CN112209303A - Method and device for controlling height of pallet fork of carrier and carrier - Google Patents
Method and device for controlling height of pallet fork of carrier and carrier Download PDFInfo
- Publication number
- CN112209303A CN112209303A CN202011224764.0A CN202011224764A CN112209303A CN 112209303 A CN112209303 A CN 112209303A CN 202011224764 A CN202011224764 A CN 202011224764A CN 112209303 A CN112209303 A CN 112209303A
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- lifting
- hydraulic system
- fork
- carrier
- goods
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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
- B66F9/0755—Position control; Position detectors
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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
Abstract
The invention discloses a method and a device for controlling the height of a pallet fork of a carrier and the carrier. The method is applied to a carrier, the carrier comprises a carrier body, a lifting hydraulic system and a fork, and a lifting selection switch and a cargo detection device are arranged on the carrier body; the method comprises the following steps: entering an automatic lifting flow; in the automatic lifting process, under the condition that a lifting selection switch is in a lifting gear, judging whether a goods detection device detects goods at a set height, if so, controlling a lifting hydraulic system to stop running, otherwise, controlling the lifting hydraulic system to drive a fork to lift after a preset buffering time; in the automatic lifting process, whether the goods are detected at the set height by the goods detection device is judged under the condition that the lifting selection switch is in a descending gear position, if yes, the lifting hydraulic system is controlled to drive the fork to descend after the preset buffering time, and otherwise, the lifting hydraulic system is controlled to stop running. The method can reduce the labor intensity of workers.
Description
Technical Field
The invention relates to the technical field of forklifts, in particular to a method and a device for controlling the height of a pallet fork of a carrier and the carrier.
Background
Today's that the commodity circulation trade is rapidly developed, the application of tray carrier is also more and more extensive, and the semi-automatization's that is applied to the segmentation trade control demand is also higher and higher.
In a typical current carrier, the height of a fork on the carrier is manually adjusted, so that the labor intensity of workers is high.
Therefore, how to reduce the labor intensity of the workers is a technical problem that needs to be solved by the technicians in the field at present.
Disclosure of Invention
In view of the above, the present invention provides a method and a device for controlling the height of a pallet fork of a transporting vehicle, which can reduce the labor intensity of workers. The invention also aims to provide a carrier applying the control method, which can reduce the labor intensity of workers.
In order to achieve the purpose, the invention provides the following technical scheme:
a pallet fork height control method for a carrier is applied to the carrier, the carrier comprises a carrier body, a lifting hydraulic system and a pallet fork connected to the output end of the lifting hydraulic system and the carrier body, and a lifting selection switch and a cargo detection device are arranged on the carrier body;
the control method comprises the following steps:
entering an automatic lifting flow;
in the automatic lifting process, under the condition that the lifting selection switch is in a lifting gear, judging whether the goods detection device detects the goods at a set height, if so, controlling the lifting hydraulic system to stop running, otherwise, controlling the lifting hydraulic system to drive the fork to rise after a preset buffering time;
in the automatic lifting process, whether the goods detection device detects the goods at the set height is judged in the state that the lifting selection switch is in a descending gear, if yes, the lifting hydraulic system is controlled to drive the fork to descend after the preset buffering time, and if not, the lifting hydraulic system is controlled to stop running.
Preferably, the control method further includes:
and judging whether the preset operation of the carrier is in a stop state and the carrier is in a parking state, and if so, entering the automatic lifting process.
Preferably, the vehicle body is further provided with a limit switch, and the limit switch comprises a lifting limit switch and a descending limit switch arranged below the lifting limit switch;
the control method comprises the following steps:
and judging whether at least one limit switch detects the pallet fork or not, and if so, controlling the lifting hydraulic system to stop running.
Preferably, after the lifting hydraulic system continuously operates once and waits for a preset waiting time, the judgment is performed to determine whether the goods detection device detects the goods at a set height.
