CN115594118A

CN115594118A - Four-way forklift

Info

Publication number: CN115594118A
Application number: CN202211377931.4A
Authority: CN
Inventors: 齐二鹏; 马赫
Original assignee: Atlas Forklift Hangzhou Co ltd
Current assignee: Atlas Forklift Hangzhou Co ltd
Priority date: 2022-11-04
Filing date: 2022-11-04
Publication date: 2023-01-13

Abstract

The invention relates to a four-way forklift, belonging to the technical field of forklifts, comprising a chassis, a gantry and a forward bracket, wherein the chassis comprises wheels, a frame, a driving system and a transmission system, the driving system comprises a battery and a hydraulic system, the frame comprises two front wheel frames and a rear saddle, the front wheels are arranged at the end parts of the front wheel frames, the rear wheels are arranged in the middle part of the rear saddle, the transmission system comprises a telescopic mechanism, a rear oil cylinder for driving the rear wheels to steer and a left oil cylinder and a right oil cylinder for respectively driving the front wheels to steer, the front wheels and the rear wheels are both connected with the transmission system, the gantry is arranged on the forward bracket, the forward bracket is connected with the frame, and the forward bracket is positioned between the two front wheel frames. The invention can solve the problems of poor transverse stability, incapability of transversely moving, large turning radius, incapability of automatically walking and working, insufficient energy density of an electric forklift, space occupation of a gearbox of an internal combustion engine forklift, noise and tail gas pollution and the like when the forklift forks and picks up and carries overlong cargos in the prior art.

Description

Four-way forklift

Technical Field

The invention belongs to the technical field of forklifts, and particularly relates to a four-way forklift.

Background

The existing common forklift has poor transverse stability when forking overlong goods; the common forklift has higher requirement on the passage for transporting the overlong goods, and needs a plurality of forklifts to be repeatedly matched for turnover, so the safety is low; the length of a common forklift body is large, the turning radius is large, the size of required space is large when goods cannot be transversely moved in a warehouse to be stacked, and the utilization rate of the warehouse is low; the goods taking and placing process is long in time consumption, low in efficiency, manpower-occupied and incapable of self-walking work, and particularly, an electric and gearbox-driven forklift is insufficient in energy density, limited in driving force and required to be provided with a plurality of motors; if the forklift is driven by the engine and the gearbox, the power part occupies a larger space, and the noise and the tail gas pollution are more prominent.

Disclosure of Invention

The invention aims to provide a four-way forklift which can solve the technical problems that in the prior art, when the forklift is used for forking and carrying overlong goods, the transverse stability is poor, the forklift cannot move transversely, the turning radius is large, the forklift cannot move flexibly in a warehouse, the requirement on movement space is large, the forklift cannot walk and work autonomously, the energy density of an electric forklift is insufficient, the space occupied by a gearbox of the internal combustion engine forklift is small, noise and tail gas pollution are caused, and the like; the invention has the advantages of unmanned driving, steering of three wheels of the whole vehicle, small volume, strong load capacity and the like, and can be realized by driving the hydraulic system and configuring the navigation radar.

The technical scheme provided by the invention is as follows: four-way fork truck, including chassis, portal and antedisplacement support, the chassis includes wheel, frame, actuating system and transmission system, actuating system includes battery and hydraulic system, the battery does the hydraulic system power supply, actuating system does transmission system provides power, the frame is "concave" font structure, and the frame includes two preceding wheel carriers and back saddles, preceding wheel is installed to preceding wheel carrier tip, back saddle mid-mounting has the rear wheel, transmission system includes telescopic machanism, drives the rear cylinder that the rear wheel turned to and drives left hydro-cylinder and the right hydro-cylinder that the front wheel turned to respectively, preceding wheel and rear wheel all are connected with transmission system, preceding wheel and rear wheel are in turn to under transmission system's the drive, the portal install in on the antedisplacement support, the antedisplacement support with the connected to frame, the antedisplacement support is located two between the preceding wheel carrier.

