Submerged forklift truck and method of picking up material with the forklift truck

Abstract

The application discloses a latent forklift and a method for picking up materials by using the forklift, and belongs to the technical field of forklifts. In the latent forklift, a forklift body is provided with a containing groove for containing a fork leg, a hanger is movably installed on the forklift body, and a first driving assembly is used for driving the hanger to reciprocate in the horizontal direction. One end of the fork leg is installed on the hanger, and the fork leg can move relative to the hanger in the vertical direction. A limiting piece is installed between the hanger and the fork leg, and the limiting piece is used for regulating the ground clearance of the fork leg. A lifting assembly is installed on the fork leg, and a second driving assembly is used for driving the lifting assembly to drive the fork leg to rise and fall. The latent forklift can solve the problem that the fork leg of the related art latent forklift interferes with the top disc body or the bottom cross beam of a pallet, thereby causing the forklift to be unable to complete the pallet picking work.

Description

Technical Field

[0001] This application belongs to the field of forklift technology, specifically relating to a stealthy forklift and a method for picking up materials. Background Technology

[0002] With continuous improvements in automation and precision, robots such as stealth forklifts are widely used in warehousing and other fields to facilitate the transfer and distribution of goods. During warehousing, products can be stored on pallets, and during the transfer of goods, the stealth forklift can extend its forks under the pallet. After lifting the pallet, the forklift body can lie dormant underneath it to provide support, thereby transporting the pallet and the goods on it together.

[0003] However, in related technologies, the ground clearance of the forks in a forklift is usually a fixed value. The thickness of the top plate and bottom crossbeam of a pallet is usually different due to the influence of parameters such as its material and structure. This may cause the forks of the forklift in the related technology to interfere with each other with the top plate or bottom crossbeam of the pallet, thus making it impossible to complete the pallet picking operation. Summary of the Invention

[0004] The purpose of this application is to provide a stealth forklift and a method for picking up materials therefrom, in order to solve the problem that stealth forklifts in the related art may have interference between the fork legs and the top plate or bottom crossbeam of the pallet, which would prevent the pallet from being picked up.

[0005] In a first aspect, embodiments of this application disclose a stealthy forklift for picking up materials, the materials including a grid pallet. The stealthy forklift includes a chassis, a frame, forks, limiting components, a lifting assembly, a first drive assembly, and a second drive assembly. The vehicle body has a receiving groove for accommodating the fork legs, the bracket is movably mounted on the vehicle body, and the first drive assembly is used to drive the bracket to reciprocate in the horizontal direction. One end of the fork is mounted on the bracket, and the fork can move vertically relative to the bracket. A limiting member is installed between the bracket and the fork, and the limiting member is used to adjust the ground clearance of the fork. The lifting assembly is mounted on the fork leg, and the second drive assembly is used to drive the lifting assembly to raise and lower the fork leg.

[0006] Secondly, embodiments of this application disclose a method for a stealthy forklift to pick up materials as described above, the method comprising: Control the fork legs to extend into the material insertion hole; The second drive component drives the lifting component to lift the fork legs upward, and also lifts the material upward; The material is positioned above the vehicle body; The second drive component drives the lifting component to descend, thereby supporting the material on the vehicle body.

[0007] This application discloses a concealed forklift, wherein the forklift's mounting bracket is movably mounted on the vehicle body. Under the action of a first drive assembly, the mounting bracket can be driven to reciprocate horizontally relative to the vehicle body, thereby causing the forks mounted on the mounting bracket to reciprocate horizontally relative to the vehicle body to achieve the purpose of picking up materials. Simultaneously, a lifting assembly is mounted on the forks. A second drive assembly can drive the lifting assembly to raise the forks. In this case, the lifting assembly can lift the material along with the forks until the space under the forks can accommodate the vehicle body. Furthermore, the concealed forklift's vehicle body is provided with a receiving groove for accommodating the forks. Thus, after the vehicle body is positioned below the material supported on the forks (and the lifting assembly), the second drive assembly can drive the lifting assembly to lower, causing the forks to be retracted into the receiving groove, and the material to be directly supported by the vehicle body, thereby reducing the space occupied by the concealed forklift carrying the material during the transfer process.

[0008] In addition, in the lurking forklift disclosed in this application embodiment, a limiting component is installed between the bracket and the fork legs. The limiting component can adjust the vertical gap between the support surface of the vehicle body and the fork legs. This allows the vertical ground clearance of the fork legs to be adapted to the actual parameters of the material insertion holes, ensuring that the fork legs of the lurking forklift disclosed in this application embodiment can be normally inserted into the insertion holes of materials with different parameters, and achieving the purpose of picking up and transferring materials with different parameters. Appendix Figure caption The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram illustrating the interaction between the lurking forklift and materials as disclosed in an embodiment of this application. Figure 2 This is a top view of the lurking forklift disclosed in the embodiments of this application; Figure 3 This is a side view of the lurking forklift disclosed in an embodiment of this application; Figure 4 This is a partial internal structure diagram of the lurking forklift disclosed in the embodiments of this application; Figure 5 This is a schematic diagram of the partial structure of the stealth forklift disclosed in the embodiments of this application, including the fork legs. Figure 6 for Figure 5 The diagram shown illustrates the structure when the lifting component is in another state. Figure 7 A schematic diagram of a material that works in conjunction with the lurking forklift disclosed in the embodiments of this application; Figure 8 This is a flowchart of the method for a stealthy forklift to pick up materials disclosed in an embodiment of this application; Figure 9 This is a schematic diagram illustrating the process of a stealthy forklift picking up materials as disclosed in an embodiment of this application; Figure 10 This is a schematic diagram illustrating another process of a lurking forklift picking up materials, as disclosed in an embodiment of this application.

