CN110790190A - Automatic forklift collecting method and device - Google Patents
Automatic forklift collecting method and deviceDownload PDFInfo
- Publication number
- CN110790190A CN110790190ACN201910950895.8ACN201910950895ACN110790190ACN 110790190 ACN110790190 ACN 110790190ACN 201910950895 ACN201910950895 ACN 201910950895ACN 110790190 ACN110790190 ACN 110790190A
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- forklift
- fork
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- 238000000034methodMethods0.000titleclaimsabstractdescription25
- 230000003993interactionEffects0.000claimsdescription6
- 238000011897real-time detectionMethods0.000abstract1
- 238000001514detection methodMethods0.000description2
- 230000009286beneficial effectEffects0.000description1
- 230000005540biological transmissionEffects0.000description1
- 238000005259measurementMethods0.000description1
- 230000008054signal transmissionEffects0.000description1
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Classifications
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Description
Technical Field
The invention relates to the technical field of forklift collection, in particular to an automatic forklift collection method and an automatic forklift collection device.
Background
The fork truck should be adjusted fork and portal to safe state after using and accomplishing: the fork is dropped to a low position, the inclination angle of the portal frame is adjusted to a proper position (different products are slightly different), and the position and the distance of the fork are adjusted to a proper position.
The operator need control the fork respectively and rise or descend, the portal leans forward or the action of heeling back, the fork side is moved, roll adjustment etc. and to the operation unskilled operator carry out above operation need spend the certain time and not can reach the ideal state of receiving a car certainly, and along with the continuous development of fork truck trade, portal part function can be more and more, operates through manual type alone this moment again, loaded down with trivial details and inaccurate, manual operation, consuming time power.
Disclosure of Invention
The invention aims to provide an automatic forklift collecting method to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an automatic forklift collecting method comprises the following steps
Step 1, starting an automatic vehicle collection function;
step 2, judging whether the forklift meets the safety performance requirement of automatic collection, if so, executing step 3, and if not, executing step 1;
step 3, detecting parameters of the forklift gantry and the forklift fork;
step 4, judging whether the parameters of the forklift gantry and the forklift fork are in the target parameter range, if so, completing automatic collection, and if not, adjusting the forklift gantry and the forklift fork to execute step 3;
wherein: the forklift mast parameters comprise a forklift mast inclination angle, and the forklift fork parameters comprise a fork height, a fork position and a fork interval.
As a further scheme of the invention: and (3) detecting whether the automatic car receiving function is activated or not after the automatic car receiving function is started in the step (1), if so, executing the step (2), and if not, executing the step (1).
As a further scheme of the invention: the safety performance of the forklift comprises the load of a fork frame of the forklift and the speed of the forklift.
As a further scheme of the invention: the inclination angle of the forklift mast is directly measured by an angle sensor or indirectly measured by measuring the telescopic quantity of the forklift mast inclination oil cylinder by a position sensor.
As a further scheme of the invention: the height of the fork is the height above the ground of the fork or the telescopic amount of a lifting oil cylinder of the fork.
As a further scheme of the invention: and 3, sequentially adjusting the inclination angle of the forklift gantry, the height of the fork, the position of the fork and the distance between the forks.
An automatic vehicle collecting device of a forklift comprises:
the signal acquisition element is used for acquiring a gantry inclination angle signal, a fork height signal, a fork position and a fork spacing signal;
the action executing element comprises a gantry electromagnetic valve for controlling a forklift gantry tilting oil cylinder, a gantry lifting electromagnetic valve and a gantry falling electromagnetic valve for controlling the longitudinal action of the fork, and a fork side shifting distance adjusting electromagnetic valve for controlling the position and the distance of the fork;
the controller is used for receiving the forklift gantry parameters and the forklift fork numbers acquired by the signal acquisition element, comparing the forklift gantry parameters and the forklift fork numbers with set receiving parameters, and outputting control parameters to the action execution element;
the signal acquisition element is connected with the controller and transmits the acquired signal to the controller, and the controller is connected with the action execution element and outputs control parameters to the action execution element.
As a further scheme of the invention: the signal acquisition element comprises an angle sensor connected with the forklift mast or a position sensor connected with the forklift mast inclined oil cylinder, a position sensor connected with the fork lifting oil cylinder and a position sensor connected with the fork.
As a further scheme of the invention: the controller is connected with an automatic car receiving trigger switch, and the automatic car receiving trigger switch comprises a trigger switch or a trigger button connected with the controller.