Optionally, the front wheel is connected with the front wheel carrier through a front knuckle and a front slewing bearing, the front knuckle is rotatably connected with the left oil cylinder or the right oil cylinder through a front wheel push arm, so that the front knuckle and the front wheel can rotate around the center of the front slewing bearing under the driving of the left oil cylinder or the right oil cylinder, the front wheel and the rear wheel are both connected with an oil motor connected with the hydraulic system, the front wheel and the rear wheel are also connected with a corner measurer and a speed measurer, and the hydraulic system, the corner measurer and the speed measurer are all connected to a control system. The rotation angle measurer is connected to the left oil cylinder, the right oil cylinder or the rear oil cylinder, or the rotation angle measurer is arranged above the front wheels or the rear wheels.

Optionally, the obstacle avoidance radar is installed at the rear side of the four-way forklift, the navigation radar is further installed on the four-way forklift, the obstacle avoidance radar and the navigation radar are all connected with the control system, the rear oil cylinder, the left oil cylinder and the right oil cylinder are all connected with the hydraulic system, and the rear oil cylinder, the left oil cylinder and the right oil cylinder are all connected with the frame in a rotating mode.

Optionally, the forward moving support is connected to the frame through the telescopic mechanism, the front wheel frames include a guide rail and a cover plate arranged from back to front, the forward moving support has a roller, the roller is arranged in the guide rail and can move back and forth along the guide rail, the telescopic mechanism is located between the two front wheel frames, the telescopic mechanism is connected to the forward moving support, and the rear seat is provided with a cockpit and the driving system.

Optionally, the rear wheel is connected with the rear saddle through a rear knuckle and a rear slewing bearing, the rear slewing bearing is arranged above the rear knuckle, the rear knuckle is rotatably connected with the rear oil cylinder through a rear wheel push arm, so that the rear knuckle and the rear wheel can rotate around the center of the rear slewing bearing under the driving of the rear oil cylinder, and the circle center surrounded by the two front wheels and the two rear wheels is the rotation center of the vehicle during rotation.

Optionally, telescopic machanism includes multistage push rod or multistage hydro-cylinder or two-way flexible hydro-cylinder, two-way flexible hydro-cylinder include with two flexible opposite direction's of hydraulic system connection two effect single piston rod pneumatic cylinders, two effect single piston rod pneumatic cylinders adjacent setting side by side, be equipped with the slope hydro-cylinder on the antedisplacement support, the slope hydro-cylinder with the portal rotates and is connected.

Optionally, the corner measurer comprises a linear displacer and a linear displacer pin shaft which are connected with each other, and piston rods of the rear oil cylinder, the left oil cylinder and the right oil cylinder are all connected with the linear displacer pin shaft; the speed measurer comprises an incremental encoder and a second fixing seat which are connected with each other, the incremental encoder is connected with a second coupler, the second coupler is connected with a second transition shaft, transition plates used for being connected with the second transition shaft are arranged on wheels, the second fixing seat is installed on a large fixed plate, and the large fixed plate is connected with the front steering knuckle or the rear steering knuckle respectively.

Optionally, a stator portion of the oil motor is connected to the front steering knuckle or the rear steering knuckle, a rotor portion of the oil motor is connected to the front wheel or the rear wheel, the front wheel carrier has a cavity covered by a cover plate, the left oil cylinder and the right oil cylinder are mounted in the cavity, the front wheel is located below the cover plate, the front slewing bearing is connected to the cover plate, and the front slewing bearing is located between the front steering knuckle and the cover plate.

Optionally, the hydraulic system includes a gear pump and a plunger pump, the gear pump communicates with the rear cylinder, the left cylinder and the right cylinder, and the plunger pump communicates with the oil motor through a motor direction switching valve.

Optionally, the front end of the front wheel frame and the rear end of the rear seat are both provided with guide wheels.

