CN113697729B - Transverse moving and rotating linkage control method and control system for forklift - Google Patents
Transverse moving and rotating linkage control method and control system for forklift Download PDFInfo
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- CN113697729B CN113697729B CN202111261727.1A CN202111261727A CN113697729B CN 113697729 B CN113697729 B CN 113697729B CN 202111261727 A CN202111261727 A CN 202111261727A CN 113697729 B CN113697729 B CN 113697729B
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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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/027—Check valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
Abstract
The invention provides a cross-sliding and rotating linkage control method and a cross-sliding and rotating linkage control system for a forklift, which belong to the technical field of electric forklifts and comprise the following steps: s1: inputting a preset traversing speed Vm into a controller; s2: acquiring a real-time traversing speed V1 and a real-time rotating speed V2; s3: calculating the difference between the preset traversing speed Vm and the real-time traversing speed V1 through the controller to obtain a difference e 1; s4: calculating the difference between the real-time traversing speed V1' and the real-time rotating speed V2 to obtain a difference e 2; s5: e1 and e2 are processed through a preset algorithm to obtain e1 'and e 2'; s6: judging the positive and negative of e1 'and e 2'; s7: and judging whether e1 'and e 2' are 0, if so, stopping adjusting the opening size of the hydraulic valve, otherwise, repeating the steps S2-S6. According to the invention, the controller is used for calculating the difference value between the transverse moving speed and the rotating speed, and the running speed of the hydraulic oil cylinder is controlled according to the difference value, so that the synchronous operation of transverse moving and rotating of the pallet fork is realized.
Description
Technical Field
The invention belongs to the technical field of electric forklifts, and particularly relates to a transverse moving and rotating linkage control method and a transverse moving and rotating linkage control system of a forklift.
Background
With the rapid development of social economy, modern industrial logistics systems become infrastructure for promoting social development and economic construction, and have important significance for national economy scale formation and modern industrial development. The types, frequency and scale of logistics in modern industrial logistics systems are increasing, so that the importance of loading, unloading and carrying work is more remarkable, and the electric forklift is widely applied to various places in the industrial transportation industry by virtue of high-efficiency carrying capacity and high operation flexibility. Meanwhile, the pressure conditions of energy crisis and energy conservation and emission reduction are severe, the energy conservation and environmental protection career greatly promotes the transformation and upgrading of the electric forklift, and higher standards and requirements are provided for the energy consumption of a hydraulic system of the electric forklift.
The traditional forklift hydraulic system can only realize transverse movement and rotation of the pallet fork through the movement and rotation of the forklift, the operation is very inconvenient in a warehouse with a narrow space, and the pallet fork is often interfered with a goods shelf in the rotating process to cause inconvenience in movement, so that a control method and a control system for transverse movement and rotation linkage of the forklift are urgently needed, and the forklift can perform transverse movement and rotation linkage operation.
Disclosure of Invention
The invention aims to provide a cross-sliding rotary linkage control method and a cross-sliding rotary linkage control system for a forklift, which can realize cross-sliding rotary linkage on a pallet fork, aiming at the problems in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that:
a cross-sliding and rotating linkage control method for a forklift comprises the following steps:
s1: inputting a preset traversing speed Vm into a controller;
s2: acquiring a real-time traversing speed V1 of the traversing oil cylinder through a position sensor, and acquiring a real-time rotating speed V2 of the rotating oil cylinder through an angle sensor;
s3: transmitting the acquired real-time traversing speed V1 and the real-time rotating speed V2 to a controller, and calculating the difference between the preset traversing speed Vm and the real-time traversing speed V1 through the controller to obtain a difference e 1;
s4: multiplying the real-time traversing speed V1 by a preset coefficient K to obtain a real-time traversing speed V1 ', and calculating the difference between the real-time traversing speed V1' and the real-time rotating speed V2 to obtain a difference e 2;
s5: e1 and e2 are processed through a preset algorithm to obtain e1 'and e 2';
s6: judging the positive and negative of e1 'and e 2', and controlling the opening size of the hydraulic valve according to the positive and negative of e1 'and e 2', so as to control the running speed of the transverse moving oil cylinder and the rotating oil cylinder;
s7: and judging whether e1 'and e 2' are 0, if so, stopping adjusting the opening size of the hydraulic valve, otherwise, repeating the steps S2-S6.
