CN110282580A - Pallet fork tilt angle control - Google Patents
Pallet fork tilt angle control Download PDFInfo
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- CN110282580A CN110282580A CN201910576790.0A CN201910576790A CN110282580A CN 110282580 A CN110282580 A CN 110282580A CN 201910576790 A CN201910576790 A CN 201910576790A CN 110282580 A CN110282580 A CN 110282580A
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- pallet fork
- fork
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Classifications
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- 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
-
- 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
- B66F9/07509—Braking
-
- 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
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
-
- 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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The embodiment of the present invention provides a kind of pallet fork tilt angle control, is applied to fork truck, system includes: processor, operator control panel, acquisition module and drive module, wherein processor is connect with operator control panel, acquisition module and drive module respectively；Operator control panel is used for, and receives the tilt angle of user's input；Acquisition module is used for, and acquires the pallet fork inclination angle and car body inclination angle of fork truck；Processor is used for, and according to tilt angle, pallet fork inclination angle and car body inclination angle, determines target angle, sends control signal to drive module according to target angle；The drive module is used for, and the angle of pallet fork is adjusted to target angle according to control signal.For improving the accuracy being adjusted to the angle of pallet fork.
Description
Technical field
The present embodiments relate to fork truck field more particularly to a kind of pallet fork tilt angle controls.
Background technique
Fork truck is industrial transportation vehicle, can be loaded and unloaded to member cargo, the processing such as stacking, wherein fork truck includes goods
Fork and handle.
In practical applications, driver is generally according to working experience, operation handle, to control the tilt angle of pallet fork
(same upward-inclination angle degree or tilt down angle), with realize cargo is loaded and unloaded, the processing such as stacking.In above process,
If the working experience of driver is insufficient, during operation handle, lead to not the tilt angle for accurately controlling pallet fork,
And then the same upward-inclination angle of pallet fork is caused to be spent greatly, loose woman's object is pitched, or lead to excessive, the fork loose woman that tilts down angle of pallet fork
Compartment or pallet where object.
Summary of the invention
The embodiment of the present invention provides a kind of pallet fork tilt angle control, the accuracy of the angle for improving adjustment pallet fork.
In a first aspect, the embodiment of the present invention provides a kind of pallet fork tilt angle control, comprising: be applied to fork truck, the system
System includes: processor, operator control panel, acquisition module and drive module, wherein
The processor is connect with the operator control panel, the acquisition module and the drive module respectively；
The operator control panel is used for, and receives the tilt angle of user's input；
The acquisition module is used for, and acquires the pallet fork inclination angle and car body inclination angle of the fork truck；
The processor is used for, and according to the tilt angle, the pallet fork inclination angle and the car body inclination angle, determines target angle
Degree sends the control signal to the drive module according to the target angle；
The drive module is used for, and the angle of the pallet fork is adjusted to the target angle according to the control signal.
In a kind of possible embodiment, the drive module includes: first motor controller, first motor, handle
And pallet fork, wherein
The first motor controller is connect with the processor, the first motor respectively, the first motor also with
The handle connection, the handle are also connect with the pallet fork；
The first motor controller is used for, and generates driving pulse according to the control signal that receives, and to described
First motor sends the driving pulse；
The first motor is used for, and drives the handle mobile according to the driving pulse received, so that the goods
The angle of fork is the target angle.
In alternatively possible embodiment, the acquisition module includes: first sensor and second sensor,
In,
The first sensor and the second sensor are connected to the processor respectively；
The first sensor is used for, and is acquired to the angle of the pallet fork, and the pallet fork inclination angle is obtained；
The second sensor is used for, and is acquired to the inclination angle of the car body of the fork truck, and the car body inclination angle is obtained.
In alternatively possible embodiment, the acquisition module further include: 3rd sensor, the 3rd sensor
It is set to the fork goods end of the pallet fork, the 3rd sensor is connected to the processor；
The 3rd sensor is used for, and measures the first distance between the fork goods end and barrier；
The processor is also used to, and obtains the first distance, and the first distance is sent to the operator control panel；
The operator control panel is also used to, and shows the first distance.
In alternatively possible embodiment, the processor is also used to:
If the first distance is greater than second distance and is less than third distance, the first prompt letter is sent to the operator control panel
Breath, there are barriers for prompting in front of the fork truck for first prompt information；
If the first distance is less than or equal to the second distance, the second prompt letter is sent to the operator control panel
Breath, second prompt information carry out braking processing to the fork truck for prompting.