As a further scheme of the invention: the controller is connected with a display used for displaying forklift receiving parameters and providing a man-machine interaction interface to set the forklift receiving parameters.
Compared with the prior art, the invention has the beneficial effects that:
1. the method can detect parameters such as the angle of a forklift portal frame, the height of a forklift fork, the position and the distance of the forklift fork and the like, compares the parameters with target parameters, automatically adjusts the parameters such as the angle of the forklift portal frame, the height of the forklift fork, the position and the distance of the forklift fork and the like, and detects the change of the adjusted parameters in real time and performs feedback adjustment in the adjusting process, so that the accuracy of the adjusting method is improved, the function of automatic vehicle receiving is increased, and the labor intensity of workers is reduced;
2. the safety performance of the forklift can be checked after the automatic collection function is started, the speed of the forklift and whether heavy objects are on the forklift fork or not can be checked in time, and automatic collection cannot be carried out when the speed of the forklift is not reduced to a target range or the heavy objects are on the forklift fork, so that the safety of the forklift and workers is ensured;
3. according to the forklift receiving control system, the display communicated with the controller is arranged, so that the forklift state can be displayed in real time through the display when the forklift is automatically received, and meanwhile, forklift receiving parameters can be set through a human-computer interaction interface of the display;
4. this application detects fork truck's portal parameter, fork parameter through setting up the sensor, carries out cylinder control through the control solenoid valve that sets up on portal hydro-cylinder, fork hydro-cylinder, therefore the simple structure of this application, and is less to the influence of fork truck existing equipment structure, can effectually adapt to the fork truck of isostructure, has improved the suitable ability of this application.
Drawings
FIG. 1 is a flow chart of an automatic vehicle pickup control system of the present application;
FIG. 2 is a graphical illustration of the present application of the fork position already spacing parameters of the forklift;
fig. 3 is a schematic view of the automatic forklift receiving control system of the application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1-3, one embodiment of the present invention includes the following steps
Step 1, starting an automatic vehicle receiving function by triggering an automatic vehicle receiving trigger switch, detecting whether the automatic vehicle receiving function is activated or not through a controller, if the automatic vehicle receiving function is activated, executing step 2, and if the automatic vehicle receiving function is not activated, restarting the automatic vehicle receiving function;
step 2, judging whether the forklift meets the safety performance requirement of automatic vehicle receiving, wherein the safety performance of the forklift comprises the load of a fork frame of the forklift and the speed of the forklift, when no load exists on the fork frame of the forklift and the speed of the forklift is lower than a safety threshold, the safety performance requirement is met, if the safety performance requirement is met, the step 3 is executed, and if the safety performance requirement is not met, the step 1 is executed, and the function of rotating vehicle receiving is restarted;
step 3, detecting parameters of a forklift portal frame and a forklift fork and adjusting the forklift portal frame and the forklift fork, wherein the parameters of the forklift portal frame comprise the inclination angle of the forklift portal frame, and the parameters of the forklift fork comprise the height of the fork, the position of the fork and the distance between the forks;
the method comprises the steps of detecting the inclination angle of a forklift mast through direct measurement of angle sensors arranged on the forklift mast and a forklift main body, detecting the height of a forklift fork through detection of the height above the ground of the fork or detection of the expansion amount of a lifting oil cylinder of the fork to control the fork to lift, and detecting the position of the forklift fork and the distance between the forklift forks through position sensors arranged on the forklift fork to measure;
and 4, judging whether the parameters of the forklift mast and the forklift fork frame are in the target parameter range, if so, completing automatic collection, otherwise, adjusting the forklift mast and the forklift fork, and then executing the step 3.