In the above method for controlling the lateral-moving and rotational-linking of the forklift, step S6 specifically includes:
s61: judging the positive and negative of e1 ', and controlling the opening size of the first hydraulic valve according to the positive and negative of e 1', so as to control the running speed of the transverse moving oil cylinder;
s62: and judging the positive and negative of e2 ', and controlling the opening size of the second hydraulic valve according to the positive and negative of e 2', so as to control the running speed of the rotary oil cylinder.
In the above method for controlling the lateral-moving and rotational-linking of the forklift, step S61 specifically includes:
s611: judging whether e1 'is positive or negative, and if e 1' is positive, going to step S612; when e 1' is negative, go to step S613;
s612: the valve port flow of the first hydraulic valve is controlled to increase through e 1', and the running speed of the transverse moving oil cylinder is increased;
s613: the valve port flow of the first hydraulic valve is controlled to be reduced through e 1', and then the running speed of the traversing oil cylinder is reduced.
In the above method for controlling the lateral-moving and rotational-linking of the forklift, step S62 specifically includes:
s621: judging whether e2 'is positive or negative, and if e 2' is positive, going to step S622; when e 2' is negative, go to step S623;
s622: the flow of a valve port of the second hydraulic valve is controlled to be increased through e 2', and the running speed of the rotary oil cylinder is increased;
s623: the flow of the valve port of the second hydraulic valve is controlled to be reduced through e 2', and then the running speed of the rotary oil cylinder is reduced.
In the above method for controlling the lateral movement and rotation linkage of the forklift, the preset algorithm is a PID control algorithm.
In the above method for controlling the lateral-moving and rotating linkage of the forklift, the specific step of controlling the opening size of the hydraulic valve in step S6 includes a:
the hydraulic valve receives the control signal transmitted by the controller, and controls the valve core of the hydraulic valve to move left and right according to the control signal, so that the opening size of the hydraulic valve is controlled, and finally the flow control of the hydraulic valve is realized.
The present invention also provides a cross-sliding rotation linkage control system for a forklift, comprising:
the fork transverse moving hydraulic system is used for controlling transverse moving of a fork and the rotary hydraulic system is used for controlling rotary movement of the fork, the transverse moving hydraulic system is connected with the rotary hydraulic system through an oil line, the transverse moving hydraulic system comprises a transverse moving oil cylinder and a position sensor arranged on the transverse moving oil cylinder, the rotary hydraulic system comprises a rotary oil cylinder and an angle sensor arranged on the rotary oil cylinder, transverse moving speed and rotary speed of the fork are respectively obtained through the position sensor and the angle sensor, and transverse moving and rotary synchronous operation is controlled through the fork transverse moving and rotary linkage control method.
In the above forklift traverse rotation linkage control system, the traverse hydraulic system includes a first hydraulic valve, a first safety valve, a first overflow valve, a second overflow valve, a first check valve and a second check valve;
the oil inlet of the first hydraulic valve is connected with the oil tank, the first oil outlet of the first hydraulic valve is connected with the oil inlet of the first one-way valve, the oil outlet of the first one-way valve is connected with the oil inlet of the transverse moving oil cylinder, the two ends of the first one-way valve are connected with first overflow valves in parallel, the two ends of the transverse moving oil cylinder are connected with first safety valves in parallel, the oil outlet of the transverse moving oil cylinder is connected with the oil inlet of the second overflow valve, the oil outlet of the second overflow valve is connected with the second oil outlet of the first hydraulic valve, and the two ends of the second overflow valve are connected with the second one-way valve in parallel.
