CN102491239A - Fork truck as well as anti-tipping control method and anti-tipping control system thereof - Google Patents
Fork truck as well as anti-tipping control method and anti-tipping control system thereof Download PDFInfo
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- CN102491239A CN102491239A CN2011104070777A CN201110407077A CN102491239A CN 102491239 A CN102491239 A CN 102491239A CN 2011104070777 A CN2011104070777 A CN 2011104070777A CN 201110407077 A CN201110407077 A CN 201110407077A CN 102491239 A CN102491239 A CN 102491239A
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- 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
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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Abstract
The invention discloses an anti-tipping control method used for a fork truck. The control method comprises the following steps: 1, detecting attitude parameters of the fork truck in real time; 2, judging whether the fork truck is in a stable state or not according to a detection result obtained in the step 1, if so, executing step 3; otherwise, executing step 4; 3, continuing carrying out a current operation; and 4, controlling a gantry, reducing lift height or/ and reducing declination angle of the gantry. Through adoption of the method, deviation correction can be carried out on the fork truck immediately when the fork trunk is detected to be in an unsteady state, so as to ensure that tipping of goods or the tipping of the whole fork trunk can be avoided, thereby enhancing operation stability and reliability of the fork truck. The invention also provides an anti-tipping control system and a fork truck which comprises the system and has a corresponding technology effect.
Description
Technical field
The present invention relates to the harbour machinery technical field, relate in particular to a kind of anti-tipping control method and anti-rollover control system that is used for fork truck.In addition, the invention still further relates to a kind of fork truck that comprises above-mentioned anti-rollover control system.
Background technology
Along with the develop rapidly of China's port logistics loading and unloading capacity, the turn around time of harbour goods is fewer and feweri.Fork truck is an industrial transportation vehicle, be meant to the member pallet cargo load and unload, the various wheeled carrying vehicle of stacking and short-distance transportation operation.Fork truck has that load-carrying ability is strong, the characteristics of flexible operation, and it has the status that can not be substituted in distribution centres such as stockyard, harbours.
Fork truck mainly is made up of driving engine, traveling gear, car body, lifting mechanism, hydraulic efficiency pressure system and electric equipment etc.Lifting mechanism mainly is made up of door frame and pallet fork, and door frame is hinged on the front axle support car body, by a cover framework arranged side by side and fixedly the travel(l)ing rest of pallet fork forms, pallet fork is the steel fork of two bendings, 90 degree, is contained on the sliding support, is the instrument of carrying material.The car body and the vehicle frame of fork truck are integrated, and are formed by shaped steel resistance weldering, play the effect of supporting whole fork truck.
In forklift operator; The material of pitching because of fork truck does not have safety method basically, when the weight of goods bigger, and the lift height of door frame is higher, when the angle of inclination is big; The phenomenon that often easy appearance causes material to tumble or fall because of load moment is excessive; The whole fork truck phenomenon of also can tumbling when serious, this not only can bring huge goods property damage, also can bring great personal safety hidden danger to operating personal.
In view of this; Demand urgently the fork truck of prior art is carried out further optimal design; A kind of anti-tipping control method and anti-rollover control system are provided, make it can in real time prevent in the course of the work that at fork truck material from tumbling or car body is tumbled, thereby improve the working stability and the reliability of fork truck.
Summary of the invention
The technical matters that the present invention will solve is that a kind of anti-tipping control method that is used for fork truck is provided, and can prevent that in the course of the work material from tumbling or car body is tumbled, thereby improves the working stability and the reliability of fork truck.In addition, the present invention also provides a kind of fork truck that is used for the anti-rollover control system of fork truck and comprises this control system.
For solving the problems of the technologies described above, the present invention provides a kind of anti-tipping control method that is used for fork truck, comprises the steps:
1) detects the attitude parameter of said fork truck in real time;
2) judge according to the testing result of step 1) whether said fork truck is in stabilized conditions; If, execution in step 3); If not, execution in step 4);
3) continue current operation;
4) control said door frame, reduce its lift height or/and reduce its angle of inclination.
