

[0110] In the embodiments of this application, by opening a first receiving groove 610a on the side of the first fork 610 facing the first support leg 110 along the third direction Z, and opening a second receiving groove 620a on the side of the second fork 620 facing the second support leg 120 along the third direction Z, the first support leg 110 is embedded in the first receiving groove 610a and the second support leg 120 is embedded in the second receiving groove 620a when the frame assembly is in the folded state. This avoids structural interference between the first fork 610 and the first support leg 110, and between the second fork 620 and the second support leg 120, thereby improving the structural stability of the frame assembly in the folded state.

[0111] Specifically, the fork assembly 600 includes a first fork body 610 and a second fork body 620. Both the first fork body 610 and the second fork body 620 are rod-shaped structural components used to carry goods in the fork assembly 600. The cross-sectional shape of each fork body perpendicular to the second direction Y can be U-shaped, with an open bottom and a hollow middle structure, which can surround the corresponding support leg on three sides to ensure the structural stability after the fork is in place. The first fork body 610 and the second fork body 620 are arranged at intervals along the first direction X, and the distance between them can be flexibly adjusted according to actual operating requirements. Among them, the first fork body 610 corresponds vertically to the first support leg 110 of the bottom fork assembly along the third direction Z, and the second fork body 620 corresponds vertically to the second support leg 120 of the bottom fork assembly along the third direction Z, ensuring that the positions of the fork body and the corresponding support leg are adapted.

[0112] The first fork 610 is provided with a first receiving groove 610a, which is a groove structure formed on the first fork 610 along the third direction Z toward the first support leg 110. The shape of the first receiving groove 610a is adapted to the cross-sectional shape of the first support leg 110. At the same time, the second fork 620 is provided with a second receiving groove 620a, which is a groove structure formed on the second fork 620 along the third direction Z toward the second support leg 120. The shape of the second receiving groove 620a is adapted to the cross-sectional shape of the second support leg 120.

[0113] The frame assembly has a retracted state, which refers to the structural state of the frame assembly when it is not engaged in forklift operations and is idle or being transferred. In the retracted state, the first support leg 110 is fitted into the first receiving groove 610a, and the second support leg 120 is fitted into the second receiving groove 620a, both with a clearance fit. This retracted state can prevent structural interference between the first fork body 610 and the first support leg 110, and between the second fork body 620 and the second support leg 120, while making the structural fit between the fork assembly 600 and the bottom fork assembly more compact, thereby improving the structural stability of the frame assembly in the retracted state.

[0114] Further, please refer to Figure 13 This illustration shows a schematic diagram of a forklift device from a first perspective, provided by an exemplary embodiment of this application. The forklift device 600 also includes a fork carriage 630 and an adjusting cylinder 640. The fork carriage 630 is slidably connected to the main body 500 and can move vertically along a third direction Z. The adjusting cylinder 640 is mounted on the fork carriage 630, and its two ends are respectively connected to a first fork body 610 and a second fork body 620, specifically by means of pin hinge, flange connection, etc. The adjusting cylinder 640 is used to drive the first fork body 610 and the second fork body 620 to move along the first direction X, thereby adjusting the distance between them to adapt to different specifications of goods or pallets.

[0115] Meanwhile, the first fork body 610 and the second fork body 620 are both L-shaped. The part of the fork body extending along the third direction Z is slidably connected to the fork carriage 630, and the part of the fork body extending along the second direction Y is used to carry goods and has a corresponding receiving groove.

[0116] This application also provides a stacker forklift, which includes the bottom fork assembly or frame assembly as described in the above embodiments.

