CN111003663A - Automatic in-place device for lifting height of fork of electric forklift and control method - Google Patents
Automatic in-place device for lifting height of fork of electric forklift and control method Download PDFInfo
- Publication number
- CN111003663A CN111003663A CN201911276973.7A CN201911276973A CN111003663A CN 111003663 A CN111003663 A CN 111003663A CN 201911276973 A CN201911276973 A CN 201911276973A CN 111003663 A CN111003663 A CN 111003663A
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- Prior art keywords
- fork
- lifting
- height
- controller
- switch
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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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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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
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
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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
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- 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
- B66F9/0755—Position control; Position detectors
Abstract
The invention relates to an automatic reach device and a control method for the lifting height of a fork of an electric forklift, which comprises a pump controller connected with an oil pump motor, a valve controller connected with a solenoid coil of a multi-way valve and a display instrument connected with an operation switch, wherein the oil pump controller is connected with a main contactor coil, the valve controller is connected with a height encoder, a proximity switch, a lifting solenoid coil and a descending solenoid coil, the display instrument is connected with a fork lifting and descending switch, the positive terminals of the oil pump motor controller and the valve controller are connected with contacts of a contactor in series, and the coil end of the contactor is connected with the control end of the oil pump controller. The invention realizes the automatic positioning of the lifting height of the fork of the forklift, and when a driver takes and places high-position goods, the driver does not need to estimate the lifting height by observing the position of the fork to operate, and the fork can arrive by himself, thereby greatly reducing the operation risk caused by misjudgment of operators, reducing the potential safety hazard, reducing the working strength and improving the working efficiency.
Description
Technical Field
The invention relates to the technical field of forklifts, in particular to an automatic lifting height in-place device and a control method for a fork of an electric forklift.
Background
Fork truck often need lift the goods to take the altitude when the operation, when the goods is too big or when lifting height is too high, fork truck driver is difficult for observing fork and rises to rise the position, get this moment and put the goods operation and have the risk that the fork is not in place, generally take the mode control fork of installing the camera on the goods shelves condition of in place on the existing market, but this method still has the camera to shelter from by the goods, camera shooting angle is improper, the super wide whole car trafficability characteristic scheduling problem that influences of camera mounted position. Therefore, a device capable of enabling the pallet fork to rise and automatically put in place needs to be designed, so that the labor intensity of a driver is reduced, and the risk caused by misoperation is reduced.
Disclosure of Invention
The invention provides an automatic lifting height in-place device for a fork of an electric forklift and a control method, which can solve the technical problems of high labor intensity and high potential safety hazard of a driver when the existing forklift works to lift goods.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an automatic device that targets in place of electric fork truck fork lifting height, includes the oil pump machine controller who links to each other with the oil pump motor, the valve controller who is connected with multiple unit valve solenoid and the display instrument who links to each other with the lift decline switch, oil pump machine controller, valve controller and display instrument all connect between battery negative pole and key switch, wherein, be connected with main contactor coil on the oil pump controller, be connected with high encoder, proximity switch on the valve controller, play to rise solenoid valve coil and decline solenoid valve coil, the positive terminal of oil pump machine controller and valve controller all establishes ties with main contactor's contact.
Furthermore, the positive pole end of the storage battery is connected with the contact of the main contactor sequentially through the emergency power-off switch and the second fuse, the power input end of the key switch is connected with the first fuse, and the power supply end of the display instrument is connected with the output end of the key switch.
The controller further comprises a DC-DC power converter, the DC-DC power converter is connected with the anode of the storage battery through an emergency power-off switch, a first fuse and a key switch, and the output end supplies power to the control end of the valve controller through a third fuse.
Furthermore, the display instrument can set and release the lifting height of the pallet fork, and the pallet fork lifting and descending switch is a resistance switch and is used for manually controlling the lifting and descending of the pallet fork.
Furthermore, the height encoder is an incremental encoder and is used for detecting and acquiring a pulse signal corresponding to the lifting height of the pallet fork, and the proximity switch is used for giving a counting signal to the height encoder.
