CN110790194B - Accurate weighing method of weighing forklift - Google Patents
Accurate weighing method of weighing forklift Download PDFInfo
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- CN110790194B CN110790194B CN201911114946.XA CN201911114946A CN110790194B CN 110790194 B CN110790194 B CN 110790194B CN 201911114946 A CN201911114946 A CN 201911114946A CN 110790194 B CN110790194 B CN 110790194B
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
- G01G19/083—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles lift truck scale
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses an accurate weighing method of a weighing forklift, which has the technical scheme main points that the method comprises the following steps: s1, inserting the fork carriage into the gap between the goods and the ground until the fork carriage is inserted in place; s2, in the process that the fork truck drives the fork truck to lift the goods, the weighing sensor continuously detects the acting force of the fork truck chain driving the fork truck to lift the goods, the weighing signal measured by the weighing sensor is collected by the collecting module to form a group of weighing data, and the weighing data is analyzed and calculated to calculate the actual weight; s3, after the goods are placed in place by the forklift, the fork frame is separated from the goods, and the moving and weighing of the goods are synchronously completed; the weighing data analysis and calculation method comprises the following steps: and taking N connected original sampling values forward to be regarded as a queue during each value taking, and carrying out arithmetic average operation on the queue value to obtain the highest value in the average dynamic weighing data as the final actual weight value. The weighing method can realize accurate weighing by using the weighing sensor.
Description
Technical Field
The invention relates to the technical field of forklift weighing, in particular to an accurate weighing method of a weighing forklift.
Background
With the development of mechanization, industry accounts for a considerable share in the total value of national economy, a forklift is used as a main tool for transporting goods in a factory, the forklift is a various wheel type transporting vehicle for loading and unloading finished pallet goods, stacking and short-distance transportation and heavy object transporting operation, is widely applied to various national economy departments such as stations, ports, airports, factories, warehouses and the like, is a high-efficiency tool for mechanized loading and unloading, stacking and short-distance transportation, and at present, the forklift is only applied to a transporting process alone and does not have a weighing function, and a certain part of goods need to be transported to a weighing position by the forklift to be weighed by a weighbridge, and then the goods are transported to a destination after the quality is read, so that the workload of workers is increased, and the working efficiency is reduced.
At present, Chinese patent with publication number CN204151028U discloses a high-precision and safe weighing forklift, which comprises a lifting chain for connecting an outer gantry and a fork frame, wherein a pressure sensor with a through hole is arranged at the joint of the lifting chain and the outer gantry, and the tail end of the lifting chain sequentially penetrates through the outer gantry and the through hole of the pressure sensor and then is fixed below the pressure sensor through a connecting piece. Although the weighing forklift can transfer the weight of the weighed goods to the pressure sensor through the lifting chain, and in the existing documents and technical data, all the viewpoints and evaluations refer to the weighing mode, the final conclusion is not feasible because the forklift mast has many interference factors, such as mast rolling resistance, oil pipe elastic deformation, pallet fork cantilever vibration, oil cylinder internal leakage, valve core internal leakage and the like, which all cause the final signal output by the pressure sensor to be very unstable, and the specific performance is as follows:
1. after dynamic fluctuation in the lifting process, the output signal can be continuously attenuated in a small amplitude, and can be gradually attenuated to the condition of 30% or even lower of the initial value after standing for about 12 hours;
2. under the condition of the same weight, the deviation of results output by multiple times of weighing is very large, the maximum deviation is +/-10%, the maximum deviation can reach +/-20% for individual vehicle types, and the output value cannot be used completely;
3. when the technical gravity center is transferred to the data detection precision of the pressure sensor in the research and development process, the problems 1 and 2 are still found after data testing is carried out on 3 brands of forklifts with different new and old degrees, and therefore the conclusion is that accurate data cannot be obtained by directly processing the output value of the pressure sensor.
In combination with the above reasons, it is the question of the present application how to achieve accurate weighing with a pressure sensor.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an accurate weighing method of a weighing forklift, which can realize accurate weighing by using a weighing sensor.