[0009] Figure label: 100 - Vehicle body, 110 - Reception tank 200 - Hanger, 210 - Mounting slot 310-Fork leg, 311-Assembly section, 312-Support section, 320-Rolling wheel, 400-Limit component, 500 - Lifting assembly, 510 - First scissor arm, 520 - Second scissor arm, 530 - Third scissor arm, 540 - Fourth scissor arm 600-First Drive Component 700 - Second drive assembly, 710 - Rotary motor, 720 - Lead screw, 731 - First nut, 732 - Second nut, 741 - First connecting rod, 742 - Second connecting rod, 750 - Reducer, 760 - Coupling 900 - Material, 901 - Insertion hole, 910 - Top crossbeam, 920 - Bottom crossbeam. Detailed Implementation

[0010] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0011] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0012] like Figures 1-6 As shown in the illustration, this application discloses a stealth forklift capable of picking up material 900. After picking up the material 900, the stealth forklift can also carry the material 900 for transfer to a suitable location. The material 900 that the stealth forklift can pick up and transfer may include a grid pallet, or other types of pallets. To ensure the stealth forklift can pick up the material 900, the material 900 is provided with an insertion hole 901, allowing the forks 310 of the stealth forklift to extend into the insertion hole 901 and form a corresponding mating relationship with the material 900. Furthermore, the vertical dimension of the insertion hole 901 must be larger than the dimension of the fork leg 310 to ensure that the fork leg 310 can be properly inserted into the insertion hole 901. In addition, there are at least two insertion holes 901 for the material 900 to cooperate with at least two fork legs 310 of the lurking forklift, so as to ensure that the material 900 has relatively high stability in picking up and transferring.

[0013] At the same time, such as Figure 7 As shown, in material 900, the insertion hole 901 is spaced apart from the upper surface of material 900, and the structure between the upper surface of material 900 and the insertion hole 901 can specifically be a top crossbeam 910 of material 900. In a specific material 900, the insertion hole 901 can extend to the lower surface of material 900, that is, the insertion hole 901 of the aforementioned material 900 is an open structure, which does not have a bottom crossbeam 920. Alternatively, in other material 900s, the insertion hole 901 and the lower surface of material 900 are also spaced apart. In this case, the insertion hole 901 of the material 900 is a closed structure, and the top crossbeam 910 of material 900 is provided above the insertion hole 901, and the bottom crossbeam 920 of material 900 is provided below the insertion hole 901.

[0014] Furthermore, the concealed forklift disclosed in this application refers to a forklift whose body 100 has the ability to move under the material 900 being picked up and transferred. Because this type of forklift does not require additional horizontal or vertical space during the transfer of material 900, the required travel and transfer space is relatively small, making the concealed forklift highly effective in narrow aisle warehouse scenarios. Typically, the length and width of the aforementioned travel and transfer space are slightly larger than the length and width of the material 900, respectively.

[0015] like Figures 1-6 As shown in the embodiments of this application, the lurking forklift disclosed includes a vehicle body 100, a bracket 200, fork legs 310, a limiting member 400, a lifting assembly 500, a first drive assembly 600, and a second drive assembly 700. Of course, the lurking forklift may also include other devices and mechanisms, which will not be listed here.

[0016] The vehicle body 100 includes a self-propelled mechanism, which includes wheels and a corresponding drive mechanism. More specifically, the vehicle body 100 may include an Automated Guided Vehicle (AGV), which can move along a corresponding path under the control of humans or programs.

[0017] As described above, the body 100 of the lurking forklift disclosed in this application can move to a position below the material 900 being transported. To this end, in this application, the body 100 has a receiving groove 110 for accommodating the fork legs 310, so that the fork legs 310 can share the same horizontal and vertical space with the body 100. This ensures that when the material 900 is supported on the fork legs 310, the body 100 can still use the receiving groove 110 to retract the fork legs 310 back into the body 100, and that the material 900 is supported above the body 100.

[0018] Specifically, the receiving groove 110 extends to one end of the vehicle body 100 along the driving direction of the first driving assembly 600, which makes the receiving groove 110 have an open structure. At the same time, in the vertical direction, the receiving groove 110 is disposed through the vehicle body 100.

[0019] To ensure relatively high stability in supporting the material 900, the forklift disclosed in this application has at least two forks 310, which are spaced apart in a horizontal direction perpendicular to the extension / retraction direction of the forks 310. Each fork 310 supports a corresponding area of ​​the material 900. Furthermore, each fork 310 can be equipped with a mechanism to provide extension / retraction drive, enabling both forks 310 to extend / retract relative to the vehicle body 100.

[0020] To ensure that each fork leg 310 can move relative to the vehicle body 100 and extend into the corresponding insertion hole 901 in the material 900, in another embodiment of this application, the bracket 200 is movably mounted on the vehicle body 100, and the first drive assembly 600 is used to drive the bracket 200 to reciprocate in the horizontal direction. That is, in this embodiment, the first drive assembly 600 can indirectly achieve the purpose of driving the fork legs 310 to extend relative to the vehicle body 100 by driving the bracket 200. The first drive assembly 600 is the mechanism used to drive the fork legs 310 to perform telescopic movements relative to the vehicle body 100.

[0021] When adopting the embodiments of this application, the telescopic purpose of multiple forks 310 relative to the vehicle body 100 can be achieved by using the same mechanism, thereby reducing the number of devices and mechanisms that provide telescopic driving action, reducing assembly difficulty and overall cost, and improving the synchronization of the telescopic actions of the two forks 310.

[0022] In addition, in this embodiment, the bracket 200 can also provide guidance and limiting for the fork 310, so as to make the vertical movement accuracy of the fork 310 relatively higher during the lifting of the material 900. Optionally, as Figure 1 As shown, the bracket 200 is provided with a mounting groove 210, one end of the fork leg 310 is accommodated in the mounting groove 210, and the fork leg 310 can move relative to the bracket 200 in the vertical direction along the mounting groove 210.

[0023] More specifically, the fork leg 310 can be a straight, flat plate structure. In this case, one end of the fork leg 310 can be slidably installed in the mounting groove 210 of the bracket 200, and the other end of the fork leg 310 extends outward relative to the mounting groove 210 of the bracket 200 to provide a forking action for the material 900. Of course, in other embodiments of this application, the specific shape of the fork leg 310 can also be other forms, which are not limited herein.

[0024] Of course, in this application, in order to prevent the fork 310 from sliding along the mounting groove 210 of the bracket 200 to contact the support surface of the vehicle body 100 (usually the workshop floor, etc.), thereby hindering the normal movement of the vehicle body 100, in the design and manufacturing process of the forklift disclosed in this application embodiment, it is necessary to design the actual parameters such as the distance between the bottom of the mounting groove 210 and the lowest point of the vehicle body 100 (usually the lowest point of the vehicle body 100's wheels), as well as the structure and size of the fork 310, so as to ensure that when the fork 310 slides to the bottom of the mounting groove 210 of the bracket 200 under its own weight, the bottom surface of the fork 310 can still be separated from the support surface of the vehicle body 100 (i.e., the ground), thereby preventing the fork 310 from contacting the ground and hindering the movement of the vehicle body 100.