Preferably, said step 1) is specially: the pulling force that waves oil cylinder that detects elongation, said door frame angle of inclination and the said fork truck of the elevating ram of the door frame hoisting force of said fork truck, said fork truck in real time;
Said step 2) comprising:
21) calculate load weight, the load center-of-gravity position of said fork truck according to the testing result of step 1);
22) judge whether said load center-of-gravity position exceeds the fork tool outer fix of said fork truck; If, execution in step 4); If not, execution in step 3).
Preferably, said step 1) is specially: detect said door frame angle of inclination in real time;
Said step 2) be specially: whether the angle of inclination of judging said door frame is greater than preset value; If, execution in step 4); If not, execution in step 3).
Preferably, said step 1) is specially: the pulling force that waves oil cylinder that detects elongation, said door frame angle of inclination and the said fork truck of the elevating ram of the door frame hoisting force of said fork truck, said fork truck in real time;
Said step 2) comprising:
21) calculate load center-of-gravity position, the load weight of said fork truck, the stable center-of-gravity position and the weight own of said fork truck according to the testing result of step 1);
22) calculate the tilting moment of said fork truck according to said load center-of-gravity position and said load weight, and calculate the balancing torque of said fork truck according to said stable center-of-gravity position and the weight of said fork truck own;
23) whether judge said tilting moment greater than said balancing torque, if, execution in step 4); If not, execution in step 3).
Preferably, said step 1) is specially: detect said door frame angle of inclination in real time;
Said step 2) specifically comprise:
Whether the angle of inclination of 21) judging said door frame is greater than preset value; If, execution in step 4); If not, execution in step 22);
22) detect the elongation of the elevating ram of the door frame hoisting force of said fork truck, said fork truck, the pulling force that waves oil cylinder of said fork truck; And calculate load weight, the load center-of-gravity position of said fork truck;
23) judge whether said load center-of-gravity position exceeds the fork tool outer fix of said fork truck; If, execution in step 4); If not, execution in step 24);
24) calculate the tilting moment of said fork truck according to said load center-of-gravity position and said load weight; And calculate the stable center-of-gravity position and the weight of fork truck own of said fork truck, and calculate the balancing torque of said fork truck according to said stable center-of-gravity position and the weight of said fork truck own;
25) whether judge said tilting moment greater than said balancing torque, if, execution in step 4); If not, execution in step 3).
Preferably, in the step 1): use first pressure sensor, second pressure sensor to detect the hoisting force of said door frame, the said pulling force that waves oil cylinder; Use the length angular transducer to detect the angle of inclination of said door frame and the elongation of said elevating ram.
Adopt said method, in the working process of fork truck, after the pallet fork of fork truck forks material; The door frame that drives fork truck is through waving the driven in rotation certain angle of oil cylinder; Through the attitude parameter of detecting device detection fork truck, after the stability criterion judgement, can drawing at this moment, whether fork truck is in stabilized conditions; If this moment, fork truck was in unsteady state; Then control door frame lifting, decline and the rocking motion of fork truck, reduce its lift height, make the fork truck state that tends towards stability or/and reduce its angle of inclination.
This shows; After adopting above-mentioned anti-tipping control method, detect in real time and calculate, and judge through result of calculation whether fork truck is stable through mode of operation to fork truck; Further control the door frame action of fork truck again; Can fork truck be rectified a deviation detecting the very first time that fork truck is in unsteady state, guarantee that phenomenon that goods is tumbled or car load is tumbled can not take place for it, has strengthened the working stability and the reliability of fork truck.