An automatic vehicle collecting device of a forklift comprises:
the automatic car receiving trigger switch is used for receiving a trigger control signal, and in the embodiment, the trigger switch is in a physical switch structure;
the system comprises a signal acquisition element, a signal processing element and a signal processing element, wherein the signal acquisition element is used for acquiring a gantry inclination angle signal, a fork height signal, a fork position and an interval signal, and comprises an angle sensor connected with a forklift gantry, a position sensor connected with a fork lifting oil cylinder and a position sensor connected with a fork;
the action executing element comprises a gantry electromagnetic valve for controlling a forklift gantry tilting oil cylinder, a gantry lifting electromagnetic valve and a gantry falling electromagnetic valve for controlling the longitudinal action of the fork, and a fork side shifting distance adjusting electromagnetic valve for controlling the position and the distance of the fork;
the controller is used for receiving the forklift gantry parameters and the forklift fork numbers acquired by the signal acquisition element, comparing the forklift gantry parameters and the forklift fork numbers with set receiving parameters, and outputting control parameters to the action execution element;
the display is used for displaying the forklift receiving parameters and providing a human-computer interaction interface to set the forklift receiving parameters;
automatic trigger switch that receives is connected with the controller and to the automatic start signal that receives of controller transmission, signal acquisition component with the controller receives and arrives signal transmission who gathers controller, controller with action execute component connects and to action execute component output control parameter, and the controller is connected with the display and is used for showing fork truck and receives the car parameter, provides human-computer interaction interface simultaneously for receive the car parameter to fork truck and set up, in this embodiment, automatic trigger switch, signal acquisition component, display, action execute component and controller are connected through wired or wireless or wired and wireless.
When the automatic car receiving system is used, the automatic car receiving trigger switch is started firstly, the automatic car receiving trigger switch transmits an automatic car receiving signal to the controller, the controller detects whether the automatic car receiving system is activated or not, if the automatic car receiving system is activated, the automatic car receiving program is started, and if the automatic car receiving system is not activated, the automatic car receiving system is started again;
as shown in fig. 1, after the automatic vehicle-receiving system is started, the controller performs safety judgment to detect whether a load is on a fork of the forklift and whether the speed of the forklift is lower than a set threshold, and if the safety performance requirement of the forklift for receiving is met, the automatic vehicle-receiving is started;
in the embodiment, firstly, the inclination angle of the portal frame is measured through an angle sensor and is compared with a target inclination angle, so that whether the portal frame is in forward tilting or backward tilting is judged, when the forklift portal frame is in a forward tilting state, a controller sends a command that the forklift is forward tilting and needs backward adjustment to a portal frame tilting electromagnetic valve, then the portal frame tilting electromagnetic valve works and starts a portal frame tilting oil cylinder, the forklift portal frame is driven to be backward adjusted through the portal frame tilting oil cylinder, similarly, when the forklift is in a backward tilting state, the forklift portal frame is forwardly adjusted through the portal frame tilting oil cylinder, the inclination angle of the forklift portal frame is detected in real time in the adjusting process, whether the forklift portal frame is in the target angle is judged, if;
when the adjustment of the inclination angle of the forklift gantry is finished, the height adjustment of the forklift fork is started, in the adjustment process, the actual height of the fork is detected through a position sensor arranged on a forklift fork lifting oil cylinder, the actual height is compared with the target height, if the actual height is higher than the target height, a controller sends a command to a fork descending electromagnetic valve, the fork oil cylinder is controlled to contract through the fork descending electromagnetic valve, the forklift fork can be driven to move downwards, and similarly, if the forklift fork is lower than the target position, the controller outputs a command to a lifting electromagnetic valve, the fork lifting oil cylinder is driven to extend upwards through the lifting electromagnetic valve, the forklift fork is driven to move upwards, the lifting height of the forklift is detected through the position sensor arranged on the forklift lifting oil cylinder in real time in the adjustment process, and if the target height is met, the adjustment of the forklift fork is finished, if the target requirement is not met, adjusting again;
when the height adjustment of the forklift gantry is finished, the adjustment of the position of a forklift fork and the distance between the forklifts is started, whether the left fork of the forklift is located at a target position is detected firstly in the adjustment process, if the left fork is located at the left side of the target position, a command of moving the fork to the right is output through a controller, if the right fork is located at the right side of the target position, a command of moving the fork to the left is output through the controller, whether the fork is located at the target position is detected in real time in the moving process, if the fork is not located at the target position, the adjustment is carried out again, if the fork is located at the target position, the adjustment of the fork is finished and the positioning is carried out, then the distance between the other fork and the fork is detected, whether the distance meets the target distance is judged, if the distance between the other fork and the fork is greater than the target distance, a command of moving the other fork to the positioned fork is output through the controller, and the fork in the adjustment is, if the direct distance between the other fork and the positioned fork is smaller than the target distance, the controller outputs an instruction that the other fork is far away from the positioned fork, then the other fork is far away from the positioned fork, whether the distance between the two forks meets the target distance is detected in real time in the adjusting process, if not, adjustment is carried out again, and if yes, the adjustment is complete;
in the embodiment, the display connected with the controller can display the forklift adjustment parameters in real time, and meanwhile, the target parameters of automatic forklift receiving can be input through the human-computer interaction interface of the display.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. An automatic forklift collecting method is characterized by comprising the following steps
Step 1, starting an automatic vehicle collection function;
step 2, judging whether the forklift meets the safety performance requirement of automatic collection, if so, executing step 3, and if not, executing step 1;
step 3, detecting parameters of the forklift gantry and the forklift fork;
step 4, judging whether the parameters of the forklift mast and the forklift fork are in the target parameter range, if so, completing automatic collection, and if not, adjusting the forklift mast and the forklift fork and executing the step 3;
wherein: the forklift mast parameters comprise a forklift mast inclination angle, and the forklift fork parameters comprise a fork height, a fork position and a fork interval.