In alternatively possible embodiment, the system also includes: brake module, the brake module and the place
Manage device connection；
The processor is also used to, after determining that the first distance is less than or equal to the second distance, to institute
It states brake module and sends brake signal；
The brake module is used for, and according to the brake signal received, stops the fork truck operation.
In alternatively possible embodiment, the brake module includes: the second electric machine controller, the second motor and system
Dynamic device, wherein
Second electric machine controller is connect with the processor and second motor respectively, second motor also with
The brake connection,
Second electric machine controller is used for, and generates brake pulse according to the brake signal that receives, Xiang Suoshu the
Two motors send the brake pulse,
Second motor is used for, and according to the brake pulse received, drives the brake, so that the fork truck
It is out of service.
In alternatively possible embodiment, the system also includes: alarm module, the alarm module and the place
Manage device connection；
The processor is used for, and is being determined the first distance greater than the second distance and is being less than or equal to the third
After distance, Xiang Suoshu alarm module sends alarm signal；
The alarm module is used for, according to first distance described in the alarm signal early warning received.
In alternatively possible embodiment, the alarm module includes: buzzer and light emitting device, wherein
The buzzer and the light emitting device are connected to the processor respectively；
The buzzer is used for, and issues the sound according to the alarm signal received；
The light emitting device is used for, and is shone according to the alarm signal received.
In alternatively possible embodiment, the operator control panel is also used to, and shows the operating mode list of the handle,
The selection operation of the operating mode list triggering is received, and according to the selection operation, generates selection instruction, the selection refers to
The mark of automatic operation mode is carried in order；
The processor is also used to, in the mark of the automatic operation mode according to the selection instruction, determine described in
The operating mode of handle is the Xiang Suoshu drive module transmission control signal after the automatic operation mode.
Pallet fork tilt angle control provided in an embodiment of the present invention, comprising: processor, operator control panel, acquisition module and driving
Module, wherein processor is connect with the operator control panel, acquisition module and the drive module respectively.Operator control panel is used for, and is received and is used
The tilt angle of family input.Acquisition module is used for, and acquires the pallet fork inclination angle and car body inclination angle of fork truck.Processor is used for, according to inclining
Rake angle, pallet fork inclination angle and car body inclination angle, determine target angle, send control signal to drive module according to target angle.It drives
Dynamic model block is used for, and the angle of pallet fork is adjusted to target angle according to control signal.In above system, processor inclination angle
Degree, pallet fork inclination angle and car body inclination angle, determine target angle, control signal are sent to drive module according to target angle, to make
It obtains drive module and the angle of pallet fork is adjusted to by target angle according to control signal, improve the standard being adjusted to the angle of pallet fork
True property, avoids the working experience according to operator, can not accurately adjust the angle of pallet fork and then cause to pitch loose woman's object, vehicle
The problem of compartment or pallet etc..
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the application scenarios schematic diagram of pallet fork tilt angle control provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram one of pallet fork tilt angle control provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram two of pallet fork tilt angle control provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram three of pallet fork tilt angle control provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 is the application scenarios schematic diagram of pallet fork tilt angle control provided in an embodiment of the present invention.As shown in Figure 1, packet
It includes: fork truck 10, the pallet fork 101 being arranged on fork truck 1 and cargo 11.Wherein, there is angle on cargo 11 and horizontal direction
A,
In practical applications, pallet fork tilt angle control is provided in fork truck 10, pallet fork tilt angle control includes operation
Screen can input angle a after the angle a that operator gets on cargo 11 and horizontal direction in operator control panel, so as to
Adjusting the angle of pallet fork 101 for a, i.e., so that pallet fork 101 and cargo 11 in the same direction, then operator control fork
The process that vehicle 10 moves forward avoids the positive pitch mistake of pallet fork so that pallet fork 101 can accurately be inserted into cargo 11
Greatly, fork loose woman's object perhaps pallet fork be angled downward it is excessive fork loose woman's object where compartment or pallet.
In the following, pallet fork tilt angle control shown in the application is described in detail by specific embodiment.It needs
It is bright, below several specific embodiments can be combined with each other, for the same or similar content, in various embodiments not
Repeated explanation is carried out again.