Preferably, the method further comprises the following steps:
and controlling the lifting hydraulic system to stop running when the single continuous running time of the lifting hydraulic system exceeds the preset safety time.
Preferably, the method further comprises the following steps:
and sending operation prompt information when the goods detection device detects the goods until the limit switch detects the pallet fork for the last time.
A fork height control device of a carrier is applied to the carrier, the carrier comprises a carrier body, a lifting hydraulic system and a fork connected with the output end of the lifting hydraulic system and the carrier body, and a lifting selection switch and a goods detection device are arranged on the carrier body;
the control device includes:
the lifting module is used for judging whether the goods detection device detects the goods at a set height or not in the automatic lifting process under the condition that the lifting selection switch is in a lifting gear position, if so, controlling the lifting hydraulic system to stop running, and otherwise, controlling the lifting hydraulic system to drive the fork to lift after the preset buffering time;
and the descending module is used for judging whether the goods detection device detects the goods at the set height in the automatic ascending and descending process under the condition that the ascending and descending selection switch is in a descending gear position, if so, controlling the ascending and descending hydraulic system to drive the fork to descend after the preset buffering time, and otherwise, controlling the ascending and descending hydraulic system to stop running.
Preferably, the vehicle body is further provided with a limit switch, and the limit switch comprises a lifting limit switch and a descending limit switch arranged below the lifting limit switch;
the control device includes:
and the judgment module is used for judging whether at least one limit switch detects the pallet fork or not, and if so, controlling the lifting hydraulic system to stop running.
Preferably, the method further comprises the following steps:
and the safe operation module is used for controlling the lifting hydraulic system to stop operating when the single continuous operation time of the lifting hydraulic system exceeds the preset safe time.
A carrier vehicle uses the control method.
According to the method for controlling the height of the pallet fork of the carrier, the lifting of the pallet fork can be controlled through the lifting selection switch, and the goods on the pallet fork can be detected through the goods detection device, so that the carrier can lift the pallet fork in combination with the goods taking and placing conditions, the automation degree of the lifting of the pallet fork is improved, the pallet fork does not need to be manually pushed to lift, a worker does not need to bear the load of the pallet fork, the labor intensity of the worker can be effectively reduced, and the use efficiency and the safety of the carrier are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a circuit diagram of a truck fork height control provided by the present invention;
FIG. 2 is a schematic view of a cart according to the present invention;
fig. 3 is a structural diagram of a truck provided by the present invention when entering a lifting waiting state;
FIG. 4 is a block diagram of the present invention provided with a truck with upper cargo removed during lifting;
FIG. 5 is a block diagram of a second level of cargo being lifted to a top level during lifting of a truck in accordance with the present invention;
fig. 6 is a flowchart of a control method provided in the present invention.
Reference numerals:
the automatic control device comprises a vehicle body 1, a pallet fork 2, a lifting selection switch 3, a lifting gear 31, a descending gear 32, a cargo detection device 4, a logic controller 5, a lifting motor 6, a lifting motor contactor 7, a coil 71, a contact 72, a descending electromagnetic valve 8, a lifting limit switch 9, a descending limit switch 10, a buzzer 11, an indicator light 12, an emergency stop switch 13, a power supply 14, a walking controller 15, a starting switch 16, a fuse 17, a walking related input signal 18 and a walking related output signal 19.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a method and a device for controlling the height of a pallet fork of a carrier, which can reduce the labor intensity of workers. The other core of the invention is to provide the carrier applying the control method, which can reduce the labor intensity of workers.
Referring to fig. 1 to 5, the method for controlling the height of a fork of a truck according to the present invention is applied to a truck including a truck body 1, a lifting hydraulic system, and a fork 2 connected to an output end of the lifting hydraulic system and the truck body 1. The interior of the vehicle body 1 is provided with a lifting selection switch 3 and a cargo detection device 4. The method for controlling the height of the pallet fork of the truck is realized by the device for controlling the height of the pallet fork of the truck applying the method. The pallet fork height control device of the transport vehicle comprises a logic controller, and a lifting hydraulic system, a lifting selection switch 3 and a cargo detection device 4 are electrically connected with the logic controller.
