CN104943766B - Fork truck and its control method - Google Patents
Fork truck and its control method Download PDFInfo
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- CN104943766B CN104943766B CN201410240617.0A CN201410240617A CN104943766B CN 104943766 B CN104943766 B CN 104943766B CN 201410240617 A CN201410240617 A CN 201410240617A CN 104943766 B CN104943766 B CN 104943766B
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Abstract
The invention discloses a kind of fork truck and its control method.The fork truck includes：Vehicle body；Connector, the connector is connected between the stabilizer of the driving wheel of the fork truck and the fork truck, and the connector is movably arranged on the vehicle body；And fluid pressure drive device, the fluid pressure drive device is connected with the connector, and the fluid pressure drive device is used to drive the connector move relative to the vehicle body when the driving wheel is with surface separation so that the driving wheel and ground close contact.According to the fork truck of inventive embodiments, driving wheel liftable and climbing capacity is good.
Description
Technical field
The present invention relates to the control method of a kind of fork truck and fork truck.
Background technology
In correlation technique, during fork truck climbing, pallet fork in front of fork truck, which can be supported only, domatic to be made driving wheel be upturned (to make
Driving wheel and ground depart from or the friction between driving wheel and ground is diminished), cause fork truck to go up a slope difficult, there is improvement empty
Between.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.Therefore, the present invention
One purpose is to propose a kind of driving wheel liftable and the good fork truck of climbing capacity.
It is another object of the present invention to propose a kind of control method of above-mentioned fork truck.
To achieve these goals, embodiment according to a first aspect of the present invention proposes a kind of fork truck.The fork truck includes：
Vehicle body and driving wheel and stabilizer on vehicle body；Connector, the connector is connected to the driving wheel and described flat
Between weighing apparatus wheel, the connector is movably arranged on the vehicle body；And fluid pressure drive device, the fluid pressure drive device with
The connector is connected, and the fluid pressure drive device is used to drive the connector relative when the driving wheel is with surface separation
The vehicle body is moved so that the driving wheel is in close contact with the ground.
Fork truck according to embodiments of the present invention, by fluid pressure drive device drive connection part to drive driving wheel and stabilizer
Relative to vehicle body movement, so that driving wheel is in close contact with ground, the climbing capacity of fork truck is lifted.
In addition, fork truck according to the above embodiment of the present invention can also have technical characteristic additional as follows：
According to one embodiment of present invention, the fluid pressure drive device drives the connector vertically to act.So
Make connector rapider relative to the movement of vehicle body, enable fork truck quickly through climbing section.In addition, connector is moved with respect to vehicle body
Dynamic path is short, can also reduce the size of vehicle body in the vertical direction, saves material and manufacturing cost.Meanwhile, reduction fork
The height of car, makes the movement of fork truck more stable.
According to one embodiment of present invention, the fluid pressure drive device includes：Hydraulic pump；And hydraulic cylinder, the liquid
Cylinder pressure is connected with the hydraulic pump by hydraulic circuit, and the piston rod of the hydraulic cylinder is connected with the connector.
According to one embodiment of present invention, the hydraulic cylinder is multiple, so as to be provided more greatly more in a balanced way for connector
Driving force.
According to one embodiment of present invention, the multiple hydraulic cylinder is divided into first group and second group, first group of liquid
Cylinder pressure is spaced apart from each other with second group of hydraulic cylinder in the transverse direction of the fork truck, and first group of hydraulic cylinder drives close to described
Driving wheel and second group of hydraulic cylinder is close to the stabilizer.Thus the stress for making connector evenly, make driven wheel side by
Power is more balanced with the stress of stabilizer side, fully ensures that stabilizer is also close with ground while driving wheel is in close contact with ground
Contact.
According to one embodiment of present invention, multiple installation pedestals are provided with the vehicle body, the installation pedestal is fixed
On the vehicle body, each hydraulic cylinder is respectively correspondingly fixed in the installation pedestal, so that the fixation of hydraulic cylinder
It is more stable.
According to one embodiment of present invention, vehicle body guide part is provided with the vehicle body, the connecting piece structure is company
The connecting plate guide part being adapted to the vehicle body guide part is configured with fishplate bar, the connecting plate, so that in connector with respect to car
Body plays guide effect when moving, and makes the movement of connector more steady.
