Intelligent stacking forklift

Abstract

The utility model belongs to the technical field of intelligent forklift equipment, and discloses an intelligent stacking forklift which comprises a forklift body, a fork arm mechanism, an identification mechanism and a positioning assembly, the fork arm mechanism is movably connected with the forklift body through a connecting frame, and the fork arm mechanism comprises at least one group of fork arm assemblies capable of moving relative to the connecting frame; the identification mechanism comprises a cargo identification assembly for identifying cargo information and a position identification assembly for identifying relative positions of two groups of cargos, the cargo identification assembly is arranged in the fork arm assembly, and the position identification assembly is arranged on one side of the fork arm assembly; the positioning assembly is used for positioning the relative position of the fork arm mechanism and the goods, and when the fork arm mechanism moves towards the goods along with the forklift body to trigger the positioning assembly, the forklift body stops moving. According to the intelligent stacking forklift, accurate identification of goods shelf positions and goods information and one-time loading and unloading operation can be completed, the carrying process is simplified, and the carrying efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of forklift equipment, in particular to an intelligent stacking forklift. Background Art

[0002] Automatic loading and unloading and multi-layer stacking are one of the important technologies of intelligent forklifts in the intelligent warehousing and logistics links. It is a modern logistics handling equipment that inherits artificial intelligence, automatic control, laser navigation and other technologies, and realizes the automation and intelligence of forklift operations. In the future, with the continuous advancement of technology and the expansion of the scope of application, intelligent forklifts will play a greater role and inject new vitality into the development of the logistics industry. Intelligent forklifts have made great contributions to the handling, storage, loading and unloading, replenishment, display, sorting and distribution of raw materials, parts, goods, commodities, etc. in various industries.

[0003] With the increasing automation of various industries, the demand for reducing labor costs and logistics costs is getting higher and higher. Traditional intelligent forklifts can usually only set fixed routes, or adjust the position of the forklift body to align with the fork loading position of the goods. If the route deviates or the forklift body is not aligned with the fork loading position of the goods, it is necessary to reverse and adjust the position before moving forward. In particular, due to the poor flexibility of the overall design of the forklift, when operating in some narrow venues, it is necessary to reverse and move forward repeatedly before finally aligning the fork loading position of the goods, resulting in low loading and unloading efficiency. In addition, this process consumes a lot of manpower and material resources, which has become a major obstacle to improving the efficiency of logistics and distribution processes. Utility Model Content

[0004] The utility model aims to provide an intelligent stacking forklift, which can accurately identify the location and information of goods, perform one-time loading and unloading operations, simplify the handling process, and improve the handling efficiency.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] The utility model provides a stacking intelligent forklift, comprising a forklift body, a fork arm mechanism, an identification mechanism and a positioning assembly, wherein the fork arm mechanism is movably connected to the forklift body through a connecting frame, and the fork arm mechanism comprises at least one group of fork arm assemblies that can move relative to the connecting frame;

[0007] The identification mechanism includes a cargo identification component for identifying cargo information and a position identification component for identifying the relative position of cargo, the cargo identification components are respectively arranged in the fork arm components, and the position identification component is arranged on one side of the fork arm component;

[0008] The positioning assembly is used to locate the relative position of the fork arm mechanism and the cargo. When the fork arm mechanism moves with the forklift body toward the cargo and triggers the positioning assembly, the forklift body stops moving.

[0009] In one embodiment, the fork arm mechanism includes at least two groups of fork arm components arranged at intervals in the horizontal direction, and the position identification component is arranged between two adjacent groups of fork arm components.

[0010] In one embodiment, the connecting frame is provided with an adjustment drive assembly, the adjustment drive assembly includes a first slide rail and a first drive member, the fork arm assembly is slidably connected to the first slide rail, and the first drive member is used to drive the fork arm assembly to slide on the first slide rail.

[0011] In one embodiment, the fork arm assembly includes two fork arm structures, the fork arm structure includes a connecting arm slidably disposed on the first slide rail and a supporting arm for carrying goods, the connecting arm is connected to the supporting arm;

[0012] The cargo identification component is arranged between the two connecting arms, and the cargo identification component slides on the first slide rail along with the fork arm component.

