CN109443271A - A kind of door frame shaking detection method suitable for reach truck - Google Patents
A kind of door frame shaking detection method suitable for reach truck Download PDFInfo
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- CN109443271A CN109443271A CN201811274057.5A CN201811274057A CN109443271A CN 109443271 A CN109443271 A CN 109443271A CN 201811274057 A CN201811274057 A CN 201811274057A CN 109443271 A CN109443271 A CN 109443271A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The present invention provides a kind of door frame shaking detection method suitable for reach truck, can quantify the specific data of forklift door frame shaking, provides more intuitive data to improve door frame shaking.The beneficial effect of the present invention compared with the existing technology is: (1) detection method provided through the invention, measure the real-time amplitude of fluctuation of door frame, quantify the offset of forklift door frame shaking, provides effective data to improve the door frame shaking of reach truck.(2) operation of the present invention step is simple and easy, and the detection device used is less and cheap, so that detection process is easy to implement, measurement is convenient, and low in cost, is conducive to large-scale promotion and is applicable in.
Description
Technical field
The present invention relates to electri forklift fields more particularly to a kind of door frame suitable for reach truck to shake detection side
Method.
Background technique
Fork truck move forward in door frame back-and-forth motion and raising decline, door frame shaking is serious, and especially high door frame shaking is larger,
This problem annoyings always fork truck host both domestic and external producer, therefore major fork truck main engine plants all are attempting to use various methods
Reduce the shaking of door frame.The door frame of existing reach truck shakes the detection mode that naked-eye observation is usually taken, and naked eyes are seen
The method of survey is subjective, and lacks unified examination criteria, and testing result error is very big.
Summary of the invention
In order to solve above-mentioned technological deficiency existing in the prior art, the present invention provides a kind of front loading type forklift gantry shaking
Detection method can quantify the specific data of forklift door frame shaking, provide more intuitive data to improve door frame shaking.
The present invention is achieved by the following technical solutions:
A kind of door frame shaking detection method suitable for reach truck, includes the following steps:
(1) when the fork truck is under fully loaded non-raising state, door frame is reached into maximum pole to fork of forklift truck direction
Extreme position；The point P2 using door frame bottom middle position as initial measurement, stay wire displacement sensor placement is described in initial measurement
Point P2 carries out school zero to the stay wire displacement sensor；The initial measurement point P2 is the of the stay wire displacement sensor
One installation site；
(2) using 2 upper beam center position of fork carriage as initial survey point O, by the bracing wire of the stay wire displacement sensor with
The initial survey point O connection, then door frame is reached into high limit position along direction straight up, record initial measurement point
P2 to the distance between initial survey point O value b；
(3) using overhead guard top rear as the second position measurement point P1, the stay wire displacement sensor is shifted and is installed
To the second measurement point P1, the second measurement point P1 to the distance between initial survey point O value a is recorded；Second measurement
Point P1 is the second installation site of the stay wire displacement sensor；
(4) fork truck is manipulated to brake after the stacked state advance 2m；Herein in advance brake operation course, door frame occurs
It shakes, point O ' is investigated to swing with fork carriage upper beam center position after shaking, the second measurement point P1 of record is arrived in real time
It swings and investigates the distance between point O ' value a '；
(5) bracing wire of the stay wire displacement sensor is connect with the initial measurement point P2, records initial measurement point P2
To the distance between the second measurement point P1 value c；
(6) assume in swing process the spacing b of initial survey point O and initial measurement point P2 and swinging investigate point O ' with initially
Constant, the i.e. b ≈ b ' of spacing b ' approximation of measurement point P2；If swinging and investigating the offset of point O ' and initial survey point O is X, it is known that
A, b, c are surveyed according to the line b and initial measurement point P2 to second that the cosine law calculates initial measurement point P2 to initial survey point O
The cos value for measuring the angle β between the line c of point P1, as shown in formula (1):
Cos β=(b2+c2-a2)/2bc (1)
Known a ', b ', c, according to cosine law calculating initial measurement point P2 to the line b ' for swinging investigation point O ' and initially
The cos value of angle α between the line c of measurement point P2 to the second measurement point P1, as shown in formula (2):
Cos α=(b2+c2-a’2)/2bc (2)
Known cos α and cos β, according to the line b of cosine law calculating initial measurement point P2 to initial survey point O and initially
Measurement point P2 is to the cos value for swinging the angle γ between the line b ' for investigating point O ', as shown in formula (3):
Cos γ=cos (α-β)=cos α cos β+sin α sin β (3)
It is calculated according to formula (4) and formula (5) and swings the offset X for investigating point O ' and initial survey point O:
X2=b2+b2-2b2cosγ (4)
The beneficial effect of the present invention compared with the existing technology is:
(1) detection method provided through the invention measures the real-time amplitude of fluctuation of door frame, has quantified forklift door frame rolling
Dynamic offset provides effective data to improve the door frame shaking of reach truck.
