CN104108668A - Forklift portal frame tilt control device and forklift anti-rollover control method - Google Patents
Forklift portal frame tilt control device and forklift anti-rollover control method Download PDFInfo
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- CN104108668A CN104108668A CN201410337881.6A CN201410337881A CN104108668A CN 104108668 A CN104108668 A CN 104108668A CN 201410337881 A CN201410337881 A CN 201410337881A CN 104108668 A CN104108668 A CN 104108668A
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Abstract
The invention discloses a forklift frame tilt control device, which comprises a tilt cylinder, and is characterized by further comprising a controller, wherein a tilt sensor is connected to the signal input end of the controller while an oil pump motor is connected to the signal output end of the controller; a trigger switch, a forward-tilting switch and a backward-tilting switch are connected between the multi-path signal input end and the voltage switching-in end of the controller in parallel; a forward-tilting solenoid valve and a backward-tilting solenoid valve are connected between the multi-path signal output end and the ground terminal of the controller in parallel; an outlet of the oil pump driven by the oil pump motor is connected to the oil way of the tilt cylinder through the forward-tilting solenoid valve and the backward-tilting solenoid valve to drive the piston rod of the tilt cylinder to move forwards or backwards. The invention provides the forklift portal frame tilt control device which achieves associated control on the tilt of the portal frame and the lifting height of the forklift, and is convenient for a driver to operate, good in instability, and high in reliability and safety performance, and also provides a forklift anti-rollover control method based on the forklift portal frame tilt control device.
Description
Technical field
The invention belongs to the technical field of fork truck, particularly a kind of forklift door frame incline controller and fork truck anti-dumping control method.
Background technology
Fork truck is as industrial transportation vehicle, to member pallet cargo load and unload, stacking and short range hauling operation.Wherein, the electri forklift taking storage battery as power, owing to not polluting, noise is little, is therefore widely used in in-house operation and other operating mode higher to environmental requirement, as industries such as medicine, food, and progressively replacing diesel fork lift truck.
Common common fork truck adopts two-stage door frame more, and two-stage door frame is made up of inner upright mounting and outer mast, and the pallet fork being suspended on crotch moves up and down along inner upright mounting by means of crotch roller together with crotch, drives cargo lifting or decline.Inner upright mounting drives lifting by lift oil tank, is also led by roller.The both sides at door frame rear are provided with dump ram, can make door frame lean forward or swing back, and get and stack goods in order to fork.
Existing fork truck generally, centered by door frame upright position, tilts by dump ram control door frame forward or backward, fork truck in the time hoisting goods, for operation need and fork truck stable, need by adjusting the angle of inclination of door frame.The existing fork truck not inclination to door frame and lifting altitude is made relevance and is automatically controlled, in the time of forklift workability, the inclination control of door frame relies on the operating experience of navigating mate completely, and the angular dimension that the stability that fork truck loading hoists and door frame tilt and the lifting altitude of goods have substantial connection, particularly when door frame is during in maximum forward leaning angle, along with goods raises gradually, the center of gravity of fork truck is offset, for the fewer or more careless chaufeur of experience, in the time approaching or go beyond the limit of, fork truck is very easily tumbled, the accidents such as goods falls, personal safety and cargo security to chaufeur threaten, reduce stability and the reliability of fork truck.
Summary of the invention
The technical problem to be solved in the present invention is the present situation for prior art, provide one to realize door frame inclination control associated with pallet fork lifting altitude, be convenient to driver's operation, the forklift door frame incline controller that good stability, reliability and safety performance are high and the fork truck anti-dumping control method based on this forklift door frame incline controller.
The present invention solves the problems of the technologies described above adopted technical scheme: a kind of forklift door frame incline controller, comprise for controlling the dump ram that forklift door frame tilts forward and back and controlling the lift oil tank that pallet fork hoists, it is characterized in that: also comprise controller, on the signal input part of described controller, be connected with for detection of forklift door frame angle of inclination and measurement signal is passed to the inclination sensor of controller and the signal output part of controller and connect promising dump ram and lift oil tank the Oil pump electrical machinery of hydraulic oil is provided, in addition, shown between the multi-path signal input end of controller and voltage incoming end promising controller in parallel provide trigger level for limiting the trigger switch of pallet fork rise height, for the switch and for controlling the hypsokinesis switch of forklift door frame hypsokinesis of leaning forward of controlling that forklift door frame leans forward, shown in be parallel with the electromagnetic valve and coordinate the hypsokinesis electromagnetic valve of hypsokinesis switch of leaning forward that coordinates the switch that leans forward between the multi-path signal mouth of controller and ground terminal, the oil pump outlet that Oil pump electrical machinery drives is connected dump ram oil circuit through the electromagnetic valve that leans forward after hypsokinesis solenoid control, make the piston rod reach of dump ram or retreat.