In the above cross-sliding and rotary linkage control system for the forklift, the rotary hydraulic system includes a second hydraulic valve, a second safety valve, a third overflow valve, a fourth overflow valve, a third check valve, a fourth check valve, a fifth check valve and a sixth check valve;
the oil inlet of the second hydraulic valve is connected with the oil tank, the first oil outlet of the second hydraulic valve is connected with the oil inlet of the fifth one-way valve, the oil outlet of the fifth one-way valve is connected with the oil inlet of the third one-way valve, the oil outlet of the third one-way valve is connected with the oil inlet of the rotary oil cylinder, two ends of the third one-way valve are connected with a third overflow valve in parallel, two ends of the rotary oil cylinder are connected with a second safety valve in parallel, the oil outlet of the rotary oil cylinder is connected with the oil inlet of the fourth overflow valve, the oil outlet of the fourth overflow valve is connected with the oil outlet of the sixth one-way valve, the oil inlet of the sixth one-way valve is connected with the second oil outlet of the second hydraulic valve, and two ends of the fourth overflow valve are connected with the fourth one-way valve in parallel.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the controller is used for carrying out difference value calculation on the transverse moving speed and the rotating speed, the flow of the hydraulic valve is controlled according to the difference value, the operating speed of the hydraulic oil cylinder is further controlled, and a real-time control method is adopted for carrying out flow control on the hydraulic valve and the hydraulic oil cylinder in real time, so that the fork of the forklift can realize transverse moving and rotating synchronous operation, the operating flexibility of the fork is greatly improved, the fork can realize transverse moving and rotating synchronous operation in a smaller space, and the interference of the transverse moving and rotating of the forklift and a goods shelf is avoided;
2. the cross-sliding and rotating linkage control method of the forklift can be realized through a simple algorithm, so that the controller has high calculation speed and sensitive response, can detect and adjust the real-time cross-sliding speed and the real-time rotating speed quickly in real time, finally realizes the cross-sliding and rotating synchronous operation of the pallet fork, and greatly improves the control sensitivity and the practicability of the forklift;
3. through setting up first relief valve and second relief valve, the setting of relief valve makes whole hydraulic control system can keep stable work, and when the oil pressure power was too big, two relief valves of accessible unload and flow, avoid leading to system operation trouble because of the oil pressure power is too big.
Drawings
Fig. 1 is a control flow chart in the present invention.
Fig. 2 is a general step diagram in the present invention.
Fig. 3 is a diagram illustrating a specific step S61 in the present invention.
Fig. 4 is a diagram illustrating a specific step S62 in the present invention.
Fig. 5 is a hydraulic schematic diagram of the present invention.
In the figure, 100, a traversing hydraulic unit; 110. a first hydraulic valve; 120. a first safety valve; 130. a first overflow valve; 140. a second overflow valve; 150. a first check valve; 160. a second one-way valve; 170. a first shuttle valve; 180. a fifth overflow valve; 200. a rotary hydraulic unit; 210. a second hydraulic valve; 220. a second relief valve; 230. a third overflow valve; 240. a fourth spill valve; 250. a third check valve; 260. a fourth check valve; 270. a fifth check valve; 280. a sixth check valve; 290. a second shuttle valve; 291. a sixth relief valve; 300. an oil tank; 400. transversely moving the oil cylinder; 500. and (5) rotating the oil cylinder.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
Example one
As shown in fig. 1 to 4, the present invention provides a method for controlling a lateral movement and rotation linkage of a forklift, comprising:
s1: inputting a preset traversing speed Vm into a controller;
s2: acquiring a real-time traversing speed V1 of the traversing oil cylinder through a position sensor, and acquiring a real-time rotating speed V2 of the rotating oil cylinder through an angle sensor;
s3: transmitting the acquired real-time traversing speed V1 and the real-time rotating speed V2 to a controller, and calculating the difference between the preset traversing speed Vm and the real-time traversing speed V1 through the controller to obtain a difference e 1;
s4: multiplying the real-time traversing speed V1 by a preset coefficient K to obtain a real-time traversing speed V1 ', and calculating the difference between the real-time traversing speed V1' and the real-time rotating speed V2 to obtain a difference e 2;
s5: e1 and e2 are processed through a preset algorithm to obtain e1 'and e 2';
s6: judging the positive and negative of e1 'and e 2', and controlling the opening size of the hydraulic valve according to the positive and negative of e1 'and e 2', so as to control the running speed of the transverse moving oil cylinder and the rotating oil cylinder;
s7: and judging whether e1 'and e 2' are 0, if so, stopping adjusting the opening size of the hydraulic valve, otherwise, repeating the steps S2-S6.
