CN116812817A

CN116812817A - Device for preventing forklift from longitudinally tipping

Info

Publication number: CN116812817A
Application number: CN202211327055.4A
Authority: CN
Inventors: 徐杰; 王年财; 朱聚滨
Original assignee: Hangzhou Lin'an Guosen Machinery Technology Co ltd
Current assignee: Hangzhou Lin'an Guosen Machinery Technology Co ltd
Priority date: 2022-10-27
Filing date: 2022-10-27
Publication date: 2023-09-29

Abstract

The invention discloses a device for preventing a forklift from longitudinally tipping, which relates to the technical field of safe driving of the forklift, and comprises an anti-tipping device and a control system, wherein the anti-tipping device is arranged on the forklift, and the anti-tipping device comprises: the operation handle is electrically connected with the vehicle controller through the bus, the vehicle controller is electrically connected with the electromagnetic proportional valve through the first wire, the vehicle controller is electrically connected with the cargo weighing sensor through the second wire, the vehicle controller is electrically connected with the cargo height sensor through the third wire, the vehicle controller is electrically connected with the alarm buzzer through the fourth wire, the control system comprises an acquisition module, a processing module and an early warning module, the acquisition module is used for acquiring cargo quality data and cargo height data, the processing module is used for judging whether the vehicle is in an overload state or not, and the early warning module executes an early warning function. The invention relates to a device for preventing a forklift from longitudinally tipping, which can better prevent the forklift from longitudinally tipping.

Description

Device for preventing forklift from longitudinally tipping

Technical Field

The invention relates to the technical field of safe driving of forklifts, in particular to a device for preventing longitudinal tipping of a forklift.

Background

The forklift is a wheeled transport vehicle for loading and unloading, stacking and short-distance transport of finished pallet cargoes, and structural characteristics and working performance of the forklift are indicated by technical parameters such as rated lifting capacity, load center distance, portal inclination angle and the like.

As a feature for handling, a forklift is very important for safety. The weight of goods which can be carried by different tonnage vehicle types is limited, and the goods are required to be strictly operated according to a specified load curve. In the market at present, operators often perform overload operation in order to improve efficiency in many factories, which is highly likely to cause the forklift to tip longitudinally.

Therefore, there is a need for a device for preventing the longitudinal tipping of a forklift, ensuring that the forklift, in the event of an overload, gives an alarm and limits its operation, effectively preventing its longitudinal tipping.

Disclosure of Invention

The invention mainly aims to provide a device for preventing a forklift from longitudinally tipping, which can effectively solve the problems in the background technology.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: an apparatus for preventing longitudinal tipping of a forklift, comprising an anti-tipping device disposed on the forklift and a control system, the anti-tipping device comprising: the system comprises an operation handle connection, a bus connection, a vehicle controller connection, a first wire connection, an electromagnetic proportional valve connection, a second wire connection, a cargo weighing sensor connection, a third wire connection, a cargo height sensor connection, a fourth wire connection and an alarm buzzer connection, wherein the operation handle connection is arranged near a forklift driving position;

the control system comprises an acquisition module, a processing module and an early warning module, wherein the acquisition module is connected with a cargo weighing sensor to acquire cargo quality M in real time, the acquisition module is connected with a cargo height H in real time through a cargo height sensor, the acquisition module is mainly used for acquiring cargo quality data and cargo height data, the acquisition module is connected with a second wire to transmit the cargo quality data to a vehicle controller, the acquisition module is connected with a third wire to transmit the cargo height data to the vehicle controller, and the processing module uses a front wheel of a forklift as a supporting point through a moment formula: gh×l1 < gv×l2×α, where: the forklift truck is characterized in that Gh is the weight of goods, L1 is the distance from the center of gravity of the goods to the center of a front tire, gv is the weight of the forklift truck, L2 is the distance from the center of gravity of the forklift truck to the center of the front tire, alpha is a safety factor and is generally 1.2-1.5, after the vehicle controller obtains the weight data of the goods and the height data of the goods, the vehicle controller calculates whether the goods currently carried by the forklift truck are overweight or not, and when the vehicle is in an overload state, the vehicle controller (3) directly cuts off a hydraulic system of the forklift truck, so that the forklift truck can not normally carry the goods.

Preferably, the operating handle transmits data to the vehicle controller through the bus, so that the complexity of the wiring harness can be effectively reduced, and the wiring harness is convenient to install and maintain.

Preferably, after the early warning module obtains the alarm signal, the vehicle controller controls the alarm buzzer to send out early warning prompt sound through a fourth wire.