The present invention also provides a kind of anti-rollover control system that is used for fork truck, comprises detecting device and controller;
Said detecting device is used for detecting in real time the attitude parameter of said fork truck;
Said controller comprises:
Judging unit is located at the mouth of said calculating unit, is used to judge whether said fork truck is in stabilized conditions;
Control unit is located at the mouth of said judging unit, is used for when said fork truck is stablized, controlling said fork truck and continues current operation, when said fork truck is unstable, reduces the lifting high-low pressure of said door frame or/and reduce the angle of inclination of said door frame.
Preferably, said controller also comprises:
Calculating unit; Be located at the mouth of said detecting device; Be used for calculating load center-of-gravity position, load weight, the tilting moment of said fork truck, and calculate the own weight of stable center-of-gravity position, fork truck and the balancing torque of said fork truck according to said testing result according to the testing result of said detecting device.
Preferably; Said detecting device comprises the hoisting force that detects said door frame, said first pressure sensor, second pressure sensor that waves the pulling force of oil cylinder, and the length angular transducer of elongation that detects angle of inclination and the said elevating ram of said door frame.
The present invention also provides a kind of fork truck, comprises car body and is located at the wheel under the said car body, and said wheel front side is provided with door frame, also is connected with between said door frame and the said car body and waves oil cylinder; Also comprise aforesaid anti-rollover control system.
Because the anti-tipping control method of above-mentioned fork truck has aforesaid technique effect; Therefore; With the cooresponding anti-rollover control system of above-mentioned anti-tipping control method, comprise that the fork truck of this anti-rollover control system also should have identical technique effect, repeats no more at this.
Description of drawings
Fig. 1 is the FB(flow block) of first kind of specific embodiment of the anti-tipping control method that is used for fork truck provided by the present invention;
Fig. 2 is the FB(flow block) of second kind of specific embodiment of the anti-tipping control method that is used for fork truck provided by the present invention;
Fig. 3 is the FB(flow block) of the third specific embodiment of the anti-tipping control method that is used for fork truck provided by the present invention;
Fig. 4 is the FB(flow block) of the 4th kind of specific embodiment of the anti-tipping control method that is used for fork truck provided by the present invention;
Fig. 5 is the FB(flow block) of the 5th kind of specific embodiment of the anti-tipping control method that is used for fork truck provided by the present invention;
Fig. 6 is the structural representation of a kind of specific embodiment of the anti-rollover control system that is used for fork truck provided by the present invention;
Fig. 7 is the structural representation of a kind of specific embodiment of fork truck provided by the present invention.
Wherein, Reference numeral among Fig. 7 and the corresponding relation between the component names are: car body 1; Wheel 2; Door frame 3; Wave oil cylinder 4.
The specific embodiment
Core of the present invention is that a kind of anti-tipping control method that is used for fork truck is provided, and this method can prevent in the course of the work that material from tumbling or car body is tumbled, thereby improves the working stability and the reliability of fork truck.In addition, another core of the present invention is that a kind of fork truck that is used for the anti-rollover control system of fork truck and comprises this control system is provided.
In order to make those skilled in the art understand technical scheme of the present invention better, the present invention is done further detailed description below in conjunction with accompanying drawing and specific embodiment.
Please refer to Fig. 1, Fig. 1 is the FB(flow block) of a kind of specific embodiment of the anti-tipping control method that is used for fork truck provided by the present invention.
In a kind of specific embodiment, a kind of anti-tipping control method that is used for fork truck provided by the present invention mainly comprises following several steps:
S11: the attitude parameter that detects fork truck in real time;
S12: judge according to the testing result of step S11 whether fork truck is in stabilized conditions; If, execution in step S13; If not, execution in step S14;
S13: continue current operation;
S14: the control door frame reduces its lift height or/and reduce its angle of inclination.
