CN107311086A - Judge fork truck load whether overweight control unit and method - Google Patents
Judge fork truck load whether overweight control unit and method Download PDFInfo
- Publication number
- CN107311086A CN107311086A CN201610264507.7A CN201610264507A CN107311086A CN 107311086 A CN107311086 A CN 107311086A CN 201610264507 A CN201610264507 A CN 201610264507A CN 107311086 A CN107311086 A CN 107311086A
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- China
- Prior art keywords
- fork truck
- control unit
- load
- overweight
- valve opening
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Civil Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides it is a kind of judge fork truck load whether overweight control unit, described control unit includes the judge module with the velocity sensor of forklift engine itself and with the control unit of engine communication connection of fork truck, the judge module is configured to, and obtains the specified hydraulic pressure (P of forklift lifting hydraulic cylinder from the specified hydraulic pressure transfer curve in engine speed forklift lifting hydraulic cylinder based on the engine speed (S) obtainedrate), based on the magnitude of voltage (V obtainedoperating) from operating voltage valve opening than obtaining valve opening ratio (K) in transfer curve, and based on specified hydraulic pressure (Prate), the sectional area (A) of valve opening ratio (K) and forklift lifting hydraulic cylinder obtain the load quality (M) of fork truck, then judge that fork truck whether there is the overweight phenomenon of load for causing fork truck to topple using lever principle, and provide load whether overweight result prompting to truck driver based on judged result.Present invention also offers it is a kind of judge fork truck load whether overweight method.
Description
Technical field
The present invention relates to fork truck field, and in particular to one kind calculates fork truck and loads and judge that fork truck is loaded
Whether overweight control system and method.
Background technology
Balanced type fork truck is as the heavily loaded carrying vehicle of wide variety of short distance, and front is equipped with lifting and lands
Lifting pallet fork, the afterbody of weight are equipped with the counterweight block that stability is provided for fork truck, it is adaptable to harbour,
The situation such as station and enterprises handling, stacking and carrying work piece.
Balanced type fork truck uses lever principle, and the quality of front carrying heavy goods and the product of the arm of force must be small
, can in the product of fork truck sole mass (most of to be provided by counterweight block) and fork truck itself arm of force
Ensure fork truck steady operation.Otherwise, rollover risk may occur for fork truck, to personnel and property
Bring immeasurable loss.
Currently, whether the lifting heavy of non-road fork truck is general with warp beyond its allowable load ability
Test judgement, especially being unaware of in the case of lifting heavy quality, it is unavoidable occur estimation error so as to
Cause overload to occur and then trigger dangerous.However, it is higher for a set of weighing system cost of fork truck outfit,
Need to configure the connection line of measurement sensor and correlation costly, undoubtedly this can be greatly improved
The cost of fork truck.
Want to solve the above problems.
The content of the invention
In order to accurately, reliably judge whether fork truck load surpasses in the case where not increasing significant cost
Weight, the invention provides it is a kind of judge fork truck load whether overweight control unit, the control list
Member includes communicating with the velocity sensor of forklift engine itself and with the control unit of engine of fork truck
The judge module of connection, the judge module is configured to, based on what is obtained from the velocity sensor
The engine speed that engine speed is stored from described control unit-forklift lifting hydraulic cylinder it is specified
Hydraulic pressure transfer curve obtains the specified hydraulic pressure of forklift lifting hydraulic cylinder, based on starting from described
The operating voltage that the magnitude of voltage that machine control unit is obtained is stored from described control unit-valve opening is than passing
Acquisition valve opening ratio in curve is passed, and based on the specified hydraulic pressure, valve opening ratio and fork
The sectional area of car lifting hydraulic cylinder obtains the load quality of fork truck, then judges fork truck using lever principle
With the presence or absence of the overweight phenomenon of load for causing fork truck to topple, and carried based on judged result to truck driver
For the whether overweight result prompting of load.
According to a possible embodiments, described control unit also includes communicating to connect with the judge module
Memory, be at least stored with the memory following fork truck inherent characteristic parameters：Load the arm of force,
Fork truck quality, the fork truck arm of force, the specified hydraulic pressure of the engine speed-forklift lifting hydraulic cylinder is passed
Curve is passed, the operating voltage-valve opening compares transfer curve.
According to a possible embodiments, the judge module is configured to the load quality in fork truck with bearing
The product of the load arm of force points out truck driver load in the case of being less than the product of fork truck quality and the fork truck arm of force
It is not overweight, and fork truck load quality with load the arm of force product be more than or equal to fork truck quality with
Point out truck driver load overweight in the case of the product of the fork truck arm of force.
According to a possible embodiments, described control unit also includes communicating to connect with the judge module
Alarm, result prompting includes visual cues and/or auditory tone cues.