[0117] In the embodiments of this application, the stacker forklift includes a bottom fork assembly. In the bottom fork assembly, the first leg 110 and the second leg 120 of the bottom fork assembly 100 are spaced apart along a first direction X, enabling the bottom fork assembly 100 to bear most of the weight of the goods. Based on this, an adjustment assembly 200 is connected to the first leg 110 and the second leg 120 on the same side along a second direction Y, and a first movable support assembly 310 is connected to the first leg 110 on the other side along the second direction Y, and a second movable support assembly 320 is connected to the second leg 120 on the other side along the second direction Y, so that the adjustment assembly 200 can cooperate with the first movable support assembly 310 and the second movable support assembly 320. When the distance between the first leg 110 and the second leg 120 is adjusted by the distance adjustment component 200, the first moving support component 310 and the second moving support component 320 can move relative to the support surface, thereby driving the first leg 110 and the second leg 120 to smoothly adjust the distance between them, so that the bottom fork device can be adapted to various pallets with different hole spacings, thus improving the versatility of the bottom fork device.

[0118] A stacker forklift is a type of equipment used for handling and loading / unloading goods. Stacker forklifts can be either ordinary forklifts that rely on manual operation or automated guided vehicles (AGVs) that do not require human drivers. Stacker forklifts can move in the second direction, Y.

[0119] This application also provides a stacker forklift control method, wherein the pallet loading method in the stacker forklift control method includes: S1. Control the stacker forklift to travel to the loading area and identify the spacing information of the pallet sockets. The identification of the pallet socket spacing information can be achieved through machine vision technology, radar detection, or radio frequency identification technology (such as electronic tag RFID technology).

[0120] S2. Control the fork assembly to rise in a third direction, so that the forks of the fork assembly are completely separated from the outriggers of the bottom fork assembly.

[0121] After S2 is executed, S3 and S4 are executed. S3 can be executed first and then S4, or S4 can be executed first and then S3, or S3 and S4 can be executed simultaneously. This embodiment of the application does not impose any restrictions.

[0122] S3. Adjust the distance between the first fork and the second fork in the fork assembly until the distance between the first fork and the second fork matches the distance between the pallet insertion holes, and lock the relative position of the first fork and the second fork.

[0123] S4. Control the spacing adjustment component to adjust the distance between the first leg and the second leg until the distance between the first leg and the second leg matches the spacing of the pallet insertion holes; at the same time, control the first moving support component and the second moving support component to move relative to the support surface.

[0124] After S3 and S4 have been executed, S5 will be executed.

[0125] S5. Control the stacker forklift to move towards the pallet until the first and second forks extend into and are accommodated in the pallet's insertion holes, so as to drive the pallet and the goods on it to the unloading area.

[0126] The unloading method for pallets is similar to the loading method, and will not be described in detail here. Based on this, it is possible to transport and unload goods between the loading and unloading areas.

[0127] In the embodiments of this application, the first and second legs of the bottom fork assembly are spaced apart along a first direction, enabling the bottom fork assembly to bear most of the weight of the goods. Furthermore, an adjustment component is connected to the first and second legs on the same side along a second direction, and a first movable support component is connected to the first leg on the other side along the second direction, and a second movable support component is connected to the second leg on the other side along the second direction. This allows the adjustment component to cooperate with the first and second movable support components. When the distance between the first and second legs is adjusted using the adjustment component, the first and second movable support components can move relative to the support surface, thereby smoothly adjusting the distance between the first and second legs. This allows the bottom fork device to adapt to various pallets with different socket spacings, improving the versatility of the bottom fork device.

[0128] Furthermore, the control and adjustment component of S4 adjusts the distance between the first leg and the second leg until the distance between the first leg and the second leg matches the spacing of the pallet socket, including: S41. Control the first piston rod to extend and retract relative to the first cylinder, and the second piston rod to extend and retract relative to the second cylinder, until the distance between the first leg and the second leg matches the distance between the pallet insertion holes.

[0129] And / or, S4 controls the movement of the first movable support assembly and the second movable support assembly relative to the support surface, including: S42. Control the steering motor to drive the rolling wheel to turn until the rolling direction of the rolling wheel is perpendicular to the extension direction of the fork. S43, control the drive motor to provide walking power for the rolling wheels.