[0025] As described above, based on the design of the bracket 200 and the fork 310, the fork 310 can be spaced apart from the support surface (i.e., the ground) of the vehicle body 100. This spacing can be referred to as the ground clearance of the fork 310. In related technologies, the ground clearance of the fork 310 is usually a fixed value and cannot be changed after the equipment leaves the factory. Simultaneously, based on the thickness of the fork 310, the size design range of the insertion hole 901 of the material 900 that the forklift can accommodate can be determined. More intuitively, the distance between the upper surface of the insertion hole 901 of the material 900 and the support surface (i.e., the ground) needs to be greater than the distance between the upper surface of the fork 310 and the support surface (i.e., the ground). At the same time, the distance between the lower surface of the insertion hole 901 of the material 900 and the ground (i.e., the distance between the upper surface of the insertion hole 901 of the material 900 and the ground) needs to be greater. Figure 7 The difference between H2 and H1 in the model must be less than the distance between the lower surface of the fork leg 310 and the ground. In this case, after the fork leg 310 moves to the location of the material 900, under the continuous movement of the vehicle body 100 and / or the drive of the first drive assembly 600, the fork leg 310 has the ability to insert into the socket 901, thereby achieving the purpose of picking up the material 900.

[0026] As mentioned above, in the related technology of the lurking forklift, the distance between the fork legs 310 and the supporting surface (i.e. the ground) of the vehicle body 100 is usually a fixed value. However, due to the influence of parameters such as structure and material, the size and setting position of the insertion hole 901 on the material 900 are usually different. This makes the lurking forklift in the related technology usually only compatible with the material 900 with corresponding parameters. Therefore, it is necessary to customize a special model of lurking forklift based on the specific parameters of the material 900 originally used in the warehouse. Alternatively, when the newly purchased standard lurking forklift is not compatible with the original material 900 in the warehouse, it is necessary to replace the material 900 with parameters that are compatible. Both of these will have a significant adverse impact on the ease of use of the lurking forklift and will lead to an increase in the cost of adding lurking forklifts to the warehouse.

[0027] To address the aforementioned issues, as described above, the concealed forklift disclosed in this application includes a limiting member 400, and the limiting member 400 is vertically adjustable to the bracket 200, thereby changing the distance between the top surface of the limiting member 400 and the supporting surface of the vehicle body 100. Based on this, in the concealed forklift disclosed in this application, the fork legs 310 can be supported by the limiting member 400, and the limiting member 400 can be used to adjust the vertical distance between the supporting surface of the vehicle body 100 and the fork legs 310. Therefore, in the application of the concealed forklift disclosed in this application, based on the specific parameters of the insertion hole 901 of the material 900, the relative position between the limiting member 400 and the bracket 200 can be adjusted (or, the specific shape of the limiting member 400 can be adjusted, etc.), to achieve the purpose of changing the distance between the fork legs 310 supported by the limiting member 400 and the supporting surface of the vehicle body 100. In addition, during the design process of the fork leg 310, the part of the bottom surface of the fork leg 310 (i.e. the side surface of the fork leg 310 facing the support surface) located between the brackets 200 is usually flat. Therefore, the minimum distance between the bottom surface of the fork leg 310 and the support surface is the minimum ground clearance of the fork leg 310.

[0028] Therefore, in this application, one end of the fork leg 310 is installed on the bracket 200, and the fork leg 310 can move relative to the bracket 200 in the vertical direction. The limiting member 400 is installed between the bracket 200 and the fork leg 310, and the limiting member 400 is used to adjust the ground clearance of the fork leg 310.

[0029] Of course, in order to ensure that the material 900 can be lifted so that the material 900 can be offset from the vehicle body 100 in the vertical direction, and to provide clearance space for the vehicle body 100 below the material 900 so that the vehicle body 100 can be located below the material 900, in this application, as described above, the lurking forklift includes a lifting assembly 500 and a second drive assembly 700, wherein the lifting assembly 500 is mounted on the fork legs 310, and the second drive assembly 700 is used to drive the lifting assembly 500 to drive the fork legs 310 to rise and fall. Based on this, after the fork 310 rises to a position higher than the upper surface of the vehicle body 100, the space below the fork 310 is sufficient to accommodate the vehicle body 100. Correspondingly, after the vehicle body 100 is below the material 900 (or after the material 900 is above the vehicle body 100), the second drive assembly 700 can lower the lifting assembly and cause the fork 310 to lower the material 900 together, thereby supporting the material 900 on the vehicle body 100.

[0030] This application discloses a stealthy forklift, wherein the bracket 200 of the stealthy forklift is movably mounted on the vehicle body 100, and under the action of the first drive assembly 600, the bracket 200 can be driven to reciprocate in the horizontal direction relative to the vehicle body 100, thereby driving the fork legs 310 mounted on the bracket 200 to reciprocate in the horizontal direction relative to the vehicle body 100, so as to achieve the purpose of picking up materials 900. Meanwhile, the lifting assembly 500 is installed on the fork 310, and the second drive assembly 700 can drive the lifting assembly 500 to lift the fork 310. In this case, the lifting assembly 500 can lift the material 900 along with the fork 310 until the space under the fork 310 can accommodate the vehicle body 100. Furthermore, the vehicle body 100 of the forklift is provided with a receiving groove 110 for accommodating the fork 310. Thus, after the vehicle body 100 is located below the material 900 supported on the fork 310 (and the lifting assembly 500), the second drive assembly 700 can drive the lifting assembly 500 to descend, so that the fork 310 is stored in the receiving groove 110, and the material 900 is directly supported on the vehicle body 100, thereby reducing the space occupied by the forklift carrying the material 900 during the transfer process.

[0031] In addition, in the lurking forklift disclosed in this application embodiment, a limiting member 400 is installed between the bracket 200 and the fork 310. The limiting member 400 can adjust the vertical gap between the support surface of the vehicle body 100 and the fork 310. This allows the vertical ground clearance of the fork 310 to be matched with the actual parameters of the insertion hole 901 of the material 900, ensuring that the fork 310 of the lurking forklift disclosed in this application embodiment can be normally inserted into the insertion hole 901 of the material 900 with different parameters, and achieving the purpose of picking up and transferring materials 900 with different parameters.

[0032] In this application, after the second drive component 700 drives the lifting component 500 and raises the fork 310, optionally, in a specific embodiment, the vehicle body 100 can be directly controlled to actively move in the direction below the material 900, and the vehicle body 100 moves to below the material 900. During this process, the first drive component 600 cooperates with the vehicle body 100. As the vehicle body 100 moves below the material 900, the first drive component 600 can reverse drive the bracket 200 and pull the fork 310 back into the receiving slot 110. In another embodiment of this application, the vehicle body 100 can be kept stationary, and the first drive component 600 can drive the bracket 200, causing the bracket 200 to pull the fork 310 and the material 900 back to the position above the vehicle body 100. This also ensures that the vehicle body 100 is in a "latent" state below the material 900.