Meanwhile, the invention also discloses an automatic in-place control method for the lifting height of the pallet fork of the electric forklift, which is based on the control device and comprises the following steps:
(1) turning on a power supply, switching on a contactor, and electrifying an oil pump controller and a valve controller;
(2) setting the height of the fork to be reached on the display instrument;
(3) operating a fork lifting and descending switch to lift the fork, and starting to generate pulse signals for counting by a height encoder after a proximity switch is triggered;
(4) and calculating the lifting height of the pallet fork by using the valve controller according to the pulse signal generated by the height encoder, and controlling the lifting electromagnetic valve to be closed by using the valve controller when the calculated lifting height of the pallet fork reaches a preset height, so that the pallet fork reaches a set height.
In the above scheme, in the step (4), when the calculated fork lifting height reaches a preset height, the valve controller controls the lifting electromagnetic valve to be closed, and the fork reaches a set height. The method specifically comprises the following steps:
an operator always operates the fork lifting and descending switch to do fork lifting action, when the height of the fork is close to the preset height, the lifting speed of the fork is reduced, when the height of the fork reaches the preset height, the valve controller turns off the lifting electromagnetic valve, the fork stops lifting, and at the moment, the fork lifting action is not executed.
When an operator operates the fork to descend, the fork works normally, the set height is automatically relieved (when the fork is lifted again, the fork stops after reaching the set height, and when the fork is lifted again, the fork stops at the set height), and the fork can freely ascend and descend.
According to the technical scheme, the automatic in-place device and the control method for the lifting height of the fork of the electric forklift are used for detecting the current height of the fork through the height encoder, and the controller detects whether the current height of the fork reaches the target height so as to judge whether the lifting electromagnetic valve is turned off. The control mode realizes the automatic positioning of the lifting height of the pallet fork. The invention effectively prevents the driver from misjudging the lifting height of the fork, greatly lightens the labor intensity and effectively reduces the potential safety hazard. When the pallet fork is lifted to the target height, the height limitation can be removed through the descending switch, and the working efficiency is improved. Meanwhile, a display instrument is adopted to provide visual display, the current fork height can be displayed in real time, and the system is more humanized.
The invention realizes the automatic positioning of the high end of the fork of the forklift at the lifting, when a driver takes and places high-position goods, the driver does not need to estimate the lifting height by observing the position of the fork to operate, only needs to set the fixed lifting height through the display instrument, the fork can arrive by himself, the operation risk caused by misjudgment of an operator is greatly reduced, the potential safety hazard is reduced, the control is more intelligent, the operation is more convenient, the working strength is reduced, and the working efficiency is improved.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
As shown in fig. 1, the automatic positioning device for the lifting height of the fork of the electric forklift according to the embodiment includes an oil pump motor controller 10 connected to an oil pump motor 8, a valve controller 11, and a display instrument 16 connected to a lifting and lowering switch 9, wherein the oil pump motor controller 10, the valve controller 11, and the display instrument 16 are all connected between the negative pole of the battery 1 and the key switch 5, the oil pump controller 10 is connected to a main contactor coil 7, the valve controller 11 is connected to a height encoder 17, a proximity switch 18, a lifting solenoid valve coil 12, and a lowering solenoid valve coil 13, and positive terminals of the oil pump motor controller 10 and the valve controller 11 are all connected in series with a contact of a main contactor 6. The positive terminal of battery 1 loops through emergency power-off switch 2, second fuse 3 and is connected with the contact of main contactor, the power input end of key switch 5 is connected with first fuse 4, display instrument 16's power supply end links to each other with key switch 5's output.
The DC-DC power converter 14 is connected with the anode of the storage battery 1 through the emergency power-off switch 2, the first fuse 4 and the key switch 5, and the output end supplies power to the control end of the valve controller 11 through the third fuse 15. The lifting electromagnetic valve and the descending electromagnetic valve are both normally closed, when the lifting descending switch 9 provides a lifting signal for the display instrument 16, the lifting electromagnetic valve coil 12 is powered on, the lifting electromagnetic valve is opened, the oil pump controller 10 drives the pump motor 8 to rotate, the pallet fork ascends, when the lifting descending switch 9 provides a descending signal, the descending electromagnetic valve 13 is powered on, the descending electromagnetic valve is opened, and the pallet fork descends.
The height encoder 17 is installed on the portal and is connected with the fork and used for detecting the lifting height of the fork, the proximity switch 18 is installed on the goods shelf, and the height encoder starts counting when the proximity switch is triggered.