According to a possible embodiments, the visual cues include it is following at least one：Alarm
Light whether flash, the different colours shown by alarm, alarm lamp lights form；With/
Or, the acoustic information includes the buzzer or voice that alarm is sent.
According to a possible embodiments, described control unit may be provided as single control unit, or
Person is integrated into the control unit of engine of fork truck.
Above-mentioned control unit is utilized to judge the negative of fork truck there is provided a kind of according to another aspect of the present invention
Carry whether overweight method, methods described is using the judge module：
S1：Obtain the engine speed exported from the velocity sensor of forklift engine itself and obtain
The magnitude of voltage exported from the control unit of engine of fork truck；
S2：It is based respectively on the engine speed (S) and the magnitude of voltage (Voperating) from institute
State the specified hydraulic pressure transfer curve of the engine speed-forklift lifting hydraulic cylinder stored in control unit
The specified hydraulic pressure of forklift lifting hydraulic cylinder is obtained than transfer curve with operating voltage-valve opening
(Prate) and valve opening ratio (K)；
S3：Based on the specified hydraulic pressure (Prate), valve opening ratio (K) and forklift lifting
The sectional area (A) of hydraulic cylinder obtains the load quality of fork truck；
S4：Judge that fork truck whether there is the overweight phenomenon of load for causing fork truck to topple using lever principle；
S5：The whether overweight result of load is provided based on judged result to truck driver to point out.
According to the present invention, judging whether the load of fork truck is overweight only needs two real-time parameters to be counted
Calculate：Forklift engine rotating speed and cell voltage, and these parameters are all from fork truck configured biography in itself
Sensor is obtained with control unit of engine.So, fork truck need not be configured to be passed including expensive
The high cost weighing system of sensor and line related, in the case where not being added to this significantly, is realized
Judge the whether overweight purpose of fork truck.Obtained in addition, the judgement is calculated by modeling formula, phase
Than in micro-judgment, the accuracy of judgement and therefore reliability is greatly improved.
Brief description of the drawings
Pass through the preferred embodiment being below with reference to the accompanying drawings described in detail, above and other advantage of the application
It will be better understood with feature.
Fig. 1 show it is according to the present invention, for judging whether overweight control unit is shown for fork truck load
It is intended to；
Fig. 2 show according to the present invention, for judge fork truck load whether overweight method flow diagram.
Embodiment
It is contemplated that providing a kind of more accurate and reliable judgement on the premise of not being added to this significantly
Method and the control unit of execution the method that whether fork truck load is overweight.
Fig. 1 show according to the present invention be used for judge fork truck load whether overweight control unit
Block diagram.
Control unit reference numeral 20 represents that control unit mainly includes memory 22, judges mould
Block 24 and optional alarm 26.
As shown in figure 1, the velocity sensor 12 and fork truck of judge module 24 and engine itself
Control unit of engine 14 is communicated to connect, to obtain the present speed S of engine respectively and current
Cell operating voltage Voperating。
Judge module 24 is also communicated to connect with memory 22.Store in memory 22 intrinsic with fork truck
The related parameter of characteristic, at least includes but is not limited only to：Loading arm of force L, (forklift fork frame is substantially
The distance between center and forklift front wheel), fork truck mass M1With fork truck arm of force L1(fork truck center of gravity with
The distance between forklift front wheel), engine speed-specified hydraulic pressure transfer curve, operating voltage-
Valve opening is than transfer curve etc..
On the one hand, judge module 24 obtains working as engine from the velocity sensor 12 of engine itself
Obtained pair from engine speed-specified hydraulic pressure transfer curve based on present speed S after preceding speed S
The specified hydraulic pressure P answeredrate。
On the other hand, judge module 24 obtains current battery from the control unit of engine 14 of fork truck
Operating voltage VoperatingAfterwards based on the current cell operating voltage VoperatingFrom operating voltage-valve opening
Current valve opening, which is obtained, than transfer curve compares K.
In this way, according to equation Pactual=Prate× K, judge module 24 can be derived that forklift lifting hydraulic cylinder
Current actual hydraulic pressure pressure Pactual。
In the case where hydraulic cylinder radius is r, net sectional area A=π × r of hydraulic cylinder2It can calculate
Arrive, thus, the lifting force F that judge module 24 can be actually needed by calculatingLFor
Pactual×A.In view of the safe proportionality coefficient x between load gravity and the lifting force of lifting hydraulic cylinder
And in view of gravity acceleration g, actual load quality M is can obtain for FL/xg。
Now, judge module 24 extracts load arm of force L, fork truck mass M from memory 221And fork
Car arm of force L1Etc. parameter, judging that fork truck whether there is according to lever principle may cause fork truck to surround front-wheel
The overweight phenomenon of load toppled.