[0130] After S41 and / or S43 are executed, S4 also includes: S44. Control the locking assembly to lock the relative positions of the first leg and the second leg.

[0131] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of this application are not limited to the described order of actions, because according to the embodiments of this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of this application.

[0132] This application also provides a stacker forklift control device, which includes: The first driving control module is used to control the stacker forklift to travel to the loading area and to identify the spacing information of the pallet sockets.

[0133] The fork lifting control module is used to control the fork assembly to rise in a third direction, so that the forks of the fork assembly are completely detached from the outriggers of the base fork assembly.

[0134] The fork spacing adjustment module is used to adjust the spacing between the first fork and the second fork in the fork device until the spacing between the first fork and the second fork matches the spacing of the pallet insertion holes, and to lock the relative position of the first fork and the second fork.

[0135] The fork spacing adjustment module is used to control the spacing adjustment component to adjust the spacing between the first leg and the second leg until the spacing between the first leg and the second leg matches the spacing of the pallet insertion holes; at the same time, it controls the first moving support component and the second moving support component to move relative to the support surface.

[0136] The second driving control module is used to control the stacker forklift to move towards the pallet until the first and second forks extend into and are accommodated in the pallet's insertion holes, so as to drive the pallet and the goods on it to the unloading area.

[0137] It should be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional modules when implementing its functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0138] This application also provides a terminal, which includes a processor and a memory; the memory stores at least one instruction, which is executed by the processor to implement the stacker forklift control method as described above.

[0139] A processor may include one or more processing cores. The processor connects various parts of the terminal using various interfaces and lines, and performs various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in memory, and by calling data stored in memory. Optionally, the processor may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor may integrate one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also be implemented separately as a communication chip, without being integrated into the processor.

[0140] The memory may include random access memory (RAM) or read-only memory. Optionally, the memory may include a non-transitory computer-readable storage medium. The memory can be used to store instructions, programs, code, code sets, or instruction sets. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), instructions for implementing the above-described method embodiments, etc. The data storage area may also store data created by the terminal during use.

[0141] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the stacker forklift control method as described above.

[0142] This application also provides a computer program product, wherein at least one instruction is loaded and executed by a processor to implement the stacker forklift control method as described in the above embodiments.

[0143] Those skilled in the art will recognize that the functions described in the embodiments of this application in one or more of the above examples can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transfer of a computer program from one place to another. Storage media can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0144] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A bottom fork device, characterized in that, The bottom fork assembly includes: The bottom fork assembly (100) includes a first leg (110) and a second leg (120) spaced apart along a first direction (X); The distance adjustment assembly (200) is connected to the first support leg (110) and the second support leg (120) on the same side along the second direction (Y); the distance adjustment assembly (200) is used to adjust the distance between the first support leg (110) and the second support leg (120); A first movable support assembly (310) is connected to the first leg (110) on the other side along the second direction (Y); the first movable support assembly (310) is used to support the first leg (110) and to move relative to the support surface; The second movable support assembly (320) is connected to the second leg (120) on the other side along the second direction (Y); the second movable support assembly (320) is used to support the second leg (120) and to move relative to the support surface.

2. The bottom fork device according to claim 1, characterized in that, The adjusting assembly (200) includes a first telescopic cylinder (210) and a second telescopic cylinder (220); The first telescopic cylinder (210) includes a first cylinder (211) and a first piston rod (212). One end of the first piston rod (212) is connected to the first support leg (110), and the other end of the first piston rod (212) is slidably engaged with the first cylinder (211) along the first direction (X). The second telescopic cylinder (220) includes a second cylinder (221) and a second piston rod (222). One end of the second piston rod (222) is connected to the second support leg (120), and the other end of the second piston rod (222) is in sliding engagement with the second cylinder (221) along the first direction (X). The first cylinder (211) is connected to the second cylinder (221).