Because the fore-and-aft stability of fork truck mainly receives the influence at surface slope, load height, load weight, door frame angle of inclination; Surface slope can detect in system; But it is uncontrollable; And load height of equipment, load weight, door frame angle of inclination etc. all can measure, and each parameter all can be controlled in real time.Adopt said method, in the working process of fork truck, after the pallet fork of fork truck forks material; The door frame that drives fork truck is through waving the driven in rotation certain angle of oil cylinder; Through the attitude parameter that detecting device detects, after the stability criterion judgement, can drawing at this moment, whether fork truck is in stabilized conditions; If this moment, fork truck was in unsteady state; Then control door frame lifting, decline and the rocking motion of fork truck, reduce its lift height, make the fork truck state that tends towards stability or/and reduce its angle of inclination.
This shows; After adopting above-mentioned anti-tipping control method, detect in real time and calculate, and judge through result of calculation whether fork truck is stable through mode of operation to fork truck; Further control the door frame action of fork truck again; Can fork truck be rectified a deviation detecting the very first time that fork truck is in unsteady state, guarantee that phenomenon that goods is tumbled or car load is tumbled can not take place for it, has strengthened the working stability and the reliability of fork truck.
Need to prove; Do not limit in the above-mentioned specific embodiment and judge whether fork truck is in the concrete mode of stabilized conditions; In fact; Every utilization detects each attitude parameter of fork truck in real time, and all should work as according to the anti-tipping control method that testing result is controlled door frame in real time and to belong in protection scope of the present invention.
Above-mentioned concrete detected parameters and the concrete grammar of judging that fork truck is whether stable of putting in the control method of tumbling can also further be set.
Please refer to Fig. 2, Fig. 2 is the FB(flow block) of second kind of specific embodiment of the anti-tipping control method that is used for fork truck provided by the present invention.
In concrete scheme, as shown in Figure 2, the anti-tipping control method that is used for fork truck provided by the present invention can comprise the steps:
S21: the pulling force that waves oil cylinder of elongation, door frame angle of inclination and fork truck of elevating ram that detects door frame hoisting force, the fork truck of fork truck in real time;
S221: the load weight and the load center-of-gravity position that calculate fork truck according to the testing result of step S21;
S222: judge whether the load center-of-gravity position exceeds the fork tool outer fix of fork truck; If, execution in step S24; If not, execution in step S23 then;
S23: continue current operation;
S24: the door frame of control fork truck reduces its lift height or/and reduce its angle of inclination.
Adopt this method; Through detecting the pulling force that waves oil cylinder of door frame hoisting force, door frame angle of inclination, fork truck elevating ram elongation and fork truck; And then calculated load center; Relatively load center-of-gravity position and fork tool outer fix can judge simply whether fork truck is in stabilized conditions, make this method have simple, the easy to operate advantage of thinking.
Certainly, in the above-mentioned anti-tipping control method, can also adopt other modes to judge whether fork truck is in stabilized conditions.
Please refer to Fig. 3, Fig. 3 is the FB(flow block) of the third specific embodiment of the anti-tipping control method that is used for fork truck provided by the present invention.
In the another kind of specific embodiment, as shown in Figure 3, the anti-tipping control method that is used for fork truck provided by the present invention comprises the steps:
S31: the door frame angle of inclination of detecting fork truck in real time;
S32: whether the angle of inclination of judging door frame is greater than preset value; If, execution in step S34; If not, execution in step S33 then;
S34: continue current operation;
S35: the door frame of control fork truck reduces its lift height or/and reduce its angle of inclination.
Adopt this method,, can judge simply whether fork truck is in stabilized conditions, make this method have simple, the easy to operate advantage of thinking equally through to current angle of inclination of door frame and the comparison between the preset value.
Please refer to Fig. 4, Fig. 4 is the FB(flow block) of the 4th kind of specific embodiment of the anti-tipping control method that is used for fork truck provided by the present invention.