[0033] As described above, the lurking forklift disclosed in this application includes a limiting member 400, which is vertically adjustable to the bracket 200 to change the ground clearance of the fork legs 310 supported by the limiting member 400. In a specific embodiment of this application, the limiting member 400 may include a hydraulic cylinder, wherein the cylinder body of the hydraulic cylinder may be installed at the bottom of the mounting groove 210 of the bracket 200. Accordingly, by reciprocating the hydraulic cylinder in the vertical direction and supporting the fork legs 310 on the drive rod of the hydraulic cylinder, the ground clearance of the fork legs 310 can be changed by the drive rod.

[0034] To reduce the overall structural complexity of the forklift, considering that the parameters of materials 900 used in the same warehouse are usually consistent, the adjustment requirements for the ground clearance of the fork legs 310 in one (or batch) of forklifts corresponding to the aforementioned materials 900 are usually fixed and infrequent. Therefore, in another embodiment of this application, the limiting member 400 may include multiple shims. Optionally, the multiple shims may have different dimensions in the vertical direction. Furthermore, the type and quantity of shims installed between the fork legs 310 and the bottom of the mounting groove 210 may be determined based on the specific dimensions of the distance between the top and bottom walls of the insertion hole 901 of the material 900 and the support surface of the vehicle body 100.

[0035] For example, if the bottom wall of the insertion hole 901 of the material 900 has a large clearance from the ground, a relatively large shim in the vertical direction can be placed between the bottom of the mounting groove 210 of the bracket 200 and the fork leg 310 to ensure that the fork leg 310 can be properly inserted into the insertion hole 901 of the material 900. Conversely, if the bottom wall of the insertion hole 901 of the material 900 has a small clearance from the ground, or even zero clearance, a relatively small shim in the vertical direction can be placed between the bottom of the mounting groove 210 of the bracket 200 and the fork leg 310 to ensure that the fork leg 310 can be properly inserted into the insertion hole 901 of the material 900. Of course, if the bottom wall of the insertion hole 901 of the material 900 has a very large clearance from the ground, multiple shims can be placed between the bottom of the mounting groove 210 and the fork leg 310 to ensure that the fork leg 310 can be properly inserted into the insertion hole 901 of the material 900.

[0036] In another embodiment of this application, the limiting member 400 includes multiple shims, each of which has the same thickness. That is, in this embodiment, each shim provides a comparable lifting effect on the ground clearance of the forklift leg 310. This reduces the overall processing difficulty of the shims and lowers the overall cost of the shims equipped on each forklift. Furthermore, this also appropriately reduces the difficulty of adjusting the ground clearance of the forklift leg 310 and improves the adjustment accuracy of the ground clearance.

[0037] Accordingly, when using the above embodiments, the specific number of shims placed between the bottom of the mounting groove 210 and the fork leg 310 can be determined based on the distance between the bottom wall of the insertion hole 901 of the material 900 and the support surface of the vehicle body 100, and the distance between the bottom of the mounting groove 210 and the support surface of the vehicle body 100, so as to ensure that the fork leg 310 can be properly inserted into the insertion hole 901 of the corresponding material 900.

[0038] In this application, where all shims have the same thickness, the specific thickness of each shim can be determined based on the specific working conditions of the forklift. In one specific embodiment, the thickness of each shim can be between 4 and 6 mm. More specifically, in this application, the thickness of each shim is 5 mm.

[0039] As described above, in the lurking forklift disclosed in this application embodiment, the lifting assembly 500 can provide a lifting function for the fork legs 310 and the material 900 located above the fork legs 310. In this application embodiment, the lifting assembly 500 includes a scissor fork assembly to improve the lifting stability of the fork legs 310 and the material 900. Meanwhile, the second drive assembly 700 can include devices with linear drive capability such as hydraulic cylinders or linear motors. By driving one of the scissor arms of the scissor fork assembly to move linearly, the vertical dimension of the scissor fork assembly can be changed accordingly, thereby achieving the purpose of lifting and lowering the fork legs 310.

[0040] In another embodiment of this application, in order to improve the lifting stability of the scissor lift assembly, such as Figure 5 and Figure 6 As shown, the second drive assembly 700 can include a rotary motor 710 and a transmission mechanism. The transmission mechanism includes a lead screw 720 and a nut. The lead screw 720 is drive-connected to the rotary motor 710, and the nut is threadedly connected to the lead screw 720. The nut and the fork leg 310 are relatively fixed in the rotation direction of the lead screw 720. One end of the scissor arm in the scissor fork assembly is connected to the nut. Thus, when the rotary motor 710 is working, the transmission mechanism can drive one end of the scissor arm in the scissor fork assembly to move linearly, thereby enabling the scissor fork assembly to provide lifting or lowering functions. Of course, to further improve the transmission stability between the rotary motor 710 and the transmission mechanism, the second drive assembly 700 can also include a reducer. The rotary motor 710 can be connected to the lead screw 720 through the reducer. More specifically, the reducer and the lead screw 720 can be interconnected through a coupling 760.

[0041] In the above embodiments, the rotary motor 710 can be installed below or above the fork leg 310, and can be fixed to the fork leg 310 by bolts or other connecting parts. Correspondingly, one end of the lead screw 720 in the transmission mechanism can be connected to the output shaft of the rotary motor 710, so that the lead screw 720 can be driven to rotate together during the rotation of the rotary motor 710. The nut and the fork leg 310 can form a rotational limiting fit relationship through a limiting groove or other structure, so that the nut can move linearly relative to the fork leg 310 during the rotation of the lead screw 720. The scissor arm of the scissor fork assembly can be rotatedly connected to the nut by riveting or other means to ensure that the nut can drive the end of the scissor arm that is hinged to the nut to move linearly, so that the scissor arm can rotate relative to the other scissor arm in the scissor fork assembly, and change the vertical dimension of the entire scissor fork assembly to provide lifting or lowering functions.