The control method comprises the following steps:
s1: entering an automatic lifting flow;
s2: in the automatic lifting process, under the condition that a lifting selection switch is in a lifting gear, judging whether a goods detection device detects goods at a set height, if so, controlling a lifting hydraulic system to stop running, otherwise, controlling the lifting hydraulic system to drive a fork to lift after a preset buffering time;
s3: in the automatic lifting process, whether the goods are detected at the set height by the goods detection device is judged under the condition that the lifting selection switch is in a descending gear position, if yes, the lifting hydraulic system is controlled to drive the fork to descend after the preset buffering time, and otherwise, the lifting hydraulic system is controlled to stop running.
Wherein, the instruction responding to the lifting selection switch 3 comprises: when the lifting selection switch 3 is in a lifting gear 31, the lifting hydraulic system is controlled to drive the pallet fork 2 to ascend, and when the lifting selection switch 3 is in a descending gear 32, the lifting hydraulic system is controlled to drive the pallet fork 2 to descend.
The selectable gears on the lifting selection switch 3 include a lifting gear 31 and a descending gear 32 which are connected in parallel. Specifically, the lifting selection switch 3 comprises a lifting button and a descending button, when the lifting button is pressed, the lifting selection switch 3 is in a lifting gear 31, and the logic controller 5 operates a lifting subsystem, so that the lifting hydraulic system drives the pallet fork 2 to ascend; when the descending button is pressed, the ascending and descending selection switch 3 is in the descending gear 32, and the logic controller 5 operates the descending subsystem, so that the ascending and descending hydraulic system drives the pallet fork 2 to descend.
The set height is usually a pick-and-place height, as shown in fig. 3 to 5, the top layer goods in fig. 3 is at the pick-and-place height, and the pick-and-place device can pick the goods at the height. Specifically, after the goods detection device 4 detects the goods at the set height, the goods taking and placing device is controlled to take the goods, after the goods detection device 4 does not detect the goods, the goods are considered to be taken away, then as shown in fig. 4, after the preset buffering time, the fork 2 is controlled to ascend, and after the goods detection device 4 detects the goods at the set height again, the fork stops ascending, so that the goods at the second layer in fig. 3 ascend to the goods taking and placing height, and the next goods taking operation is performed. And in the process of descending, after putting the bottom layer goods on the fork 2, the goods detection device 4 detects the goods at the set height, controls the fork 2 to descend after the preset buffering duration, and stops descending after the goods detection device 4 cannot detect the goods, so that the space is left at the set height for placing the bottom two-layer goods.
Wherein, goods detection device 4 specifically is photoelectric distance measuring switch, preferably diffuse reflection photoelectric switch, and detection effect is better. The cargo detecting device 4 is installed at a position above the side of the vehicle body 1 so as to detect whether there is cargo on the uppermost layer of the forks 2. Specifically, when there is cargo, the cargo detecting device 4 outputs a high signal to the logic controller 5, and when there is no cargo, the cargo detecting device 4 outputs a low signal to the logic controller 5. In addition, the logic controller is triggered by edge jump signals of the cargo detection device 4, so that the signal identification is strong and the control reliability is high.
The control method that this embodiment provided can control the lift of fork through lift selection switch 3 to can detect the goods on the fork through goods detection device 4, make the carrier can combine the goods to get the circumstances of putting and go up and down fork 2, improve the degree of automation to the lift of fork 2, need not manual promotion fork 2 and go up and down, the staff need not to bear 2 heavy burdens of fork, can effectively reduce staff's intensity of labour, improve availability factor and the security to the carrier.
Further, the control method further includes: and judging whether the preset operation of the carrier is in a stop state and the carrier is in a parking state, if so, entering an automatic lifting process.