Fig. 2 is the structural schematic diagram one of pallet fork tilt angle control provided in an embodiment of the present invention.As shown in Fig. 2, the goods
Pitching tilt angle control includes: processor 10, operator control panel 11, acquisition module 12 and drive module 13, wherein
Processor 10 is connect with operator control panel 11, acquisition module 12 and drive module 13 respectively；
Operator control panel 11 is used for, and receives the tilt angle of user's input；
Acquisition module 12 is used for, and acquires the pallet fork inclination angle and car body inclination angle of the fork truck；
Processor 10 is used for, and according to tilt angle, pallet fork inclination angle and car body inclination angle, target angle is determined, according to target angle
It spends to drive module 13 and sends control signal；
Drive module 13 is used for, and the angle of pallet fork is adjusted to target angle according to control signal.
Optionally, processor can be single-chip microcontroller, can be central processor CPU.
Optionally, operator control panel 11 is touch LCD screen, or non-touch liquid crystal display.
For example, user can be with finger directly in touch liquid crystal when operator control panel 11 is touch LCD screen
The tilt angle is inputted in display screen.
For example, user can pass through ancillary equipment (such as wired mouse when operator control panel 11 is non-touch liquid crystal display
Mark or wireless mouse) tilt angle is inputted on non-touch liquid crystal display.
Specifically, acquisition module 12 may include first sensor and second sensor.Wherein, first sensor can be adopted
Collect the pallet fork inclination angle of fork truck, second sensor can acquire the car body inclination angle of fork truck.
It should be noted that after processor 10 determines target angle according to tilt angle, pallet fork inclination angle and car body inclination angle,
Control signal can be generated according to target angle, send control signal to drive module 13.
Specifically, drive module 13 includes pallet fork, it is raw according to control signal after drive module 13 receives control signal
At driving pulse, driving pulse is controlled so that the angle of pallet fork is target angle.
Pallet fork tilt angle control provided in an embodiment of the present invention, comprising: processor, operator control panel, acquisition module and driving
Module, wherein processor is connect with the operator control panel, acquisition module and the drive module respectively.Operator control panel is used for, and is received and is used
The tilt angle of family input.Acquisition module is used for, and acquires the pallet fork inclination angle and car body inclination angle of fork truck.Processor is used for, according to inclining
Rake angle, pallet fork inclination angle and car body inclination angle, determine target angle, send control signal to drive module according to target angle.It drives
Dynamic model block is used for, and the angle of pallet fork is adjusted to target angle according to control signal.In above system, processor inclination angle
Degree, pallet fork inclination angle and car body inclination angle, determine target angle, control signal are sent to drive module according to target angle, to make
It obtains drive module and the angle of pallet fork is adjusted to by target angle according to control signal, improve the standard being adjusted to the angle of pallet fork
True property, avoids the working experience according to operator, can not accurately adjust the angle of pallet fork and then cause to pitch loose woman's object, vehicle
The problem of compartment or pallet etc..
On the basis of the above embodiments, below with reference to Fig. 3 embodiment, pallet fork inclination angle provided in an embodiment of the present invention is controlled
System processed is further described.Specifically, referring to Fig. 3.
Fig. 3 is the structural schematic diagram two of pallet fork tilt angle control provided in an embodiment of the present invention.On the basis of Fig. 2,
As shown in figure 3, the drive module 13 in pallet fork tilt angle control includes: first motor controller 131, first motor 132, hand
Handle 133 and pallet fork 134, wherein
First motor controller 131 is connect with processor 10, first motor 132 respectively, and first motor 132 is gone back and handle
133 connections, handle 133 are also connect with pallet fork 134；
First motor controller 131 is used for, and generates driving pulse according to the control signal that receives, and to first motor
132 send driving pulse；
First motor 132 is used for, mobile according to the driving pulse band fixed handle 133 received, so that the angle of pallet fork 134
For target angle.
It should be noted that handle 133 is that pallet fork tilts handle, handle 133 is used to adjust the inclination angle of pallet fork 134.First
Electric machine controller 131 is controllor for step-by-step motor.First motor 132 is stepper motor.
In a kind of possible embodiment, acquisition module includes: first sensor 121 and second sensor 122,
In,
First sensor 121 and second sensor 122 are connect with processor respectively；
First sensor 121 is used for, and is acquired to the angle of pallet fork 134, and pallet fork inclination angle is obtained；
Second sensor 122 is used for, and is acquired to the inclination angle of the car body of fork truck, and car body inclination angle is obtained.