In order to achieve the purpose, the invention provides the following technical scheme: an accurate weighing method of a weighing forklift comprises the following steps:
s1, inserting the fork carriage into the gap between the goods and the ground until the fork carriage is inserted in place;
s2, in the process that the fork truck drives the fork truck to lift the goods, the weighing sensor continuously detects the acting force of the fork truck chain driving the fork truck to lift the goods, the weighing signal measured by the weighing sensor is collected by the collecting module to form a group of weighing data, and the weighing data is analyzed and calculated to calculate the actual weight;
s3, after the goods are placed in place by the forklift, the fork frame is separated from the goods, and the moving and weighing of the goods are synchronously completed;
the weighing data analysis and calculation method comprises the following steps: and taking N connected original sampling values as a queue in each dereferencing process, and carrying out arithmetic average operation on the queue numerical values, wherein N is a positive integer, and the highest numerical value in the average dynamic weighing data is the final actual weight numerical value.
The invention is further configured to: the weighing data analysis and calculation method comprises the following steps: taking N connected original sampling values as a queue in each value taking process, carrying out arithmetic average operation on the queue value, and recording a plurality of value taking results as primary average dynamic weighing data, wherein the value taking operation frequency is 1-100 Hz;
taking N forward each time a value is taken1Each successive one-time average dynamic weighing value is regarded as a queue, and the arithmetic mean operation is carried out on the queue value, N1Recording the multiple value results as multiple average dynamic weighing data, wherein the value operation frequency is 1-100 Hz;
and taking the highest value in the multiple average dynamic weighing data as the final actual weight value.
The invention is further configured to: the value range of the original sampling value is in the process of weighing the article: including the stage from when the carriage has not yet weighed the articles until the carriage lifts the articles off the ground.
The invention is further configured to: the range of the original sampling value is the process of continuously lifting the article after the article is completely weighed: including the phase of subsequent lifting after lifting the articles off the ground from the fork carriage.
The invention is further configured to: the value range of the original sampling value is the process that the article is continuously lifted for S seconds: including the stage of continued lifting from the carriage not yet weighing the articles until the carriage lifts the articles off the ground, or the stage of continued lifting from the carriage after lifting the articles off the ground.
The invention is further configured to: in step S2, the forklift can display the weighing data in real time through the display module when driving the fork carriage to lift the article.
The invention is further configured to: in step S2, the weighing data displayed in real time by the display module is the average dynamic weighing data after analysis and calculation.
The invention is further configured to: in step S2, the weighing data displayed in real time by the display module is an average dynamic weighing data after an arithmetic average operation.
In conclusion, the invention has the following beneficial effects: in the accurate weighing method, the forklift can continuously and uniformly drive the goods to ascend, so that the influence of interference factors of the forklift on the weighing accuracy when the goods are lifted can be effectively reduced under the inertia effect of the goods, and the highest numerical value in each average dynamic weighing data is infinitely close to the true value by carrying out arithmetic average operation on each queue numerical value, so that the weighing accuracy of the forklift is effectively improved by the accurate weighing method.
Drawings
FIG. 1 is a graph of raw sample values, primary average dynamic weighing data, and secondary average dynamic weighing data;
FIG. 2 is a graph of the interval of the optimal precise values of the uniform ascending process of the cargo in FIG. 1;
FIG. 3 is a graph of raw sample values for five load cells weighing the same item, respectively;
FIG. 4 is a graph of raw sample values for a load cell weighing the same item repeatedly.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Referring to fig. 1-4, an accurate weighing method for a weighing forklift includes the following steps:
s1, forming a gap between the goods and the ground through a tray, placing the goods on the tray, leaving a gap for inserting the goods supplying fork frame from the ground through the tray, and driving the fork frame to be inserted into the gap by a forklift until the fork frame is inserted in place;
s2, in the process that the forklift oil cylinder drives the inner gantry connected to the outer gantry to slide upwards and drives the forklift chain to pull the fork frame to lift the goods through the chain roller arranged on the inner gantry, the weighing sensor continuously detects the acting force of the forklift chain driving the fork frame to lift the goods, the weighing signal measured by the weighing sensor is collected by the collecting module to form a group of weighing data, and the weighing data is analyzed and calculated to calculate the actual weight;
s3, after the goods are placed in place by the forklift, the fork frame is separated from the goods, and the moving and weighing of the goods are synchronously completed;
the weighing data analysis and calculation method comprises the following steps: and taking N connected original sampling values as a queue in each dereferencing process, and carrying out arithmetic average operation on the queue numerical values, wherein N is a positive integer, and the highest numerical value in the average dynamic weighing data is the final actual weight numerical value.