Preferably, lean forward described in electromagnetic valve and hypsokinesis electromagnetic valve is combined into a three position four-way electromagnetic valve.In the time that three position four-way electromagnetic valve is in meta, dump ram is failure to actuate, when three position four-way electromagnetic valve 1DT obtains when electric, right position enables, hydraulic oil enters from the rodless cavity of dump ram, the piston rod of dump ram stretches out, door frame leans forward, make the right position of three position four-way electromagnetic valve be equivalent to the electromagnetic valve that leans forward, when three position four-way electromagnetic valve 2DT obtains when electric, left position enables, hydraulic oil enters from the rod chamber of dump ram, the piston rod of dump ram is retracted, door frame hypsokinesis, make the left position of three position four-way electromagnetic valve be equivalent to a hypsokinesis electromagnetic valve, like this, realize two electromagnetic valves have been integrated on an electromagnetic valve, make hydraulic system structure more compact.
Simultaneously, this forklift door frame incline controller also comprises the hydraulic control system of dump ram, this hydraulic control system comprises described dump ram, described Oil pump electrical machinery, described three position four-way electromagnetic valve, oil pump, by pass valve, return filter and fuel tank, Oil pump electrical machinery is connected with oil pump, the oil inlet of oil pump is connected with fuel tank, the oil outlet of oil pump is connected with the P mouth of three position four-way electromagnetic valve, the T mouth of three position four-way electromagnetic valve is connected with fuel tank after being connected with return filter, the A mouth of three position four-way electromagnetic valve and B mouth are connected respectively rodless cavity and the rod chamber of dump ram, between the oil outlet of oil pump and the oil inlet of return filter, be connected with by pass valve.After the controlled signal of Oil pump electrical machinery, the work of control oil pump, in the time that lean forward switch or hypsokinesis switch do not trigger, three position four-way electromagnetic valve meta enables, and Oil pump electrical machinery quits work, and door frame is static; When leaning forward after switch triggering, Oil pump electrical machinery work, meanwhile, three position four-way electromagnetic valve 1DT obtains electric, and hydraulic oil enters from the rodless cavity of dump ram, and the piston rod of dump ram stretches out, and door frame leans forward; When after hypsokinesis switch triggering, Oil pump electrical machinery work, meanwhile, three position four-way electromagnetic valve 2DT obtains electric, and hydraulic oil enters from the rod chamber of dump ram, and the piston rod of dump ram is retracted, door frame hypsokinesis; In addition, utilize by pass valve as decompression protection, be back to before fuel tank at hydraulic oil after system, return filter has ensured the clean of hydraulic oil.
In addition, described trigger switch is arranged on the upper end of outer mast, in the time that pallet fork rises to constrain height conflict, and the closed activation of this trigger switch.
Described inclination sensor is digital regulation resistance, this digital regulation resistance is connected on vehicle frame, the rotating shaft of this digital regulation resistance is fixedly connected with driven swing arm, driven swing is resisted against in initiatively swing arm, initiatively swing arm is fixedly connected with described dump ram, and cylinder body and the vehicle frame of described dump ram are hinged, and piston rod and the door frame of described dump ram are hinged, meanwhile, between digital regulation resistance and driven swing arm, be provided with the torsion spring driven swing arm being pressed in all the time in initiatively swing arm.When the piston rod of dump ram stretches out, retracts, dump ram swings, the heeling condition of door frame is reacted at the pendulum angle of dump ram, the swing of dump ram is by initiatively swing arm, pass to driven swing arm, driven swing arm drives the rotating shaft of digital regulation resistance to rotate, digital regulation resistance output voltage signal, finally, realized the monitoring to door frame angle of inclination.