Compared with the prior art, the invention has the following beneficial effects:

(1) Three wheels used by the forklift for walking all have steering functions and are driving wheels driven by an oil motor, so that the forklift can run in four directions, namely front, back, left and right directions, and can rotate in situ around the center of a circle formed by the central points of the three wheels, the requirement on a passage when the forklift forks to take goods is greatly reduced, and the working efficiency and the warehouse utilization rate are improved;

(2) A telescopic mechanism taking a multi-stage push rod or a multi-stage oil cylinder or a bidirectional telescopic oil cylinder and the like as examples is used for driving the portal frame and the forward moving support to move, so that the total length of the vehicle body is minimized on the premise of ensuring the forward and backward moving distance of the portal frame; the double-acting single-piston-rod hydraulic cylinders with opposite extension directions are adjacently arranged side by side to achieve double extension distance, the corresponding installation distance is reduced by half under the condition of the same extension distance,

(3) Three wheels of the forklift are provided with a rotation angle measurer and a speed measurer, so that the walking and steering data of the forklift are read in real time, the control of the whole forklift is more accurate, the operation is more comfortable, and the forklift has the dual functions of unmanned driving and manual driving under the condition of configuring a navigation radar and an obstacle avoidance radar;

(4) The guide wheels are arranged on the front side and the rear side of the vehicle body, so that a driver is assisted to enter a track to operate, the direction of the forklift in the narrow roadway can be automatically corrected by matching with the ground guide rail, and the guide wheels and the obstacle avoidance radar provide double guarantee for avoiding wiping and colliding the vehicle body.

(5) The whole vehicle is driven by a hydrostatic system, so that the size is small, the power is high, and the load capacity is strong; and a control system is arranged, so that a high-grade auxiliary driving function and an unmanned driving mode can be realized, and the working efficiency is greatly improved.

Drawings

FIG. 1 is a perspective view of a four-way forklift truck according to an embodiment of the invention;

FIG. 2 is a side rear perspective view of a four-way forklift truck in accordance with an embodiment of the present invention;

FIG. 3 is a longitudinal cross-sectional view of the four-way forklift mast according to the embodiment of the present invention in a forward position;

FIG. 4 is a schematic structural view of a four-way forklift chassis according to an embodiment of the invention;

FIG. 5 is an exploded view of a velocity measurer in accordance with an embodiment of the present invention.

Reference numerals: 1. a front knuckle; 2. a pin shaft; 3. a left oil cylinder; 4. a front wheel push arm; 5. a front wheel carrier; 6. a rear wheel push arm; 7. a rear oil cylinder; 8. a rear knuckle; 9. a rear slewing bearing; 10. a guide rail; 11. a battery; 12. a front slewing bearing; 13. a guide wheel; 14. a front guide bracket; 15. a guard plate; 16. a cover plate; 17. an oil motor; 18. a right cylinder; 19. a rear guide bracket; 20. obstacle avoidance radar; 21. a navigation radar; 22. a rear seat; 23. advancing the bracket; 24. inclining the oil cylinder; 25. a telescoping mechanism; 30. a gantry; 31. a front wheel; 32. a tire; 33. a rim; 40. a cockpit; 41. a pedal; 42. a cabin door; 50. a drive system; 60. a speed measurer; 61. an incremental encoder; 62. a second fixed seat; 63. fixing the large plate; 64. a second coupling; 65. a second transition shaft; 66. a transition plate; 67. a dust cover; 68. a rear pin shaft 70 and a corner measurer; 71. a linear displacer; 72. and a pin shaft of the linear shifter.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, integrally connected, or detachably connected; either mechanically or electrically, or internally communicating two elements; they may be directly connected or indirectly connected through an intermediate, and those skilled in the art will understand the specific meanings of the above terms according to specific situations.