According to the cross-sliding and rotating linkage control method for the forklift, the controller is used for calculating the difference value between the cross-sliding speed and the rotating speed, the flow of the hydraulic valve is controlled according to the difference value, and the operating speed of the hydraulic oil cylinder is further controlled, so that the operating speeds of the cross-sliding oil cylinder and the rotating oil cylinder are consistent.
Preferably, as shown in fig. 1 to 4, step S6 specifically includes:
s61: judging the positive and negative of e1 ', and controlling the opening size of the first hydraulic valve according to the positive and negative of e 1', so as to control the running speed of the transverse moving oil cylinder;
s62: and judging the positive and negative of e2 ', and controlling the opening size of the second hydraulic valve according to the positive and negative of e 2', so as to control the running speed of the rotary oil cylinder.
Further preferably, the specific step of controlling the opening size of the hydraulic valve in step S6 includes a:
the hydraulic valve receives the control signal transmitted by the controller, and controls the valve core of the hydraulic valve to move left and right according to the control signal, so that the opening size of the hydraulic valve is controlled, and finally the flow control of the hydraulic valve is realized.
Further preferably, step S61 specifically includes:
s611: judging whether e1 'is positive or negative, and if e 1' is positive, going to step S612; when e 1' is negative, go to step S613;
s612: the valve port flow of the first hydraulic valve is controlled to increase through e 1', and the running speed of the transverse moving oil cylinder is increased;
s613: the valve port flow of the first hydraulic valve is controlled to be reduced through e 1', and then the running speed of the traversing oil cylinder is reduced.
Further preferably, step S62 specifically includes:
s621: judging whether e2 'is positive or negative, and if e 2' is positive, going to step S622; when e 2' is negative, go to step S623;
s622: the flow of a valve port of the second hydraulic valve is controlled to be increased through e 2', and the running speed of the rotary oil cylinder is increased;
s623: the flow of the valve port of the second hydraulic valve is controlled to be reduced through e 2', and then the running speed of the rotary oil cylinder is reduced.
Further preferably, the preset algorithm is a PID control algorithm.
In this embodiment, the hydraulic valve receives the control signal transmitted by the controller, and controls the valve element of the hydraulic valve to move left and right according to the control signal, so as to control the size of the opening of the hydraulic valve, and finally realize the control of the flow rate of the hydraulic valve. The method specifically comprises the following steps: when the controller receives the real-time traverse speed V1, the real-time rotation speed V2, the real-time traverse speed V1 'and the real-time rotation speed V2, difference calculation is firstly carried out on the real-time traverse speed V1' and the real-time rotation speed V2 respectively to obtain e1 and e2, then e1 and e2 are processed through a PID algorithm to obtain e1 'and e 2', then the positive and negative of e1 'and e 2' are judged to control the valve cores of the first hydraulic valve and the second hydraulic valve to move left and right, meanwhile, the sizes of the openings of the first hydraulic valve and the second hydraulic valve are controlled through judging the sizes of the values of e1 'and e 2', so that the control over the traverse motion and the rotation speed is finally realized, namely, when the values of e1 'and e 2' are larger, the sizes of the openings of the first hydraulic valve and the second hydraulic valve are also changed larger, so that the operation speeds of the traverse motion cylinder and the rotation cylinder are controlled, and the control over the traverse motion and the fork speed is finally realized, when the speeds of e1 'and e 2' are both 0, namely the preset fork speed is represented by the preset fork speed. And the real-time traversing speed is consistent with the real-time rotating speed, so that the synchronous operation of traversing rotation is realized.