[0013] In one of the embodiments, a position sensor is provided at one end of the support arm away from the connecting arm, and the position sensor is connected to a travel drive mechanism of the forklift body.

[0014] In one of the embodiments, a gravity sensor is provided on the support arm, and the gravity sensor is connected to the first driving member.

[0015] In one embodiment, the positioning assembly includes a travel switch arranged on the fork arm mechanism, the travel switch is connected to the travel drive mechanism of the forklift body, the travel switch is respectively arranged between the two connecting arms, and the travel switch slides on the first slide rail with the fork arm assembly.

[0016] In one embodiment, the travel switch includes a mounting seat, the mounting seat is movably provided with a contact plate, one side of the contact plate is hinged to the mounting seat, and the other side of the contact plate is tilted to a first position in a direction away from the mounting seat, and a reset member is provided on the mounting seat, and the reset member is connected to the contact plate to drive the contact plate to always maintain a tendency to maintain the first position.

[0017] In one embodiment, a monitoring mechanism is further included, and the monitoring mechanism includes a monitoring camera arranged on the top of the forklift body, and the monitoring camera is respectively connected to the travel drive mechanism of the forklift body, the fork arm mechanism, the identification mechanism and the positioning assembly.

[0018] In one embodiment, the forklift body is provided with a lifting drive mechanism, which includes a second slide rail and a second drive member, the connecting frame is slidably connected to the second slide rail through a connecting seat, and the second drive member drives the connecting seat to move up and down on the second slide rail.

[0019] Beneficial effects of the utility model:

[0020] The utility model discloses an intelligent stacking forklift, which enables the forklift body to obtain and confirm the position information of the cargo and the cargo bracket through the position recognition component when the forklift body moves in front of the cargo, so that the fork arm component can be adjusted to move on the connecting frame to align the fork arm component with the fork mounting position of the cargo bracket, thereby realizing the fork mounting operation of the cargo, avoiding repeatedly controlling the forklift body to reverse and move forward to adjust the position of the forklift body for alignment, which is beneficial to reducing the control operation of the forklift body, reducing the investment of manpower and material resources, and also beneficial to improving the fork mounting efficiency.

[0021] After the fork arm assembly is adjusted to the corresponding position to align with the fork-mounting position of the cargo bracket, the forklift body continues to move forward. When the cargo or bracket triggers the positioning assembly, the forklift body stops moving forward, and the cargo identification assembly set on the fork arm assembly identifies the cargo information to confirm the cargo information to avoid the situation of moving the wrong cargo. Finally, the fork arm assembly is driven to lift up the cargo and transport it to the designated location to complete the cargo handling operation. The stacking intelligent forklift of the utility model can complete the identification of the cargo position, adjust the fork arm assembly to align with the fork-mounting position of the cargo bracket according to the cargo position to complete the fork-mounting operation, simplify the handling process, and can identify the cargo position and information separately, so that the fork arm mechanism can directly complete the cargo fork-mounting operation in one step, avoid moving the wrong cargo, and effectively improve the handling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of a stacking intelligent forklift in the utility model;

[0023] Figure 2 It is a side structural schematic diagram of a stacking intelligent forklift in the utility model;

[0024] Figure 3 It is a structural schematic diagram of a stacking intelligent forklift (forklift body omitted) in the utility model;

[0025] Figure 4 yes Figure 3 A schematic diagram of the enlarged structure of the middle part A;

[0026] Figure 5 yes Figure 3 Schematic diagram of the enlarged structure of part B in the middle.

[0027] In the figure:

