CN107767490A - A kind of method judged for fork truck rollover instability status - Google Patents
A kind of method judged for fork truck rollover instability status Download PDFInfo
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- CN107767490A CN107767490A CN201711002249.6A CN201711002249A CN107767490A CN 107767490 A CN107767490 A CN 107767490A CN 201711002249 A CN201711002249 A CN 201711002249A CN 107767490 A CN107767490 A CN 107767490A
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- fork truck
- rollover
- tire pressure
- drive wheel
- fork
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Abstract
The invention discloses one kind to be used for fork truck rollover instability status determination methods, tire pressure by gathering fork truck tire enters fork rollover instability status and judged, and fork truck state is divided into stability, primary stability and the critical three kinds of states of rollover, realize the security rating that fork truck rolls walking direction and instability status, provided for the control of fork truck anti-rollover and efficiently control foundation, improve the lateral stability and active safety of fork truck.
Description
Technical field
It is specifically a kind of to be used for fork truck rollover unstability shape the present invention relates to a kind of truck stability control method field
The method that state judges.
Background technology
Counterbalanced lift truck is the fork truck type being most widely used, with the fast development of market economy, fork lift truck applications
Field is more and more extensive, is also become increasingly complex using working environment, and higher and higher want is it is also proposed to the security of fork truck
Ask.
The anterior equipment for being furnished with handling goods of counterbalanced lift truck, front-wheel is driving wheel, and trailing wheel is deflecting roller, is used
Double trapezoid steering mechanism.There is a pin joint to be connected with vehicle frame in the middle part of steeraxle, vehicle frame can be entered by pin joint with respect to steeraxle
Row is swung up and down.Due to be hinged, fork truck supporting plane is that 2 front wheel supporting points and the pin joint of back axle and vehicle frame form, fork truck row
Plane is sailed to form for 2 front wheel supporting points and two Rear wheel supports point line midpoint, due to supporting plane with travel plane it is misaligned and
Produce angle, commonly referred to as supporting plane inclination angle.This hinge connection mode of fork truck, although improving the flexible of forklift workability
Property and the stationarity by car body during concave, convex road surface, but due to supporting plane inclination angle be present, cause vehicle frame to swing, make fork
Car supporting plane and traveling plane are misaligned, and Cross deformation is easily occurred during turning by centrifugal forces affect or even is turned on one's side, causes to grasp
Make the potential safety hazard of personnel and goods.
Because the design feature of counterbalanced lift truck, its lateral stability are poor；Because fork truck is material carrying machine, making
Industry or operation when its position of centre of gravity can with transport goods and operating mode difference and change, if misoperation, easily occur
Rollover event occurs for Cross deformation.
The lateral stability of fork truck, refers to resist the ability laterally overturned and laterally breakked away, but this lateral stability energy
Power has certain limitation, particularly when needing to turn to during fork truck is turned or is travelled, just occur centrifugal force with it is laterally steady
Qualitative power is directly mutually resisted, if centrifugal force is more than or equal to lateral stability power, inner side is hanging, destroys truck stability and enters
And cause rollover.Counterbalanced lift truck is because load change is big, driving cycle is complicated and site condition is changeable, the manipulation of driver
It is horizontal different with qualification, cause its stability dynamic change, the analysis to stability of balance weight type fork truck state calculates
It is complex with the judgement of instability status.
The content of the invention
The present invention proposes a kind of for fork truck rollover instability status to avoid the weak point present in above-mentioned prior art
The method of judgement, to which stable state judgement can be carried out to fork truck, basis for estimation is provided for truck stability control, so that fork truck
Carrying and can prevent fork truck from turning on one's side in job engineering, so as to lift fork truck lateral stability and active safety.
The present invention to achieve the above object of the invention, adopts the following technical scheme that：
The present invention is the fork for being applied to equipment pneumatic tire a kind of the characteristics of being used for fork truck rollover instability status determination methods
Che Shang, and carry out as follows：
Step 1, the collection left and right front drive wheel tire pressure of k-1 moment fork trucksWith
Step 2, the collection left and right front drive wheel tire pressure of k moment fork trucksWith
Step 3, calculate k moment and the pressure differential of the left and right front drive wheel tire of k-1 moment fork trucks
With
If step 4,AndThen represent that forklift frame rolls to the left, and fork truck is in
Stable state；IfAndThen represent that forklift frame rolls to the left, and fork truck
In primary instability status；IfThen represent that forklift frame rolls to the left, and fork truck faces in rollover
Boundary's state；
IfAndThen represent that forklift frame rolls to the right, and fork truck is in and stablizes shape
State；IfAndThen represent that forklift frame rolls to the right, and fork truck is in just
Level instability status；IfThen represent that forklift frame rolls to the right, and fork truck is in rollover critical condition.