According to one embodiment of present invention, the vehicle body guide part is configured to vertically extending guide groove, the connection
Plate guide part is configured to guide protrusion part.Thus, the structure of vehicle body and connector is simpler, and manufacturing cost is lower.
According to one embodiment of present invention, the bottom wall of the guide groove is provided with multiple oil filler points.So can be to lead
Lubricating oil is provided to the contact surface of lug boss and guide groove.
According to one embodiment of present invention, the end face of the direction of the connecting plate guide groove is provided with along the company
The oil groove of the width extension of fishplate bar, the upper surface of the connecting plate is provided with multiple oil filler points, the oil filler point with it is described
Oil groove is connected.
According to one embodiment of present invention, pallet fork wheel is provided with the pallet fork of the fork truck, the pallet fork wheel passes through liquid
Pressure driving is to be lifted, so as to further lift the climbing capacity of fork truck.
According to one embodiment of present invention, the pallet fork wheel is by driving the fluid pressure drive device of the connector to drive
It is dynamic.
Embodiment according to a second aspect of the present invention proposes a kind of control method of fork truck as described in relation to the first aspect, described
Control method comprises the following steps：When the frictional force between the driving wheel and ground is less than first predetermined value, the hydraulic pressure
Drive device drives the relatively described vehicle body of connector to move down, and the driving wheel is in close contact with ground and the drive
Frictional force between driving wheel and ground increases to second predetermined value；When the frictional force between the driving wheel and ground is more than the 3rd
During predetermined value, the fluid pressure drive device drives the relatively described vehicle body of connector to move up, and makes the driving wheel and ground
Frictional force between face drops to the 4th predetermined value, and wherein second predetermined value is more than the 4th predetermined value.Above-mentioned control method, letter
It is single, reliable.
Brief description of the drawings
Fig. 1 is fork truck according to embodiments of the present invention.
Fig. 2 is the enlarged drawing at A in Fig. 1.
Fig. 3 is the enlarged drawing at B in Fig. 1.
Fig. 4 is the structural representation of the connector of fork truck according to embodiments of the present invention.
Reference：
Fork truck 100,
Vehicle body 1, installation pedestal 11, vehicle body guide part 12, guide groove 121, the bottom wall 1211 of guide groove 121, back plate 13,
Connector 2, connecting plate guide part 211, guide protrusion part 2111, first level section 21, interlude 22, the second level
Section 23, oil groove 24, oil filler point 25,
Fluid pressure drive device 3, hydraulic pump 31, hydraulic cylinder 32,
Pallet fork 4,
Pallet fork wheel 5
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Fork truck 100 according to embodiments of the present invention is described referring to Fig. 1.As shown in figure 1, according to embodiments of the present invention
Fork truck 100 includes vehicle body 1, connector 2 and fluid pressure drive device 3.
Fork truck 100 have driving wheel (not shown) and stabilizer (not shown), stabilizer be connected with driving wheel with
Driving wheel is moved together.Connector 2 is connected between the stabilizer of the driving wheel of fork truck 100 and fork truck 100 so that driving wheel with
The contact surface and stabilizer on ground and the contact surface on ground are maintained at the same horizontal plane.
Connector 2 is movably arranged on vehicle body 1, i.e., connector 2 can be moved relative to vehicle body 1.Fluid pressure drive device 3 is with connecting
Fitting 2 is connected, and fluid pressure drive device 3 is used in driving wheel and during surface separation, drive connection part 2 moved relative to vehicle body 1 so that
Driving wheel is in close contact with ground.It is understood that separation here broadly understood, including driving wheel takes off completely with ground
From and frictional force between driving wheel and ground reduce two kinds of situations.
Specifically, connector 2 comes from fluid pressure drive device 3, fluid pressure drive device relative to the driving force that vehicle body 1 is moved
3 drive connection parts 2 are moved relative to vehicle body 1, because driving wheel is connected with stabilizer with connector 2, therefore connector 2 drives and driven
Driving wheel and stabilizer are moved relative to vehicle body 1 together.