If load quality M × load arm of force L product is less than fork truck mass M1× fork truck arm of force L1's
Product, then in the absence of overweight phenomenon is loaded, judge module 24 sends fork truck load not to truck driver
Overweight result prompting, that is, inform driver's fork truck can with normal work, i.e. lifting loads.
If load quality M × load arm of force L product is more than or equal to fork truck mass M1× fork truck power
Arm L1Product, then load overweight, lifting the load may cause fork truck to topple.At this moment, mould is judged
Block 24 sends fork truck to truck driver and loads overweight result prompting, so that driver can take in time
Requisite measure, such as reduce engine speed, without lifting of load etc..
Control unit 20 may be configured with the alarm 26 communicated to connect with judge module 24, for fork
Car driver show fork truck load whether overweight result.The above results prompting can be visual cues or sound
Sound is pointed out or combinations thereof.
Alarm 26 can be set to the form of alarm lamp.The prompting of result that judge module 24 is sent can be with
It is the change of alarm lamp color, such as in the not overweight Times warning lamp display green of fork truck load in fork truck
Alarm lamp display is red in the case that load is overweight, other colors is preset certainly also possible；Judge
The result prompting that module 24 is sent can be the change of alarm lamp illuminating state, such as loaded in fork truck
Not overweight Times warning lamp does not flash and alarm lamp flashes in the case where fork truck load is overweight.Certainly, originally
Technical staff in field it is conceivable that visually recognizable any other prompting mode can make
With.
In addition to above-mentioned visual cues, alarm 26, which can also be predetermined different form of sound, to be used for department
Machine transmission the above results prompting.As an example, it can only allow report when fork truck load is not overweight
Warning lamp is bright but does not send sound, and in the case where fork truck load is overweight, alarm beeps.As
One alternative embodiment, can be respectively that the overweight of the fork truck sound different with the setting of not overweight state is carried
Show.
Above in conjunction with Fig. 1 be described in detail according to the present invention judge fork truck load whether overweight control
Unit.Below with reference to Fig. 2 introduce the control unit judge fork truck load whether overweight method and step.
First in step sl, judge module 24 is respectively from communicate with, the engine speed of itself
The control unit of engine 14 for spending sensor 12 and fork truck obtains the present speed S of engine and worked as
Preceding cell operating voltage Voperating。
In step s 2, judge module 24 is stored according to present speed S and in memory 22
Engine speed-specified hydraulic pressure transfer curve obtain corresponding specified hydraulic pressure PrateAnd base
In the current cell operating voltage VoperatingWith the operating voltage-valve opening stored in memory 22
Current valve opening, which is obtained, than transfer curve compares K.
In step s3, judge module 24 is based on specified hydraulic pressure Prate, valve opening is than K and liquid
The sectional area A of cylinder pressure calculates load quality M.
In step s 4, judge that fork truck whether there is the load for causing fork truck to topple using lever principle
Overweight phenomenon.This step includes extracting such as load arm of force L, fork truck mass M from memory 221
With fork truck arm of force L1Deng parameter, and make load quality M × load arm of force L product and fork truck matter
Measure M1× fork truck arm of force L1Product be compared.
In step s 5：According to above-mentioned judged result to truck driver provide load whether overweight knot
Fruit is pointed out.The product that this step is included in load quality M × load arm of force L is less than fork truck mass M1×
Fork truck arm of force L1Product in the case of provide the not overweight result of load to truck driver and point out, preceding
Face product provides the overweight result of load to truck driver in the case of being more than or equal to product below and carried
Show.
Using control unit as described above judged according to method as described above fork truck load whether
It is overweight, it is necessary to real-time parameter only include forklift engine rotating speed and cell voltage, these parameters are all
From fork truck, configured sensor is obtained with control unit of engine in itself.So, it is not necessary to for fork
Car, which is equipped with, includes the high cost weighing system of expensive sensor and line related, still is able to reality
Now to fork truck load whether overweight accurate judgement.According to the principle of the present invention, judge to use by modeling
Formula is calculated and obtained, compared to judgement by rule of thumb before, the therefore accuracy of judgement and reliability
Greatly improve.
The preferred embodiments of the present invention are provided above with reference to accompanying drawing.Those skilled in the art should be understood that
Described above is served only for explaining the principle of the present invention, is not meant to limit the scope of the present invention.Without departing from
The present invention principle and essence in the case of, those skilled in the art can to shown in figure with
And feature described above, structure, form etc. carry out various modifications, addition or substituted, and own
These modifications, addition or replacement are all within the scope of the present invention.