[0042] In the above embodiments of this application, one scissor arm of the scissor fork assembly is connected to the nut and serves as the active arm. Correspondingly, one end of the other scissor arm in the scissor fork assembly is hinged to the fork leg 310, and the aforementioned other scissor arm also needs to move and cooperate with the fork leg 310 in the driving direction of the first drive assembly 600. Therefore, in this embodiment, corresponding connecting seats can be used to form an assembly relationship between the two scissor arms and the nut and the fork leg 310, respectively. The two scissor arms are hinged to the two connecting seats, one connecting seat is fixedly connected to the nut, and the other connecting seat slides and cooperates with the fork leg 310 in the driving direction of the first drive assembly 600 to ensure that the scissor fork assembly can perform lifting and lowering actions normally.

[0043] In addition, in the above embodiments, after the lifting assembly 500 lifts the material 900 (and the fork 310) above the upper surface of the vehicle body 100, the first drive assembly 600 can pull the fork 310 and the material 900 back above the vehicle body 100. During this process, the lifting assembly 500 always provides a lifting effect for the material 900 (and the fork 310). Based on this, in order to reduce the difficulty of the first drive assembly 600 pulling the material 900 back above the vehicle body 100 and to ensure that the lifting stability of the lifting assembly 500 is always relatively high, in a specific embodiment of this application, the end of the scissor fork assembly away from the fork 310 can be provided with a roller, so that during the process of the first drive assembly 600 pulling back the material 900, a rolling engagement relationship is formed between the lifting assembly 500 and the support surface of the vehicle body 100. In the scissor lift assembly, each scissor lift arm can be provided with one or more rollers at the end away from the fork leg 310. Of course, the rotation axis of each roller is the same, and each roller is in another horizontal direction perpendicular to the driving direction of the first drive assembly 600.

[0044] In the above embodiments, the rotary motor 710 can be installed above or below the fork legs 310. To increase the length and width dimensions of the material 900 that the forklift can carry, or to expand the range of the insertion holes 901 that the fork legs 310 of the forklift can accommodate, thereby increasing the adaptability of the forklift to the material 900, in another embodiment of this application, such as... Figure 1 As shown, in the vertical direction, the rotary motor 710 can be movably mounted on the bracket 200. In this case, the overall size of the fork leg 310 (and other mechanisms mounted on the fork leg 310) in the vertical direction can be reduced, thereby making the size range of the insertion hole 901 that can cooperate with the fork leg 310 relatively larger in the vertical direction. During the insertion and cooperation between the fork leg 310 and the insertion hole 901, almost all of the fork leg 310 in the driving direction of the first drive assembly 600 can be inserted into the insertion hole 901, ensuring that the cooperation stability between the fork leg 310 and the material 900 is relatively high.

[0045] As described above, the bracket 200 is provided with a mounting groove 210, and one end of the fork leg 310 can be movably mounted in the mounting groove 210. Therefore, in this embodiment, the rotary motor 710 can be mounted above the fork leg 310, and the rotary motor 710 is also mounted in the mounting groove 210. This allows the mounting groove 210 to also provide a limiting and guiding function for the rotary motor 710, thereby making the assembly stability between the rotary motor 710 and the bracket 200 relatively high.

[0046] The mounting bracket 200 may have an opening at its top that communicates with the mounting groove 210. The mounting groove 210 also has a narrow opening on its side wall facing (or away from) the forward direction of the vehicle body 100. This narrow opening extends from the opening of the mounting groove 210 to the bottom or near the bottom of the mounting groove 210, ensuring that the portion of the fork leg 310 that slides vertically with the mounting groove 210 and engages with the material 900 can extend out of the mounting groove 210 through the narrow opening. Accordingly, during assembly, the fork leg 310 and the rotary motor 710 can be sequentially installed into the mounting groove 210 through the openings described above. In the horizontal direction, both the fork leg 310 and the rotary motor 710 are engaged with the mounting groove 210.

[0047] In the above embodiments, the number of forks 310 of the lurking forklift can be at least two. Correspondingly, the bracket 200 can also be provided with at least two mounting slots 210. Multiple mounting slots 210 extend vertically, and multiple forks 310 are installed one-to-one within multiple mounting slots 210. Meanwhile, to ensure that each fork 310 can be lifted by the lifting component 500, in this application, the number of lifting components 500 and second drive components 700 is also multiple, and multiple second drive components 700 are connected one-to-one with multiple lifting components 500, and multiple lifting components 500 are installed one-to-one below multiple forks 310. Of course, during the lifting of the material 900, multiple second drive components 700 can be controlled to operate simultaneously through corresponding programs, so that multiple lifting components 500 can simultaneously lift (or lower) the corresponding forks 310, thereby ensuring that the material 900 is stably lifted (and lowered).

[0048] As mentioned above, the fork leg 310 can be a straight flat plate structure. Therefore, during the assembly of the rotary motor 710, the rotary motor 710 and the end of the fork arm installed in the mounting groove 210 can be assembled to improve the driving stability of the rotary motor 710 to the lifting assembly 500 through the transmission mechanism. In other embodiments of this application, the fork leg 310 can also be a zigzag structure, wherein the fork leg 310 includes a fixedly connected assembly section 311 and a support section 312, wherein the assembly section 311 extends vertically and the support section 312 extends horizontally, and the assembly section 311 of the fork leg 310 is movably mounted vertically in the mounting groove 210 of the hanger 200. The lifting assembly 500 and the transmission mechanism can both be mounted below the support section 312 of the fork leg 310, and the rotary motor 710 can be mounted on the assembly section 311 of the fork leg 310 to make the assembly relationship between the rotary motor 710 and the fork leg 310 closer, thereby improving the driving stability of the lifting assembly 500. It should be noted that in the embodiments of this application, the rotary motor 710 can still be considered to be mounted on the hanger 200.

[0049] Furthermore, in the above embodiment, the assembly section 311 of the fork leg 310 can provide a certain degree of protection for the rotary motor 710, so that during the process of the fork leg 310 rising and falling relative to the bracket 200, the assembly section 311 of the fork leg 310 directly contacts the groove wall of the mounting groove 210 of the bracket 200, preventing the rotary motor 710 from being damaged during the lifting and lowering process.

[0050] To further improve the stability of the relative movement between the fork leg 310 and the mounting groove 210, optionally, in the driving direction of the first drive assembly 600, rolling wheels 320 are provided on both sides of the assembly section 311. Based on parameters such as the width of the mounting groove 210, the diameter of each rolling wheel 320 is designed accordingly, so that each rolling wheel 320 rolls with the groove wall of the mounting groove 210. This allows the assembly section 311 to form a smoother moving contact with the groove wall of the mounting groove 210 through the rolling wheels 320 on both sides. On the one hand, this can prevent the assembly section 311 and the rotary motor 710 from directly rubbing against the groove wall of the mounting groove 210. On the other hand, the smoothness of the relative movement between the assembly section 311 and the mounting groove 210 can be improved through the rolling contact.