Specifically, first sensor 121 is pallet fork obliquity sensor, second sensor 122 is car body obliquity sensor.
In practical applications, first sensor 121 may be mounted on the door frame being fixedly connected with pallet fork, can collect
Pallet fork angle.Second sensor 122 may be mounted on the vehicle frame of fork truck (for example, draw bar of fork truck).
In a kind of possible embodiment, operator control panel is also used to, and shows the operating mode list of handle 134, receives work
The selection operation of operation mode list triggering, and according to selection operation, selection instruction is generated, carries automatic work mould in selection instruction
The mark of formula；
Processor is also used to, and in the mark of the automatic operation mode according to selection instruction, determines the Working mould of handle
After formula is automatic operation mode, the control signal is sent to drive module.
It optionally, include manual work pattern and automatic operation mode in operating mode list.
In practical applications, operator can choose any one kind operating mode in operating mode list.
Specifically, when operator control panel is touch LCD screen, for the work in operating mode list can be clicked
Mode inputs selection operation into operator control panel to realize.
Specifically, user can pass through ancillary equipment (such as wired mouse when operator control panel is non-touch liquid crystal display
Mark or wireless mouse) on non-touch liquid crystal display, click operating mode list in operating mode, with realize to
Selection operation is inputted in operator control panel.
It should be noted that operator can voluntarily control the movement of handle 133 after selecting manual work pattern, from
And adjust the inclination angle of pallet fork 134.
It should be noted that processor can send control signal to drive module after selecting automatic operation mode, from
And adjust the inclination angle of pallet fork 134.
In practical applications, during adjusting 134 inclination angle of pallet fork, processor can obtain in real time first sensor and adopt
Collection obtains pallet fork inclination angle, and the pallet fork inclination angle got in real time is sent to operator control panel, so that operator control panel can be with real-time display goods
Pitch inclination angle.
In a kind of possible embodiment, pallet fork tilt angle control further include: 3rd sensor 123, wherein
3rd sensor 123 is set to the fork goods end of pallet fork 134, and 3rd sensor 123 is connect with processor 10；
3rd sensor 123 is used for, the first distance between measurement fork goods end and barrier；
Processor 10 is also used to, and obtains first distance, first distance is sent to operator control panel 11；
Operator control panel 11 is also used to, and shows first distance.
It optionally, is 123 infrared distance measuring of laser range sensor, ultrasonic distance-measuring sensor and 3rd sensor
Sensor etc..
In this application, the fork goods end of pallet fork can be arranged in 3rd sensor 123 by way of punching installation.
In a kind of possible embodiment, the processor 10 is also used to:
If first distance is greater than second distance and is less than third distance, the first prompt information is sent to operator control panel 11, the
There are barriers for prompting front for one prompt information；
If first distance is less than or equal to second distance, the second prompt information, the second prompt letter are sent to operator control panel
Breath carries out braking processing to fork truck for prompting.
Wherein, second distance and third distance are to be stored in advance in a processor 10.
Optionally, second distance and third distance can be with values for 10 meters, 20 meters etc..Specifically, in the application, not to
The specific value of two distances and third distance is defined.
Specifically, the first prompt information is for front, there are barriers, operator are driven with caution, and adopt
Pedestrian's measures to keep clear is taken, accident is avoided.
Specifically, the second prompt information carries out braking processing to fork truck for prompting, avoid operator that from can not observing
The position at goods end is pitched, and is caused to pitch into apart from excessive, cargo or the problems such as metope behind damage goods.
It should be noted that operator control panel can show the first prompt information or the second prompt information.