In the embodiment, a difference e1 between a preset traversing speed Vm and a real-time traversing speed V1 and a difference e2 between a real-time traversing speed V1 ' and a real-time rotating speed V2 are obtained through simple subtraction, wherein Vm-V1= e1, V1 ' -V2= e2, and V1 ' = V × K, a linear speed is converted into an angular speed by multiplying the real-time traversing speed V by a coefficient K, that is, the speed unit is consistent with the unit of the real-time rotating speed V2, and the e1 and the e2 are processed through a PID algorithm.
Example two
As shown in fig. 5, the present invention further provides a lateral movement and rotation linkage control system for a forklift, comprising:
the control unit is used for generating a corresponding control signal according to a preset adjusting signal;
a traversing hydraulic unit 100 electrically connected to the control unit for performing a corresponding traversing action according to a corresponding control signal;
the rotating hydraulic unit 200 is electrically connected with the control unit, is connected with the traversing hydraulic unit 100 through oil, and is used for executing corresponding rotating actions according to corresponding control signals;
the traverse hydraulic unit 100 comprises a traverse cylinder 400 and a position sensor (not shown) mounted on the traverse cylinder 400, and the rotary hydraulic unit 200 comprises a rotary cylinder 500 and an angle sensor (not shown) mounted on the rotary cylinder 500, wherein the traverse speed and the rotation speed of the pallet fork are respectively obtained through the position sensor and the angle sensor, and are controlled to be consistent through the control method of the linkage of the traverse and the rotation of the forklift truck in the first embodiment.
Further preferably, the traversing hydraulic system comprises a first hydraulic valve 110, a first safety valve 120, a first relief valve 130, a second relief valve 140, a first check valve 150 and a second check valve 160;
the oil inlet of the first hydraulic valve 110 is connected with the oil tank 300, the first oil outlet of the first hydraulic valve 110 is connected with the oil inlet of the first check valve 150, the oil outlet of the first check valve 150 is connected with the oil inlet of the traverse cylinder 400, the two ends of the first check valve 150 are connected in parallel with the first overflow valve 130, the two ends of the traverse cylinder 400 are connected in parallel with the first safety valve 120, the oil outlet of the traverse cylinder 400 is connected with the oil inlet of the second overflow valve 140, the oil outlet of the second overflow valve 140 is connected with the second oil outlet of the first hydraulic valve 110, and the two ends of the second overflow valve 140 are connected in parallel with the second check valve 160.
Further preferably, the rotary hydraulic system includes a second hydraulic valve 210, a second relief valve 220, a third relief valve 230, a fourth relief valve 240, a third check valve 250, a fourth check valve 260, a fifth check valve 270, and a sixth check valve 280;
the oil inlet of the second hydraulic valve 210 is connected to the oil tank 300, the first oil outlet of the second hydraulic valve 210 is connected to the oil inlet of the fifth check valve 270, the oil outlet of the fifth check valve 270 is connected to the oil inlet of the third check valve 250, the oil outlet of the third check valve 250 is connected to the oil inlet of the rotary oil cylinder 500, two ends of the third check valve 250 are connected in parallel to a third overflow valve 230, two ends of the rotary oil cylinder 500 are connected in parallel to a second safety valve 220, the oil outlet of the rotary oil cylinder 500 is connected to the oil inlet of the fourth overflow valve 240, the oil outlet of the fourth overflow valve 240 is connected to the oil outlet of the sixth check valve 280, the oil inlet of the sixth check valve 280 is connected to the second oil outlet of the second hydraulic valve 210, and two ends of the fourth overflow valve 240 are connected in parallel to a fourth check valve 260.
Further preferably, the control unit comprises a PID controller (not shown in the figure).