[0028] 100, forklift body; 110, travel drive mechanism; 120, lifting drive mechanism; 121, second slide rail; 200, fork arm assembly; 210, fork arm structure; 211, connecting arm; 212, supporting arm; 310, cargo identification assembly; 320, position identification assembly; 400, positioning assembly; 410, travel switch; 411, mounting seat; 412, contact plate; 413, reset member; 4131, spring rod; 4132, base; 500, connecting frame; 510, first slide rail; 520, first driving member; 530, protective baffle; 540, connecting seat; 600, position sensor; 700, monitoring camera. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0030] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a wireless signal connection; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0032] In the description of this embodiment, the terms "upper", "lower", "right", etc., are based on the directions or positions shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0033] like Figures 1 to 5 As shown, in this embodiment, a stacking intelligent forklift is provided, including a forklift body 100, a fork arm mechanism, an identification mechanism and a positioning component 400. The fork arm mechanism is movably connected to the forklift body 100 through a connecting frame 500, and the fork arm mechanism includes at least one group of fork arm components 200 that can move relative to the connecting frame 500; the identification mechanism includes a cargo identification component 310 for identifying cargo information and a position identification component 320 for identifying the relative position of the cargo, the cargo identification component 310 is arranged in the fork arm component 200, and the position identification component 320 is arranged on one side of the fork arm component 200; the positioning component 400 is used to locate the relative position of the fork arm mechanism and the cargo, and when the fork arm mechanism moves toward the cargo with the forklift body 100 until the positioning component 400 is triggered, the forklift body 100 stops moving.

[0034] In this embodiment, when the forklift body 100 moves in front of the cargo, the position information of the cargo and the cargo bracket is obtained and confirmed through the position identification component 320, so that the fork arm component 200 can be adjusted to move on the connecting frame 500 to align the fork arm component 200 with the fork loading position of the cargo bracket, thereby realizing the fork loading operation of the cargo, avoiding repeatedly controlling the forklift body 100 to reverse and move forward to adjust the position of the forklift body 100 for alignment, which is beneficial to reducing the control operation of the forklift body 100, reducing the investment of manpower and material resources, and also beneficial to improving the fork loading efficiency.

[0035] After the fork arm assembly 200 is adjusted to the corresponding position to align with the fork loading position of the cargo bracket, the forklift body 100 continues to move forward. When the cargo or bracket triggers the positioning assembly 400, the forklift body 100 stops moving forward. The cargo identification assembly 310 set on the fork arm assembly 200 identifies the cargo information to confirm the cargo information to avoid the situation of moving the wrong cargo. Finally, the fork arm assembly 200 is driven to lift up the cargo and transport it to the designated location to complete the cargo handling operation. The stacking intelligent forklift of the utility model can complete the identification of the cargo position, adjust the fork arm assembly 200 according to the cargo position to align with the fork loading position of the cargo bracket to complete the fork loading operation, simplify the handling process, and can identify the cargo position and information separately, so that the fork arm mechanism can directly complete the cargo fork loading operation in one step, avoid moving the wrong cargo, and effectively improve the handling efficiency.

[0036] In one embodiment, the fork arm mechanism includes at least two groups of fork arm assemblies 200 arranged at intervals in the horizontal direction, and the position identification assembly 320 is arranged between two adjacent groups of the fork arm assemblies 200. Specifically, in this embodiment, two groups of fork arm assemblies 200 are provided, which can realize the synchronous fork loading of two columns of goods. Through the position identification assembly 320, the position of the goods and the distance between the two columns of goods are obtained and confirmed, so as to adjust the movement of the two groups of relatively movable fork arm assemblies 200, so that the two groups of fork arm assemblies 200 correspond to the fork loading positions of the brackets of the two columns of goods respectively, and then the two groups of fork arm assemblies 200 perform synchronous fork loading of the two columns of goods, so as to complete the handling operation of the two columns of goods at one time. Taking this embodiment as an example, the operation of multiple groups of fork arm assemblies 200 greater than two groups is similar, which will not be repeated here.

[0037] In one embodiment, an adjustment drive assembly is provided on the connecting frame 500, and the adjustment drive assembly includes a first slide rail 510 and a first drive member 520. The fork arm assembly 200 is slidably connected to the first slide rail 510. The first drive member 520 is used to drive the fork arm assembly 200 to slide on the first slide rail 510, so as to drive the fork arm assembly 200 to a corresponding fork mounting position according to the position information identified by the position identification assembly 320, thereby ensuring the accuracy and stability of the fork mounting.