In the another kind of specific embodiment, as shown in Figure 4, the anti-tipping control method that is used for fork truck provided by the present invention comprises the steps:
S41: the pulling force that waves oil cylinder of elongation, door frame angle of inclination and fork truck of elevating ram that detects door frame hoisting force, the fork truck of fork truck in real time;
S421: calculate the load center-of-gravity position and the load weight of fork truck according to the testing result of step S41, and calculate the stable center-of-gravity position and the weight of fork truck own of fork truck;
S422: according to the tilting moment of load center-of-gravity position and load weight calculating fork truck, and according to the balancing torque of stablizing the weight calculating of center-of-gravity position and fork truck fork truck own;
S423: judge that whether tilting moment is greater than balancing torque; If, execution in step S44; If not, execution in step S43 then;
S43: continue current operation;
S44: the door frame of control fork truck reduces its lift height or/and reduce its angle of inclination.
Adopt said method, through the calculating to the tilting moment and the balancing torque of fork truck, and the two is compared, can judge the stability of fork truck equally, this method can accurately draw the possibility of tumbling of fork truck, has higher particularity.
Please refer to Fig. 5, Fig. 5 is the FB(flow block) of the 5th kind of specific embodiment of the anti-tipping control method that is used for fork truck provided by the present invention.
In the another kind of specific embodiment, as shown in Figure 5, the anti-tipping control method that is used for fork truck provided by the present invention comprises the steps:
S51: detect the door frame angle of inclination in real time;
S521: whether the angle of inclination of judging door frame is greater than preset value; If, execution in step S54; If not, execution in step S522;
S522: the pulling force that waves oil cylinder of elongation, door frame angle of inclination and fork truck of elevating ram that detects door frame hoisting force, the fork truck of fork truck in real time; Calculate the load weight load center-of-gravity position of fork truck;
S523: judge whether the load center-of-gravity position exceeds the fork tool outer fix of fork truck; If, execution in step S54; If not, execution in step S524;
S524: calculate the tilting moment of fork truck according to load center-of-gravity position and load weight, and calculate the stable center-of-gravity position and the weight of fork truck own of fork truck, and calculate the balancing torque of fork truck according to stablizing the own weight of center-of-gravity position and fork truck;
S525: whether judge tilting moment greater than balancing torque, if, execution in step S54; If not, execution in step S53;
S53: continue current operation;
S54: the door frame of control fork truck reduces its lift height or/and reduce its angle of inclination.
Adopt this control method; Judge through the angle of inclination of door frame earlier, judge through the load center-of-gravity position again, judge through the tilting moment size whether fork truck is in stabilized conditions at last; Strengthened the accuracy of judging that fork truck is whether stable greatly; Even having guaranteed that some heavy fork truck is in when closing on unstable state also can make its mode of operation that tends towards stability through judging layer by layer and controlling the door frame action, further strengthened the working stability of fork truck.
The concrete grammar that the above-mentioned anti-tipping control method that is used for fork truck detects each parameter can also further be set.
In further scheme, can adopt in the above-mentioned control method first pressure sensor, second pressure sensor detect door frame hoisting force, wave the pulling force of oil cylinder; Use the length angular transducer to detect the angle of inclination of door frame and the elongation of elevating ram.Because sensor has highly sensitive, accuracy in detection advantages of higher, therefore, adopt the above-mentioned attitude parameter of sensor fork truck, strengthen the accuracy of testing result, and had characteristics simple to operation.Certainly, above-mentioned anti-tipping control method can also adopt other modes to detect each attitude parameter of fork truck.
Please refer to Fig. 6, Fig. 6 is the structural representation of a kind of specific embodiment of the anti-rollover control system that is used for fork truck provided by the present invention.
As shown in Figure 6, the present invention also provides a kind of anti-rollover control system that is used for fork truck, comprises detecting device and controller:
Detecting device is used for detecting in real time the attitude parameter of fork truck;
Controller comprises:
Judging unit is located at the mouth of calculating unit, is used to judge whether fork truck is in stabilized conditions;
Control unit is located at the mouth of judging unit, is used for that the control fork truck continues current operation when fork truck is stablized, and when fork truck is unstable, reduces the lifting high-low pressure of door frame or/and reduce the angle of inclination of door frame.