The four-way forklift shown in fig. 1 to 5 comprises a chassis, a portal frame 30 and a forward moving support 23, wherein the chassis comprises wheels, a frame, a driving system 50 and a transmission system, the wheels comprise two front wheels 31 and one rear wheel, the wheels are composed of a rim 33 and a tire 32 mounted on the rim 33, the diameter and the width of the rear wheel are respectively larger than those of the front wheels 31, the driving system 50 comprises a battery 11 and a hydraulic system, the battery 11 supplies power for electric equipment in a control system, a navigation radar 21, an obstacle avoidance radar 20, a lamp and the hydraulic system, and the driving system 50 provides power for the transmission system; the plane projection of the frame is a concave structure, the frame comprises two front wheel frames 5 and a rear seat 22, the end part of the front wheel frame 5 is provided with a front wheel 31, the middle part of the rear side of the rear seat 22 is provided with a rear wheel, the front wheel frames 5 are preferably symmetrical relative to the middle line of the rear seat 22, and the mounting position of the rear wheel is preferably positioned on the middle line between the two front wheel frames 5; the transmission system comprises a telescopic mechanism 25, a rear oil cylinder 7 driving rear wheels to steer and a left oil cylinder 3 and a right oil cylinder 18 respectively driving front wheels 31 to steer, the rear oil cylinder 7, the left oil cylinder 3 and the right oil cylinder 18 are all connected with a hydraulic system, and the rear oil cylinder 7, the left oil cylinder 3 and the right oil cylinder 18 are all rotationally connected with the frame; the front wheels 31 and the rear wheels are both connected with a transmission system, the front wheels 31 and the rear wheels are driven by the transmission system to turn, the gantry 30 is installed on the forward moving bracket 23, the forward moving bracket 23 is connected with the frame, and the forward moving bracket 23 is positioned between the two front wheel frames 5. The front ends of the two front wheel frames 5 are provided with guide wheels 13, the guide wheels 13 are mounted on a guard plate 15 of the front wheel frames 5 through front guide brackets 14, the left and right sides of the rear end of the rear seat 22 are provided with the guide wheels 13, and the guide wheels 13 are mounted on the rear seat 22 through rear guide brackets 19.

The front wheel 31 is connected with the front wheel carrier 5 through the front knuckle 1 and the front slewing bearing 12, as shown in fig. 1 and 4, the front knuckle 1 main body is in an inverted L shape and comprises a connecting plate and a supporting plate which are approximately perpendicular to each other, the connecting plate is integrally square, an inclined supporting plate is further connected between the horizontally arranged connecting plate and the vertically arranged supporting plate, the front slewing bearing 12 is positioned on the connecting plate, the inclined supporting plate is vertically connected with the supporting plate, an included angle is formed between the inclined supporting plate and the connecting plate, a pin shaft 2 is arranged between the inclined supporting plate and the connecting plate, and the pin shaft 2 is vertically arranged at one corner of the connecting plate close to the inner side of the front wheel carrier; a front wheel push arm 4 is arranged between the front steering knuckle 1 and the left oil cylinder 3 or the right oil cylinder 18, the front wheel push arm 4 is respectively in rotary connection with the front steering knuckle 1 and the left oil cylinder 3 or the right oil cylinder 18 through a front pin shaft 2 and a rear pin shaft 68, so that the front steering knuckle 1 and the front wheel 31 can rotate around the center of the front slewing bearing 12 under the driving of the left oil cylinder 3 or the right oil cylinder 18, as shown in fig. 4, the piston rod of the left oil cylinder 3 or the right oil cylinder 18 is in rotary connection with the front wheel push arm 4 through the pin shaft 2 under the state that the cover plate 16 of the front wheel frame 5 is not shown, and the base of the left oil cylinder 3 or the right oil cylinder 18 is connected with the front wheel frame 5; the front wheels 31 and the rear wheels are both connected with an oil motor 17 connected with a hydraulic system, and the front wheel push arms 4 are pushed or pulled through the telescopic motion of piston rods of the left oil cylinder 3 or the right oil cylinder 18 and the rear oil cylinder 7, so that the front wheels 31 and the rear wheels are driven to steer. The rim 33 of the front wheel 31 is connected with the rotor part of the oil motor 17 through bolts, the oil motor 17 is installed on the support plate of the front steering knuckle 1, the front wheel 31 and the rear wheel are also connected with an angle measurer 70 and a speed measurer 60, and the hydraulic system, the angle measurer 70 and the speed measurer 60 are all connected to the control system.

The obstacle avoidance radar 20 is respectively arranged on the left corner and the right corner of the rear side of the four-way forklift through radar supports, the navigation radar 21 is also arranged at the top of the four-way forklift, the navigation radar 21 is preferably arranged above the cockpit 40 through the radar supports, the operation warning lamp and illuminating lamps facing four directions are also arranged at the top of the cockpit 40, tail lamps are also arranged on the left side and the right side of the rear side of the four-way forklift, the operation warning lamp, the illuminating lamp and the tail lamps belong to vehicle lamps, the battery 11 supplies power, and the obstacle avoidance radar has the functions of safely warning and indicating the operation state and track of the forklift; the obstacle avoidance radar 20 and the navigation radar 21 are both connected with a control system, the control system comprises an operation mode switching module for setting an automatic mode and a manual mode, the operation mode switching module can be switched by an operator, and a corresponding indicator light or indicator symbol for displaying the automatic mode or the manual mode is also arranged in the cockpit 40.