3. The bottom fork device according to claim 2, characterized in that, The first cylinder (211) and the second cylinder (221) are both disposed between the first support leg (110) and the second support leg (120).

4. The bottom fork device according to claim 2, characterized in that, The pitch control assembly (200) also includes a reversing valve (230) having a first valve port (231a) and a second valve port (232a). The first cylinder (211) and the second cylinder (221) are each provided with a rod chamber and a rodless chamber. The first valve port (231a) is connected to the two rod chambers, and the second valve port (232a) is connected to the two rodless chambers.

5. The bottom fork device according to any one of claims 1-4, characterized in that, The bottom fork assembly also includes a mounting component (410), which is connected to the first outrigger (110), the second outrigger (120), and the pitch adjustment assembly (200), respectively.

6. The bottom fork device according to claim 5, characterized in that, The mounting component (410) has a receiving cavity (411a), in which the first cylinder (211) and the second cylinder (221) of the adjusting assembly (200) are both received.

7. The bottom fork device according to claim 6, characterized in that, The first leg (110) and the second leg (120) extend along the second direction (Y); and / or, The receiving cavity (411a) extends from one side surface of the mounting member (410) along the third direction (Z) to the other side surface of the mounting member (410) along the third direction (Z).

8. The bottom fork device according to claim 6, characterized in that, The bottom fork assembly also includes a fixing element (420); The receiving cavity (411a) has an opening (411b) on at least one side along the third direction (Z), and the fixing member (420) is provided in the opening (411b). The fixing member (420) is connected to the first cylinder (211), the second cylinder (221) and the mounting member (410) respectively.

9. The bottom fork device according to claim 5, characterized in that, The bottom fork assembly also includes a mounting shaft (430) connected to the mounting member (410); The first leg (110) is sleeved on the mounting shaft (430), and the first leg (110) is slidable relative to the mounting shaft (430) along the first direction (X); and / or, The second leg (120) is sleeved on the mounting shaft (430), and the second leg (120) is slidable relative to the mounting shaft (430) along the first direction (X).

10. The bottom fork device according to claim 9, characterized in that, There are at least two mounting shafts (430), and the at least two mounting shafts (430) are spaced apart along the second direction (Y).

11. The bottom fork device according to claim 9, characterized in that, The mounting component (410) also has a first mounting cavity (412a) and a second mounting cavity (413a) spaced apart along the first direction (X); The portion of the mounting shaft (430) that is fitted with the first support leg (110) is located in the first mounting cavity (412a), and the portion of the mounting shaft (430) that is fitted with the second support leg (120) is located in the second mounting cavity (413a).

12. The bottom fork device according to any one of claims 1-4, characterized in that, The first movable support assembly (310) and the second movable support assembly (320) each include a roller (301). The roller (301) is connected to the corresponding first leg (110) or second leg (120), and the roller (301) can roll in a direction parallel to the extension direction of the leg or in a direction perpendicular to the extension direction of the leg.

13. A vehicle frame assembly, characterized in that, It includes a main body (500), a fork assembly (600), and a bottom fork assembly as described in any one of claims 1 to 12; The main body (500) is connected to the fork assembly (600) and the bottom fork assembly respectively, and the fork assembly (600) is located on one side of the bottom fork assembly along the third direction (Z).

14. The frame assembly according to claim 13, characterized in that, The fork assembly (600) includes a first fork (610) and a second fork (620) spaced apart along the first direction (X); The first fork (610) has a first receiving groove (610a) on the side facing the first support leg (110) along the third direction (Z), and the second fork (620) has a second receiving groove (620a) on the side facing the second support leg (120) along the third direction (Z). The frame assembly has a folded state; in the folded state, the first support leg (110) is embedded in the first receiving groove (610a), and the second support leg (120) is embedded in the second receiving groove (620a).

15. A stacker forklift, characterized in that, Includes the bottom fork assembly as described in any one of claims 1 to 12, or includes the frame assembly as described in claim 13 or 14.

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