Preferably, the goods height sensor is a stay wire type encoder for measuring the lifting height of the door frame, the goods weighing sensor is a pressure sensor, and the goods quality is calculated by measuring the pressure value of the lifting cylinder of the door frame.

Preferably, the bus is a CAN bus, the first wire controls the electromagnetic proportional valve through an electric signal, the second wire obtains a measurement result of the cargo weighing sensor through an electric signal, the third wire obtains a measurement result of the cargo height sensor through an electric signal, and the first wire controls the alarm buzzer to work through an electric signal.

Preferably, the electromagnetic proportional valve is mainly used for controlling a hydraulic system of a forklift, specifically controlling the action of a portal frame, the overload alarm point is set according to tonnage requirements of different vehicle types, the electromagnetic proportional valve is connected with a vehicle controller through a lead, and the vehicle controller controls the opening of the proportional valve through a current or voltage analog signal, so that the flow of the hydraulic system is controlled, and the speed of the portal frame action can be adjusted.

Preferably, the vehicle controller is a PLC special for engineering vehicles, has extremely high shock resistance and protection level, has a fault detection and data transmission function, and can send vehicle stability, cargo quality, height, handle opening, electromagnetic proportional valve opening and system fault code information to an instrument or other man-machine interaction equipment through a bus.

Compared with the prior art, the invention has the following beneficial effects:

1. according to the invention, the current weight and the lifting height of the cargo fork are measured through the cargo height sensor and the cargo weighing sensor which are arranged on the portal frame, the control system judges whether the forklift is in an overload state or not through calculation, if the forklift is judged not to be overloaded, the operation function of the forklift is not required to be alarmed or cut off, and the vehicle controller operates in a normal mode; if the overload is judged, an alarm or a forklift operation function is required to be cut off, a vehicle controller outputs system voltage to drive a buzzer to work, and a bus of the vehicle controller sends data 0 to enable an engine to idle; the vehicle controller cuts off the output of the electromagnetic proportional valve, so that the portal frame can not ascend, forward tilt, and cut off the input of the operating handle, double protection is realized, and therefore, the situation that a forklift scoops up goods exceeding the rated load of the forklift and causes longitudinal tilting is avoided.

2. The overload value is set through the software parameters, the operation critical value of the overload value can be adjusted, for example, 2 tons, 3 tons, 7 tons and the like, and the overload value is suitable for various vehicle types, in particular for balanced type internal combustion forklifts and balanced type electric forklifts.

3. The invention can be in butt joint with man-machine interaction equipment such as an instrument through a bus, and can transmit information such as vehicle stability, current cargo height, weight, current handle opening, electromagnetic proportional valve opening, system fault code and the like through the bus.

Drawings

FIG. 1 is a block diagram of a system for preventing longitudinal tipping of a forklift in accordance with the present invention;

FIG. 2 is an electrical schematic of an apparatus for preventing longitudinal tipping of a forklift in accordance with the present invention;

FIG. 3 is a diagram illustrating a balance analysis of a forklift in an apparatus for preventing longitudinal tipping of the forklift in accordance with the present invention;

fig. 4 is a block diagram of a control system in an apparatus for preventing longitudinal tipping of a forklift in accordance with the present invention.

In the figure: 1. an operation handle; 2. a bus; 3. a vehicle controller; 4. a first wire; 5. an electromagnetic proportional valve; 6. a second wire; 7. a cargo weighing sensor; 8. a third wire; 9. a cargo height sensor; 10. a fourth wire; 11. and an alarm buzzer.

Detailed Description

The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 1-4, the present invention is an apparatus for preventing a forklift from tilting longitudinally, comprising an anti-tilting device and a control system, wherein the anti-tilting device is arranged on the forklift, and comprises: the control system comprises an operation handle 1, a bus 2, a vehicle controller 3, a first wire 4, an electromagnetic proportional valve 5, a second wire 6, a cargo weighing sensor 7, a third wire 8, a cargo height sensor 9, a fourth wire 10 and an alarm buzzer 11, wherein the operation handle 1 is arranged near a forklift driving position, the operation handle 1 is electrically connected with the vehicle controller 3 through the bus 2, an operator is used for controlling the action of a forklift mast through operating the handle 1 and is connected to the vehicle controller 3 through the bus 2, the vehicle controller 3 adopts a vehicle controller VCU, the vehicle controller 3 is used for receiving an operation handle 1 signal, judging whether a vehicle is in an overload state through a set program, controlling output, the vehicle controller 3 is electrically connected with the electromagnetic proportional valve 5 through the first wire 4, the vehicle controller 3 is electrically connected with the cargo weighing sensor 7 through the second wire 6, the vehicle controller 3 receives a pressure signal of the cargo weighing sensor 7, calculates the weight of the current cargo through the pressure value, the vehicle controller 3 is electrically connected with the cargo height sensor 9 through the third wire 8, the vehicle controller 3 receives the current cargo height signal of the cargo weighing sensor 9, and calculates the current cargo height signal of the buzzer 11 through the vehicle controller is electrically connected with the fourth wire 11;