Described digital regulation resistance output voltage is 0～5V, and in the time that door frame rotates from maximum hypsokinesis angle to maximum forward leaning angle, digital regulation resistance output voltage is from 0～5V linear change.
The maximum forward leaning angle of described door frame is 3～6 degree.
The maximum hypsokinesis angle of described door frame is 10～13 degree.
The present invention is a kind of control method of the fork truck anti-dumping based on above-mentioned forklift door frame incline controller that provides also, it is characterized in that, this control method comprises:
(a) judge the whether closed activation of trigger switch and door frame heeling condition, if trigger switch closure and door frame lean forward, execution step (b), if trigger switch closure and door frame hypsokinesis or trigger switch is not closed and door frame hypsokinesis, after execution step (c), continue execution step (k), do not close closure and door frame leans forward if trigger to open, execution step (d);
(b) judge whether forklift door frame forward leaning angle is greater than restriction forward leaning angle, if so, perform step after (f), continue execution step (k), if not,, after execution step (e), return to execution step (b);
(c) door frame can hypsokinesis to maximum angle;
(d) judge whether forklift door frame forward leaning angle is greater than restriction forward leaning angle, if, after execution step (g), then execution step (h), perform step again (i), finally enter step (k), if not,, after execution step (j), continue execution step (k);
(e) lean forward electromagnetic valve energising, forklift door frame can continue to lean forward;
(f) the electromagnetic valve power-off of leaning forward, oil pump motor stall;
(g) pallet fork rises, and touch trigger switch makes the closed activation of trigger switch;
(h) hypsokinesis switch connection, the energising of hypsokinesis electromagnetic valve, Oil pump electrical machinery work, door frame hypsokinesis is to upright position;
(i) hypsokinesis electromagnetic valve power-off, oil pump motor stall;
(j) door frame can lean forward to maximum angle;
(k) door frame inclination control is in security standpoint.
Preferably, described restriction forward leaning angle is 2 degree.
Compared with prior art, owing to the invention has the advantages that: in the time that forklift door frame tilts forward and back, inclination sensor is by the angle that detects that door frame tilts forward and back, the variation that the angle change of this door frame is changed into magnitude of voltage by inclination sensor passes to controller, when rising while rising to certain altitude, pallet fork will touch trigger switch, trigger switch closure is enabled, the closure signal of opening of trigger switch passes to controller, the signal that controller detects according to inclination sensor and trigger switch, carry out after signal processing, by the lean forward power on/off of electromagnetic valve and hypsokinesis electromagnetic valve of controller control, and the opening and closing of Oil pump electrical machinery, realize the fuel feeding control of Oil pump electrical machinery to dump ram and lift oil tank.In the time that the switch that leans forward is closed, Oil pump electrical machinery work, meanwhile, and the electromagnetic valve that leans forward energising, dump ram protracts, and forklift door frame turns forward, in the time that hypsokinesis switch is closed, Oil pump electrical machinery work, meanwhile, and the energising of hypsokinesis electromagnetic valve, dump ram retrude, door frame recedes, when pallet fork is for touching before trigger switch, door frame can lean forward, hypsokinesis is to maximum angle position, when touching after trigger switch, be that the height that pallet fork rises has exceeded the safe altitude that fork truck is set, because the center of gravity of goods is in higher position, when door frame turns forward, fork truck is easily tumbled, now, allow door frame hypsokinesis to maximum angle, but in the time that door frame forward leaning angle exceedes restriction forward leaning angle, controller will disconnect lean forward electromagnetic valve and Oil pump electrical machinery just at work automatically, thereby door frame forward leaning angle is controlled at and is limited within the scope of forward leaning angle, in further scheme, this restriction forward leaning angle is 2 degree, in addition, if pallet fork is not touching before trigger switch, door frame forward leaning angle has been in while limiting forward leaning angle position, this Time Controller control oil pump motor is to lift oil tank oil-feed, make pallet fork increase, in the time that pallet fork rises shake-up trigger switch, controller makes the energising of hypsokinesis electromagnetic valve, with seasonal Oil pump electrical machinery work, makes dump ram retrude, forklift door frame recedes, until upright position, now, the power-off of hypsokinesis electromagnetic valve, Oil pump electrical machinery quits work, thereby forklift door frame is adjusted in security standpoint automatically.The present invention controls leaning forward of door frame or hypsokinesis by the switch enclosure hypsokinesis switch that leans forward; be convenient to driver's operation; in addition; coordinate the control of maximum forward leaning angle by trigger switch; the generation of the accident such as effectively avoided fork truck to tumble, goods falls; protected the personal safety of chaufeur and the safety of goods, the good stability, reliability and the safety performance that have improved fork truck are high.