The control device comprises a starting switch 16 electrically connected between the power supply 14 and the logic controller 5, after the starting switch 16 is closed, the logic controller 5 is powered on to perform the self-checking process, otherwise, the logic controller 5 is powered off.
The preset operation can be determined according to actual needs, and specifically includes various operations that can interfere with the lifting of the pallet fork 2 or various manual operation instructions. In addition, the logic controller and the vehicle body keep communication in real time, any manual operation is triggered in the running process, and the automatic lifting process stops and exits.
This step is controlling means's self-checking process, through the setting of self-checking process, can improve the security of 2 lift operations of fork.
Furthermore, the inside of the vehicle body 1 is also provided with a limit switch, and the limit switch comprises a lifting limit switch 9 and a descending limit switch 10 arranged below the lifting limit switch 9. Each limit switch is respectively and electrically connected with the logic controller.
Correspondingly, the control method further comprises the following steps: and judging whether at least one limit switch detects the pallet fork 2, and if so, controlling the lifting hydraulic system to stop running.
Wherein each limit switch positions the forks 2 by detecting a specific position of the fork 2. For example, the lift limit switch 9 detects the top surface of the fork 2, and the lower limit switch 10 detects the bottom surface of the fork 2. Or an infrared transmitter is arranged at a specific position on the side surface of the pallet fork 2, the lifting limit switch 9 and the descending limit switch 10 are arranged as receivers matched with the infrared transmitter, and the pallet fork 2 is correspondingly detected when light rays of the infrared transmitter are received.
Preferably, the logic controller adopts an electronic work buffering function, so that the action of the lifting hydraulic system stops smoothly. In addition, the forks 2 are lowered to a minimum of 100mm above the ground, preventing the lowering operation from pressing against the operator's feet.
Through limit switch's setting, can inject the extreme position of fork 2 elevating movement for fork 2 can in time stop the motion after lifting to the extreme position.
Further, the control method further includes: after the lifting hydraulic system continuously operates once and waits for a preset waiting time, the operation of judging whether the goods detection device detects the goods at the set height is carried out.
Through the setting of the preset waiting time, after the single lifting or descending operation is completed, a forced safety time is provided, the lifting or descending process is prevented from being frequently executed due to external operation interference, in the safety time, the logic controller 5 does not respond to the signal of the cargo detection device 4, and the signal of the cargo detection device 4 is responded again after the safety time.
Further, the control method further includes: and controlling the lifting hydraulic system to stop running when the single continuous running time of the lifting hydraulic system exceeds the preset safety time.
Through the setting of length when presetting safety, even the signal of goods detection device 4 is malfunctioning, also can guarantee the smooth stopping of lifting operation, can improve the security of carrier operation.
Further, the control method further includes: and sending out operation prompt information when the goods detection device 4 detects the goods till the limit switch detects the pallet fork 2 for the last time.
The pallet fork height control device of the transport vehicle further comprises a reminding device, and the reminding device is electrically connected to the logic controller 5. The reminding device specifically comprises at least one of an indicator light and a buzzer 11. The reminding device can remind workers that the pallet fork 2 is about to move or is moving up and down, and the use safety of the carrier is further improved.
In addition to the above-mentioned control method for the fork height of the transporting vehicle, the present invention further provides a control device for the fork height of the transporting vehicle, which can be the control method provided in any of the above embodiments.
The control device is applied to a carrier, the carrier comprises a carrier body, a lifting hydraulic system and a fork connected to the output end of the lifting hydraulic system and the carrier body, and a lifting selection switch and a cargo detection device are arranged on the carrier body;
the control device includes:
the lifting module is used for judging whether the goods detection device detects the goods at a set height or not in the automatic lifting process under the condition that the lifting selection switch is in a lifting gear position, if so, controlling the lifting hydraulic system to stop running, and otherwise, controlling the lifting hydraulic system to drive the fork to lift after the preset buffering time;
and the descending module is used for judging whether the goods detection device detects the goods at the set height in the automatic ascending and descending process under the condition that the ascending and descending selection switch is in a descending gear position, if so, controlling the ascending and descending hydraulic system to drive the fork to descend after the preset buffering time, and otherwise, controlling the ascending and descending hydraulic system to stop running.