Claims (7)
1. it is a kind of judge fork truck load whether overweight control unit, described control unit include and fork
The velocity sensor of car engine itself and the judgement with the control unit of engine communication connection of fork truck
Module, the judge module is configured to, based on the engine speed obtained from the velocity sensor
(S) the specified hydraulic pressure of the engine speed stored from described control unit-forklift lifting hydraulic cylinder
Pressure transmission curve obtains the specified hydraulic pressure (P of forklift lifting hydraulic cylinderrate), based on from described
Magnitude of voltage (the V that control unit of engine is obtainedoperating) operation that is stored from described control unit
Voltage-valve opening is based on the specified hydraulic pressure pressure than obtaining valve opening ratio (K) in transfer curve
Power (Prate), the sectional area (A) of valve opening ratio (K) and forklift lifting hydraulic cylinder pitched
The load quality (M) of car, then judging that fork truck whether there is using lever principle causes fork truck to topple
The overweight phenomenon of load, and based on judged result to truck driver provide load whether overweight result
Prompting.
2. control unit according to claim 1, in addition to communicated to connect with the judge module
Memory, be at least stored with the memory following fork truck inherent characteristic parameters：Load the arm of force
(L), fork truck quality (M1), the fork truck arm of force (L1), the engine speed-forklift lifting liquid
The specified hydraulic pressure transfer curve of cylinder pressure, the operating voltage-valve opening compares transfer curve.
3. control unit according to claim 2, wherein, the judge module is configured to
The product of the load quality (M) of fork truck and the load arm of force (L) is less than fork truck quality (M1) with pitching
The car arm of force (L1) product in the case of point out truck driver load not overweight, and in the negative of fork truck
The product of mounted mass (M) and the load arm of force (L) is more than or equal to fork truck quality (M1) and fork truck
The arm of force (L1) product in the case of point out truck driver load it is overweight.
4. the control unit according to any one of claim 1-3, in addition to the judgement mould
The alarm of block communication connection, the result prompting includes visual cues and/or auditory tone cues.
5. control unit according to claim 4, wherein,
The visual cues include it is following at least one：The blinking light of alarm, alarm institute
The color of display, the light on and off state of alarm lamp；And/or,
The acoustic information includes the buzzer or voice that alarm is sent.
6. the control unit according to any one of claim 1-5, wherein, described control unit
Single control unit is may be provided as, or is integrated into the control unit of engine of fork truck
In.
7. a kind of control unit using according to any one of claim 1-6 judges the negative of fork truck
Carry whether overweight method, using the judge module：
S1：Obtain the engine speed (S) that is exported from the velocity sensor of forklift engine itself with
And obtain the magnitude of voltage (V exported from the control unit of engine of fork truckoperating)；
S2：It is based respectively on the engine speed (S) and the magnitude of voltage (Voperating) from institute
State the specified hydraulic pressure transfer curve of the engine speed-forklift lifting hydraulic cylinder stored in control unit
The specified hydraulic pressure of forklift lifting hydraulic cylinder is obtained than transfer curve with operating voltage-valve opening
(Prate) and valve opening ratio (K)；
S3：Based on the specified hydraulic pressure (Prate), valve opening ratio (K) and forklift lifting
The sectional area (A) of hydraulic cylinder obtains the load quality (M) of fork truck；
S4：Judge that fork truck whether there is the overweight phenomenon of load for causing fork truck to topple using lever principle；
S5：The whether overweight result of load is provided based on judged result to truck driver to point out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610264507.7A CN107311086B (en) | 2016-04-26 | 2016-04-26 | Control unit and method for judging whether forklift load is overweight |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610264507.7A CN107311086B (en) | 2016-04-26 | 2016-04-26 | Control unit and method for judging whether forklift load is overweight |
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| Publication Number | Publication Date |
|---|---|
| CN107311086A true CN107311086A (en) | 2017-11-03 |
| CN107311086B CN107311086B (en) | 2020-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610264507.7A Active CN107311086B (en) | 2016-04-26 | 2016-04-26 | Control unit and method for judging whether forklift load is overweight |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108414353A (en) * | 2018-01-15 | 2018-08-17 | 沈阳兴华航空电器有限责任公司 | Force-sensing circuit |
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| US4093092A (en) * | 1976-03-24 | 1978-06-06 | Caterpillar Tractor Co. | Load limiting device |
| EP0446421B1 (en) * | 1990-03-15 | 1993-06-30 | Jungheinrich Aktiengesellschaft | Vehicle brake for a lifting lorry |
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| CN107311086B (en) | 2020-08-28 |
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Address after: 214028 No.17 Xinhua Road, national high tech Industrial Development Zone, Wuxi City, Jiangsu Province Patentee after: Bosch powertrain Co.,Ltd. Address before: 214028 No.17 Xinhua Road, national high tech Industrial Development Zone, Wuxi City, Jiangsu Province Patentee before: Bosch Automotive Diesel Systems Co.,Ltd. |
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