Brief description of the drawings
Fig. 1 is the control circuit connection diagram of forklift door frame incline controller in the embodiment of the present invention;
Fig. 2 is the structural representation of forklift door frame incline controller in the embodiment of the present invention;
Fig. 3 is the digital regulation resistance scheme of installation of forklift door frame incline controller in the embodiment of the present invention;
Fig. 4 is the trigger switch scheme of installation of forklift door frame incline controller in the embodiment of the present invention;
Fig. 5 is the structural representation of forklift door frame incline controller door frame forward-lean state in the embodiment of the present invention;
Fig. 6 is forklift door frame incline controller door frame 5 structural representations while spending that lean forward in the embodiment of the present invention;
Fig. 7 is the structural representation of forklift door frame incline controller door frame retroverted state in the embodiment of the present invention;
Fig. 8 is structural representation when forklift door frame incline controller door frame hypsokinesis 5 is spent in the embodiment of the present invention;
Fig. 9 be in the embodiment of the present invention hypsokinesis of forklift door frame incline controller door frame to the structural representation of upright position;
Figure 10 is the diagram of circuit of fork truck anti-dumping control method in the embodiment of the present invention;
Figure 11 is that lean forward in embodiment of the present invention electromagnetic valve and hypsokinesis electromagnetic valve is integrated the hydraulic principle figure of form;
Figure 12 is the hydraulic principle figure that electromagnetic valve and hypsokinesis electromagnetic valve be separate form that leans forward in the embodiment of the present invention;
Figure 13 is the control block diagram that embodiment of the present invention medium dip sensor detects feedback.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment is described in further detail the present invention.
As shown in Fig. 1 to 13, forklift door frame incline controller in this enforcement, comprise the hydraulic control system of dump ram 11, pallet fork 13, door frame, lift oil tank, controller 1, inclination sensor, trigger switch 6, the switch 8 that leans forward, hypsokinesis switch 7, the electromagnetic valve 3 that leans forward, hypsokinesis electromagnetic valve 4, Oil pump electrical machinery 2 and dump ram 11 etc., wherein, door frame includes outer mast 14 and inner upright mounting 15.
Wherein, dump ram 11 tilts forward and back for controlling forklift door frame, lift oil tank is used for controlling pallet fork 13 and hoists, on the signal input part of controller 1, be connected with for detection of forklift door frame angle of inclination and measurement signal is passed to the inclination sensor of controller 1 and the signal output part of controller and connect promising dump ram 11 and lift oil tank the Oil pump electrical machinery 2 of hydraulic oil is provided, in addition, between the multi-path signal input end of controller 1 and voltage incoming end promising controller 1 in parallel provide trigger level for limiting the trigger switch 6 of pallet fork 13 rise heights, for the switch 8 and for controlling the hypsokinesis switch 7 of forklift door frame hypsokinesis of leaning forward of controlling that forklift door frame leans forward, between the multi-path signal mouth of controller 1 and ground terminal, be parallel with the hypsokinesis electromagnetic valve 4 that leans forward electromagnetic valve 3 and coordinate hypsokinesis switch 7 to work that coordinates the switch 8 that leans forward to work, the oil pump outlet that Oil pump electrical machinery 2 drives is connected dump ram 11 oil circuits after the electromagnetic valve 3 that leans forward is controlled with hypsokinesis electromagnetic valve 4, make the piston rod reach of dump ram 11 or retreat.
In addition, trigger switch 6 is arranged on the upper end of outer mast 14, in the time that pallet fork 13 rises to constrain height conflict, and the closed activation of this trigger switch 6.