Specifically, in this embodiment, the positive power supply of the battery 1 is connected to the input terminal of the main contactor 6 through the second fuse 3, and the output terminal of the main contactor 6 is connected to the positive terminal + B1 of the oil pump controller 10 and the positive terminal + B2 of the valve controller 11, respectively. The negative pole-B1 of the oil pump controller 10, the negative pole-B2 of the valve controller 11, the negative pole power GND1 and GND2 of the DC-DC power converter 14 and the negative pole-B3 of the display instrument 16 are connected with the negative pole of the storage battery 1. The power input port KS1 of the control chip U1 of the oil pump controller 10, the power input port KS1 of the oil pump motor controller 10, the power input port KS2 of the valve controller 11, the display instrument, the power input port KS3 and the input power end B + of the DC-DC power converter 14 are connected with the key switch 5 in series through the first fuse 4. The main contactor 7 is connected in series between the control ports NMC and PMC of the pump controller 10. The output port NMC1 of valve controller 11 is connected in series with PMC1 between solenoid valve 12, and NMC2 is connected in series with PMC1 between solenoid valve 13. The height encoder 17 is input into logic ports GND, ENCA, ENCB and +12V of the valve controller 11, a power supply end of the proximity switch 18 is connected with a port of the valve controller 11+12V in parallel, and a signal output end is connected to a port DIG1 of the valve controller 11.
Meanwhile, the control method for automatically positioning the lifting height of the pallet fork of the electric forklift comprises the following steps:
1. the key switch 5 is turned on, the KS1 end of the oil pump controller 10 is electrified, the NMC end and the PMC end generate pressure difference, so that the main contactor coil 7 is electrified, the main contactor 6 is connected with a contact, and the oil pump controller 10 and the valve controller 11 are electrified;
2. setting the height to be reached by the fork on the display instrument 16;
3. the fork lifting and descending switch 9 is operated to lift the fork, and after the proximity switch 18 is triggered, the height encoder 17 starts to generate pulse signals for counting;
4. the valve controller 11 is used for calculating the lifting height of the pallet fork according to the pulse signal generated by the height encoder 17, when the height of the pallet fork is close to the preset height, the lifting speed of the pallet fork is reduced, when the height of the pallet fork reaches the preset height, the valve controller 11 turns off the lifting electromagnetic valve 12, the pallet fork stops lifting, the pallet fork reaches the set height, and at the moment, the lifting action of the operation pallet fork is not executed.
5. When an operator operates the lifting and descending switch 9 to descend the pallet fork, the pallet fork works normally, the set height is automatically relieved at the moment, and the pallet fork can be freely lifted and descended. If a new target height is to be set, steps 2 to 5 above may be repeated.
Meanwhile, according to the automatic in-place device and the control method for the lifting height of the fork of the electric forklift, the current height of the fork is detected through the height encoder, and the controller detects whether the current height of the fork reaches the target height, so that whether the lifting electromagnetic valve is turned off or not is judged. The control mode realizes the automatic positioning of the lifting height of the pallet fork, can effectively prevent the misjudgment of the driver on the lifting height of the pallet fork, greatly lightens the labor intensity and effectively reduces the potential safety hazard. When the pallet fork is lifted to the target height, the height limitation can be removed through the descending switch, and the working efficiency is improved. Meanwhile, a display instrument is adopted to provide visual display, the current fork height can be displayed in real time, and the system is more humanized.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. The utility model provides an automatic device that targets in place of electric fork truck fork lifting height, includes oil pump motor controller (10), valve controller (11) that link to each other with oil pump motor (8), and links to each other with play to rise descending switch (9) display instrument (16), oil pump motor controller (10), valve controller (11) and display instrument (16) are all connected between battery (1) negative pole and key switch (5), its characterized in that:
the oil pump motor controller (10) is connected with a main contactor coil (7), the valve controller (11) is connected with a height encoder (17), a proximity switch (18), a lifting solenoid valve coil (12) and a descending solenoid valve coil (13), and positive terminals of the oil pump motor controller (10) and the valve controller (11) are connected with contacts of the main contactor (6) in series;
the positive pole end of battery (1) loops through emergency power-off switch (2), second fuse (3) and is connected with the contact of main contactor (6), the power input end of key switch (5) is connected with first fuse (4), the feed end of display instrument (16) links to each other with the output of key switch (5).