The front moving support 23 is connected with a rear seat 22 of the frame through a telescopic mechanism 25, the front wheel frame 5 comprises a guide rail 10 and a cover plate 16 which are horizontally arranged from back to front, the guide rail 10 is positioned on the inner side of the front wheel frame 5, the guide rail 10 can be made of channel steel, the front moving support 23 is provided with a bottom plate, side plates and rollers positioned on the side plates, the rollers are arranged in the guide rail 10 made of channel steel and can move back and forth along the guide rail 10, the telescopic mechanism 25 is positioned between the two front wheel frames 5, a piston rod of the telescopic mechanism 25 is connected with the side plates of the front moving support 23 through a pin shaft, a cab 40 and a driving system 50 are arranged on the rear seat 22, the cab 40 is positioned on the left side of the rear seat 22, the cab 42 is also positioned on the left side of the forklift, the driving system 50 is positioned on the right side of the rear seat 22, the cab 40 is higher in position and better in view, so that the positions of goods and pallets to be forked can be conveniently observed, and therefore, a pedal 41 is also arranged below one side of the cab 42 of the cab 40 so that an operator can conveniently get on the forklift.

The rear side of the forklift is provided with a space and an open part for the rotation of the rear wheels, the maintenance and the overhaul of the rear wheels are convenient, the rear wheels are connected with a rear seat 22 through a rear steering knuckle 8 and a rear slewing bearing 9, the rear slewing bearing 9 is arranged above the rear steering knuckle 8, the rear seat 22 is provided with a horizontal steel plate connected with the rear slewing bearing 9, as shown in figure 4, a driving system 50 is arranged on the right side of the forklift, a rear oil cylinder 7 driving the rear wheels to steer is arranged on the left side of the forklift, a base of the rear oil cylinder 7 is connected with the rear seat 22 through a rear bracket 6, the base is rotatably connected with the rear bracket 6 through a pin shaft, the rear steering knuckle 8 is rotatably connected with a piston rod of the rear oil cylinder 7, the rear steering knuckle 8 and the rear wheels can rotate around the center of the rear slewing bearing 9 under the driving of the rear oil cylinder 7, a circle formed by encircling the two front wheels 31 and one rear wheel is arranged on a center line between the two front wheel frames 5 or the front wheels 31, the center of the circle when the vehicle rotates, and the whole can rotate around the center of the circle by controlling the front wheels 31 and the rear wheel. If front wheel 31 and rear wheel all rotate 90, because three wheel all has the drive of oily motor 17, then can realize the whole lateral shifting of fork truck, be adapted to narrow space, warehouse utilization ratio is higher, and fork truck operates and controls more freely.

The telescopic mechanism 25 comprises a multi-stage push rod or a multi-stage oil cylinder or a bidirectional telescopic oil cylinder, the bidirectional telescopic oil cylinder comprises two double-acting single-piston-rod hydraulic cylinders which are connected with the hydraulic system and have opposite telescopic directions, and the double-acting single-piston-rod hydraulic cylinders are arranged side by side and adjacently. Two tilting cylinders 24 are rotatably connected to the bottom plate of the forward moving support 23, the two tilting cylinders 24 are symmetrically arranged, piston rods of the tilting cylinders 24 are rotatably connected with the gantry 30, and when the tilting angle of the gantry 30 needs to be changed, the two tilting cylinders 24 simultaneously extend and retract, so that the forward tilting or the backward tilting of the gantry 30 can be realized.