In the accurate weighing method, the forklift can continuously and uniformly drive the goods to ascend, so that the influence of interference factors of the forklift on the weighing accuracy when the goods are lifted can be effectively reduced under the inertia effect of the goods, and the highest numerical value in each average dynamic weighing data is infinitely close to the true value by carrying out arithmetic average operation on each queue numerical value, so that the weighing accuracy of the forklift is effectively improved by the accurate weighing method. The adjuvant evidence is as follows: the weighing data curve chart measured in the test process shows that the signal curves of the weighing sensors are very close in the forklift operation process, as shown in fig. 3 and 4, the conclusion obtained by carrying out a certain average value-taking algorithm on the dynamic fluctuation stage of the curve is very ideal, the maximum fluctuation range is basically between 5 per mill and 1 percent, and the weighing requirement of heavy goods in the links of logistics transportation and the like can be completely met.
The accurate weighing method can realize dynamic weighing in the process of lifting an article, and the value range of the original sampling value can be selected from various stages, for example, the value range of the original sampling value is in the process of weighing the article: including the stage from when the carriage has not yet weighed the articles until the carriage lifts the articles off the ground. Or the value range of the original sampling value is the process of continuously lifting the article after the article is completely weighed: including the phase of subsequent lifting after lifting the articles off the ground from the fork carriage. Or the value range of the original sampling value is the process that the article is continuously lifted for S seconds: including the stage of continued lifting from the carriage not yet weighing the articles until the carriage lifts the articles off the ground, or the stage of continued lifting from the carriage after lifting the articles off the ground. The value range of the original sampling values at each stage can meet the weighing requirement in the weighing data analysis and calculation method, and when the value range of the original sampling values is in the process of weighing an article, the value range can finish average value calculation and value judgment very quickly, delay is hardly felt in the using process, and the method has greater advantage compared with the existing weighing efficiency.
The weighing data analysis and calculation method comprises the following steps: taking N connected original sampling values as a queue in each value taking process, carrying out arithmetic average operation on the queue value, and recording a plurality of value taking results as primary average dynamic weighing data, wherein the value taking operation frequency is 1-100 Hz; taking N forward each time a value is taken1A queue is regarded as a number of consecutive primary average dynamic weighing values, andthe queue values are subjected to an arithmetic mean operation, N1Recording the multiple value results as multiple average dynamic weighing data, wherein the value operation frequency is 1-100 Hz; and taking the highest value in the multiple average dynamic weighing data as the final actual weight value.
The repeated value-taking result can be calculated by secondary value-taking operation or multiple arithmetic mean operation, and is represented as follows: taking N forward each time a value is taken1The connected primary average dynamic weighing values are regarded as a queue, arithmetic average operation is carried out on the queue values, a secondary value taking result is recorded as secondary average dynamic weighing data, and the final actual weight value is the highest value of the secondary average dynamic weighing data; or, taking N forward every time taking value1The connected primary average dynamic weighing values are regarded as a queue, arithmetic mean operation is carried out on the queue values, secondary value taking results are recorded as secondary average dynamic weighing data, and N is taken forward when values are taken again2The two connected average dynamic weighing values are regarded as a queue, arithmetic average operation is carried out on the queue value, a three-time value taking result is recorded as three-time average dynamic weighing data, and the final actual weight value is the highest value of the three-time average dynamic weighing data; even if the third average dynamic weighing data has larger fluctuation amplitude, the fourth average dynamic weighing data can be carried out, so that the fluctuation amplitude of the finally obtained average dynamic weighing data tends to be smooth. And wherein the value number N, N is taken1、N2Can be the same or different, i.e. when N is 10, N1Can be 8 or 10, N2And may be 10 or 12.
The multiple value averaging operation is performed to reduce the fluctuation range of the weighing data curve and avoid the phenomenon of wave crest and wave trough in a short time, so that the value determination is facilitated, and the more the number of the value averaging operation is, the smaller the fluctuation range of the weighing data curve is, and the more the value determination is facilitated.
In step S2, the forklift can display the weighing data in real time through the display module when driving the fork carriage to lift the article. The display module can show final actual weight numerical value, can also be used for showing the data signal of weighing that the collection module measured weighing sensor, or the average dynamic weighing data after the analysis calculation to improve the flexible degree of use and the application scope of weighing system, be convenient for operating personnel and look over at any time.