[0051] Furthermore, multiple rolling wheels 320 spaced vertically on either side of the assembly section 311 can be provided to further improve the overall stability of the fit between the assembly section 311 and the mounting groove 210.

[0052] As described above, the lifting assembly 500 includes a scissor lift assembly, wherein the scissor lift assembly corresponding to one fork leg 310 includes only one set of cooperating scissors. That is, only two hinged scissor arms can be installed below one fork leg 310. In this case, by appropriately increasing the size of the scissor arms in another horizontal direction perpendicular to the driving direction of the first drive assembly 600, the lifting stability of the scissor lift assembly for the fork leg 310 can be improved.

[0053] Of course, in another embodiment of this application, the scissor lift assembly corresponding to one fork leg 310 may include two or more sets of cooperating scissor lifts, wherein each set of scissor lifts includes two hinged scissor arms. At the same time, the multiple scissor lifts may be arranged at intervals along another horizontal direction perpendicular to the driving direction of the first drive assembly 600, which may also improve the lifting stability of the scissor lift assembly for the fork leg 310.

[0054] In addition, in order to prevent the material 900 from tilting or shaking during the lifting process of the lifting assembly 500, in a specific embodiment of this application, the scissor assembly corresponding to one fork leg 310 may include two or more sets of cooperating scissor forks, wherein each set of scissor forks includes two hinged scissor arms, and the multiple scissor forks may be arranged at intervals along the driving direction of the first driving assembly 600.

[0055] It should be noted that the different embodiments described above can be combined with each other. For example, in the scissor lift assembly corresponding to one fork leg 310, at least two scissor lifts can be arranged at intervals along another horizontal direction perpendicular to the driving direction of the first drive assembly 600, and at least two other scissor lifts can be arranged at intervals along the driving direction of the first drive assembly 600. Alternatively, the multiple sets of scissor lifts in the scissor lift assembly corresponding to one fork leg 310 can be arranged in a row and column pattern, which can significantly improve the lifting stability of the lifting assembly 500 for the fork leg 310.

[0056] More specifically, in the embodiments of this application, the scissor arms that cooperate with each other in a set of scissor arms in the lifting assembly 500 can be a first scissor arm 510 and a second scissor arm 520, that is, the scissor assembly includes a first scissor arm 510 and a second scissor arm 520, wherein the first scissor arm 510 and the second scissor arm 520 are hinged. More specifically, the middle parts of the first scissor arm 510 and the second scissor arm 520 can form a hinged relationship through anchoring or other structures.

[0057] In the above embodiment, the nut of the transmission mechanism can be connected only to the first scissor arm 510. Correspondingly, the second scissor arm 520 can slide and hinge with the fork leg 310. This ensures that the nut of the transmission mechanism can drive the second scissor arm 520 to rotate by driving the first scissor arm 510 to move, so that the scissor assembly can normally complete the lifting and lowering work.

[0058] In order to improve the consistency of the movement of the first scissor arm 510 and the second scissor arm 520 in the scissor fork assembly and to improve the lifting and lowering stability of the scissor fork assembly, in another embodiment of this application, the first end of the first scissor arm 510 and the first end of the second scissor arm 520 can be connected to the rotary motor 710 through a transmission mechanism, and during the rotation of the lead screw 720, the first end of the first scissor arm 510 and the first end of the second scissor arm 520 move closer to each other or further away from each other in the horizontal direction.

[0059] Optionally, the transmission mechanism includes a lead screw 720, a first nut 731, and a second nut 732. In the rotation direction of the lead screw 720, both the first nut 731 and the second nut 732 are fixed relative to the fork leg 310. Meanwhile, the lead screw 720 is provided with a first thread and a second thread, and the first thread and the second thread have opposite directions of rotation. Correspondingly, the first nut 731 is connected to the first thread, and the second nut 732 is connected to the second thread.

[0060] When the above technical solution is adopted, when the rotary motor 710 drives the lead screw 720 to rotate, the lead screw 720 can drive the first nut 731 and the second nut 732 to move closer to or further away from each other along the driving direction of the first drive assembly 600 through the first thread and the second thread respectively.

[0061] Meanwhile, based on the above scheme, during the assembly of the scissor lift assembly, the first end of the first scissor lift arm 510 can be connected to the first nut 731, and the first end of the second scissor lift arm 520 can be connected to the second nut 732. Then, during the rotation of the lead screw 720, the first nut 731 and the second nut 732 can drive the first end of the first scissor lift arm 510 and the first end of the second scissor lift arm 520 to move closer or further apart in the horizontal direction, thereby achieving the purpose of driving the scissor lift assembly to perform lifting and lowering actions.

[0062] In the above scheme, the first scissor arm 510 and the second scissor arm 520 of the scissor fork assembly are both active arms, and both are connected to the same drive source. This makes the movement consistency of the first scissor arm 510 and the second scissor arm 520, which are hinged to each other, relatively higher, and also makes the lifting and lowering stability of the scissor fork assembly relatively higher.

[0063] As described above, the multiple sets of scissor forks in the scissor fork assembly can be distributed at intervals along a direction perpendicular to the driving direction of the first driving assembly 600. Based on this, optionally, two sets of scissor forks spaced apart can be provided in a direction perpendicular to the driving direction of the first driving assembly 600. In this case, the first scissor fork arms 510 of each of the two sets of scissor forks can be connected to the first nut 731, and the second scissor fork arms 520 of each of the two sets of scissor forks can be connected to the second nut 732. Thus, the first scissor fork arms 510 and the second scissor fork arms 520 of the aforementioned two sets of scissor forks are both active arms. This can further improve the stability of the lifting assembly 500 in the lifting and lowering process of the fork legs 310.

[0064] In addition, in the above embodiments, the multiple sets of other scissor forks in the scissor fork assembly can be distributed at intervals along the driving direction of the first driving assembly 600, or the multiple sets of scissor forks in the scissor fork assembly can be arranged in a row and column pattern. Based on this, two sets of mutually spaced scissor forks can be provided in the driving direction of the first driving assembly 600. In the embodiments of this application, the transmission mechanism can also include the above-mentioned first nut 731 and second nut 732, and the lead screw 720 is provided with a first thread and a second thread with opposite directions of rotation. Based on this, in the driving direction of the first driving assembly 600, one scissor fork arm of the set of scissor forks that is relatively closer to the bracket 200 can be connected to the first nut 731, and one scissor fork arm of the set of scissor forks that is relatively farther away from the bracket 200 can be connected to the second nut 732. Correspondingly, the other scissor fork arm of each of the two sets of scissor forks can slide and hinge with the fork leg 310 to ensure that both sets of scissor forks can be driven by the rotary motor 710.