[0038] Specifically, in this embodiment, two sets of fork arm assemblies 200 are used, and the first driving member 520 is an adjusting oil cylinder with output at both ends. The adjusting oil cylinder is arranged between the two sets of fork arm assemblies 200, and the output shafts at both ends of the adjusting oil cylinder are respectively connected to the fork arm assemblies 200. The output shafts at both ends of the adjusting oil cylinder respectively drive the two sets of fork arm assemblies 200 to slide on the first slide rail 510 to adjust the distance between the two sets of fork arm assemblies 200. Of course, in other embodiments, other driving components such as cylinders, motors and other structures and devices can also be used, as long as they can drive the two sets of fork arm assemblies 200 to move relative to each other to adjust the distance between the two sets of fork arm assemblies 200, and such designs all belong to the protection scope of the present utility model.

[0039] In one embodiment, the fork arm assembly 200 includes two fork arm structures 210, and the fork arm structure 210 includes a connecting arm 211 slidably disposed on the first slide rail 510 and a support arm 212 for carrying goods, and the connecting arm 211 and the support arm 212 are connected to each other. In this embodiment, the connecting arm 211 and the support arm 212 are connected to form an L-shaped fork arm structure 210. Among them, the cargo identification component 310 is disposed between the two connecting arms 211, and the cargo identification component 310 slides on the first slide rail 510 with the fork arm assembly 200, so that the cargo identification component 310 can accurately identify the cargo information located in the middle of the cargo.

[0040] In one embodiment, a position sensor 600 is provided at one end of the support arm 212 away from the connecting arm 211 to sense whether there is an obstacle in front of the support arm 212, and the position sensor 600 is connected to the travel drive mechanism 110 of the forklift body 100. Specifically, the position sensor 600 used in this embodiment is a photoelectric sensor to prevent the support arm 212 from hitting an obstacle during the movement of the forklift body 100. That is, when the photoelectric sensor on one end of the support arm 212 senses an obstacle in front, the photoelectric sensor transmits the information to the travel drive mechanism 110 of the forklift body 100, and the travel drive mechanism 110 controls the forklift body 100 to stop moving or change the moving direction.

[0041] In one embodiment, a gravity sensor (not shown) is provided on the support arm 212. The gravity sensor is arranged inside the support arm 212 to sense and measure the weight of the cargo placed on the support arm 212. The gravity sensor is connected to the first driving member 520. Specifically, in this embodiment, two sets of fork arm assemblies 200 are used, and the weight information of the cargo is measured by the gravity sensor, and the information is fed back to the first driving member 520. The first driving member 520 controls the movement of the two sets of fork arm assemblies 200 according to the weight information of the two sets of cargo, so that the overall center of gravity of the two sets of cargo is maintained on the central axis of the travel direction of the forklift body 100, thereby ensuring that the forklift body 100 remains stable during the process, which is conducive to preventing the forklift body 100 from deviating to the left or right or even tipping over due to unstable center of gravity, thereby ensuring the safety of the operation.

[0042] In one embodiment, the positioning assembly 400 includes a travel switch 410 disposed on the fork arm mechanism, and the travel switch 410 is connected to the travel drive mechanism 110 of the forklift body 100. Specifically, when the forklift body 100 is performing fork loading operations, it drives the fork arm structure 210 to move so that the support arm 212 is inserted into the bottom of the cargo bracket. During the movement, the cargo, the bracket and the connecting arm 211 approach each other until the bracket touches the travel switch 410, and the travel switch 410 controls the travel drive mechanism 110 to stop driving. In this embodiment, the travel switch 410 is respectively disposed between the two connecting arms 211, and the travel switch 410 slides on the first slide rail 510 with the fork arm assembly 200, which can effectively ensure that when the cargo bracket approaches the connecting arm 211, it can contact the travel switch 410, thereby ensuring accurate positioning.

[0043] In one embodiment, the travel switch 410 includes a mounting seat 411, the mounting seat 411 is movably provided with a contact plate 412, one side of the contact plate 412 is hinged to the mounting seat 411, and the other side of the contact plate 412 is tilted to the first position in the direction away from the mounting seat 411, and a reset member 413 is provided on the mounting seat 411, and the reset member 413 is connected to the contact plate 412 to drive the contact plate 412 to always maintain the trend of the first position. Specifically, when loading goods, the bracket of the goods moves close to the connecting arm 211 to contact the contact plate 412, and pushes the contact plate 412 away from the first position, at which time the travel switch 410 is triggered, and the travel switch 410 transmits a signal to the travel drive mechanism 110 to drive the forklift body 100 to stop moving. When unloading goods, the bracket of the goods is separated from the contact plate 412, and the contact plate 412 is restored to the first position under the action of the reset member 413, and the travel switch 410 is released, which is convenient for the next operation.