The weighing data displayed by the display module in real time can be primary average dynamic weighing data after primary arithmetic mean operation, can also be secondary average dynamic weighing data after secondary arithmetic mean operation, and even can be tertiary average dynamic weighing data after tertiary arithmetic mean operation, preferably, the weighing data displayed by the display module in real time is primary average dynamic weighing data, the data only needs to perform primary average operation on an original sampling value, a calculation result can be timely fed back and displayed, and the curve graph fluctuation amplitude of the primary average dynamic weighing data is far smaller than that of the original sampling value, so that reasonable reference can be provided for an operator.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (8)
1. An accurate weighing method of a weighing forklift is characterized in that: the method comprises the following steps:
s1, inserting the fork carriage into the gap between the goods and the ground until the fork carriage is inserted in place;
s2, in the process that the fork truck drives the fork truck to lift the goods, the weighing sensor continuously detects the acting force of the fork truck chain driving the fork truck to lift the goods, the weighing signal measured by the weighing sensor is collected by the collecting module to form a group of weighing data, and the weighing data is analyzed and calculated to calculate the actual weight;
s3, after the goods are placed in place by the forklift, the fork frame is separated from the goods, and the moving and weighing of the goods are synchronously completed;
the weighing data analysis and calculation method comprises the following steps: and taking N connected original sampling values as a queue in each dereferencing process, and carrying out arithmetic average operation on the queue numerical values, wherein N is a positive integer, and the highest numerical value in the average dynamic weighing data is the final actual weight numerical value.
2. The accurate weighing method of a weighing forklift truck as set forth in claim 1, wherein: the weighing data analysis and calculation method comprises the following steps: taking N connected original sampling values as a queue in each value taking process, carrying out arithmetic average operation on the queue value, and recording a plurality of value taking results as primary average dynamic weighing data, wherein the value taking operation frequency is 1-100 Hz;
taking N forward each time a value is taken1Each successive one-time average dynamic weighing value is regarded as a queue, and the arithmetic mean operation is carried out on the queue value, N1Recording the multiple value results as multiple average dynamic weighing data, wherein the value operation frequency is 1-100 Hz;
and taking the highest value in the multiple average dynamic weighing data as the final actual weight value.
3. The accurate weighing method of a weighing forklift truck as set forth in claim 1, wherein: the value range of the original sampling value is in the process of weighing the article: including the stage from when the carriage has not yet weighed the articles until the carriage lifts the articles off the ground.
4. The accurate weighing method of a weighing forklift truck as set forth in claim 1, wherein: the range of the original sampling value is the process of continuously lifting the article after the article is completely weighed: including the phase of subsequent lifting after lifting the articles off the ground from the fork carriage.
5. The accurate weighing method of a weighing forklift truck as set forth in claim 1, wherein: the value range of the original sampling value is the process that the article is continuously lifted for S seconds: including the stage of continued lifting from the carriage not yet weighing the articles until the carriage lifts the articles off the ground, or the stage of continued lifting from the carriage after lifting the articles off the ground.
6. The accurate weighing method of a weighing forklift truck as set forth in claim 1, wherein: in step S2, the forklift can display the weighing data in real time through the display module when driving the fork carriage to lift the article.
7. The accurate weighing method of a weighing forklift truck as set forth in claim 6, wherein: in step S2, the weighing data displayed in real time by the display module is the average dynamic weighing data after analysis and calculation.
8. The accurate weighing method of a weighing forklift truck as set forth in claim 7, wherein: in step S2, the weighing data displayed in real time by the display module is an average dynamic weighing data after an arithmetic average operation.
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| CN111581599B (en) * | 2020-04-29 | 2023-10-03 | 四川虹美智能科技有限公司 | Weight value output method and digital weighing transmitter |
| CN114408806B (en) * | 2021-12-25 | 2024-04-26 | 上海浦东发展银行股份有限公司 | Cargo weighing method and weight detection equipment of warehouse forklift |
| CN114951009B (en) * | 2022-04-28 | 2023-08-22 | 广州艮业信息科技有限公司 | Parcel delivery method, four-section delivery system, equipment and storage medium |
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