That is, being completely disengaged from when driving wheel occurs during climbing in fork truck 100 with ground or driving wheel and ground
During the situation that the frictional force between face diminishes, the drive connection part 2 of fluid pressure drive device 3 is moved relative to vehicle body 1, makes driving wheel and ground
Face is in close contact, so that fork truck 100 is smoothly climbed, improves the climbing capacity of fork truck 100.When fork truck 100 is on flat road
When face is travelled, fluid pressure drive device 3 can return to initial position with drive connection part 2, and initial position is fork truck 100 on flat road
When face is travelled, the position that driving wheel can be kept to be in close contact with ground.
In short, fork truck 100 according to embodiments of the present invention, is driven by the drive connection part 2 of fluid pressure drive device 3 and driven
Wheel is moved with stabilizer relative to vehicle body 1, and driving wheel is in close contact with ground, lifts the climbing capacity of fork truck 100.
It is understood that driving wheel, stabilizer and connector 2 belong to the part on the chassis of fork truck 100, pass through
The description above understands that the chassis of fork truck 100 according to embodiments of the present invention can be realized by fluid pressure drive device 3 to be lifted, from
And fork truck 100 is preferably tackled different road conditions, improve the handling capacity of fork truck 100.
Advantageously, fluid pressure drive device 3 can vertically be acted with drive connection part 2, wherein vertically namely shown in Fig. 1
Above-below direction, the mobile route for being thus connected part 2 is most short, so that connector 2 is rapider relative to the movement of vehicle body 1, makes fork
Car 100 can be quickly through climbing section.In addition, connector 2 is short relative to the path that vehicle body 1 is moved, vehicle body 1 can also be reduced and existed
Size on above-below direction, saves material and manufacturing cost.Meanwhile, the height of fork truck 100 is reduced, makes the movement of fork truck 100
It is more stable.
A specific embodiment according to the present invention is described referring to Fig. 1：
In the embodiment shown in fig. 1, fork truck 100 includes vehicle body 1, connector 2, fluid pressure drive device 3 and pallet fork 4.Liquid
Hydraulic driver 3 includes hydraulic pump 31 and hydraulic cylinder 32.
Hydraulic pump 31 is located on connector 2, and hydraulic cylinder 32 is connected with hydraulic pump 31 by hydraulic circuit, and hydraulic cylinder 32
Piston rod (not shown) is connected with connector 2, to be moved by hydraulic pressure drive connection part 2 relative to vehicle body 1.
As shown in figure 1, hydraulic cylinder 32 is two, two installation pedestals 11 are provided with vehicle body 1, two installation pedestals 11 are equal
It is fixed on vehicle body 1, two hydraulic cylinders 32 are respectively correspondingly fixed in two installation pedestals 11, i.e., one hydraulic cylinder 32 is fixed
In an installation pedestal 11.That is, hydraulic cylinder 32 is fixed on vehicle body 1 by installation pedestal 11, due to installation pedestal
11 is big with the contact area of vehicle body 1, thus the fixation of hydraulic cylinder 32 is more stable.Specifically, installation pedestal 11 is fixed on vehicle body 1
In back plate 13, alternatively, installation pedestal 11 is cast member, and installation pedestal 11 can be formed with the integrally casting of back plate 13, can also
It is fixed on by fastener in back plate 13.
More specifically, as depicted in figs. 1 and 2, two hydraulic cylinders 32 are spaced apart from each other in the transverse direction of fork truck 100, and
One of them is close to driving wheel, and another is close to stabilizer, that is to say, that the piston rod of one of hydraulic cylinder 32 is connected to company
At the position corresponding with driving wheel of fitting 2, the piston rod of another hydraulic cylinder 32 is connected to the corresponding with stabilizer of connector 2
Position at, the stress for thus making connector 2 evenly, makes the stress of driven wheel side more balanced with the stress of stabilizer side, filled
Code insurance is demonstrate,proved stabilizer while driving wheel is in close contact with ground and is also in close contact with ground.
Certainly, the quantity of installation pedestal 11 and the quantity of hydraulic cylinder 32 are not limited to this, in other realities of the present invention
Apply in example, multiple installation pedestals 11 can be provided with vehicle body 1, fluid pressure drive device 3 can include multiple hydraulic cylinders 32, and peace
The quantity for filling pedestal 11 is equal with the quantity of hydraulic cylinder 32, and a hydraulic cylinder 32 is fixed in an installation pedestal 11.