the control system comprises a collection module, a processing module and an early warning module, wherein the collection module collects the cargo quality M in real time through a cargo weighing sensor 7, the collection module collects the cargo height H in real time through a cargo height sensor 9, the collection module is mainly used for collecting cargo quality data and cargo height data, the collection module sends the cargo quality data to the vehicle controller 3 through a second wire 6, the collection module sends the cargo height data to the vehicle controller 3 through a third wire 8, the processing module takes a forklift front wheel as a supporting point, and the control system is characterized by comprising the following steps: gh×l1 < gv×l2×α, where: the gravity of the goods is Gh, the distance from the gravity center of the goods to the center of the front tire is L1, the gravity of the forklift is Gv, the distance from the gravity center of the forklift to the center of the front tire is L2, alpha is a safety factor and is generally 1.2-1.5, after the vehicle controller obtains the quality data of the goods and the height data of the goods, the vehicle controller calculates whether the goods currently carried by the forklift are overweight, and when the vehicle is in an overload state, the vehicle controller directly cuts off a hydraulic system of the forklift, so that the forklift cannot normally carry the goods.

The operating handle 1 transmits data to the vehicle controller 3 through the bus 2, so that the complexity of the wiring harness can be effectively reduced, and the device is convenient to install and maintain.

After the early warning module obtains the warning signal, the vehicle controller 3 controls the warning buzzer 11 to send out an early warning prompt tone through the fourth wire 10.

The cargo height sensor 9 is a stay wire type encoder and is used for measuring the lifting height of the door frame, the cargo weighing sensor 7 is a pressure sensor, and the cargo quality is calculated by measuring the pressure value of the lifting cylinder of the door frame.

The bus 2 is a CAN bus, the first wire 4 controls the electromagnetic proportional valve 5 through an electric signal, the second wire 6 obtains a measurement result of the cargo weighing sensor 7 through an electric signal, the third wire 8 obtains a measurement result of the cargo height sensor 9 through an electric signal, and the first wire 10 controls the alarm buzzer 11 to work through an electric signal.

The electromagnetic proportional valve 5 is mainly used for controlling a hydraulic system of a forklift, specifically controlling the action of a gantry, an overload alarm point is set according to tonnage requirements of different vehicle types, the electromagnetic proportional valve 5 is connected with the vehicle controller 3 through the first lead 4, and the vehicle controller 3 controls the opening of the electromagnetic proportional valve 5 through a current or voltage analog signal, so that the flow of the hydraulic system is controlled, and the action speed of the gantry can be adjusted.

The vehicle controller 3 is a PLC special for engineering vehicles, has extremely high shock resistance and protection level, has a fault detection and data transmission function, and can send information such as vehicle stability, cargo quality, height, handle opening, electromagnetic proportional valve opening, system fault code and the like to an instrument or other man-machine interaction equipment through a bus.

In actual use, the current weight and lifting height of the fork are measured through the cargo height sensor 9 and the cargo weighing sensor 7 on the portal frame, the control system processes, and judges whether the fork truck is in an overload state or not, if the fork truck is judged not to be overloaded, the operation function of the fork truck is not required to be alarmed or cut off, and the vehicle controller 3 operates in a normal mode; if the overload is judged, an alarm or a forklift operation function is required to be cut off, the vehicle controller 3 outputs system voltage to drive the buzzer 11 to work, and the vehicle controller 3 bus sends accelerator data 0 to enable the engine to idle; the vehicle controller 3 cuts off the output of the electromagnetic proportional valve 5, so that the door frame cannot ascend, incline forward and the like, and cuts off the input of the operating handle, thereby realizing double protection and avoiding the longitudinal tipping caused by the forklift scooping up the goods exceeding the rated load. For example: the 3T forklift can only fork 3.1-3.2 tons of goods in consideration of factors such as safety factors, measurement errors and the like, and if the goods exceed 3.2 tons, the hydraulic system stops working. The system can also realize a dynamic anti-tipping function. Also as shown, when the center of gravity of the cargo and the center of gravity of the forklift are combined, the combined center of gravity is considered as a whole, and under normal operation, the center of gravity is located behind the portal frame, and the lower the center of gravity is, the better, but as the portal frame is lifted, the center of gravity of the cargo is lifted, and the combined center of gravity is lifted. When the resultant center of gravity is high and the vehicle speed is fast, an emergency braking operation is performed, and there is a high possibility that the vehicle will tip forward. Therefore, a mathematical model is established, the maximum value of the braking force is consulted, the maximum speed of the goods allowed to run under the condition of a specific height is calculated, the controller 3 limits the maximum running speed of the forklift and is used for ensuring that the forward tilting accident does not occur under the emergency braking condition, and according to a < (g multiplied by Lc)/hc, a is the braking acceleration, g: gravitational acceleration, lc: the distance from the center of gravity to the center of the front wheel is synthesized, hc: synthetic center of gravity height, V < sqrt (2 XgXfath), V: vehicle speed, g: gravitational acceleration, g: the height of the center of gravity is changed, and the height of the combined center and the highest running speed allowed in the current situation can be calculated.