In the present embodiment, by providing the control unit, the traverse hydraulic unit 100, and the rotation hydraulic unit 200, so that the traverse hydraulic unit 100 and the rotary hydraulic unit 200 are uniformly adjusted by the controller, a preset traverse speed Vm is written in the controller in advance, immediately after the operator activates the switch, the controller begins to monitor the real-time traverse speed V1 and the real-time rotation speed V2 in real time via the position sensor and the angle sensor, and transmits the acquired real-time traversing speed V1 and real-time rotating speed V2 to the controller, the controller calculates the difference between the preset traversing speed Vm and the real-time traversing speed V1 to obtain a difference e1, and the difference value of the real-time traverse motion speed V1' and the real-time rotation speed V2 is calculated to obtain a difference value e2, then judging whether e1 and e2 are positive or negative, and controlling the opening size of the hydraulic valve according to the positive or negative of e1 and e2, wherein the specific process comprises the following steps: when e1 is positive, the spool of the first hydraulic valve 110 is controlled to move through e1, so that the size of the valve port of the first hydraulic valve 110 is increased, the flow rate of the first hydraulic valve 110 is increased, and the running speed of the transverse moving oil cylinder 400 is increased; when e1 is a negative number, the spool of the first hydraulic valve 110 is controlled to move through e1, so that the size of the valve port of the first hydraulic valve 110 is reduced, the flow rate of the first hydraulic valve 110 is further reduced, and the running speed of the transverse moving oil cylinder 400 is reduced; when e2 is positive, the spool of the second hydraulic valve 210 is controlled to move through e2, so that the size of the valve port of the second hydraulic valve 210 is increased, the flow of the first hydraulic valve 110 is increased, and the running speed of the traverse cylinder 400 is increased; when e2 is a negative number, the spool of the second hydraulic valve 210 is controlled to move through e2, so that the size of the valve port of the second hydraulic valve 210 is reduced, the flow of the second hydraulic valve 210 is reduced, and the running speed of the traverse cylinder 400 is reduced. Through the cooperation of the control method and the control system, the real-time traversing speed and the real-time rotating speed of the fork can be detected and adjusted quickly in real time, the traversing and rotating synchronous operation of the fork is finally realized, and the control sensitivity and the practicability of the fork truck are greatly improved.
In this embodiment, a first safety valve 120 and a second safety valve 220 are further provided, the safety valves are arranged to enable the whole hydraulic control system to keep stable operation, and when the oil pressure is too high, the two safety valves can be used for discharging flow, so that the system operation fault caused by the too high oil pressure is avoided.
Further preferably, the traverse hydraulic unit 100 further includes a first shuttle valve 170 and a fifth relief valve 180, and the rotary hydraulic unit 200 further includes a second shuttle valve 290 and a sixth relief valve 291.
In this embodiment, a first oil inlet of the first shuttle valve 170 is connected to an oil outlet of the second overflow valve 140, a second oil inlet of the first shuttle valve 170 is connected to an oil outlet of the first overflow valve 130, an oil outlet of the first shuttle valve 170 is connected to an oil inlet of the first hydraulic valve 110, a first oil inlet of the second shuttle valve 290 is connected to an oil outlet of the fifth check valve 270, a second oil inlet of the second shuttle valve 290 is connected to an oil outlet of the sixth check valve 280, an oil outlet of the second shuttle valve 290 is connected to an oil inlet of the second hydraulic valve 210, an oil inlet of the fifth overflow valve 180 is connected to the oil tank 300, an oil outlet of the fifth overflow valve 180 is connected to an oil inlet of the first hydraulic valve 110, an oil inlet of the sixth overflow valve 291 is connected to the oil tank 300, an oil outlet of the sixth 291 is connected to an oil inlet of the second hydraulic valve 210, and the arrangement of the shuttle valves further ensures the stability of the system oil pressure. The direction of the middle hydraulic oil of the transverse hydraulic unit 100 is as follows: after the switch is started, hydraulic oil flows through the fifth overflow valve 180 via the oil tank 300 and then