Vehicle body guide part 12 is provided with vehicle body 1, connector 2 is configured to be configured with connecting plate, connecting plate and led with vehicle body
The connecting plate guide part 211 being adapted to portion 12.When connector 2 is moved relative to vehicle body 1, vehicle body guide part 12 is oriented to connecting plate
Portion 211, which coordinates, plays a part of being oriented to for connector 2, makes the movement of connector 2 more steady.
As shown in Figure 1 and Figure 4, the cross section of connecting plate is substantially Z-shaped, including be sequentially connected first level section 21, in
Between the horizontal segment 23 of section 22 and second, and first level section 21 right-hand member be connected with the upper end of interlude 22, the second horizontal segment 23
Left end is connected with the lower end of interlude 22.That is, the second horizontal segment 23 is in the vertical direction less than first level section 21, liquid
Press pump 31 is located on the upper surface of the second horizontal segment 23, so as to further reduce the size of fork truck 100 in the vertical direction, reduction
The height of fork truck 100, lifts the stability of fork truck 100.Alternatively, interlude 22 can be with vertically extending.
Advantageously, as shown in figure 1, connecting plate guide part 211 is two, two connecting plate guide parts 211 are along fork truck 100
Width is arranged in the two ends of connecting plate, i.e., one of connecting plate guide part 211 is located at the left end of first level section 21, separately
One connecting plate guide part 211 is located at the right-hand member of the second horizontal segment 23.Correspondingly, vehicle body guide part 12 is also two, and two
Vehicle body guide part 12 is corresponded with two connecting plate guide parts 211.Wherein, the width of fork truck 100 is namely such as Fig. 1 institutes
The left and right directions shown.
Specifically, as shown in figure 1, vehicle body guide part 12 is configured to vertically extending guide groove 121, connecting plate guide part
211 are configured to guide protrusion part 2111, that is to say, that connector 2 is moved under the driving of fluid pressure drive device 3 relative to vehicle body 1
When, guide protrusion part 2111 is slided in guide groove 121.Thus, the structure of vehicle body 1 and connector 2 is simpler, manufacturing cost
It is lower.
Further, in order that slip of the guide protrusion part 2111 in guide groove 121 is more smooth, and further lifting connects
Fitting 2 makes fork truck 100 quickly through climbing section with respect to the speed that vehicle body 1 is moved up and down.Some in the present invention are optional real
Apply in example, as shown in figure 3, multiple oil filler points (not shown) can be provided with the bottom wall 1211 of guide groove 121, pass through oil filler point
Into guide groove 121, oiling is to lubricate the contact surface of guide protrusion part 2111 and guide groove 121.
In some optional embodiments of the present invention, as shown in figure 4, on the end face towards guide groove 121 of connecting plate
Oil groove 24 provided with the width extension along connecting plate, the upper surface of connecting plate is provided with multiple oil filler points 25, oil filler point 25
Connected with oil groove 24, by oil filler point 25 into oil groove 24 oiling to lubricate the contact of guide protrusion part 2111 and guide groove 121
Face.Wherein, the width of connecting plate is identical with the fore-and-aft direction of fork truck 100.
As shown in figure 1, being provided with pallet fork wheel 5 on the pallet fork 4 of fork truck 100, pallet fork wheel 5 can also be carried out by hydraulic-driven
Lifting, thus fork truck 100 by climb section when, pallet fork wheel 5 is lifted according to actual conditions, it is to avoid pallet fork wheel 5 and
Ground is contacted, and the climbing capacity of fork truck 100 is further lifted.
The lifting of pallet fork wheel 5 can be driven by the fluid pressure drive device 3 of drive connection part 2, and hydraulic pressure can also be set in addition
Actuator drives.As shown in figure 1, pallet fork wheel 5 can be multiple, multiple pallet fork wheels 5 can be set at interval along the longitudinal direction
In the leading portion of pallet fork 4.
In other embodiments of the present invention, fork truck 100 includes vehicle body 1, connector 2 and fluid pressure drive device 3.Hydraulic pressure
Drive device 3 includes hydraulic pump 31 and multiple hydraulic cylinders 32, and the piston rod of multiple hydraulic cylinders 32 is connected with connector 2 respectively, from
And be that connector 2 provides bigger driving force more in a balanced way.
