CN111942318A - Forklift anti-overturning device - Google Patents
Forklift anti-overturning device Download PDFInfo
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- CN111942318A CN111942318A CN201910428346.4A CN201910428346A CN111942318A CN 111942318 A CN111942318 A CN 111942318A CN 201910428346 A CN201910428346 A CN 201910428346A CN 111942318 A CN111942318 A CN 111942318A
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- forklift
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- bogie
- sensor
- overturning device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/02—Occupant safety arrangements or fittings, e.g. crash pads
- B60R21/13—Roll-over protection
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
一种叉车防倾覆装置,在叉车车架中心的两侧安装2只单作用液压缸,液压缸的活塞杆顶住转向架,2只液压缸的油路通过一个常开电磁阀联通。叉车上还安装一个单片机控制系统和2个传感器。当单片机计算出车辆转弯速度过高,通过功率模块驱动电磁阀工作将油路关闭,顶住转向架的液压缸活塞杆不能回缩,使得车架无法倾斜,因而减小车辆重心偏移,提高了车辆的抗倾覆能力。
The utility model relates to an anti-overturning device for a forklift. Two single-acting hydraulic cylinders are installed on both sides of the center of the forklift frame. The piston rods of the hydraulic cylinders stand against the bogie. A single-chip control system and 2 sensors are also installed on the forklift. When the single-chip computer calculates that the turning speed of the vehicle is too high, the power module drives the solenoid valve to close the oil circuit, and the hydraulic cylinder piston rod against the bogie cannot be retracted, so that the frame cannot be tilted, thus reducing the offset of the vehicle's center of gravity and improving the the anti-overturning ability of the vehicle.
Description
技术领域:Technical field:
本发明涉及一种防倾覆装置,特别是用于平衡重式叉车的防倾覆装置。The invention relates to an anti-overturning device, in particular to an anti-overturning device for a counterbalanced forklift.
背景技术:Background technique:
平衡重式叉车为适应在凹凸不平的地面上工作,车架通常采用3点支撑方式,车架后部与转向架中部的纵向支撑轴铰接;配重安装在车架上,因配重距离转向架的纵向支撑轴较远,使得车辆重心较高。当叉车转弯时,受离心力作用车架向外侧方向倾斜,使得配重位置移动到叉车中心线外侧。转弯速度越快,离心力作用越大配重位置偏移越大,当车辆重心超出支撑轮胎后就会造成车辆倾覆。In order to adapt to work on uneven ground, the frame of the counterbalanced forklift usually adopts a 3-point support method, and the rear of the frame is hinged with the longitudinal support shaft in the middle of the bogie; the counterweight is installed on the frame, and the steering is due to the distance of the counterweight. The longitudinal support axis of the frame is farther away, which makes the center of gravity of the vehicle higher. When the forklift turns, the frame is inclined to the outside due to the centrifugal force, so that the counterweight position moves to the outside of the centerline of the forklift. The faster the turning speed, the greater the centrifugal force and the greater the offset of the counterweight position. When the center of gravity of the vehicle exceeds the supporting tire, the vehicle will overturn.
发明内容:Invention content:
为了解决现有技术中存在的上述缺陷,本发明采取的技术方案是:In order to solve the above-mentioned defects existing in the prior art, the technical scheme adopted in the present invention is:
在车架中心的两侧安装2只单作用液压缸,液压缸的活塞杆顶住转向架,2只液压缸的油路通过一个常开电磁阀联通。车辆在凹凸不平的路面直行时,车轮上下颠簸带动转向架以车架支撑轴为中心转动,转向架压动2只液压缸的活塞杆一只伸出一只回缩,由于液压油可在两只液压缸之间流动,活塞杆可随转向架活动。在叉车转向架的转向油缸上安装一个行程传感器,检测叉车转弯信号。叉车驱动桥的差速箱上安装一个霍尔传感器,通过拾取齿轮转动得到驱动轴的转速信号。这2个传感器信号发送给单片机控制系统。叉车转弯时单片机通过这2个信号计算出叉车的行驶速度及转弯半径,如果转弯速度过快离心力超过设定数值,单片机得出叉车有倾覆的危险时发出警告信号同时驱动电磁阀切断液压缸油路,锁定液压缸。液压缸被锁定后,顶住转向架的活塞杆不能回缩,使得车架无法倾斜,车辆重心不再偏移,提高了车辆的抗倾覆能力。Two single-acting hydraulic cylinders are installed on both sides of the center of the frame, the piston rods of the hydraulic cylinders stand against the bogie, and the oil circuits of the two hydraulic cylinders are connected through a normally open solenoid valve. When the vehicle travels straight on the uneven road, the up and down bumps of the wheels drive the bogie to rotate around the frame support shaft, and the bogie presses the piston rods of the two hydraulic cylinders, one extends and the other retracts. It only flows between the hydraulic cylinders, and the piston rod can move with the bogie. A travel sensor is installed on the steering cylinder of the forklift truck to detect the turning signal of the forklift truck. A Hall sensor is installed on the differential case of the forklift drive axle, and the speed signal of the drive shaft is obtained by picking up the rotation of the gear. These 2 sensor signals are sent to the microcontroller control system. When the forklift is turning, the single-chip microcomputer calculates the driving speed and turning radius of the forklift through these two signals. If the turning speed is too fast, the centrifugal force exceeds the set value. Road, lock the hydraulic cylinder. After the hydraulic cylinder is locked, the piston rod against the bogie cannot be retracted, so that the frame cannot be tilted, the center of gravity of the vehicle is no longer offset, and the anti-overturning ability of the vehicle is improved.