2. The automatic forklift truck collection method according to claim 1, wherein whether the automatic collection function is activated is detected after the automatic collection function is started in step 1, if the automatic collection function is activated, step 2 is executed, and if the automatic collection function is not activated, step 1 is executed.
3. The method of claim 1, wherein the safety performance of the forklift comprises forklift truck carriage load and forklift truck speed.
4. The automatic retracting method of the forklift as claimed in claim 1, wherein the tilt angle of the forklift mast is measured directly by an angle sensor or indirectly by measuring the telescopic amount of a tilt cylinder of the forklift mast by a position sensor.
5. The automatic retracting method of the forklift as claimed in claim 1, wherein the height of the pallet fork is the height of the pallet fork from the ground or the telescopic amount of a lifting cylinder of the pallet fork is controlled.
6. The automatic retracting method of the forklift as claimed in claim 1, wherein in the step 3, the inclination angle of the forklift gantry, the height of the forklift, the position of the forklift and the distance between the forklift are sequentially adjusted.
7. The utility model provides an automatic device of receiving of fork truck which characterized in that includes:
the signal acquisition element is used for acquiring a gantry inclination angle signal, a fork height signal, a fork position and a fork spacing signal;
the action executing element comprises a gantry electromagnetic valve for controlling a forklift gantry tilting oil cylinder, a gantry lifting electromagnetic valve and a gantry falling electromagnetic valve for controlling the longitudinal movement of a forklift fork, and a fork side shifting distance adjusting electromagnetic valve for controlling the position and the distance of the fork;
the controller is used for receiving the forklift portal frame parameters and the forklift fork parameters acquired by the signal acquisition element, comparing the forklift portal frame parameters and the forklift fork parameters with set receiving parameters, and outputting control parameters to the action execution element;
the signal acquisition element is connected with the controller and transmits the acquired signal to the controller, and the controller is connected with the action execution element and outputs control parameters to the action execution element.
8. The automatic retracting device of a forklift as claimed in claim 7, wherein said signal acquisition element comprises an angle sensor connected to the forklift mast or a position sensor connected to the tilting cylinder of the forklift mast, a position sensor connected to the lifting cylinder of the fork, and a position sensor connected to the fork.
9. The automatic retracting device of a forklift truck according to claim 7, wherein the controller is connected with an automatic retracting trigger switch, and the automatic retracting trigger switch comprises a trigger switch or a trigger button connected with the controller.
10. The automatic forklift collecting device according to claim 7, wherein the controller is connected with a display for displaying forklift collecting parameters and providing a human-computer interaction interface for setting the forklift collecting parameters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910950895.8ACN110790190A (en) | 2019-10-08 | 2019-10-08 | Automatic forklift collecting method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910950895.8ACN110790190A (en) | 2019-10-08 | 2019-10-08 | Automatic forklift collecting method and device |
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| CN110790190Atrue CN110790190A (en) | 2020-02-14 |
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| CN201910950895.8APendingCN110790190A (en) | 2019-10-08 | 2019-10-08 | Automatic forklift collecting method and device |
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Cited By (4)
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| CN111498755A (en)* | 2020-05-29 | 2020-08-07 | 青岛宇方机器人工业股份有限公司 | Fork truck that possesses fork automatic adjustment function |
| CN112723252A (en)* | 2020-12-25 | 2021-04-30 | 安徽江淮银联重型工程机械有限公司 | Fork frame device and AGV fork truck with fork broad width regulatory function |
| CN115490189A (en)* | 2022-10-11 | 2022-12-20 | 安徽合力股份有限公司 | Distance adjusting system and control method for pallet fork distance |
| CN118405635A (en)* | 2024-07-04 | 2024-07-30 | 杭州集世迈新能源智能装备股份有限公司 | Fork truck safety control system and battery fork truck |
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