2. The automatic reach device for the lifting height of the pallet fork of the electric forklift according to claim 1, which is characterized in that: the intelligent control system is characterized by further comprising a DC-DC power converter (14), wherein the DC-DC power converter (14) is connected with the positive electrode of the storage battery (1) through the emergency power-off switch (2), the first fuse (4) and the key switch (5), and the output end of the DC-DC power converter supplies power to the control end of the valve controller (11) through the third fuse (15).
3. The automatic reach device for the lifting height of the pallet fork of the electric forklift according to claim 1, which is characterized in that:
the lifting electromagnetic valve and the descending electromagnetic valve are both normally closed, when the lifting descending switch (9) provides a lifting signal for the display instrument (16), the lifting electromagnetic valve coil (12) is powered on, the lifting electromagnetic valve is opened, the oil pump controller (10) drives the pump motor (8) to rotate, the pallet fork rises, when the lifting descending switch (9) provides a descending signal, the descending electromagnetic valve (13) is powered on, the descending electromagnetic valve is opened, and the pallet fork descends.
4. The automatic reach device for the lifting height of the pallet fork of the electric forklift according to claim 1, which is characterized in that: the lifting and descending switch (9) is a resistance switch and is used for manually controlling the lifting and descending of the pallet fork.
5. The automatic reach device for the lifting height of the pallet fork of the electric forklift according to claim 1, which is characterized in that: the height encoder (17) is installed on the portal and connected with the fork and used for detecting the lifting height of the fork, the proximity switch (18) is installed on the goods shelf, and the height encoder starts counting when the proximity switch is triggered.
6. A control method for automatically locating the lifting height of a fork of an electric forklift is based on the device for automatically locating the lifting height of the fork of the electric forklift according to any one of claims 1 to 5, and is characterized by comprising the following steps:
(1) turning on a power supply, switching on a contactor, and electrifying an oil pump controller and a valve controller;
(2) setting the height required to be reached by the fork on the display instrument;
(3) operating a fork lifting and descending switch to lift the fork, and starting to generate pulse signals for counting by a height encoder after a proximity switch is triggered;
(4) and calculating the lifting height of the pallet fork by using the valve controller according to the pulse signal generated by the height encoder, and controlling the lifting electromagnetic valve to be closed by using the valve controller when the calculated lifting height of the pallet fork reaches a preset height, so that the pallet fork reaches a set height.
7. The method for controlling the automatic in-place lifting height of the pallet fork of the electric forklift according to claim 4, wherein the method comprises the following steps:
when the lifting height of the pallet fork calculated in the step (4) reaches a preset height, the valve controller controls the lifting electromagnetic valve to be closed, and the pallet fork reaches a set height; the method specifically comprises the following steps:
an operator always operates the fork lifting and descending switch to do fork lifting action, when the height of the fork is close to the preset height, the lifting speed of the fork is reduced, when the height of the fork reaches the preset height, the valve controller turns off the lifting electromagnetic valve, the fork stops lifting, and at the moment, the fork lifting action is not executed;
when an operator operates the fork to descend, the fork works normally, the set height is automatically relieved, and the fork can freely ascend and descend.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276973.7A CN111003663A (en) | 2019-12-12 | 2019-12-12 | Automatic in-place device for lifting height of fork of electric forklift and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276973.7A CN111003663A (en) | 2019-12-12 | 2019-12-12 | Automatic in-place device for lifting height of fork of electric forklift and control method |
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| Publication Number | Publication Date |
|---|---|
| CN111003663A true CN111003663A (en) | 2020-04-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911276973.7A Pending CN111003663A (en) | 2019-12-12 | 2019-12-12 | Automatic in-place device for lifting height of fork of electric forklift and control method |
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| CN (1) | CN111003663A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112147935A (en) * | 2020-09-25 | 2020-12-29 | 劢微机器人科技(深圳)有限公司 | Method, device and equipment for controlling fork arm of unmanned forklift and storage medium |
| CN112158770A (en) * | 2020-09-30 | 2021-01-01 | 杭州海康机器人技术有限公司 | Forklift control method, device and system |
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| CN112158770A (en) * | 2020-09-30 | 2021-01-01 | 杭州海康机器人技术有限公司 | Forklift control method, device and system |
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Application publication date: 20200414 |