Furthermore, the vehicle body is also provided with a limit switch, and the limit switch comprises a lifting limit switch and a descending limit switch arranged below the lifting limit switch. Accordingly, the control device comprises: and the judgment module is used for judging whether at least one limit switch detects the pallet fork or not, and if so, controlling the lifting hydraulic system to stop running.
Further, the carrier fork height control device further includes: and the safe operation module is used for controlling the lifting hydraulic system to stop operating when the single continuous operation time of the lifting hydraulic system exceeds the preset safe time.
Further, the pallet fork height control device of the carrier further comprises a lifting motor contactor 7 electrically connected with the logic controller 5, and the lifting hydraulic system comprises a lifting motor 6. After the lifting selection switch 3 is switched to the lifting gear 31, the logic controller 5 switches on the lifting motor 6 and the power supply 14 by switching on the coil 71 of the lifting motor contactor 7 and the power supply 14 so that the contact 72 of the lifting motor contactor 7 is closed. Through the setting of the lifting motor contactor 7, the on-off control of the lifting motor 6 can be conveniently realized. Specifically, after the lifting motor 6 is energized, the lifting motor 6 drives the oil pump to supply oil to the hydraulic cylinder to drive the fork 2 to rise.
Further, the pallet fork height control device of the transfer car further comprises a descending electromagnetic valve 8 electrically connected to the logic controller 5, and the descending electromagnetic valve 8 is arranged in an oil drainage loop of the lifting hydraulic system. After the lifting selection switch 3 is switched to the descending gear 32, the descending electromagnetic valve 8 conducts an oil drainage loop, so that the hydraulic cylinder returns oil, and the fork 2 descends under the action of self weight.
Further, an emergency stop switch 13 is connected in series between the logic controller 5 and the power supply 14, and the logic controller 5 can be powered off when the emergency stop switch 13 is turned on. When the emergency stop switch 13 is pressed, the operator can quickly cut off the power supply 14 of the logic controller 5 and the lift hydraulic system will stop running.
Further, the pallet fork height control device of the carrier further comprises a traveling controller 15 electrically connected to the logic controller 5, and the traveling controller 15 is electrically connected to a traveling drive device of the vehicle body 1. The walking controller 15 is used for controlling a walking driving device for driving the vehicle body 1 to move forwards, and the logic controller 5 can directly acquire the running state of the walking driving device through the electric connection between the walking controller 15 and the logic controller 5 so as to judge whether the vehicle body 1 is in a parking state.
In addition to the method and the device for controlling the fork height of the truck, the invention also provides the truck, which applies the control method, particularly can be the control method provided by any one of the above embodiments, and the beneficial effects can be correspondingly referred to the above embodiments. For the structure of other parts of the truck, please refer to the prior art, and the description is omitted herein.
A specific workflow of the cart provided in this embodiment includes:
self-checking process: after the starting switch 16 is pressed and the lifting selection switch 3 is activated, the logic controller 5 activates an automatic lifting control program, the indicator lamp 12 connected with the starting switch 16 in series is lightened, the buzzer 11 is sounded for 2 seconds to prompt that the control device is started, the logic controller 5 activates the automatic control program to enter a self-checking step, when all manual operation instructions of the carrier are in a stop state, the carrier is in a parking state, and the speed of the carrier is zero, an automatic lifting flow or an automatic descending flow can be carried out.