The characteristics of fork truck rollover instability status determination methods of the present invention, lies also in：The fork truck primary unstability wheel tire pressure
Force threshold PBoundaryDetermine in accordance with the following methods：
Step 1, collection four-wheel horizontal bearing left and right front drive wheel tire pressure when groundWith
Step 2, collection forklift frame connect left and right front drive wheel wheel tire pressure when angle is design maximum angle with vehicle bridge dumpling
PowerWith
Step 3, utilize formula (1) the acquisition fork truck primary unstability tire pressure threshold value PBoundary：
The critical tire pressure threshold value P of the fork truck rolloverMaximum differential pressureDetermine in accordance with the following methods：
Step 1, collection four-wheel horizontal bearing left and right front drive wheel tire pressure when groundWith
Step 2, collection left drive wheel are carried on ground, fork truck left drive wheel during other three wheel hangings
Tire pressure
Step 3, the right front drive wheel of collection are carried on ground, the right front drive wheel of fork truck during other three wheel hangings
Tire pressure
Step 4, the critical tire pressure threshold value P of the fork truck rollover is obtained using formula (2)Maximum differential pressure：
Compared with the prior art, the present invention has the beneficial effect that：
1st, the present invention enters fork rollover instability status judgement by gathering the tire pressure of fork truck tire, and fork truck state is divided
It for stability, primary stability and the critical three kinds of states of rollover, and can determine whether that fork truck rolls direction, realize the essence of fork truck state
Really classification, and security rating has been carried out, provided for the control of fork truck anti-rollover and efficiently control foundation, improve the transverse direction of fork truck
Stability and active safety.
2nd, the present invention enters fork rollover instability status judgement by gathering the tire pressure of fork truck tire, with passing through observation at present
The truck stability condition adjudgement mode whether tire is liftoff is compared, and is had higher precision, can accurately and timely be judged fork truck side
State is turned over, control foundation is provided for the anti-rollover control of fork truck.
3rd, fork truck of the invention rollover instability status determination methods on left and right front driving wheel tire by installing production at present additional
Wide variety of tyre pressure sensor realizes that cost is workable than relatively low, is easy to industrialization in product.
Embodiment
In the present embodiment, a kind of method judged for fork truck rollover instability status, is to be applied to equipment pneumatic tire
On fork truck, tyre pressure sensor is installed additional in the left and right front driving wheel tire of fork truck, pressure of tire is monitored in real time and is wirelessly transmitted to tire
Receiving terminal is pressed, when fork truck rolls, because the transverse load of fork truck shifts, the load that wheel is born at left and right sides of fork truck
Change, and the structure of general counterbalanced lift truck is " front-wheel drive+rear-axle steering ", and front driving wheel bears fork truck whole
More than the 90% of load, therefore the tire pressure change by monitoring left and right front driving wheel judges fork truck transverse load transfer condition, it is real
Now to the judgement of fork truck rolling condition, specifically carry out as follows：
Step 1, the collection left and right front drive wheel tire pressure of k-1 moment fork trucksWith
Step 2, the collection left and right front drive wheel tire pressure of k moment fork trucksWith
Step 3, calculate k moment and the pressure differential of the left and right front drive wheel tire of k-1 moment fork trucks
With
If step 4, AndThe tire pressure of fork truck left driving wheel tire increases
Greatly, the load increase that fork truck left driving wheel is born；The tire pressure of fork truck right driving wheel tire reduces, the load that fork truck right driving wheel is born
Lotus reduces, then it represents that forklift frame rolls to the left, and fork truck is in stable state, can be controlled without intervening；IfAndThe tire pressure of fork truck left driving wheel tire continues to increase, the left driving of fork truck
The load born is taken turns to continue to increase；The tire pressure of fork truck right driving wheel tire continues to reduce, the load that fork truck right driving wheel is born after
It is continuous to reduce, then it represents that forklift frame rolls to the left, and fork truck is in primary instability status, it is necessary to carry out intervention control, so that fork
Car state converts to stable state；IfThe tire pressure of fork truck left driving wheel tire increases to maximum,
The load that fork truck left driving wheel is born increases to maximum；The tire pressure of fork truck right driving wheel tire is decreased to maximum, and fork truck is right