(2) operation of the present invention step is simple and easy, and the detection device used is less and cheap, so that detection process is easy
In implementation, measurement is convenient, and low in cost, is conducive to large-scale promotion and is applicable in.
Detailed description of the invention
Fig. 1 is the technical principle schematic diagram for the door frame shaking detection method that the present invention is suitable for reach truck；
Fig. 2 is the structural schematic diagram for showing detection device specific installation site on reach truck.
Marked in the figure: the first installation site 1, fork carriage 2, pallet fork 3, door frame 4, the second installation site 5, overhead guard 6.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are only used to explain this hair
It is bright, it is not intended to limit the present invention.
Embodiment 1:
The present embodiment provides a kind of door frames 4 suitable for reach truck to shake detection method, includes the following steps:
(1) when the fork truck is under fully loaded non-raising state, greatest limit position is reached to 3 direction of fork of forklift truck
It sets；It is using 4 bottom middle position of door frame as initial measurement point P2, stay wire displacement sensor placement is described in initial measurement point
P2 carries out school zero to the stay wire displacement sensor.The initial measurement point P2 is the first of the stay wire displacement sensor
Installation site 1.
(2) using 2 upper beam center position of fork carriage as initial survey point O, by the bracing wire of the stay wire displacement sensor with
The initial survey point O connection；Door frame 4 is reached into high limit position along direction straight up again, records initial measurement
Point P2 to the distance between initial survey point O value b.
(3) using 6 top rear of overhead guard as the second position measurement point P1, the stay wire displacement sensor is shifted and is installed
To the second measurement point P1, the second measurement point P1 to the distance between initial survey point O value a is recorded；Second measurement
Point P1 is the second installation site 5 of the stay wire displacement sensor；
(4) fork truck is manipulated to brake after the stacked state advance 2m；Herein in advance brake operation course, door frame 4 is sent out
It is raw to shake, point O ' is investigated to swing with 2 upper beam center position of fork carriage after shaking, in real time the second measurement point P1 of record
The distance between point O ' value a ' is investigated to swinging.
(5) bracing wire of the stay wire displacement sensor is connect with the initial measurement point P2, records initial measurement point P2
To the distance between the second measurement point P1 value c.
(6) assume in swing process the spacing b of initial survey point O and initial measurement point P2 and swinging investigate point O ' with initially
Constant, the i.e. b ≈ b ' of spacing b ' approximation of measurement point P2；If swinging and investigating the offset of point O ' and initial survey point O is X, it is known that
A, b, c are surveyed according to the line b and initial measurement point P2 to second that the cosine law calculates initial measurement point P2 to initial survey point O
The cos value for measuring the angle β between the line c of point P1, as shown in formula (1):
Cos β=(b2+c2-a2)/2bc (1)
Known a ', b ', c, according to cosine law calculating initial measurement point P2 to the line b ' for swinging investigation point O ' and initially
The cos value of angle α between the line c of measurement point P2 to the second measurement point P1, as shown in formula (2):
Cos α=(b2+c2-a’2)/2bc (2)
Known cos α and cos β, according to the line b of cosine law calculating initial measurement point P2 to initial survey point O and initially
Measurement point P2 is to the cos value for swinging the angle γ between the line b ' for investigating point O ', as shown in formula (3):
Cos γ=cos (α-β)=cos α cos β+sin α sin β (3)
It is calculated according to formula (4) and formula (5) and swings the offset X for investigating point O ' and initial survey point O:
X2=b2+b2-2b2cosγ (4)
Specific test philosophy is as shown in Figure 1.
As preferable embodiment, in the present embodiment, above-mentioned detection method is further realized using VBOX tester,
It is convenient to operate, and detection effect is good.Specific detection process is as follows:
In the step (4), the second measurement point P1 is recorded using VBOX tester in real time and is investigated between point O ' to swing
Distance value a ', and shown by time domain waveform.
In the step (6), obtained a, b, b ', c will be measured and input the VBOX tester；By the offset X
Calculation method calculated in the VBOX tester by software programming, obtain X value, and show by time domain waveform
The amplitude of oscillation.
The present invention is not specially limited specific type, specification or the model of stay wire displacement sensor, in practical applications,
The stay wire displacement sensor of model BL400A-P can be selected in the stay wire displacement sensor.
The present invention is not specially limited specific type, specification or the model of VBOX tester, in practical applications, described
The VBOX tester of model Racelogic VBOX RLVB2SX can be selected in VBOX tester.
As it will be easily appreciated by one skilled in the art that the above is merely preferred embodiments of the present invention, not to limit
The present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in
Within protection scope of the present invention.