Inclination sensor can be multiple for measuring the angular transducer of rotating shaft angle, in the present embodiment, preferentially select digital regulation resistance 5, this digital regulation resistance 5 is connected on vehicle frame 12, the rotating shaft of this digital regulation resistance 5 is fixedly connected with driven swing arm 9, driven swing 9 is resisted against in initiatively swing arm 10, initiatively swing arm 10 is fixedly connected with dump ram 11, cylinder body and the vehicle frame of dump ram 11 are hinged, piston rod and the door frame of dump ram 11 are hinged, simultaneously, between digital regulation resistance 5 and driven swing arm 9, be provided with the torsion spring driven swing arm 9 being pressed in all the time in initiatively swing arm 10.When the piston rod of dump ram 11 stretches out, retracts, dump ram 11 swings, the heeling condition of door frame is reacted at the pendulum angle of dump ram 11, the swing of dump ram 11 is by initiatively swing arm 10, pass to driven swing arm 9, driven swing arm 9 drives the rotating shaft of digital regulation resistance 5 to rotate, digital regulation resistance 5 output voltage signals, finally, realized the monitoring to door frame angle of inclination.
These digital regulation resistance 5 output voltages are 0～5V, and in the time that door frame rotates from maximum hypsokinesis angle to maximum forward leaning angle, digital regulation resistance 5 output voltages are from 0～5V linear change, and wherein, the maximum forward leaning angle of the door frame of setting is 3～6 degree; The maximum hypsokinesis angle of door frame is 10～13 degree.
Wherein, the concrete mode that inclination sensor, trigger switch 7, the switch 8 that leans forward, the electromagnetic valve 3 that leans forward, hypsokinesis switch 7, hypsokinesis electromagnetic valve 4 and Oil pump electrical machinery 2 are connected on controller 1 is: between controller 1 and voltage incoming end, be parallel with trigger switch 6, switch 8 and hypsokinesis switch 7 lean forward, between controller 1 and ground terminal, be parallel with lean forward electromagnetic valve 3 and hypsokinesis electromagnetic valve 4, Oil pump electrical machinery 2 inputs, mouth are connected with controller 1, and input, the mouth of digital regulation resistance 5 are connected with controller 1.In the time that the switch 8 that leans forward is closed, controller 1 obtains a high level, controller 1 carries out this high level after calculation process, export the electromagnetic valve 3 that makes to lean forward and obtain electric control signal, make to lead to the oil circuit conducting that dump ram 11 leans forward door frame, meanwhile, controller 1 is exported the control signal that Oil pump electrical machinery 2 is worked, and is the hydraulic oil that provides of dump ram 11; When hypsokinesis switch 7 closures, its principle of work is identical with the switch 8 that leans forward; In the time that Oil pump electrical machinery 11 provides hydraulic oil for lift oil tank, when pallet fork rises to constrain height, trigger switch 6 is triggered, and controller 1 will send and make the out-of-work control signal of Oil pump electrical machinery 2, and its control circuit connects as shown in Figure 1.
Wherein, tilting forward and back in control process of door frame, owing to having added the detection retroactive effect to door frame angle of inclination of digital regulation resistance 5, make the closed loop control that tilted forward and back controlling composition of door frame, as shown in figure 13, lean forward or hypsokinesis pattern by setting tilt quantity and selecting, signal is passed to controller 1, send control signal by controller 1 again, electromagnetic valve 3 or hypsokinesis electromagnetic valve 4 closures make to lean forward, Oil pump electrical machinery 2 is worked, finally make the piston rod of dump ram 11 stretch out or retract, control leaning forward or hypsokinesis of door frame, at the same time, digital regulation resistance 5 detects the heeling condition of door frame in real time, and data feedback is arrived to input, thereby realized, door frame is tilted to carry out Closed control.
In this enforcement, when lean forward electromagnetic valve 3 and hypsokinesis electromagnetic valve 4 are during respectively as independent electromagnetic valve, lean forward electromagnetic valve 3 and hypsokinesis electromagnetic valve 4 can adopt respectively a two-position four-way solenoid valve, initial condition, lean forward electromagnetic valve 3 and hypsokinesis electromagnetic valve 4 is all in stop bit, now, dump ram 11 is failure to actuate, when switch 8 closures that lean forward, the 1DT of electromagnetic valve 3 of making to lean forward obtains when electric, hydraulic oil enters from the rodless cavity of dump ram 11, and the piston rod of dump ram 11 stretches out, and door frame leans forward; When hypsokinesis switch 7 closures, the 2DT of hypsokinesis electromagnetic valve 4 is obtained when electric, hydraulic oil enters from the rod chamber of dump ram 11, the piston rod of dump ram 11 is retracted, door frame hypsokinesis, like this, by control lean forward switch 8 or hypsokinesis switch 7, select the different oil-feed mode of dump ram 11, realize leaning forward and hypsokinesis motion control of door frame, its hydraulic principle as shown in figure 12.