Automatic lifting flow: when the lifting selection switch 3 is in a lifting gear 31, the control device executes an automatic lifting subsystem, the logic controller 5 enters a waiting process, at the moment, if the fact that a distance signal of the cargo detection device 4 is changed from a high signal jump to a low signal is detected, the logic controller 5 can trigger the buzzer 11 to work to prompt that the pallet fork 2 is about to move up and down, after a preset buffer duration is delayed, the logic controller 5 starts to control the lifting motor contactor 7 to operate, the lifting motor contactor 7 is connected with a power loop of the lifting motor 6, the lifting motor 6 operates to drive the pallet fork 2 to lift, and meanwhile the buzzer 11 synchronously works to prompt an operator. When the distance signal of the goods detection device 4 is detected to jump from the low position to the high position in the lifting process, the goods fork 2 is indicated to reach the preset height, and the logic controller 5 controls the lifting motor 6 and the buzzer 11 to stop working. When the lifting limit switch 9 is detected to be effective in the lifting process, the pallet fork 2 is indicated to be lifted to the set highest position, and the logic controller 5 controls the lifting motor 6 and the buzzer 11 to stop working. In order to ensure safety and prevent the goods detection device 4 from being overhigh in lifting caused by faults, the lifting process has a set maximum operation time, namely a preset safety time, and when the preset safety time is up, the logic controller 5 controls the lifting motor 6 and the buzzer 11 to stop working. When the single lifting of the pallet fork 2 is completed, a preset waiting time which is a forced safety time is provided, the lifting process is prevented from being frequently executed due to external operation interference, the logic controller 5 does not respond to a signal of the cargo detection device 4 within the preset waiting time, and the waiting process is re-entered after the preset waiting time.
An automatic descent function: when the lifting selection switch 3 is in the descending gear 32, the control device executes an automatic descending subsystem, the logic controller 5 carries out a waiting process, at the moment, if the fact that the distance signal of the cargo detection device 4 is changed from a low signal jump to a high signal is detected, the logic controller 5 triggers the buzzer 11 to work to prompt that the fork 2 is about to move up and down, after a preset buffer time is delayed, the logic controller 5 starts to control the descending electromagnetic valve 8 to operate, the fork 2 starts to descend, and meanwhile the buzzer 11 works synchronously to prompt an operator. When the distance signal of the goods detection device 4 is detected to jump from the high position to the low position in the descending process, the goods fork 2 is indicated to descend to the preset height, and the controller controls the descending electromagnetic valve 8 and the buzzer 11 to stop working and stop descending. When the descending limit switch 10 is detected to be effective in the descending process, the logic controller 5 controls the descending electromagnetic valve 8 and the buzzer 11 to stop working, and the descending is stopped. In order to ensure safety and prevent the lowering height from being too low due to the failure of the cargo detection device 4, the lowering process has a set maximum operation time, namely a preset safety time, and when the preset safety time is reached, the logic controller 5 controls the lowering electromagnetic valve 8 and the buzzer 11 to stop working. When the fork 2 is lowered once, a preset waiting time is set, which is a mandatory safety time, to prevent the lifting process from being frequently executed due to external operation interference, and within the preset waiting time, the logic controller 5 does not respond to the signal of the cargo detection device 4, and re-enters the waiting process after the preset waiting time.
It will be understood that when an element is referred to as being "secured" to another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The method, apparatus and truck for controlling the height of the fork of the truck according to the present invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. The method for controlling the height of the pallet fork of the carrier is characterized by being applied to the carrier, wherein the carrier comprises a carrier body (1), a lifting hydraulic system and the pallet fork (2) connected to the output end of the lifting hydraulic system and the carrier body (1), and a lifting selection switch (3) and a cargo detection device (4) are arranged on the carrier body (1);
the control method comprises the following steps:
entering an automatic lifting flow;
in the automatic lifting process, when the lifting selection switch (3) is in a lifting gear (31), whether the goods detection device (4) detects the goods at a set height is judged, if so, the lifting hydraulic system is controlled to stop running, otherwise, the lifting hydraulic system is controlled to drive the fork (2) to ascend after a preset buffering time;
in the automatic lifting process, whether the goods are detected at the set height by the goods detection device (4) is judged under the condition that the lifting selection switch (3) is in a descending gear (32), if yes, the lifting hydraulic system is controlled to drive the fork (2) to descend after the preset buffering time, and if not, the lifting hydraulic system is controlled to stop running.