[0065] To improve the lifting stability of the two sets of scissor lifts spaced apart along the driving direction of the first drive assembly 600 in the above embodiments, both scissor arms of each of the two sets of scissor lifts can be connected to the transmission mechanism, thereby ensuring that both scissor arms of each of the two sets of scissor lifts are active arms. For example, the dimension of the lead screw 720 in the driving direction of the first drive assembly 600 can be extended, and two sets of first threads and second threads can be provided on the lead screw 720, with the first threads and second threads arranged alternately along the driving direction of the first drive assembly 600. Correspondingly, there can be two of each of the first nut 731 and the second nut 732. The two first nuts 731 are respectively connected to the first scissor arms 510 of the two sets of scissor forks, and the two second nuts 732 are respectively connected to the second scissor arms 520 of the two sets of scissor forks. This ensures that when the rotary motor 710 drives the lead screw to rotate, the two first nuts 731 and the two second nuts 732 can drive the first scissor arms 510 and the second scissor arms 520 of the two sets of scissor forks to move linearly relative to the fork legs 310, thereby improving the stability of the lifting and lowering actions of the two sets of scissor forks.

[0066] In this embodiment, one end of the lead screw 720 is connected to the rotary motor 710. To ensure high stability of the lead screw 720, the other end of the lead screw 720 can be mounted below the fork leg 310 via a structure such as a bearing seat. In the above embodiment, since the lead screw has a large dimension in the driving direction of the first drive assembly 600, this will have an adverse effect on the rotation and driving stability of the lead screw 720.

[0067] Based on this, the extension dimension of the lead screw 720 in the driving direction of the first drive assembly 600 can be shortened. Of course, in order to ensure that the lead screw 720 can still provide driving action for the scissor arms of the two sets of scissor forks spaced apart in the driving direction of the first drive assembly 600, in another embodiment of this application, the transmission mechanism can also include a first connecting rod and a second connecting rod. Of course, in this embodiment, the lead screw used to drive the two sets of scissor forks at the same time is provided with only a first thread and a second thread. Correspondingly, the number of the first nut 731 and the second nut 732 is also one.

[0068] More specifically, taking the two sets of scissor arms spaced apart along the driving direction of the first drive assembly 600, each comprising a first scissor arm 510, a second scissor arm 520, a third scissor arm 530, and a fourth scissor arm 540, as an example, the first scissor arm 510 and the second scissor arm 520 are hinged together, with the first scissor arm 510 connected to the first nut 731 and the second scissor arm 520 connected to the second nut 732. Correspondingly, the third scissor arm 530 and the fourth scissor arm 540 are hinged together, and in the driving direction of the first drive assembly 600, both the third scissor arm 530 and the fourth scissor arm 540 are located on the side of the first scissor arm 510 and the second scissor arm 520 away from the hanger 200. More intuitively, the scissor arm formed by the third scissor arm 530 and the fourth scissor arm 540 is located on the side of the scissor arm formed by the first scissor arm 510 and the second scissor arm 520 away from the hanger 200.

[0069] Optionally, the first end of the third scissor arm 530 and the first end of the fourth scissor arm 540 are connected to the rotary motor 710 via a transmission mechanism. During the rotation of the lead screw 720, the first end of the third scissor arm 530 and the first end of the fourth scissor arm 540 move closer to or further away from each other in the horizontal direction, so that the lifting reliability of the third scissor arm 530 and the fourth scissor arm 540 is relatively higher.

[0070] As described above, the transmission mechanism also includes a first connecting rod and a second connecting rod. The first end of the first connecting rod is connected to the first nut 731, and the second end of the first connecting rod is connected to the first end of the third scissor arm 530. The first end of the second connecting rod is connected to the second nut 732, and the second end of the second connecting rod is connected to the first end of the fourth scissor arm 540. This allows both scissor arms of the other scissor arm (i.e., the third scissor arm 530 and the fourth scissor arm 540) to act as active arms. During the rotation of the lead screw 720, the first ends of the third scissor arm 530 and the fourth scissor arm 540 can move closer to or further away from each other in the horizontal direction, thereby improving the stability of the lifting and lowering actions of the two sets of scissor arms.

[0071] In addition, to improve the translational stability of the first nut 731 and the second nut 732 relative to the fork leg 310, the lurking forklift disclosed in this application embodiment may also include a guide mechanism. The guide mechanism may include a slider and a guide rail. The guide rail extends along the driving direction of the first drive assembly 600 and is fixed below the fork leg 310. The first nut 731 and the second nut 732 can both slide and engage with the guide rail through the slider. Of course, grooves that engage with the guide rail can also be directly provided on the first nut 731 and the second nut 732, so that the first nut 731 and the second nut 732 can form a stable sliding engagement relationship with the guide rail without the need for a slider.

[0072] Based on any of the above embodiments, the hidden forklift, such as Figures 8-10 As shown in the embodiments of this application, a method for a lurking forklift to pick up materials is also disclosed, wherein the method for picking up materials includes: S1. Control the fork legs to extend into the material insertion hole; S2, the second drive component drives the lifting fork of the lifting component to rise, and also lifts the material; S3, Control the material to be located above the vehicle body; S4. The second drive assembly drives the lifting assembly to descend and supports the material on the vehicle body.

[0073] Of course, before performing the above method, the forklift body needs to be moved to the location of the material to ensure that the forks can extend into the material's insertion holes. Accordingly, after the material is supported on the forklift body, the forklift body can move the entire forklift and the material it supports.

[0074] In the process of the fork extending into the material insertion hole, if the fork itself is set to extend outward relative to the vehicle body, the vehicle body can drive the fork to extend into the material insertion hole. Alternatively, if the fork is housed in the receiving groove of the vehicle body, the first drive assembly can drive the fork to extend outward so that the fork extends into the material insertion hole.

[0075] Based on the above, in this embodiment of the application, the controlled material is located above the vehicle body, and may specifically include: Control the movement of the vehicle body relative to the forklifts to position the material above the vehicle body; or... The first drive assembly is controlled to drive the fork legs to move relative to the vehicle body, so as to move the material above the vehicle body.