The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A device for preventing longitudinal tipping of a forklift, characterized in that: including setting up anti-tipping device and control system on fork truck, anti-tipping device includes: the vehicle control device comprises an operation handle (1), a bus (2), a vehicle controller (3), a first wire (4), an electromagnetic proportional valve (5), a second wire (6), a cargo weighing sensor (7), a third wire (8), a cargo height sensor (9), a fourth wire (10) and an alarm buzzer (11), wherein the operation handle (1) is installed near a forklift driving position, the operation handle (1) is electrically connected with the vehicle controller (3) through the bus (2), the vehicle controller (3) is electrically connected with the electromagnetic proportional valve (5) through the first wire (4), the vehicle controller (3) is electrically connected with the cargo weighing sensor (7) through the second wire (6), the vehicle controller (3) is electrically connected with the cargo height sensor (9) through the third wire (8), and the vehicle controller (3) is electrically connected with the alarm buzzer (11) through the fourth wire (10);

the control system comprises an acquisition module, a processing module and an early warning module, wherein the acquisition module acquires the cargo quality M in real time through a cargo weighing sensor (7), the acquisition module acquires the cargo height H in real time through a cargo height sensor (9), the acquisition module is mainly used for acquiring cargo quality data and cargo height data, the acquisition module transmits the cargo quality data to a vehicle controller (3) through a second wire (6), the acquisition module transmits the cargo height data to the vehicle controller (3) through a third wire (8), and the processing module takes a front wheel of a forklift as a supporting point through a moment formula: gh×l1 < gv×l2×α, where: the truck is characterized in that Gh is the weight of goods, L1 is the distance from the center of gravity of the goods to the center of a front tire, gv is the weight of the truck, L2 is the distance from the center of gravity of the truck to the center of the front tire, alpha is a safety factor, after the vehicle controller (3) obtains the weight data of the goods, the vehicle controller (3) can calculate whether the goods currently carried by the truck are overweight or not, and when the truck is in an overload state, the vehicle controller (3) directly cuts off a hydraulic system of the truck.

2. A device for preventing longitudinal tipping of a forklift as claimed in claim 1, wherein: after the early warning module acquires the warning signal, the vehicle controller (3) controls the warning buzzer (11) to send out early warning prompt sound through a fourth wire (10).

3. A device for preventing longitudinal tipping of a forklift as claimed in claim 1, wherein: the goods height sensor (9) is a stay wire type encoder and is used for measuring the lifting height of the door frame, the goods weighing sensor (7) is a pressure sensor, and the goods quality is calculated and determined by measuring the pressure value of the lifting cylinder of the door frame, so that the current load condition of the forklift is determined.

4. A device for preventing longitudinal tipping of a forklift as claimed in claim 1, wherein: the bus (2) is a CAN bus, the first wire (4) is controlled by an electric signal the electromagnetic proportional valve (5), the second wire (6) is used for obtaining the measurement result of the cargo weighing sensor (7) by the electric signal, the third wire (8) is used for obtaining the measurement result of the cargo height sensor (9) by the electric signal, and the first wire (10) is used for controlling the alarm buzzer (11) to work by the electric signal.

5. A device for preventing longitudinal tipping of a forklift as claimed in claim 1, wherein: the electromagnetic proportional valve (5) is mainly used for controlling a gantry related hydraulic system of the forklift and driving the forklift gantry and the fork to act.

6. A device for preventing longitudinal tipping of a forklift as claimed in claim 1, wherein: the vehicle controller (3) is a PLC special for engineering vehicles, has extremely high shock resistance and protection level, has a fault detection and data transmission function, and can send vehicle stability, cargo quality, height, handle opening, electromagnetic proportional valve opening and system fault code information to an instrument or other man-machine interaction equipment through the bus (2).