As the another kind of set-up mode of lean forward electromagnetic valve 3 and hypsokinesis electromagnetic valve 4, lean forward electromagnetic valve 3 and hypsokinesis electromagnetic valve 4 can also be combined into a three position four-way electromagnetic valve 16.In the time that three position four-way electromagnetic valve 16 is in meta, dump ram 11 is failure to actuate, when the 1DT of three position four-way electromagnetic valve 16 obtains when electric, right position enables, hydraulic oil enters from the rodless cavity of dump ram 11, the piston rod of dump ram 11 stretches out, door frame leans forward, make the right position of three position four-way electromagnetic valve 16 be equivalent to the electromagnetic valve 3 that leans forward, when the 2DT of three position four-way electromagnetic valve 16 obtains when electric, left position enables, hydraulic oil enters from the rod chamber of dump ram 11, the piston rod of dump ram 11 is retracted, door frame hypsokinesis, make the left position of three position four-way electromagnetic valve 16 be equivalent to a hypsokinesis electromagnetic valve 4, like this, realize two electromagnetic valves have been integrated on an electromagnetic valve, make hydraulic system structure more compact, its hydraulic principle as shown in figure 11.
Based on this three position four-way electromagnetic valve 16, this forklift door frame incline controller also comprises the hydraulic control system of dump ram 11, this hydraulic control system comprises dump ram 11, Oil pump electrical machinery 2, three position four-way electromagnetic valve 16, oil pump 19, by pass valve 17, return filter 18 and fuel tank 20, Oil pump electrical machinery 2 is connected with oil pump 19, the oil inlet of oil pump 19 is connected with fuel tank 20, the oil outlet of oil pump 19 is connected with the P mouth of three position four-way electromagnetic valve 16, the T mouth of three position four-way electromagnetic valve 16 is connected with fuel tank 20 after being connected with return filter 18, the A mouth of three position four-way electromagnetic valve 16 and B mouth are connected respectively rodless cavity and the rod chamber of dump ram 11, between the oil outlet of oil pump 19 and the oil inlet of return filter 18, be connected with by pass valve 17.After the controlled signal of Oil pump electrical machinery 2, the work of control oil pump 19, in the time that lean forward switch 8 or hypsokinesis switch 7 do not trigger, three position four-way electromagnetic valve 16 metas enable, and Oil pump electrical machinery 2 quits work, and door frame is static; After the switch 8 that leans forward triggers, Oil pump electrical machinery 2 is worked, and meanwhile, the 1DT of three position four-way electromagnetic valve 16 obtains electric, and hydraulic oil enters from the rodless cavity of dump ram 11, and the piston rod of dump ram 11 stretches out, and door frame leans forward; After hypsokinesis switch 7 triggers, Oil pump electrical machinery 2 is worked, and meanwhile, the 2DT of three position four-way electromagnetic valve 16 obtains electric, and hydraulic oil enters from the rod chamber of dump ram 11, and the piston rod of dump ram 11 is retracted, door frame hypsokinesis; In addition, utilize by pass valve 17 as decompression protection, be back to before fuel tank 20 at hydraulic oil after system, return filter 18 has ensured the clean of hydraulic oil, as shown in figure 11.