As shown in fig. 4, the rotation angle measuring device 70 includes a linear displacer 71 and a linear displacer pin 72, which are connected to the left cylinder 3 or the right cylinder 18, and the linear displacer pin 72 is connected to the rear end of the piston rod of the left cylinder 3 or the right cylinder 18. The installation mode of the corner measurer of the rear steering knuckle 8 is the same as that of the front wheel, and the front steering knuckle and the rear steering knuckle can drive the shaft of the linear shifter to stretch when rotating, so that data is generated and output to the control system. The cover plate 16 can also be covered with a layer of antiskid steel plate, the antiskid steel plate is preferably a pattern steel plate, the antiskid steel plate can be temporarily placed on the front wheel frame 5 after forking goods, and the antiskid steel plate can increase the friction force; as shown in fig. 5, the speed measurer 60 includes an incremental encoder 61 and a second fixed seat 62 that are connected to each other, the incremental encoder 61 is connected to a second coupler 64, the second coupler 64 is connected to a second transition shaft 65, a transition plate 66 for connecting with the second transition shaft 65 is disposed on a wheel, the second fixed seat 62 is mounted on a large fixed plate 63, the large fixed plate 63 is respectively connected to the front knuckle 1 or the rear knuckle 8, and the mounting manners of the front knuckle 1 and the rear knuckle 8 are the same; the fixed large plate 63 is provided with a circular hole for mounting the second fixed seat 62, after the incremental encoder 61 is mounted in the circular hole, a dustproof cover 67 matched with the circular hole is used for covering the circular hole, and the dustproof cover 67 is bonded, clamped or in threaded connection with the circular hole, so that the incremental encoder 61 is prevented from being damaged due to water splashing, dust, winged insects and the like in the external environment; when the front wheel and the rear wheel rotate, the transition plate drives the shaft of the incremental encoder to rotate, so that data is generated and output to the control system, and feedback control is realized.

In another embodiment, the rotation angle measuring device is arranged above the front wheel or the rear wheel, the rotation angle measuring device comprises an absolute value encoder and a first fixed seat which are connected with each other, the absolute value encoder is connected with a first coupler, the first coupler is connected with a first transition shaft, the first transition shaft is respectively connected with a front steering knuckle or a rear steering knuckle, the absolute value encoder of the rear steering knuckle is mounted in the same way, the first fixed seat is mounted on a cover plate of the front wheel frame, the cover plate is provided with a mounting hole for mounting the first fixed seat and a bolt hole for connecting the front slewing bearing, the mounting hole is blocked by a shielding plate, and the shielding plate also has a certain protection effect on the absolute value encoder; when the front steering knuckle and the rear steering knuckle rotate, the shaft of the absolute value encoder can be driven to rotate, and therefore data are generated and output to the control system.

The stator part of the oil motor 17 is connected with the front steering knuckle 1 or the rear steering knuckle 8, the rotor part of the oil motor 17 is connected with the front wheel 31 or the rear wheel, the front wheel frame 5 is provided with a cavity covered by a cover plate 16, the left oil cylinder 3 and the right oil cylinder 18 are installed in the cavity, the front wheel 31 is positioned below the cover plate 16, the front slewing bearing 12 is connected with the cover plate 16, and the front slewing bearing 12 is positioned between the front steering knuckle 1 and the cover plate 16.

In other embodiments, depending on the designed carrying capacity and application requirements of the forklift, the oil motors may be mounted only on the rear wheels; or an oil motor is mounted on only one of the two front wheels; or one oil motor is respectively arranged on the front wheel and the rear wheel.

The hydraulic system comprises a gear pump and a plunger pump, in order to reduce the number of motors and improve the driving efficiency, the gear pump and the plunger pump are preferably double pumps and are driven by the motors, the gear pump is communicated with the rear oil cylinder 7, the left oil cylinder 3, the right oil cylinder 18 and the inclined oil cylinder 24, and the plunger pump is communicated with the oil motor 17 through a motor direction switching valve.

It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. Four-way fork truck, its characterized in that, including chassis, portal and antedisplacement support, the chassis includes wheel, frame, actuating system and transmission system, actuating system includes battery and hydraulic system, the battery does the hydraulic system power supply, actuating system does transmission system provides power, the frame is "concave" font structure, and the frame includes two preceding wheel carriers and back saddle, preceding wheel is installed to preceding wheel carrier tip, back saddle mid-mounting has the rear wheel, transmission system includes telescopic machanism, drives the rear cylinder that the rear wheel turned to and drives left hydro-cylinder and the right hydro-cylinder that the front wheel turned to respectively, preceding wheel and rear wheel all are connected with transmission system, preceding wheel and rear wheel are in turn to under transmission system's the drive, the portal install in on the antedisplacement support, the antedisplacement support with the frame is connected, the antedisplacement support is located two between the preceding wheel carrier.