In the concrete scheme; Above-mentioned controller also comprises calculating unit; This calculating unit is located at the mouth of detecting device; Be used for calculating load center-of-gravity position, load weight, the tilting moment of fork truck, and calculate the own weight of stable center-of-gravity position, fork truck and the balancing torque of fork truck according to testing result according to the testing result of detecting device.
First pressure sensor, second pressure sensor of the pulling force that in the concrete scheme, above-mentioned detection device comprises the hoisting force that detects door frame, wave oil cylinder, and the length angular transducer of elongation that detects angle of inclination and the elevating ram of door frame.
In the another kind of specific embodiment; Detecting device can also comprise the tensile force type sensor of the hoisting force that detects door frame; The axial pin type sensor of the pulling force of oil cylinder is waved in detection, detects the angular transducer at the angle of inclination of door frame, and the linear transducer that detects the elongation of elevating ram.
Please refer to Fig. 7, Fig. 7 is the structural representation of a kind of specific embodiment of fork truck provided by the present invention.
As shown in Figure 7, the present invention also provides a kind of fork truck, comprises car body 1 and is located at the wheel 2 under the car body 1, and wheel 2 front sides are provided with door frame 3, also are connected with between door frame 3 and the car body 1 and wave oil cylinder 4; This fork truck also comprises like above-mentioned anti-rollover control system.
Because the anti-tipping control method of above-mentioned fork truck has technique effect as above, therefore, with the cooresponding anti-rollover control system of above-mentioned anti-tipping control method, comprise that the fork truck of this anti-rollover control system also should have identical technique effect, repeats no more at this.
More than a kind of fork truck provided by the present invention and anti-tipping control method thereof and anti-rollover control system have been carried out detailed introduction.Used concrete example among this paper principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (10)
1. an anti-tipping control method that is used for fork truck is characterized in that, comprises the steps:
1) detects the attitude parameter of said fork truck in real time;
2) judge according to the testing result of step 1) whether said fork truck is in stabilized conditions; If, execution in step 3); If not, execution in step 4);
3) continue current operation;
4) control said door frame, reduce its lift height or/and reduce its angle of inclination.
2. a kind of anti-tipping control method that is used for fork truck according to claim 1 is characterized in that,
Said step 1) is specially: the pulling force that waves oil cylinder that detects elongation, said door frame angle of inclination and the said fork truck of the elevating ram of the door frame hoisting force of said fork truck, said fork truck in real time;
Said step 2) comprising:
21) calculate load weight, the load center-of-gravity position of said fork truck according to the testing result of step 1);
22) judge whether said load center-of-gravity position exceeds the fork tool outer fix of said fork truck; If, execution in step 4); If not, execution in step 3).
3. the anti-tipping control method that is used for fork truck according to claim 1 is characterized in that,
Said step 1) is specially: detect said door frame angle of inclination in real time;
Said step 2) be specially: whether the angle of inclination of judging said door frame is greater than preset value; If, execution in step 4); If not, execution in step 3).
4. the anti-tipping control method that is used for fork truck according to claim 1 is characterized in that,
Said step 1) is specially: the pulling force that waves oil cylinder that detects elongation, said door frame angle of inclination and the said fork truck of the elevating ram of the door frame hoisting force of said fork truck, said fork truck in real time;
Said step 2) comprising:
21) calculate load center-of-gravity position, the load weight of said fork truck, the stable center-of-gravity position and the weight of fork truck own of said fork truck according to the testing result of step 1);
22) calculate the tilting moment of said fork truck according to said load center-of-gravity position and said load weight, and calculate the balancing torque of said fork truck according to said stable center-of-gravity position and the weight of said fork truck own;
23) whether judge said tilting moment greater than said balancing torque, if, execution in step 4); If not, execution in step 3).