The load that driving wheel is born is decreased to maximum, then it represents that forklift frame rolls to the left, and fork truck is in rollover critical condition, needs
Maximum lateral support control is carried out, to reduce the degree of danger of rollover；
If AndThe tire pressure increase of fork truck right driving wheel tire, fork truck
The load increase that right driving wheel is born；The tire pressure of fork truck left driving wheel tire reduces, and the load that fork truck left driving wheel is born reduces, then
Represent that forklift frame rolls to the right, and fork truck is in stable state, can be controlled without intervening；If
AndThe tire pressure of fork truck right driving wheel tire continues to increase, and the load that fork truck right driving wheel is born continues
Increase；The tire pressure of fork truck left driving wheel tire continues to reduce, and the load that fork truck left driving wheel is born continues to reduce, then it represents that fork truck
Vehicle frame rolls to the right, and fork truck is in primary instability status, it is necessary to carry out intervention control, so that fork truck state turns to stable state
Change；IfThe tire pressure of fork truck right driving wheel tire increases to maximum, and fork truck right driving wheel is born
Load increases to maximum；The tire pressure of fork truck left driving wheel tire is decreased to maximum, and the load that fork truck left driving wheel is born subtracts
As low as maximum, then it represents that forklift frame rolls to the right, and fork truck is in rollover critical condition, it is necessary to carry out maximum lateral support
Control, to reduce the degree of danger of rollover.
Wherein, fork truck primary unstability tire pressure threshold value PBoundaryDetermine in accordance with the following methods：
Step 1, collection four-wheel horizontal bearing left and right front drive wheel tire pressure when groundWith
Step 2, collection forklift frame connect left and right front drive wheel wheel tire pressure when angle is design maximum angle with vehicle bridge dumpling
PowerWith
Step 3, utilize formula (1) acquisition fork truck primary unstability tire pressure threshold value PBoundary：
The critical tire pressure threshold value P of fork truck rolloverMaximum differential pressureDetermine in accordance with the following methods：
Step 1, collection four-wheel horizontal bearing left and right front drive wheel tire pressure when groundWith
Step 2, collection left drive wheel are carried on ground, fork truck left drive wheel during other three wheel hangings
Tire pressure
Step 3, the right front drive wheel of collection are carried on ground, the right front drive wheel of fork truck during other three wheel hangings
Tire pressure
Step 4, the critical tire pressure threshold value P of fork truck rollover is obtained using formula (2)Maximum differential pressure：
Embodiment：The fork truck rollover instability status determination methods of the present invention are applied to 2.5 tons of counterbalanced lift trucks of certain type
On, by installing tyre pressure sensor additional in the left and right front driving wheel tire of fork truck, pressure of tire is gathered in real time and is wirelessly transmitted to tire
Press receiving terminal, it may be determined that parameter it is as follows：Four-wheel horizontal bearing left and right front drive wheel tire pressure when ground Left drive wheel is carried on ground, and fork truck during other three wheel hangings is left front
Driving moment tire pressureRight front drive wheel is carried on ground, fork truck during other three wheel hangings
Right front drive wheel tire pressureVehicle frame is connect when angle is design maximum angle with vehicle bridge dumpling when fork truck turns left
Left and right front drive wheel tire pressure
The process that fork truck rollover instability status judge is as follows：
Step 1, the collection left and right front drive wheel tire pressure of k-1 moment fork trucks
Step 2, the collection left and right front drive wheel tire pressure of k moment fork trucks
Step 3, calculate k moment and the pressure differential of the left and right front drive wheel tire of k-1 moment fork trucks
Due toAndUnderstand that fork truck is in turn right, and rolling condition to the left；
Fork truck primary unstability tire pressure threshold value is calculated according to formula (1)
The critical tire pressure threshold value of fork truck rollover is calculated according to formula (2)
Step 4, due to Represent that forklift frame rolls to the left, and fork truck is in primary instability status, it is necessary to enter
Row intervenes control, so that fork truck state converts to stable state, improves the active safety of fork truck.
In summary, using the fork truck rollover instability status determination methods of the present invention, truck stability shape can effectively be identified
State, control foundation is provided for the control of fork truck anti-rollover, to lift fork truck lateral stability and active safety.