附图说明:Description of drawings:
图1是本发明的液压系统和机械结构示意图。FIG. 1 is a schematic diagram of the hydraulic system and mechanical structure of the present invention.
图2是本发明传感器安装位置及机械结构示意图。FIG. 2 is a schematic diagram of the installation position and mechanical structure of the sensor of the present invention.
图3是本发明的单片机控制系统示意图。FIG. 3 is a schematic diagram of a single-chip microcomputer control system of the present invention.
图1中:1、车架,2、液压缸,3、车轮,4、转向架,5、车架支板,6、支撑轴,7、常开电磁阀,8、液压管路。In Figure 1: 1. Frame, 2. Hydraulic cylinder, 3. Wheel, 4. Bogie, 5. Frame support plate, 6. Support shaft, 7. Normally open solenoid valve, 8. Hydraulic pipeline.
图2中:3、车轮,4、转向架,5、车架支板,6、支撑轴,9、转向油缸,10、行程传感器,11、转向连杆,12、差速箱,13、霍尔传感器。In Figure 2: 3. Wheels, 4. Bogie, 5. Frame support plate, 6. Support shaft, 9. Steering cylinder, 10. Travel sensor, 11. Steering connecting rod, 12. Differential case, 13. Huo Er sensor.
图3中:10、行程传感器,13、霍尔传感器,7、常开电磁阀,14、功率模块,15、警告喇叭。In Figure 3: 10, travel sensor, 13, Hall sensor, 7, normally open solenoid valve, 14, power module, 15, warning horn.
具体实施方式:Detailed ways:
下面结合附图对本发明实施例进一步说明:Embodiments of the present invention are further described below in conjunction with the accompanying drawings:
图1是本发明的液压系统和机械结构示意图(该图省略了转向机构)。车架(1)通过车架支板(5)铰接在转向架(4)的支撑轴(6)上。2只液压缸(2)安装在车架(1)上,液压缸(2)的活塞杆顶在转向架(4)上,2只液压缸(2)的液压管路(8)通过常开电磁阀(7)联通。当叉车直行在凹凸不平的路面时,转向架(4)两侧的车轮(3)会上下颠簸,车轮(3)带动转向架(4)以支撑轴(6)为中心转动,从而使顶住转向架(4)的2个液压缸(2)的活塞杆一只缩进一只伸出,由于2只液压缸(2)的液压管路(8)是通过常开电磁阀(7)联通在一起的,活塞杆只受到液压介质流动阻力的影响,并不限制活塞杆活动,所以不会影响转向架(4)的运动。当车辆转弯速度过快,单片机计算出叉车有倾覆危险时,驱动常开电磁阀(7)工作,切断液压管路(8)的油路,使得液压缸(2)的活塞杆不能活动,活塞杆顶住转向架(4),使其不能转动,使车辆重心保持在中线上,减小叉车倾覆的危险。FIG. 1 is a schematic diagram of the hydraulic system and mechanical structure of the present invention (the steering mechanism is omitted in this figure). The frame (1) is hinged on the support shaft (6) of the bogie (4) through the frame support plate (5). Two hydraulic cylinders (2) are installed on the frame (1), the piston rods of the hydraulic cylinders (2) are on the bogie (4), and the hydraulic pipes (8) of the two hydraulic cylinders (2) pass through the normally open The solenoid valve (7) is connected. When the forklift travels straight on the uneven road, the wheels (3) on both sides of the bogie (4) will bump up and down, and the wheels (3) drive the bogie (4) to rotate with the support shaft (6) as the center, so as to withstand the One of the piston rods of the two hydraulic cylinders (2) of the bogie (4) is retracted and the other is extended, because the hydraulic lines (8) of the two hydraulic cylinders (2) are connected through the normally open solenoid valve (7) Together, the piston rod is only affected by the flow resistance of the hydraulic medium, and does not restrict the movement of the piston rod, so it will not affect the movement of the bogie (4). When the turning speed of the vehicle is too fast and the single chip computer calculates that the forklift is in danger of overturning, it drives the normally open solenoid valve (7) to work and cuts off the oil circuit of the hydraulic pipeline (8), so that the piston rod of the hydraulic cylinder (2) cannot move, and the piston The rod bears against the bogie (4) so that it cannot rotate, so that the center of gravity of the vehicle is kept on the center line, and the danger of the forklift overturning is reduced.