5. the anti-tipping control method that is used for fork truck according to claim 1 is characterized in that,
Said step 1) is specially: detect said door frame angle of inclination in real time;
Said step 2) specifically comprise:
Whether the angle of inclination of 21) judging said door frame is greater than preset value; If, execution in step 4); If not, execution in step 22);
22) detect the elongation of the elevating ram of the door frame hoisting force of said fork truck, said fork truck, the pulling force that waves oil cylinder of said fork truck; And calculate the load weight and the load center-of-gravity position of said fork truck;
23) judge whether said load center-of-gravity position exceeds the fork tool outer fix of said fork truck; If, execution in step 4); If not, execution in step 24);
24) calculate the tilting moment of said fork truck according to said load center-of-gravity position and said load weight; And calculate the stable center-of-gravity position and the weight of fork truck own of said fork truck, and calculate the balancing torque of said fork truck according to said stable center-of-gravity position and the weight of said fork truck own;
25) whether judge said tilting moment greater than said balancing torque, if, execution in step 4); If not, execution in step 3).
6. according to each described anti-tipping control method that is used for fork truck of claim 1-5, it is characterized in that, in the step 1):
Use first pressure sensor, second pressure sensor to detect the hoisting force of said door frame, the said pulling force that waves oil cylinder; Use the length angular transducer to detect the angle of inclination of said door frame and the elongation of said elevating ram.
7. an anti-rollover control system that is used for fork truck is characterized in that, comprises detecting device and controller;
Said detecting device is used for detecting in real time the attitude parameter of said fork truck;
Said controller comprises:
Judging unit is located at the mouth of said calculating unit, is used to judge whether said fork truck is in stabilized conditions;
Control unit is located at the mouth of said judging unit, is used for when said fork truck is stablized, controlling said fork truck and continues current operation, when said fork truck is unstable, reduces the lifting high-low pressure of said door frame or/and reduce the angle of inclination of said door frame.
8. a kind of anti-rollover control system that is used for fork truck according to claim 7 is characterized in that said controller also comprises:
Calculating unit; Be located at the mouth of said detecting device; Be used for calculating load center-of-gravity position, load weight, the tilting moment of said fork truck, and calculate the own weight of stable center-of-gravity position, fork truck and the balancing torque of said fork truck according to said testing result according to the testing result of said detecting device.
9. the anti-rollover control system that is used for fork truck according to claim 7; It is characterized in that; Said detecting device comprises the hoisting force that detects said door frame, said first pressure sensor, second pressure sensor that waves the pulling force of oil cylinder, and the length angular transducer of elongation that detects angle of inclination and the said elevating ram of said door frame.
10. a fork truck comprises car body (1) and is located at the wheel (2) under the said car body (1), and said wheel (2) front side is provided with door frame (3), also is connected with between said door frame (3) and the said car body (1) and waves oil cylinder (4); It is characterized in that, also comprise each described anti-rollover control system like claim 7-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104070777A CN102491239A (en) | 2011-12-08 | 2011-12-08 | Fork truck as well as anti-tipping control method and anti-tipping control system thereof |
| PCT/CN2012/073944 WO2013082905A1 (en) | 2011-12-08 | 2012-04-12 | Fork truck, anti-tipping control method and anti-tipping control system thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011104070777A CN102491239A (en) | 2011-12-08 | 2011-12-08 | Fork truck as well as anti-tipping control method and anti-tipping control system thereof |