Claims (3)
1. one kind is used for fork truck rollover instability status determination methods, it is characterized in that on the fork truck applied to equipment pneumatic tire, and
Carry out as follows：
Step 1, the collection left and right front drive wheel tire pressure of k-1 moment fork trucksWith
Step 2, the collection left and right front drive wheel tire pressure of k moment fork trucksWith
Step 3, calculate k moment and the pressure differential of the left and right front drive wheel tire of k-1 moment fork trucksWith
If step 4,AndThen represent that forklift frame rolls to the left, and fork truck is in stable
State；IfAndThen represent that forklift frame rolls to the left, and fork truck is in
Primary instability status；IfThen represent that forklift frame rolls to the left, and fork truck is in critical shape of turning on one's side
State；
IfAndThen represent that forklift frame rolls to the right, and fork truck is in stable state；IfAndThen represent that forklift frame rolls to the right, and fork truck is in primary unstability
State；IfThen represent that forklift frame rolls to the right, and fork truck is in rollover critical condition.
2. fork truck rollover instability status determination methods according to claim 1, it is characterised in that：The fork truck primary unstability wheel
Tire pressure force threshold PBoundaryDetermine in accordance with the following methods：
Step 1, collection four-wheel horizontal bearing left and right front drive wheel tire pressure when groundWith
Step 2, collection forklift frame connect left and right front drive wheel tire pressure when angle is design maximum angle with vehicle bridge dumplingWith
Step 3, utilize formula (1) the acquisition fork truck primary unstability tire pressure threshold value PBoundary：
3. fork truck rollover instability status determination methods according to claim 1, it is characterised in that：The critical wheel of the fork truck rollover
Tire pressure force threshold PMaximum differential pressureDetermine in accordance with the following methods：
Step 1, collection four-wheel horizontal bearing left and right front drive wheel tire pressure when groundWith
Step 2, collection left drive wheel are carried on ground, fork truck left drive wheel tyre during other three wheel hangings
Pressure
Step 3, the right front drive wheel of collection are carried on ground, the right front drive wheel tire of fork truck during other three wheel hangings
Pressure
Step 4, the critical tire pressure threshold value P of the fork truck rollover is obtained using formula (2)Maximum differential pressure：
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711002249.6A CN107767490A (en) | 2017-10-24 | 2017-10-24 | A kind of method judged for fork truck rollover instability status |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711002249.6A CN107767490A (en) | 2017-10-24 | 2017-10-24 | A kind of method judged for fork truck rollover instability status |
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| CN107767490A true CN107767490A (en) | 2018-03-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147774A (en) * | 2021-04-26 | 2021-07-23 | 季华实验室 | Method and device for judging gravity center balance of AGV (automatic guided vehicle), electronic equipment and storage medium |
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| CN103162738A (en) * | 2011-12-19 | 2013-06-19 | 上海新世纪机器人有限公司 | State detection device used on self-balancing two-wheeled vehicle and state detection method |
| CN105174139A (en) * | 2015-09-17 | 2015-12-23 | 国网山东省电力公司日照供电公司 | Forklift imbalance alarming device and method |
| CN105856980A (en) * | 2016-06-07 | 2016-08-17 | 江西凯马百路佳客车有限公司 | Passenger-car rollover early-warning method based on tire pressure monitoring |
| CN206231346U (en) * | 2016-12-09 | 2017-06-09 | 四川农业大学 | A kind of preventing vehicle rollover warning device |
| CN106926805A (en) * | 2017-03-21 | 2017-07-07 | 汽解放柳州特种汽车有限公司 | A kind of Tipper Lifting operation rollover prior-warning device based on tire pressure monitoring |
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2017
- 2017-10-24 CN CN201711002249.6A patent/CN107767490A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103162738A (en) * | 2011-12-19 | 2013-06-19 | 上海新世纪机器人有限公司 | State detection device used on self-balancing two-wheeled vehicle and state detection method |
| CN105174139A (en) * | 2015-09-17 | 2015-12-23 | 国网山东省电力公司日照供电公司 | Forklift imbalance alarming device and method |
| CN105856980A (en) * | 2016-06-07 | 2016-08-17 | 江西凯马百路佳客车有限公司 | Passenger-car rollover early-warning method based on tire pressure monitoring |
| CN206231346U (en) * | 2016-12-09 | 2017-06-09 | 四川农业大学 | A kind of preventing vehicle rollover warning device |
| CN106926805A (en) * | 2017-03-21 | 2017-07-07 | 汽解放柳州特种汽车有限公司 | A kind of Tipper Lifting operation rollover prior-warning device based on tire pressure monitoring |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147774A (en) * | 2021-04-26 | 2021-07-23 | 季华实验室 | Method and device for judging gravity center balance of AGV (automatic guided vehicle), electronic equipment and storage medium |
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Application publication date: 20180306 |
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