2. The truck fork height control method of claim 1, further comprising:
and judging whether the preset operation of the carrier is in a stop state and the carrier is in a parking state, and if so, entering the automatic lifting process.
3. The truck fork height control method according to claim 1, wherein a limit switch is further provided on the vehicle body (1), the limit switch including a lifting limit switch (9) and a lowering limit switch (10) provided below the lifting limit switch (9);
the control method comprises the following steps:
and judging whether at least one limit switch is arranged to detect the pallet fork (2), and if so, controlling the lifting hydraulic system to stop running.
4. The method of controlling the fork height of a truck according to claim 3, wherein said determining whether the load detecting device (4) detects a load at a set height is performed after waiting for a preset waiting time period after the lifting hydraulic system is continuously operated once.
5. The truck fork height control method according to any one of claims 1 to 4, further comprising:
and controlling the lifting hydraulic system to stop running when the single continuous running time of the lifting hydraulic system exceeds the preset safety time.
6. The truck fork height control method according to any one of claims 1 to 4, further comprising:
and sending out operation prompt information when the goods detection device (4) detects the goods until the limit switch detects the pallet fork (2) for the last time.
7. The pallet fork height control device is applied to a carrier, the carrier comprises a carrier body (1), a lifting hydraulic system and a pallet fork (2) connected to the output end of the lifting hydraulic system and the carrier body (1), and a lifting selection switch (3) and a cargo detection device (4) are arranged on the carrier body (1);
the control device includes:
the lifting module is used for judging whether the goods detection device (4) detects the goods at a set height or not in the automatic lifting process when the lifting selection switch (3) is in a lifting gear (31), if so, controlling the lifting hydraulic system to stop running, and otherwise, controlling the lifting hydraulic system to drive the fork (2) to ascend after preset buffering time;
and the descending module is used for judging whether the goods detection device (4) detects the goods at the set height or not in the automatic ascending and descending process under the condition that the ascending and descending selection switch (3) is in a descending gear (32), if so, the ascending and descending hydraulic system is controlled to drive the fork (2) to descend after the preset buffering time, and otherwise, the ascending and descending hydraulic system is controlled to stop running.
8. The truck fork height control apparatus of claim 7, wherein a limit switch is further provided on the vehicle body (1), the limit switch including a lifting limit switch (9) and a lowering limit switch (10) provided below the lifting limit switch (9);
the control device includes:
and the judgment module is used for judging whether at least one limit switch detects the pallet fork (2), and if so, controlling the lifting hydraulic system to stop running.
9. The cart fork height control apparatus of claim 7 or 8, further comprising:
and the safe operation module is used for controlling the lifting hydraulic system to stop operating when the single continuous operation time of the lifting hydraulic system exceeds the preset safe time.
10. A transport vehicle characterized by applying the control method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011224764.0A CN112209303A (en) | 2020-11-05 | 2020-11-05 | Method and device for controlling height of pallet fork of carrier and carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011224764.0A CN112209303A (en) | 2020-11-05 | 2020-11-05 | Method and device for controlling height of pallet fork of carrier and carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112209303A true CN112209303A (en) | 2021-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011224764.0A Pending CN112209303A (en) | 2020-11-05 | 2020-11-05 | Method and device for controlling height of pallet fork of carrier and carrier |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114314443A (en) * | 2021-12-27 | 2022-04-12 | 科捷智能科技股份有限公司 | Cargo bed fork-out protection method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114314443A (en) * | 2021-12-27 | 2022-04-12 | 科捷智能科技股份有限公司 | Cargo bed fork-out protection method |
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