Claims (4)
1. a kind of door frame suitable for reach truck shakes detection method, which comprises the steps of:
(1) when the fork truck is under fully loaded non-raising state, door frame (4) is reached into maximum to fork of forklift truck (3) direction
Extreme position；It is using door frame (4) bottom middle position as initial measurement point P2, stay wire displacement sensor placement is described initial
Measurement point P2 carries out school zero to the stay wire displacement sensor；The initial measurement point P2 is the stay wire displacement sensor
The first installation site (1)；
(2) using 2 upper beam center position of fork carriage as initial survey point O, by the bracing wire of the stay wire displacement sensor with it is described
Initial survey point O connection, then door frame (4) are reached into high limit position along direction straight up, record initial measurement point P2
To the distance between initial survey point O value b；
(3) using overhead guard (6) top rear as the second position measurement point P1, extremely by stay wire displacement sensor transfer installation
The second measurement point P1 records the second measurement point P1 to the distance between initial survey point O value a；The second measurement point P1
The second installation site (5) of the as described stay wire displacement sensor；
(4) fork truck is manipulated to brake after the stacked state advance 2m；Herein in advance brake operation course, door frame (4) occurs
It shakes, point O ' is investigated to swing with fork carriage (2) upper beam center position after shaking, the second measurement point P1 of record is arrived in real time
It swings and investigates the distance between point O ' value a '；
(5) bracing wire of the stay wire displacement sensor is connect with the initial measurement point P2, record initial measurement point P2 to the
The distance between two measurement point P1 value c；
(6) assume the spacing b of initial survey point O and initial measurement point P2 in swing process and swing investigation point O ' and initial measurement
Constant, the i.e. b ≈ b ' of spacing b ' approximation of point P2；If swinging and investigating the offset of point O ' and initial survey point O is X, it is known that a, b,
C, according to the line b and initial measurement point P2 of cosine law calculating initial measurement point P2 to initial survey point O to the second measurement point
The cos value of angle β between the line c of P1, as shown in formula (1):
Cos β=(b2+c2-a2)/2bc (1)
Known a ', b ', c calculate initial measurement point P2 to the line b ' and initial measurement for swinging investigation point O ' according to the cosine law
The cos value of angle α between the line c of point P2 to the second measurement point P1, as shown in formula (2):
Cos α=(b2+c2-a’2)/2bc (2)
Known cos α and cos β calculates the line b and initial measurement of initial measurement point P2 to initial survey point O according to the cosine law
Point P2 is to the cos value for swinging the angle γ between the line b ' for investigating point O ', as shown in formula (3):
Cos γ=cos (α-β)=cos α cos β+sin α sin β (3)
It is calculated according to formula (4) and formula (5) and swings the offset X for investigating point O ' and initial survey point O:
X2=b2+b2-2 b2 cosγ (4)
2. door frame according to claim 1 shakes detection method, it is characterised in that:
In the step (4), using VBOX tester record in real time the second measurement point P1 to swing investigate point O ' between away from
It is shown from value a ', and by time domain waveform；
In the step (6), obtained a, b, b ', c will be measured and input the VBOX tester；By the meter of the offset X
Calculation method is calculated in the VBOX tester by software programming, obtains X value, and show the amplitude of oscillation by time domain waveform.
3. door frame according to claim 1 shakes detection method, which is characterized in that the stay wire displacement sensor selection type
Number be BL400A-P stay wire displacement sensor.
4. door frame according to claim 2 shakes detection method, which is characterized in that the VBOX tester selects model
The VBOX tester of Racelogic VBOX RLVB2SX.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811274057.5A CN109443271A (en) | 2018-10-30 | 2018-10-30 | A kind of door frame shaking detection method suitable for reach truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811274057.5A CN109443271A (en) | 2018-10-30 | 2018-10-30 | A kind of door frame shaking detection method suitable for reach truck |
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| Publication Number | Publication Date |
|---|---|
| CN109443271A true CN109443271A (en) | 2019-03-08 |
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ID=65550314
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811274057.5A Withdrawn CN109443271A (en) | 2018-10-30 | 2018-10-30 | A kind of door frame shaking detection method suitable for reach truck |
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| Country | Link |
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| CN (1) | CN109443271A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023070432A1 (en) * | 2021-10-25 | 2023-05-04 | 兰剑智能科技股份有限公司 | Method for safely moving goods by intelligent agv high-position forklift |
-
2018
- 2018-10-30 CN CN201811274057.5A patent/CN109443271A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023070432A1 (en) * | 2021-10-25 | 2023-05-04 | 兰剑智能科技股份有限公司 | Method for safely moving goods by intelligent agv high-position forklift |
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Application publication date: 20190308 |
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| WW01 | Invention patent application withdrawn after publication |