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| CN102491239A true CN102491239A (en) | 2012-06-13 |
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| WO (1) | WO2013082905A1 (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102730607A (en) * | 2012-06-19 | 2012-10-17 | 三一集团有限公司 | Method and system for preventing cargos from falling from forklift and forklift provided with system |
| CN102910543A (en) * | 2012-08-08 | 2013-02-06 | 三一集团有限公司 | Crane and forward tilting prevention protection method and device thereof |
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| CN114524391A (en) * | 2022-02-28 | 2022-05-24 | 河南嘉晨智能控制股份有限公司 | Vehicle safety control method and system based on inclination angle and load |
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| CN102730607A (en) * | 2012-06-19 | 2012-10-17 | 三一集团有限公司 | Method and system for preventing cargos from falling from forklift and forklift provided with system |
| CN102910543A (en) * | 2012-08-08 | 2013-02-06 | 三一集团有限公司 | Crane and forward tilting prevention protection method and device thereof |
| CN102910543B (en) * | 2012-08-08 | 2014-10-15 | 三一集团有限公司 | Crane and forward tilting prevention protection method and device thereof |
| CN105873849B (en) * | 2013-12-30 | 2019-08-23 | 株式会社斗山 | The control device and control method of fork truck |
| CN105873849A (en) * | 2013-12-30 | 2016-08-17 | 株式会社斗山 | Control device and control method for forklift |
| CN104709853A (en) * | 2015-03-23 | 2015-06-17 | 杭叉集团股份有限公司 | Telescopic handler side flat action protection system |
| US10507826B2 (en) | 2015-03-25 | 2019-12-17 | Dana Italia Srl | System and method for detecting an impending tip over of a vehicle |
| CN107406243A (en) * | 2015-03-25 | 2017-11-28 | 意大利德纳有限责任公司 | For detecting the imminent system and method tumbled of vehicle |
| CN104925701A (en) * | 2015-06-19 | 2015-09-23 | 合肥工业大学 | Forklift transverse stability control method and electronic control system thereof |
| CN106406307A (en) * | 2016-09-20 | 2017-02-15 | 杭州南江机器人股份有限公司 | Movable platform movement control method based on load center of gravity |
| CN106564832A (en) * | 2016-10-21 | 2017-04-19 | 合肥汉德贝尔属具科技有限公司 | Deviation-preventing forklift |
| CN110799447A (en) * | 2017-01-25 | 2020-02-14 | Jlg工业公司 | Pressure-based load sensing system |
| US11215495B2 (en) | 2017-01-25 | 2022-01-04 | Jlg Industries, Inc. | Pressure based load sensing system |
| CN107857212A (en) * | 2017-09-26 | 2018-03-30 | 林德（中国）叉车有限公司 | A kind of fork truck maximum lift height method for limiting and system |
| CN109704249B (en) * | 2018-12-10 | 2021-07-30 | 中国矿业大学 | Forklift overload protection device and method |
| CN109704249A (en) * | 2018-12-10 | 2019-05-03 | 中国矿业大学 | A kind of fork truck overload protection arrangement and method |
| CN109827707A (en) * | 2019-03-18 | 2019-05-31 | 广州道安信息科技有限公司 | Dump truck equivalent detection method, computer installation and computer readable storage medium |
| CN110963442A (en) * | 2019-09-25 | 2020-04-07 | 郑州嘉晨电器有限公司 | Control method for safe lifting operation of industrial vehicle |
| CN110775890A (en) * | 2019-12-03 | 2020-02-11 | 深知智能科技(金华)有限公司 | Automatic adjustment control method and system for operation posture of working device of forklift |
| CN111825024A (en) * | 2020-07-07 | 2020-10-27 | 马敏全 | Forklift transfer safety device |
| CN112875583A (en) * | 2021-01-27 | 2021-06-01 | 三一海洋重工有限公司 | Forklift anti-tipping method and device and forklift |
| CN113240892A (en) * | 2021-04-26 | 2021-08-10 | 深圳市安星数字系统有限公司 | Night vision wharf monitoring method, device, equipment and storage medium |
| CN113697728A (en) * | 2021-09-14 | 2021-11-26 | 中联重科安徽工业车辆有限公司 | Active protection device for stability of cross-country forklift and cross-country forklift with active protection device |
| CN114524391A (en) * | 2022-02-28 | 2022-05-24 | 河南嘉晨智能控制股份有限公司 | Vehicle safety control method and system based on inclination angle and load |
| CN118439547A (en) * | 2024-07-08 | 2024-08-06 | 临工重机股份有限公司 | Safety operation control method for telescopic boom forklift and telescopic boom forklift |
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