Multiple hydraulic cylinders 32 are divided into first group and second group, and first group of hydraulic cylinder 32 and second group of hydraulic cylinder 32 can be in forks
It is spaced apart from each other in the transverse direction of car 100, first group of hydraulic cylinder 32 is close to driving wheel and second group of hydraulic cylinder 32 close to stabilizer.
That is, multiple piston rods of first group of hydraulic cylinder 32 are connected to the corresponding with driving wheel of connector 2
At position, multiple piston rods of second group of hydraulic cylinder 32 are connected at the position corresponding with stabilizer of connector 2, thus
The stress for making connector 2 evenly, makes the stress of driven wheel side more balanced with the stress of stabilizer side, fully ensure that driving wheel with
Stabilizer is also in close contact with ground while ground is in close contact.
Present invention also offers a kind of control method for the fork truck 100 being performed as described above described in example.The control method includes
Following steps：When the frictional force between driving wheel and ground is less than first predetermined value, fluid pressure drive device drive connection part phase
Vehicle body is moved down, makes driving wheel and ground close contact and the frictional force between driving wheel and ground increases to second and made a reservation for
Value.
When the frictional force between driving wheel and ground is more than third predetermined value, fluid pressure drive device drive connection part is relative
Vehicle body movement is moved up, and the frictional force between driving wheel and ground is dropped to the 4th predetermined value, wherein second predetermined value is big
In the 4th predetermined value.
That is, fork truck 100 occurs that driving wheel is completely disengaged from or driving wheel and ground with ground during climbing
The situation that frictional force between face diminishes, when the frictional force between driving wheel and ground is less than first predetermined value, hydraulic-driven
The relative vehicle body 1 of 3 drive connection part of device 2 is moved down, and driving wheel and ground is in close contact until between driving wheel and ground
Frictional force increase to second predetermined value, thus fork truck 100 can smoothly be climbed, improve the climbing capacity of fork truck 100.Its
In, second predetermined value refers to during fork truck 100 is climbed, ensure that what is be in close contact all the time between driving wheel and ground
The value of frictional force between driving wheel and ground.
During fork truck 100 is from climbing road traveling to flat road surface, when the frictional force between driving wheel and ground
During more than third predetermined value, the relative vehicle body 1 of the drive connection part 2 of fluid pressure drive device 3 is moved up, until driving wheel and ground it
Between frictional force drop to the 4th predetermined value.That is, fluid pressure drive device 3 can return to initial bit with drive connection part 2
Put, initial position be fork truck 100 when flat road surface is travelled, the position that driving wheel and ground can be kept to be in close contact.Wherein,
Four predetermined values refer in fork truck 100 during flat road surface traveling, ensure that and are closely connect all the time between driving wheel and ground
The value of frictional force between tactile driving wheel and ground.
It is understood that in the case of the power and deadweight identical of fork truck 100, fork truck 100 drives when normally climbing
The value taken turns frictional force between ground is naturally larger than the frictional force between driving wheel and ground when flat road surface is travelled of fork truck 100
Value, i.e. second predetermined value are more than the 4th predetermined value.
Wherein first predetermined value and third predetermined value, can be according to fork truck 100 in different road traveling situations, and road surface
Credit rating determine.
Thus, the control method of fork truck 100 according to embodiments of the present invention, simple and reliable, and helps to lift fork truck 100
Climbing capacity.
In summary, fork truck 100 according to embodiments of the present invention, climbing capacity is good, stable to high and easy to use, according to
The control method of the fork truck 100 of the embodiment of the present invention, it is simple, reliable.
In the description of the invention, it is to be understood that term " length ", " width ", " thickness ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than indicate or dark
Specific orientation must be had, with specific azimuth configuration and operation by showing the device or element of meaning, therefore it is not intended that right
The limitation of the present invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, unless otherwise clear and definite restriction.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are directly contacted, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the not be the same as Example or the feature of example and non-be the same as Example or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (13)
1. a kind of fork truck, it is characterised in that including：
Vehicle body and driving wheel and stabilizer on vehicle body；
Connector, the connector is connected between the driving wheel and the stabilizer, and the connector is movably arranged at
On the vehicle body；And
Fluid pressure drive device, the fluid pressure drive device is connected with the connector, and the fluid pressure drive device is used for described
The connector is driven to be moved relative to the vehicle body when driving wheel is with surface separation so that the driving wheel and the ground are close
Contact.