The course of work of pallet fork tilt angle control provided in an embodiment of the present invention includes: that processor obtains third biography in real time
The first distance that sensor collects is greater than second distance in first distance and is less than third distance, then sends the to operator control panel
One prompt information, first distance are less than or equal to the second distance, then send the second prompt information to the operator control panel, the
Two prompt informations carry out braking processing to fork truck for prompting.After carrying out braking processing to fork truck, processor is passed according to first
The inclination angle that the car body inclination angle and operator control panel that pallet fork inclination angle that sensor collects, second sensor collect receive
Degree, determines target angle, generates control signal according to target angle, sends control signal, the first electricity to first motor controller
Machine controller generates driving pulse according to control signal, sends driving pulse to first motor, first motor is according to driving pulse
Band fixed handle is mobile, and the angle of pallet fork is adjusted to target angle.In above process, first distance be greater than second distance and
Less than third distance, then the first prompt information is sent to operator control panel, operator is driven with caution, and take pedestrian
Measures to keep clear avoids accident, is less than or equal to second distance in first distance, then sends the second prompt letter to operator control panel
Breath avoids operator that from can not observing the position at fork goods end, and causes to pitch into apart from excessive, cargo or wall behind damage goods
The problems such as face, improves the accuracy being adjusted to the angle of pallet fork.
On the basis of any one above-mentioned embodiment, below with reference to Fig. 4 to pallet fork pitch angle control shown in the application
System is described in further detail.Specifically refer to Fig. 4.
Fig. 4 is the structural schematic diagram three of pallet fork tilt angle control provided in an embodiment of the present invention.On the basis of Fig. 3,
As shown in figure 4, pallet fork tilt angle control further include: brake module 14, wherein
Brake module 14 is connect with processor 10；
Processor 10 is also used to, and after determining that first distance is less than or equal to second distance, is sent out to brake module 14
Send brake signal；
Brake module 14 is used for, and according to the brake signal received, stops fork truck operation.
In a kind of possible embodiment, brake module 14 includes: the second electric machine controller 141,142 and of the second motor
Brake 143, wherein
Second electric machine controller 141 is connect with processor and the second motor 142 respectively, and the second motor 142 is gone back and brake
143 connections,
Second electric machine controller 141 is used for, and brake pulse is generated according to the brake signal received, to the second motor 142
Brake pulse is sent,
Second motor 142 is used for, and according to the brake pulse received, brake 143 is driven, so that fork truck is out of service.
In a kind of possible embodiment, pallet fork tilt angle control further include: alarm module 15, alarm module 15 with
Processor 10 connects；
Processor 10 is used for, after determining that first distance is greater than the second distance less than third distance, to alarm mould
Block 15 sends alarm signal；
Alarm module 15 is used for, according to there are barriers in front of the alarm signal early warning fork truck received.
In a kind of possible embodiment, alarm module 15 includes: buzzer 151 and light emitting device 152, wherein
Buzzer 151 and light emitting device 152 are connect with processor 10 respectively；
Buzzer 151 is used for, and issues the sound according to the alarm signal received；
Light emitting device 152 is used for, and is shone according to the alarm signal received.
Specifically, light emitting device 152 can be light emitting diode.It optionally, may include N number of hair in light emitting device 152
Optical diode, wherein N is more than or equal to 1.It needs, N number of light emitting diode can be connect with processor 10 respectively.
Optionally, buzzer 151 can also be in parallel with light emitting device 152, wherein N number of light emitting diode is in parallel.
The course of work of pallet fork tilt angle control provided in an embodiment of the present invention includes: that processor obtains third biography in real time
The first distance that sensor collects is greater than second distance in first distance and is less than third distance, then sends the to operator control panel
One prompt information, while buzzer and light emitting device transmission alarm signal into alarm module, so that the buzzer issues
The sound, light emitting device shine, and remind front pedestrian's evacuation, improve the safety of fork truck operation.Be less than in first distance or
When equal to the second distance, then the second prompt information is sent to the operator control panel, while sending and making to the second electric machine controller
Dynamic signal, the second electric machine controller generate brake pulse according to brake signal, send brake pulse, the second motor to the second motor
According to brake pulse, brake is driven, so that fork truck is out of service.After fork truck is out of service, processor is according to the first sensing
The tilt angle that the car body inclination angle and operator control panel that pallet fork inclination angle that device collects, second sensor collect receive,
It determines target angle, control signal is generated according to target angle, send control signal, first motor control to first motor controller
Device processed generates driving pulse according to control signal, sends driving pulse to first motor, first motor drives according to driving pulse
Handle is mobile, and the angle of pallet fork is adjusted to target angle.In above process, it is greater than second distance in first distance and is less than
Third apart from when, buzzer issue the sound, light emitting device shine, remind front pedestrian evacuation, improve fork truck operation safety
Property.When first distance is less than or equal to second distance, the second prompt information is sent to operator control panel, avoids operator can not
It observes the position at fork goods end, and causes to pitch into apart from excessive, cargo or the problems such as metope behind damage goods is improved to pallet fork
The accuracy that is adjusted of angle.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of pallet fork tilt angle control, which is characterized in that be applied to fork truck, the system comprises: processor, operator control panel,
Acquisition module and drive module, wherein
The processor is connect with the operator control panel, the acquisition module and the drive module respectively；
The operator control panel is used for, and receives the tilt angle of user's input；
The acquisition module is used for, and acquires the pallet fork inclination angle and car body inclination angle of the fork truck；
The processor is used for, and according to the tilt angle, the pallet fork inclination angle and the car body inclination angle, determines target angle,
The control signal is sent to the drive module according to the target angle；
The drive module is used for, and the angle of the pallet fork is adjusted to the target angle according to the control signal.