The invention provides the fork truck anti-dumping control method based on above-mentioned forklift door frame incline controller, as shown in figure 10, comprise the following steps:
In step a, judge the whether closed activation of trigger switch 6 and door frame heeling condition, if trigger switch 6 closures and door frame lean forward, perform step b, if trigger switch 6 closures and door frame hypsokinesis or trigger switch 6 are not closed and door frame hypsokinesis, perform step after c, continue execution step k, do not close 6 closures and door frame leans forward if trigger to open, perform step d;
In step b, judge whether forklift door frame forward leaning angle is greater than restriction forward leaning angle, if so, perform step after f, continue execution step k, if not, perform step after e, return to execution step b;
In step c, door frame can hypsokinesis to maximum angle;
In steps d, judge whether forklift door frame forward leaning angle is greater than restriction forward leaning angle, if so, perform step after g, then perform step h, then perform step i, finally enter step k, if not, perform step after j, continue execution step k;
In step e, the electromagnetic valve 3 that leans forward is switched on, and forklift door frame can continue to lean forward;
In step f, electromagnetic valve 3 power-off of leaning forward, oil pump motor 2 stalls;
In step g, pallet fork 13 rises, and touch trigger switch 6 makes triggering open the closed activations in 6 passes;
In step h, hypsokinesis switch 7 is connected, and hypsokinesis electromagnetic valve 4 is switched on, and Oil pump electrical machinery 2 is worked, and door frame hypsokinesis is to upright position;
In step I, 4 power-off of hypsokinesis electromagnetic valve, oil pump motor 2 stalls;
In step j, door frame can lean forward to maximum angle;
In step k, door frame inclination control is in security standpoint.
Wherein, being preferably located at restriction forward leaning angle is 2 degree.
In the time that forklift door frame tilts forward and back, digital regulation resistance 5 is by the angle that detects that door frame tilts forward and back, the variation that the angle change of this door frame is changed into magnitude of voltage by digital regulation resistance 5 passes to controller 1, in the time that rising to certain altitude, 13 of pallet forks will touch trigger switch 6, trigger switch 6 closures are enabled, the closure signal of opening of trigger switch 6 passes to controller 1, the signal that controller 1 detects according to digital regulation resistance 5 and trigger switch 6, carry out after signal processing, controlled the power on/off of lean forward electromagnetic valve 3 and hypsokinesis electromagnetic valve 4 by controller 1, and the opening and closing of Oil pump electrical machinery 2, realize the fuel feeding control to dump ram 11 and lift oil tank to Oil pump electrical machinery 2.
In the time that the switch 8 that leans forward is closed, Oil pump electrical machinery 2 is worked, and the electromagnetic valve 3 that leans forward is switched on, and dump ram 11 protracts, and forklift door frame turns forward, as shown in Figure 5,6; In the time that hypsokinesis switch 7 is closed, Oil pump electrical machinery 2 is worked, and hypsokinesis electromagnetic valve 4 is switched on, dump ram 11 retrudes, and door frame recedes, as shown in Figure 7,8; When pallet fork 13 is for touching before trigger switch 6, door frame can lean forward or hypsokinesis to maximum angle position, when touching after trigger switch 6, be that the height that pallet fork 13 rises has exceeded the safe altitude that fork truck is set, because the center of gravity of goods is in higher position, when door frame turns forward, fork truck is easily tumbled, now, allow door frame hypsokinesis to maximum angle, but when door frame forward leaning angle exceedes 2 while spending, controller 1 will disconnect lean forward electromagnetic valve 3 and Oil pump electrical machinery 2 just at work automatically, thereby door frame forward leaning angle is controlled within the scope of 2 degree; In addition, if pallet fork 13 is not touching before trigger switch 6, when door frame forward leaning angle has been in 2 degree position, this Time Controller 1 control oil pump motor 2 is to lift oil tank oil-feed, make pallet fork 13 increase, in the time that pallet fork 13 rises shake-up trigger switch 6, controller 1 is switched on hypsokinesis electromagnetic valve 4, works with seasonal Oil pump electrical machinery 2, make dump ram 11 retrudes, forklift door frame recedes, until upright position, as shown in Figure 9, now, 4 power-off of hypsokinesis electromagnetic valve, Oil pump electrical machinery 2 quits work, thereby forklift door frame is adjusted in security standpoint automatically.
Claims (10)
1. a forklift door frame incline controller, comprise for controlling the dump ram that forklift door frame tilts forward and back and controlling the lift oil tank that pallet fork hoists, it is characterized in that: also comprise controller, on the signal input part of described controller, be connected with for detection of forklift door frame angle of inclination and measurement signal is passed to the inclination sensor of controller and the signal output part of controller and connect promising dump ram and lift oil tank the Oil pump electrical machinery of hydraulic oil is provided, in addition, shown between the multi-path signal input end of controller and voltage incoming end promising controller in parallel provide trigger level for limiting the trigger switch of pallet fork rise height, for the switch and for controlling the hypsokinesis switch of forklift door frame hypsokinesis of leaning forward of controlling that forklift door frame leans forward, shown in be parallel with the electromagnetic valve and coordinate the hypsokinesis electromagnetic valve of hypsokinesis switch of leaning forward that coordinates the switch that leans forward between the multi-path signal mouth of controller and ground terminal, the oil pump outlet that Oil pump electrical machinery drives is connected dump ram oil circuit through the electromagnetic valve that leans forward after hypsokinesis solenoid control, make the piston rod reach of dump ram or retreat.