flows into the oil inlet of the first hydraulic valve 110, the valve core of the first hydraulic valve 110 moves, the hydraulic oil flows out to the first check valve 150 from the first oil outlet of the first hydraulic valve 110, flows into the oil inlet of the traverse oil cylinder 400 via the oil outlet of the first check valve 150, controls the running speed of the traverse oil cylinder 400, then flows into the second overflow valve 140 via the oil outlet of the traverse oil cylinder 400, and flows into the second oil outlet of the first hydraulic valve 110 via the oil outlet of the second overflow valve 140; the direction of the medium hydraulic oil of the rotary hydraulic unit 200 is: after the switch is started, hydraulic oil flows through the sixth relief valve 291 via the oil tank 300 and then flows into the oil inlet of the second hydraulic valve 210, the spool of the second hydraulic valve 210 moves, the hydraulic oil flows out from the first oil outlet of the second hydraulic valve 210 to the fifth check valve 270, then flows into the oil inlet of the rotary oil cylinder 500 via the first check valve 150, the operating speed of the rotary oil cylinder 500 is controlled, and then flows into the fourth relief valve 240 via the oil outlet of the rotary oil cylinder 500, and because the hydraulic pressure at this time is large enough, the hydraulic oil flowing out via the fourth relief valve 240 flows out to the second oil outlet of the second hydraulic valve 210 via the sixth check valve 280.
In this embodiment, the rotatory synchronous operation of sideslip of fork is realized through simple reasonable hydraulic pressure oil circuit, not only makes the fork can be nimble swift carry out the sideslip rotatory, still makes whole oil circuit stable high-efficient, has promoted control system's work efficiency and reliability greatly.
It should be noted that the descriptions related to "first", "second", "a", etc. in the present invention are only used for descriptive purposes and are not to be construed as indicating or implying relative importance or implicit indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. The terms "connected," "fixed," and the like are to be construed broadly, e.g., "fixed" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (8)
1. A cross-sliding rotation linkage control method of a forklift is characterized by comprising the following steps:
s1: inputting a preset traversing speed Vm into a controller;
s2: acquiring a real-time traversing speed V1 of the traversing oil cylinder through a position sensor, and acquiring a real-time rotating speed V2 of the rotating oil cylinder through an angle sensor;
s3: transmitting the acquired real-time traversing speed V1 and the real-time rotating speed V2 to a controller, and calculating the difference between the preset traversing speed Vm and the real-time traversing speed V1 through the controller to obtain a difference e 1;
s4: multiplying the real-time traversing speed V1 by a preset coefficient K to obtain a real-time traversing speed V1 ', and calculating the difference between the real-time traversing speed V1' and the real-time rotating speed V2 to obtain a difference e 2;
s5: e1 and e2 are processed through a preset algorithm to obtain e1 'and e 2';
s6: judging the positive and negative of e1 'and e 2', and controlling the opening size of the hydraulic valve according to the positive and negative of e1 'and e 2', so as to control the running speed of the transverse moving oil cylinder and the rotating oil cylinder;
s7: judging whether e1 'and e 2' are 0, if so, stopping adjusting the opening size of the hydraulic valve, otherwise, repeating the steps S2-S6;
wherein, step S6 specifically includes:
s61: judging the positive and negative of e1 ', and controlling the opening size of the first hydraulic valve according to the positive and negative of e 1', so as to control the running speed of the transverse moving oil cylinder;
s62: and judging the positive and negative of e2 ', and controlling the opening size of the second hydraulic valve according to the positive and negative of e 2', so as to control the running speed of the rotary oil cylinder.
2. The method of claim 1, wherein the step S61 specifically comprises:
s611: judging whether e1 'is positive or negative, and if e 1' is positive, going to step S612; when e 1' is negative, go to step S613;
s612: the valve port flow of the first hydraulic valve is controlled to increase through e 1', and the running speed of the transverse moving oil cylinder is increased;
s613: the valve port flow of the first hydraulic valve is controlled to be reduced through e 1', and then the running speed of the traversing oil cylinder is reduced.