2. system according to claim 1, which is characterized in that the drive module includes: first motor controller, first
Motor, handle and pallet fork, wherein
The first motor controller is connect with the processor, the first motor respectively, the first motor also with it is described
Handle connection, the handle are also connect with the pallet fork；
The first motor controller is used for, and generates driving pulse according to the control signal that receives, and to described first
Motor sends the driving pulse；
The first motor is used for, and is driven the handle mobile according to the driving pulse received, will be made the pallet fork
Angle is adjusted to the target angle.
3. system according to claim 2, which is characterized in that the acquisition module includes: that first sensor and second pass
Sensor, wherein
The first sensor and the second sensor are connected to the processor respectively；
The first sensor is used for, and is acquired to the angle of the pallet fork, and the pallet fork inclination angle is obtained；
The second sensor is used for, and is acquired to the inclination angle of the car body of the fork truck, and the car body inclination angle is obtained.
4. system according to claim 3, which is characterized in that the acquisition module further include: 3rd sensor, described
Three sensors are set to the fork goods end of the pallet fork, and the 3rd sensor is connected to the processor；
The 3rd sensor is used for, and measures the first distance between the fork goods end and barrier；
The processor is also used to, and obtains the first distance, and the first distance is sent to the operator control panel；
The operator control panel is also used to, and shows the first distance.
5. system according to claim 4, which is characterized in that the processor is also used to:
If the first distance is greater than second distance and is less than third distance, the first prompt information is sent to the operator control panel,
There are barriers for prompting in front of the fork truck for first prompt information；
If the first distance is less than or equal to the second distance, the second prompt information, institute are sent to the operator control panel
State the second prompt information for prompt braking processing is carried out to the fork truck.
6. system according to claim 5, which is characterized in that the system also includes: brake module, the brake module
It is connected to the processor；
The processor is also used to, after determining that the first distance is less than or equal to the second distance, to the system
Dynamic model block sends brake signal；
The brake module is used for, and according to the brake signal received, stops the fork truck operation.
7. system according to claim 6, which is characterized in that the brake module includes: the second electric machine controller, second
Motor and brake, wherein
Second electric machine controller is connect with the processor and second motor respectively, second motor also with it is described
Brake connection,
Second electric machine controller is used for, and generates brake pulse, the second electricity of Xiang Suoshu according to the brake signal received
Machine sends the brake pulse,
Second motor is used for, and according to the brake pulse received, drives the brake, so that the fork truck stops
Operation.
8. system according to claim 5, which is characterized in that the system also includes: alarm module, the alarm module
It is connected to the processor；
The processor is used for, and is being determined the first distance greater than the second distance and is being less than or equal to the third distance
Later, Xiang Suoshu alarm module sends alarm signal；
The alarm module is used for, according to first distance described in the alarm signal early warning received.
9. system according to claim 8, which is characterized in that the alarm module includes: buzzer and light emitting device,
In,
The buzzer and the light emitting device are connected to the processor respectively；
The buzzer is used for, and issues the sound according to the alarm signal received；
The light emitting device is used for, and is shone according to the alarm signal received.
10. according to the described in any item systems of claim 2 to 9, which is characterized in that the operator control panel is also used to, described in display
The operating mode list of handle receives the selection operation of the operating mode list triggering, and according to the selection operation, generates
Selection instruction carries the mark of automatic operation mode in the selection instruction；
The processor is also used to, and in the mark of the automatic operation mode according to the selection instruction, determines the handle
Operating mode be the automatic operation mode after, Xiang Suoshu drive module sends the control signal.
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