2. forklift door frame incline controller according to claim 1, is characterized in that: described in lean forward electromagnetic valve and hypsokinesis electromagnetic valve be combined into a three position four-way electromagnetic valve.
3. forklift door frame incline controller according to claim 1, is characterized in that: described trigger switch is arranged on the upper end of outer mast, in the time that pallet fork rises to constrain height conflict, and the closed activation of this trigger switch.
4. forklift door frame incline controller according to claim 2, it is characterized in that: the hydraulic control system that also comprises dump ram, this hydraulic control system comprises described dump ram, described Oil pump electrical machinery, described three position four-way electromagnetic valve, oil pump, by pass valve, return filter and fuel tank, Oil pump electrical machinery is connected with oil pump, the oil inlet of oil pump is connected with fuel tank, the oil outlet of oil pump is connected with the P mouth of three position four-way electromagnetic valve, the T mouth of three position four-way electromagnetic valve is connected with fuel tank after being connected with return filter, the A mouth of three position four-way electromagnetic valve and B mouth are connected respectively rodless cavity and the rod chamber of dump ram, between the oil outlet of oil pump and the oil inlet of return filter, be connected with by pass valve.
5. forklift door frame incline controller according to claim 3, it is characterized in that: described inclination sensor is digital regulation resistance, this digital regulation resistance is connected on vehicle frame, the rotating shaft of this digital regulation resistance is fixedly connected with driven swing arm, driven swing is resisted against in initiatively swing arm, initiatively swing arm is fixedly connected with described dump ram, cylinder body and the vehicle frame of described dump ram are hinged, piston rod and the door frame of described dump ram are hinged, meanwhile, between digital regulation resistance and driven swing arm, be provided with the torsion spring driven swing arm being pressed in all the time in initiatively swing arm.
6. forklift door frame incline controller according to claim 5, it is characterized in that: described digital regulation resistance output voltage is 0～5V, in the time that door frame rotates from maximum hypsokinesis angle to maximum forward leaning angle, digital regulation resistance output voltage is from 0～5V linear change.
7. forklift door frame incline controller according to claim 6, is characterized in that: the maximum forward leaning angle of described door frame is 3～6 degree.
8. forklift door frame incline controller according to claim 7, is characterized in that: the maximum hypsokinesis angle of described door frame is 10～13 degree.
9. a fork truck anti-dumping control method, is characterized in that, this control method comprises:
(a) judge the whether closed activation of trigger switch and door frame heeling condition, if trigger switch closure and door frame lean forward, execution step (b), if trigger switch closure and door frame hypsokinesis or trigger switch is not closed and door frame hypsokinesis, after execution step (c), continue execution step (k), do not close closure and door frame leans forward if trigger to open, execution step (d);
(b) judge whether forklift door frame forward leaning angle is greater than restriction forward leaning angle, if so, perform step after (f), continue execution step (k), if not,, after execution step (e), return to execution step (b);
(c) door frame can hypsokinesis to maximum angle;
(d) judge whether forklift door frame forward leaning angle is greater than restriction forward leaning angle, if, after execution step (g), then execution step (h), perform step again (i), finally enter step (k), if not,, after execution step (j), continue execution step (k);
(e) lean forward electromagnetic valve energising, forklift door frame can continue to lean forward;
(f) the electromagnetic valve power-off of leaning forward, oil pump motor stall;
(g) pallet fork rises, and touch trigger switch makes the closed activation of trigger switch;
(h) hypsokinesis switch connection, the energising of hypsokinesis electromagnetic valve, Oil pump electrical machinery work, door frame hypsokinesis is to upright position;
(i) hypsokinesis electromagnetic valve power-off, oil pump motor stall;
(j) door frame can lean forward to maximum angle;
(k) door frame inclination control is in security standpoint.
10. fork truck anti-dumping control method according to claim 9, is characterized in that: described restriction forward leaning angle is 2 degree.
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