图2是传感器安装位置及机械结构示意图。在叉车驱动桥的差速箱(12)上安装一个霍尔传感器(13),霍尔传感器(13)通过感知差速箱(12)内部齿轮的转动拾取驱动轴的转速信号。行程传感器(10)安装在转向油缸(9)和转向连杆(11)之间,当转向油缸(9)驱动转向连杆(11)带动车轮(3)转向时,同时带动行程传感器(10),使行程传感器(10)的输出信号改变。单片机通过霍尔传感器(13)和行程传感器(10)的信号可以计算出叉车行驶速度和转弯半径,当单片机得出叉车有倾覆危险时向警告喇叭(15)发出警告信号,同时通过功率模块(14)驱动常开电磁阀(7)工作,切断液压管路(8)的油路,活塞杆顶住转向架(4),使其不能转动。当单片机得出没有倾覆危险后,释放常开电磁阀(7),恢复2只液压缸(2)之间的油路畅通,使液压缸(2)的活塞杆可随转向架(4)活动。Figure 2 is a schematic diagram of the sensor installation location and mechanical structure. A Hall sensor (13) is installed on the differential case (12) of the drive axle of the forklift, and the Hall sensor (13) picks up the rotational speed signal of the drive shaft by sensing the rotation of the internal gear of the differential case (12). The stroke sensor (10) is installed between the steering cylinder (9) and the steering connecting rod (11). When the steering cylinder (9) drives the steering connecting rod (11) to drive the wheel (3) to turn, the stroke sensor (10) is simultaneously driven. , so that the output signal of the stroke sensor (10) changes. The single-chip microcomputer can calculate the traveling speed and turning radius of the forklift through the signals of the hall sensor (13) and the travel sensor (10). 14) Drive the normally open solenoid valve (7) to work, cut off the oil circuit of the hydraulic pipeline (8), and the piston rod bears the bogie (4) so that it cannot rotate. When the single-chip microcomputer finds that there is no danger of overturning, the normally open solenoid valve (7) is released, and the oil passage between the two hydraulic cylinders (2) is restored, so that the piston rod of the hydraulic cylinder (2) can move with the bogie (4). .
图3是本发明的单片机控制系统示意图。单片机系统接收霍尔传感器(13)和行程传感器(10)的信号,对这2个信号进行计算,当得出叉车有倾覆危险时向警告喇叭(15)发出信号,并通过功率模块(14)驱动常开电磁铁(7)工作。FIG. 3 is a schematic diagram of a single-chip microcomputer control system of the present invention. The single-chip microcomputer system receives the signals of the Hall sensor (13) and the travel sensor (10), calculates these two signals, and sends a signal to the warning horn (15) when it is concluded that the forklift is in danger of overturning, and sends a signal to the warning horn (15) through the power module (14) Drive the normally open electromagnet (7) to work.
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CN201910428346.4A CN111942318A (en) | 2019-05-15 | 2019-05-15 | Forklift anti-overturning device |
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Citations (7)
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CN88100148A (en) * | 1988-01-06 | 1988-10-12 | 高长德 | The vehicle of the automatic anti-obliquity device of car body is housed |
CN101830225A (en) * | 2010-05-13 | 2010-09-15 | 吉林大学 | Engineering vehicle active anti-rollover control system and method |
CN201999060U (en) * | 2010-12-29 | 2011-10-05 | 天津市友达机电液成套设备有限公司 | Turning radius display and vehicle speed alarm device for wheeled vehicle |
CN206267218U (en) * | 2016-12-06 | 2017-06-20 | 长安大学 | A kind of deadweight leveling system of anti-rollover excavator |
CN108995709A (en) * | 2018-08-06 | 2018-12-14 | 合肥工业大学 | It is a kind of for improving the control method of counterbalanced lift truck cornering stiffnesses |
CN110294032A (en) * | 2019-07-09 | 2019-10-01 | 王亚 | The vehicle of body roll driving device and the application device |
CN210680649U (en) * | 2019-05-15 | 2020-06-05 | 保定市新华石化设备制造有限公司 | Forklift overturn-preventing device |
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2019
- 2019-05-15 CN CN201910428346.4A patent/CN111942318A/en active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN88100148A (en) * | 1988-01-06 | 1988-10-12 | 高长德 | The vehicle of the automatic anti-obliquity device of car body is housed |
CN101830225A (en) * | 2010-05-13 | 2010-09-15 | 吉林大学 | Engineering vehicle active anti-rollover control system and method |
CN201999060U (en) * | 2010-12-29 | 2011-10-05 | 天津市友达机电液成套设备有限公司 | Turning radius display and vehicle speed alarm device for wheeled vehicle |
CN206267218U (en) * | 2016-12-06 | 2017-06-20 | 长安大学 | A kind of deadweight leveling system of anti-rollover excavator |
CN108995709A (en) * | 2018-08-06 | 2018-12-14 | 合肥工业大学 | It is a kind of for improving the control method of counterbalanced lift truck cornering stiffnesses |
CN210680649U (en) * | 2019-05-15 | 2020-06-05 | 保定市新华石化设备制造有限公司 | Forklift overturn-preventing device |
CN110294032A (en) * | 2019-07-09 | 2019-10-01 | 王亚 | The vehicle of body roll driving device and the application device |
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