2. fork truck according to claim 1, it is characterised in that the fluid pressure drive device drives the connector vertically
Action.
3. fork truck according to claim 1, it is characterised in that the fluid pressure drive device includes：
Hydraulic pump；And
Hydraulic cylinder, the hydraulic cylinder is connected with the hydraulic pump by hydraulic circuit, and the piston rod of the hydraulic cylinder with it is described
Connector is connected.
4. fork truck according to claim 3, it is characterised in that the hydraulic cylinder is multiple.
5. fork truck according to claim 4, it is characterised in that the multiple hydraulic cylinder is divided into first group and second group, institute
State first group of hydraulic cylinder to be spaced apart from each other in the transverse direction of the fork truck with second group of hydraulic cylinder, first group of hydraulic cylinder
Close to the driving wheel and second group of hydraulic cylinder close to the stabilizer.
6. fork truck according to claim 3, it is characterised in that multiple installation pedestals, the peace are provided with the vehicle body
Dress pedestal is fixed on the vehicle body, and each hydraulic cylinder is respectively correspondingly fixed in the installation pedestal.
7. fork truck according to claim 1, it is characterised in that vehicle body guide part, the connection are provided with the vehicle body
Part is configured to be configured with the connecting plate guide part being adapted to the vehicle body guide part on connecting plate, the connecting plate.
8. fork truck according to claim 7, it is characterised in that the vehicle body guide part is configured to vertically extending guiding
Groove, the connecting plate guide part is configured to guide protrusion part.
9. fork truck according to claim 8, it is characterised in that the bottom wall of the guide groove is provided with multiple oil filler points.
10. fork truck according to claim 8, it is characterised in that on the end face of the direction guide groove of the connecting plate
Oil groove provided with the width extension along the connecting plate, the upper surface of the connecting plate is provided with multiple oil filler points, described
Oil filler point is connected with the oil groove.
11. the fork truck according to any one of claim 1-10, it is characterised in that set in stockit is available on the pallet fork of the fork truck
Fork wheel, the pallet fork wheel is by hydraulic-driven to be lifted.
12. fork truck according to claim 11, it is characterised in that the pallet fork wheel is by driving the hydraulic pressure of the connector
Drive device drives.
13. a kind of control method of fork truck as any one of claim 1-12, it is characterised in that the control method
Comprise the following steps：
When the frictional force between the driving wheel and ground is less than first predetermined value, the fluid pressure drive device drives the company
The relatively described vehicle body of fitting is moved down, and the driving wheel and ground is in close contact and rubbing between the driving wheel and ground
Wipe power and increase to second predetermined value；
When the frictional force between the driving wheel and ground is more than third predetermined value, the fluid pressure drive device drives the company
The relatively described vehicle body of fitting is moved up, and the frictional force between the driving wheel and ground is dropped to the 4th predetermined value, wherein
Second predetermined value is more than the 4th predetermined value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410240617.0A CN104943766B (en) | 2014-05-30 | 2014-05-30 | Fork truck and its control method |
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| CN201410240617.0A CN104943766B (en) | 2014-05-30 | 2014-05-30 | Fork truck and its control method |
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| CN104943766B true CN104943766B (en) | 2017-09-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108545670A (en) * | 2018-07-04 | 2018-09-18 | 杭叉集团股份有限公司 | A kind of laser navigation forklift device |
| CN114148959B (en) * | 2021-12-13 | 2023-04-07 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Laser forklift path searching method |
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| CN101659289A (en) * | 2009-09-23 | 2010-03-03 | 宁波大学 | Carrier with antiskid function |
| CN203063917U (en) * | 2013-01-08 | 2013-07-17 | 浙江诺力机械股份有限公司 | Mechanism achieving four-way driving of forklift and forklift |
| CN203428877U (en) * | 2013-08-13 | 2014-02-12 | 上海基澎机械科技有限公司 | Driving wheel automatic adjustment type full-electric pallet truck |
| CN103663278A (en) * | 2013-12-06 | 2014-03-26 | 宁波豪迈机械有限公司 | Electric reach truck |
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|---|---|
| CN104943766A (en) | 2015-09-30 |
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