[0044] In other embodiments or other applications, the positioning assembly 400 may also adopt other structures such as photoelectric sensors, etc., as long as it can be achieved that when the cargo and the bracket are close to the connecting arm 211, it can be triggered to stop the forklift body 100 from moving forward to prevent accidental touch and collision. Such designs are all within the scope of protection of the present utility model.

[0045] In this embodiment, the reset member 413 is a spring rod 4131, which is connected to the mounting seat 411 through a base 4132. One end of the spring rod 4131 along its elastic direction is arranged on the base 4132, and the other end of the spring rod 4131 along its elastic direction abuts against one side of the contact plate 412 to drive the contact plate 412 to always maintain the first position. Of course, in addition to this embodiment, other reset member 413 structures such as a reset spring, a torsion spring or an electromagnetic reset structure can also be used, as long as the reset operation of the contact plate 412 can be achieved, and such designs all belong to the protection scope of the present utility model.

[0046] In one embodiment, a protective baffle 530 is further provided on the connecting frame 500. The protective baffle 530 is arranged just above the connection between the fork arm assembly 200 and the connecting frame 500 to prevent the cargo above the position bracket from colliding with the forklift body 100 or other parts when the support arm 212 of the fork arm assembly 200 is inserted into the bottom of the cargo bracket, thereby playing a protective role.

[0047] In one embodiment, a monitoring mechanism is further included, and the monitoring mechanism includes a monitoring camera 700 disposed on the top of the forklift body 100, and the monitoring camera 700 is respectively connected to the travel drive mechanism 110, the fork arm mechanism, the identification mechanism and the positioning assembly 400 of the forklift body 100. By setting up the monitoring mechanism, the entire process of the forklift loading operation can be monitored, and being arranged on the top of the forklift body 100 can prevent the monitoring mechanism from being blocked by the goods, and minimize the monitoring blind area.

[0048] When an operation failure occurs, the monitoring mechanism can stop the operation or adjust to the correct operation by transmitting a signal to the travel drive mechanism 110, the fork arm mechanism, the identification mechanism or the positioning component 400 of the forklift body 100. In addition, the automatic driving mode of the forklift body 100 can be realized through the monitoring mechanism, and unmanned fully automatic operation can be performed, which can effectively reduce labor costs and improve operation efficiency.

[0049] Furthermore, in some actual operations, a cloud platform and a cloud database may be established to upload and save the data and information of the forklift operation in real time, so that operators can monitor in real time and conduct traceability inquiries.

[0050] In one embodiment, a lifting drive mechanism 120 is provided on the forklift body 100, and the lifting drive mechanism 120 includes a second slide rail 121 and a second drive member (not shown). The connecting frame 500 is slidably connected to the second slide rail 121 through a connecting seat 540. The second drive member drives the connecting seat 540 to move up and down on the second slide rail 121. The connecting seat 540 drives the connecting frame 500 to slide on the second slide rail 121, so as to drive the fork arm assembly 200 to move up and down on the second slide rail 121, thereby realizing the lifting and lowering of the goods.

[0051] In this embodiment, the above-mentioned cargo identification component 310 is configured as a QR code scanning head, which is used to scan the QR code on the cargo to identify and confirm the cargo information. In other embodiments and practical applications, according to the specific carrier used to record the cargo information, a corresponding cargo identification component 310 such as a barcode scanning head can be used, which all belong to the protection scope of the present utility model.

[0052] In this embodiment, the above-mentioned position identification component 320 is a camera, which is used to take photos of the pallets of cargo pallets, confirm the position of the pallets and the distance between the forks of multiple columns of pallets, so as to facilitate the adjustment of the distance between each group of fork arm components 200, so that each group of fork arm components 200 can accurately correspond to the fork installation position of each column of pallets to achieve one-time fork installation. Of course, in other embodiments and practical applications, cameras of different types and specifications such as smart cameras, infrared cameras, CCD cameras and 3D cameras can be selected according to actual operation requirements, and other identification component structures such as distance sensors can also be used to sense the position of the corresponding pallets through distance sensors to adjust the distance between each group of fork arm components 200. Such designs all belong to the protection scope of the present utility model.