[0076] That is, in the embodiments of this application, after the lifting assembly lifts the material to a position above the upper surface of the vehicle body via the forks, such as Figure 9 As shown, the vehicle can be moved actively by controlling its body, or, as... Figure 10As shown, by controlling the first drive assembly to pull back the forks, the material can be positioned above the vehicle body, preparing for the vehicle body to support the material. Clearly, these two methods broaden the applicable scenarios for the lurking forklift.

[0077] Of course, the process of releasing materials by the forklift disclosed in this application is similar to the process of picking up materials described above. Specifically, after the vehicle body moves the material to the set position, the second drive component can drive the lifting component to lift the forks again, and lift the material up. Then, the vehicle body is controlled to be outside the material. After that, the second drive component drives the lifting component to descend, and after the material is supported on the bottom surface or other areas of the set position, the forks are controlled to move out of the material insertion hole.

[0078] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0079] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A stealthy forklift for picking up materials (900), characterized in that, The material (900) includes a grid pallet, and the lurking forklift includes a body (100), a frame (200), forks (310), a limiting component (400), a lifting assembly (500), a first drive assembly (600), and a second drive assembly (700), wherein, The vehicle body (100) has a receiving groove (110) for accommodating the fork leg (310), the bracket (200) is movably mounted on the vehicle body (100), and the first drive assembly (600) is used to drive the bracket (200) to reciprocate in the horizontal direction; One end of the fork leg (310) is mounted on the bracket (200), and the fork leg (310) is movable relative to the bracket (200) in the vertical direction. A limiting member (400) is installed between the bracket (200) and the fork leg (310), and the limiting member (400) is used to adjust the ground clearance of the fork leg (310). The lifting assembly (500) is mounted on the fork (310), and the second drive assembly (700) is used to drive the lifting assembly (500) to drive the fork (310) to rise and fall.

2. The stealth forklift according to claim 1, characterized in that, The limiting element (400) includes multiple gaskets.

3. The stealthy forklift according to claim 2, characterized in that, All the gaskets have the same thickness.

4. The stealthy forklift according to claim 1, characterized in that, The lifting assembly (500) includes a scissor lift assembly, and the second drive assembly (700) includes a rotary motor (710) and a transmission mechanism. The transmission mechanism includes a lead screw (720) and a nut. The lead screw (720) is connected to the rotary motor (710) in a transmission connection. The nut is threadedly connected to the lead screw (720), and the nut and the fork leg (310) are fixed relative to each other in the rotation direction of the lead screw (720). One end of the scissor lift arm in the scissor lift assembly is connected to the nut so that when the rotary motor (710) is working, it drives one end of the scissor lift arm in the scissor lift assembly to move linearly.

5. The stealthy forklift according to claim 4, characterized in that, In the vertical direction, the rotary motor (710) is movably mounted on the bracket (200).

6. The stealthy forklift according to claim 4, characterized in that, The fork leg (310) includes a fixedly connected assembly section (311) and a support section (312). The assembly section (311) extends vertically, and the support section (312) extends horizontally. The assembly section (311) is movably mounted on the hanger (200) in the vertical direction. The lifting assembly (500) and the transmission mechanism are both mounted below the support section (312) of the fork leg (310), and the rotary motor (710) is mounted on the assembly section (311) of the fork leg (310).

7. The stealthy forklift according to claim 6, characterized in that, The bracket (200) is provided with a mounting groove (210). In the vertical direction, the assembly section (311) and the rotary motor (710) are both movably mounted in the mounting groove (210).

8. The stealthy forklift according to claim 7, characterized in that, In the driving direction of the first driving component (600), rolling wheels (320) are provided on both sides of the assembly section (311), and each rolling wheel (320) rolls in cooperation with the groove wall of the mounting groove (210).

9. The stealthy forklift according to claim 4, characterized in that, The scissor lift assembly includes a first scissor lift arm (510) and a second scissor lift arm (520), which are hinged together. The first end of the first scissor lift arm (510) and the first end of the second scissor lift arm (520) are both connected to the rotary motor (710) via the transmission mechanism. During the rotation of the lead screw (720), the first end of the first scissor lift arm (510) and the first end of the second scissor lift arm (520) move closer to or further away from each other in the horizontal direction.

10. The stealthy forklift according to claim 9, characterized in that, The transmission mechanism includes a lead screw (720), a first nut (731), and a second nut (732). In the rotation direction of the lead screw (720), the first nut (731) and the second nut (732) are both fixed relative to the fork leg (310). The lead screw (720) is provided with a first thread and a second thread. The first thread and the second thread have opposite directions of rotation. The first nut (731) is connected to the first thread, and the second nut (732) is connected to the second thread. The first end of the first scissor arm (510) is connected to the first nut (731), and the first end of the second scissor arm (520) is connected to the second nut (732).

11. The stealthy forklift according to claim 10, characterized in that, The scissor lift assembly further includes a third scissor lift arm (530) and a fourth scissor lift arm (540), which are hinged together. In the driving direction of the first drive assembly (600), the third scissor lift arm (530) and the fourth scissor lift arm (540) are both located on the side away from the hanger (200) from the first scissor lift arm (510) and the second scissor lift arm (520). The first end of the third scissor lift arm (530) and the first end of the fourth scissor lift arm (540) are connected to the rotary motor (710) through the transmission mechanism. During the rotation of the lead screw (720), the first end of the third scissor lift arm (530) and the first end of the fourth scissor lift arm (540) move closer to each other or further away from each other in the horizontal direction.

12. The stealthy forklift according to claim 11, characterized in that, The transmission mechanism further includes a first connecting rod and a second connecting rod. The first end of the first connecting rod is connected to the first nut (731), and the second end of the first connecting rod is connected to the first end of the third scissor arm (530). The first end of the second connecting rod is connected to the second nut (732), and the second end of the second connecting rod is connected to the first end of the fourth scissor arm (540). During the rotation of the lead screw (720), the first ends of the third scissor arm (530) and the first ends of the fourth scissor arm (540) move closer to or further away from each other in the horizontal direction.

13. A method for a stealthy forklift to pick up materials as described in any one of claims 1-12, characterized in that, The method for picking up materials includes: Control the fork legs to extend into the material insertion hole; The second drive component drives the lifting component to lift the fork legs upward, and also lifts the material upward; The material is positioned above the vehicle body; The second drive component drives the lifting component to descend, thereby supporting the material on the vehicle body.

14. The method for picking up materials with a fork according to claim 13, characterized in that, The control of the material being positioned above the vehicle body includes: Control the vehicle body to move relative to the fork legs so that the material is positioned above the vehicle body; or... The first drive assembly is controlled to drive the fork legs to move relative to the vehicle body, so as to move the material above the vehicle body.

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