2. The four-way forklift according to claim 1, wherein the front wheel is connected with the front wheel carrier through a front steering knuckle and a front slewing bearing, the front steering knuckle is rotatably connected with the left oil cylinder or the right oil cylinder through a front wheel pushing arm, so that the front steering knuckle and the front wheel can rotate around the center of the front slewing bearing under the driving of the left oil cylinder or the right oil cylinder, the front wheel and the rear wheel are both connected with an oil motor connected with the hydraulic system, the front wheel and the rear wheel are also connected with a corner measurer and a speed measurer, and the hydraulic system, the corner measurer and the speed measurer are all connected to a control system.

3. The four-way forklift according to claim 2, wherein an obstacle avoidance radar is installed on the rear side of the four-way forklift, a navigation radar is further installed on the four-way forklift, the obstacle avoidance radar and the navigation radar are both connected with the control system, the rear oil cylinder, the left oil cylinder and the right oil cylinder are all connected with the hydraulic system, and the rear oil cylinder, the left oil cylinder and the right oil cylinder are all connected with the frame in a rotating mode.

4. The four-way forklift according to claim 3, wherein the forward-moving carriage is connected to the frame via the telescopic mechanism, the forward-moving carriages comprise guide rails arranged from back to front, the forward-moving carriage has rollers disposed in the guide rails and movable back and forth along the guide rails, the telescopic mechanism is located between the two forward-moving carriages, the telescopic mechanism is connected to the forward-moving carriage, and a cockpit and the driving system are provided on the rear seat.

5. The four-way forklift according to any one of claims 2 to 4, wherein the rear wheels are connected with the rear saddle through a rear knuckle and a rear slewing bearing, the rear slewing bearing is arranged above the rear knuckle, the rear knuckle is rotatably connected with a rear oil cylinder through a rear wheel pushing arm, so that the rear knuckle and the rear wheels can rotate around the center of the rear slewing bearing under the driving of the rear oil cylinder, and the circle center surrounded by the two front wheels and the rear wheels is the rotation center of the vehicle when the vehicle rotates.

6. The four-way forklift according to claim 5, wherein the telescopic mechanism comprises a multi-stage push rod or a multi-stage oil cylinder or a two-way telescopic oil cylinder, the two-way telescopic oil cylinder comprises two double-acting single-piston-rod hydraulic cylinders which are connected with the hydraulic system and have opposite telescopic directions, the double-acting single-piston-rod hydraulic cylinders are arranged side by side and adjacently, a tilt oil cylinder is arranged on the advancing bracket, and the tilt oil cylinder is rotatably connected with the portal frame.

7. The four-way forklift of claim 5, wherein the rotation angle measurer comprises a linear displacer and a linear displacer pin shaft which are connected with each other, and piston rods of the rear cylinder, the left cylinder and the right cylinder are all connected with the linear displacer pin shaft; the speed measurer comprises an incremental encoder and a second fixing seat which are connected with each other, the incremental encoder is connected with a second coupler, the second coupler is connected with a second transition shaft, transition plates used for being connected with the second transition shaft are arranged on wheels, the second fixing seat is installed on a large fixed plate, and the large fixed plate is connected with the front steering knuckle or the rear steering knuckle respectively.

8. The four-way forklift of claim 5, a stator portion of the oil motor being connected to the front or rear knuckle, a rotor portion of the oil motor being connected to the front or rear wheel, the front wheel carrier having a cavity covered by a cover plate, the left and right cylinders being mounted in the cavity, the front wheel being located below the cover plate, the front slewing bearing being connected to the cover plate, the front slewing bearing being located between the front knuckle and the cover plate.

9. The four-way forklift of claim 5, the hydraulic system comprising a gear pump and a plunger pump, the gear pump communicating the rear cylinder, the left cylinder and the right cylinder, the plunger pump communicating the oil motor through a motor direction switching valve.

10. The four-way forklift according to any one of claims 6 to 9, wherein a front end of the front wheel frame and a rear end of the rear seat are each provided with a guide wheel.