3. The method of claim 2, wherein the step S62 specifically comprises:
s621: judging whether e2 'is positive or negative, and if e 2' is positive, going to step S622; when e 2' is negative, go to step S623;
s622: the flow of a valve port of the second hydraulic valve is controlled to be increased through e 2', and the running speed of the rotary oil cylinder is increased;
s623: the flow of the valve port of the second hydraulic valve is controlled to be reduced through e 2', and then the running speed of the rotary oil cylinder is reduced.
4. The method as claimed in claim 2, wherein the preset algorithm is a PID control algorithm.
5. The method for controlling the linkage of the transverse moving and the rotating of the forklift as recited in claim 1, wherein the step of controlling the opening size of the hydraulic valve in the step S6 comprises the following steps:
the hydraulic valve receives the control signal transmitted by the controller, and controls the valve core of the hydraulic valve to move left and right according to the control signal, so that the opening size of the hydraulic valve is controlled, and finally the flow control of the hydraulic valve is realized.
6. A forklift traverse rotation linkage control system is characterized by comprising:
the control unit is used for generating a corresponding control signal according to a preset adjusting signal;
the transverse moving hydraulic unit is electrically connected with the control unit and is used for executing corresponding transverse moving actions according to corresponding control signals;
the rotating hydraulic unit is electrically connected with the control unit, is connected with the oil of the transverse moving hydraulic unit and is used for executing corresponding rotating actions according to corresponding control signals;
the cross-sliding hydraulic unit comprises a cross-sliding oil cylinder and a position sensor arranged on the cross-sliding oil cylinder, the rotating hydraulic unit comprises a rotating oil cylinder and an angle sensor arranged on the rotating oil cylinder, wherein the cross-sliding speed and the rotating speed of the pallet fork are respectively obtained through the position sensor and the angle sensor, and the cross-sliding and rotating synchronous operation of the pallet fork is controlled through the cross-sliding and rotating linkage control method of the forklift as claimed in any one of claims 1-5.
7. The cross-over travel and rotation linkage control system of the forklift as claimed in claim 6, wherein the cross-over travel hydraulic unit comprises a first hydraulic valve, a first safety valve, a first overflow valve, a second overflow valve, a first check valve and a second check valve;
the oil inlet of the first hydraulic valve is connected with the oil tank, the first oil outlet of the first hydraulic valve is connected with the oil inlet of the first one-way valve, the oil outlet of the first one-way valve is connected with the oil inlet of the transverse moving oil cylinder, the two ends of the first one-way valve are connected with first overflow valves in parallel, the two ends of the transverse moving oil cylinder are connected with first safety valves in parallel, the oil outlet of the transverse moving oil cylinder is connected with the oil inlet of the second overflow valve, the oil outlet of the second overflow valve is connected with the second oil outlet of the first hydraulic valve, and the two ends of the second overflow valve are connected with the second one-way valve in parallel.
8. The cross-sliding rotary linkage control system of claim 6, wherein the rotary hydraulic unit comprises a second hydraulic valve, a second safety valve, a third overflow valve, a fourth overflow valve, a third check valve, a fourth check valve, a fifth check valve and a sixth check valve;
the oil inlet of the second hydraulic valve is connected with the oil tank, the first oil outlet of the second hydraulic valve is connected with the oil inlet of the fifth one-way valve, the oil outlet of the fifth one-way valve is connected with the oil inlet of the third one-way valve, the oil outlet of the third one-way valve is connected with the oil inlet of the rotary oil cylinder, two ends of the third one-way valve are connected with a third overflow valve in parallel, two ends of the rotary oil cylinder are connected with a second safety valve in parallel, the oil outlet of the rotary oil cylinder is connected with the oil inlet of the fourth overflow valve, the oil outlet of the fourth overflow valve is connected with the oil outlet of the sixth one-way valve, the oil inlet of the sixth one-way valve is connected with the second oil outlet of the second hydraulic valve, and two ends of the fourth overflow valve are connected with the fourth one-way valve in parallel.
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