[0053] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the scope of protection of the present invention. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. A stacking intelligent forklift, comprising a forklift body (100), characterized in that: Also includes: A fork arm mechanism, the fork arm mechanism being movably connected to the forklift body (100) via a connecting frame (500), the fork arm mechanism comprising at least one set of fork arm assemblies (200) movable relative to the connecting frame (500); an identification mechanism, the identification mechanism comprising a cargo identification component (310) for identifying cargo information and a position identification component (320) for identifying a relative position of cargo, the cargo identification component (310) being arranged in the fork arm component (200), and the position identification component (320) being arranged on one side of the fork arm component (200); A positioning assembly (400) is used to locate the relative position of the fork arm mechanism and the cargo; when the fork arm mechanism moves toward the cargo along with the forklift body (100) and triggers the positioning assembly (400), the forklift body (100) stops moving.

2. The stacking intelligent forklift according to claim 1, characterized in that: The fork arm mechanism comprises at least two groups of fork arm components (200) arranged at intervals in the horizontal direction, and the position identification component (320) is arranged between two adjacent groups of fork arm components (200).

3. The stacking intelligent forklift according to claim 1, characterized in that: The connecting frame (500) is provided with an adjustment drive assembly, the adjustment drive assembly comprising a first slide rail (510) and a first drive member (520), the fork arm assembly (200) is slidably connected to the first slide rail (510), and the first drive member (520) is used to drive the fork arm assembly (200) to slide on the first slide rail (510).

4. The stacking intelligent forklift according to claim 3, characterized in that: The fork arm assembly (200) comprises two fork arm structures (210), wherein the fork arm structure (210) comprises a connecting arm (211) slidably arranged on the first slide rail (510) and a supporting arm (212) for carrying goods, wherein the connecting arm (211) is connected to the supporting arm (212); The cargo identification component (310) is arranged between the two connecting arms (211), and the cargo identification component (310) slides on the first slide rail (510) along with the fork arm component (200).

5. The stacking intelligent forklift according to claim 4, characterized in that: A position sensor (600) is provided at one end of the support arm (212) away from the connecting arm (211), and the position sensor (600) is connected to the travel drive mechanism (110) of the forklift body (100).

6. The stacking intelligent forklift according to claim 4, characterized in that: The support arm (212) is provided with a gravity sensor, and the gravity sensor is connected to the first driving member (520).

7. The intelligent stacking forklift according to claim 4, characterized in that: The positioning assembly (400) comprises a travel switch (410) arranged on the fork arm mechanism, the travel switch (410) is connected to the travel drive mechanism (110) of the forklift body (100), the travel switch (410) is respectively arranged between the two connecting arms (211), and the travel switch (410) slides on the first slide rail (510) along with the fork arm assembly (200).

8. The stacking intelligent forklift according to claim 7, characterized in that: The travel switch (410) comprises a mounting seat (411), the mounting seat (411) being movably provided with a contact plate (412), one side of the contact plate (412) being hinged to the mounting seat (411), the other side of the contact plate (412) being tilted to a first position in a direction away from the mounting seat (411), and a reset component (413) being provided on the mounting seat (411), the reset component (413) being connected to the contact plate (412) so as to drive the contact plate (412) to always maintain a tendency to maintain the first position.

9. The intelligent stacking forklift according to any one of claims 1 to 7, characterized in that: It also includes a monitoring mechanism, which includes a monitoring camera (700) arranged on the top of the forklift body (100), and the monitoring camera (700) is respectively connected to the travel drive mechanism (110) of the forklift body (100), the fork arm mechanism, the identification mechanism and the positioning assembly (400).

10. The intelligent stacking forklift according to any one of claims 1 to 7, characterized in that: The forklift body (100) is provided with a lifting drive mechanism (120), the lifting drive mechanism (120) comprising a second slide rail (121) and a second drive member, the connecting frame (500) is slidably connected to the second slide rail (121) via a connecting seat (540), and the second drive member drives the connecting seat (540) to move up and down on the second slide rail (121).

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