CN208037958U - Pallet fork condition checkout gear in fork truck examination - Google Patents
Pallet fork condition checkout gear in fork truck examination Download PDFInfo
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- CN208037958U CN208037958U CN201820124830.9U CN201820124830U CN208037958U CN 208037958 U CN208037958 U CN 208037958U CN 201820124830 U CN201820124830 U CN 201820124830U CN 208037958 U CN208037958 U CN 208037958U
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- measuring sensor
- fork
- distance measuring
- attitude transducer
- fork truck
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Abstract
Pallet fork condition checkout gear in taking an examination the utility model discloses a kind of fork truck, including：First attitude transducer is mounted on the pallet fork arm of fork truck；Second attitude transducer is mounted on the vehicle frame of fork truck；Acquisition Processor, the Acquisition Processor are connect with the first attitude transducer and the second attitude transducer respectively, and the data that the first attitude transducer and the second attitude transducer are acquired are made difference processing；Wireless transmitter, wireless transmitter are connect with Acquisition Processor, and the data after handled by Acquisition Processor are sent；Wireless receiver, wireless receiver are connect with wireless transmitter, receive the data transmitted by the wireless transmitter；Host computer, host computer are connect with wireless receiver, and the wireless receiver sends received data to host computer and handled and judged.The utility model realizes the accurate measurement to pallet fork inclination angle under complex environment, and inclination angle caused by effectively solving the external environments such as vehicle body shake, ground inclination measures and decision errors.
Description
Technical field
The utility model belongs to fork truck examination technical field, and in particular to pallet fork state-detection fills in a kind of examination of fork truck
It sets.
Background technology
Fork truck is as the places such as harbour, harbour, warehouse important transportation tool, and safety work is most important, government function
Department more payes attention to the safety work of fork truck, also increasingly stringent to fork truck field test, on the one hand pursues and is commented in examination process
The precision sentenced, another aspect pursue the objective and fair of examination scoring, accomplish that deduction of points has foundation, looks on evidence.Fork truck place
It is a difficult point therein to the judgement of fork of forklift truck state in examination process, the overwhelming majority relies on artificial judgment, inevitably influences to examine
That tries is objective, just.How by efficient, intuitive, the just judgement fork of forklift truck of information-based means inclination angle, pallet fork is liftoff away from
From, it is most important.
A kind of forklift workability training simulators as disclosed in CN 106652642A ", it uses Linear displacement transducer and phase
Mechanical connection is closed, the displacement of pallet fork is reflected with the change in resistance of Linear displacement transducer.Though the program realizes pallet fork position
The measurement of shifting, but pallet fork dip test is not implemented.In addition, in fork truck operational process, due to place out-of-flatness, fork truck shake etc.
Reason is measured according to single attitude transducer, and attitude transducer is not in the case where pallet fork acts, inclination angle measured value
Also it can change, cause to judge by accident.
Therefore, it is necessary to develop pallet fork condition checkout gear in a kind of examination of fork truck.
Invention content
The purpose of this utility model is to provide pallet fork condition checkout gear in a kind of examination of fork truck, to realize in complex environment
Under accurate measurement to pallet fork inclination angle, inclination angle measurement caused by effectively solving the external environments such as vehicle body shake, ground inclination and sentence
Determine error.
Pallet fork condition checkout gear in fork truck examination described in the utility model, including：
First attitude transducer is mounted on the pallet fork arm of fork truck；
Second attitude transducer is mounted on the vehicle frame of fork truck；
Acquisition Processor, the Acquisition Processor are connect with the first attitude transducer and the second attitude transducer respectively, by
The data that one attitude transducer and the second attitude transducer are acquired make difference processing；
Wireless transmitter, the wireless transmitter are connect with Acquisition Processor, by the number after handled by the Acquisition Processor
According to sending；
Wireless receiver, the wireless receiver are connect with wireless transmitter, receive the number transmitted by the wireless transmitter
According to；
Host computer, the host computer are connect with wireless receiver, and the wireless receiver sends received data to
Position machine is handled and is judged.
Further include：
First distance measuring sensor is mounted on the pallet fork of fork truck, which connect with Acquisition Processor；
Second distance measuring sensor is mounted on the pallet fork of fork truck, and the second distance measuring sensor is located at the first distance measuring sensor
Lower section, which connect with Acquisition Processor；It is sensed by second distance measuring sensor and the first ranging
Whether the data that device is acquired judge the pallet fork of fork truck in the range of liftoff 20cm-30cm.
Further include：
Third distance measuring sensor is mounted on the pallet fork of fork truck, and third distance measuring sensor is located at the second distance measuring sensor
Lower section, which is electrically connected with Acquisition Processor；The data that are acquired by third distance measuring sensor are sentenced
Whether the pallet fork of disconnected fork truck lands.
Further, first attitude transducer is angular transducer, or is 3-axis acceleration；
Second attitude transducer is angular transducer, or is 3-axis acceleration.
Further, first distance measuring sensor is radar sensor, or is ultrasonic distance-measuring sensor, or is Laser Measuring
Away from sensor, or it is infrared distance measuring sensor；
Second distance measuring sensor is radar sensor, or is ultrasonic distance-measuring sensor, or is sensed for laser ranging
Device, or be infrared distance measuring sensor.
Further, the third distance measuring sensor is radar sensor, or is ultrasonic distance-measuring sensor, or is Laser Measuring
Away from sensor, or it is infrared distance measuring sensor.
The beneficial effects of the utility model：
（1）Inclination angle of the fork of forklift truck in the driving process of examination hall can effectively be monitored；
（2）The inclination angle of fork of forklift truck can effectively be monitored in the case of, fork truck shake uneven in examination hall, for scoring provide according to
According to；
（3）Entire decision process is automation, without artificial control, reduces artificial workload, can largely carry
High working efficiency；
（4）Installation is simple, compact-sized, refining；
（5）The vertical height position that pallet fork is detected using 3 distance measuring sensors on fork of forklift truck, can be effective
Differentiate pallet fork whether within the scope of away from ground 20-30CM, while can detect pallet fork whether specification landing state；
（6）Acquisition Processor acquires and sends fork of forklift truck status information to examination hall monitoring room, realizes wireless automatic
Acquisition and transmission provide foundation for examination；
（7）Whole device installation is simple, compact-sized, refining.
Description of the drawings
Fig. 1 is the principles of the present invention block diagram；
Fig. 2 is the usage state diagram of the utility model；
Fig. 3 is the schematic diagram for detecting pallet fork inclination angle in the case of evenness of road surface using the utility model；
Fig. 4 is the schematic diagram for detecting pallet fork inclination angle in the case of non-aqueous flat road surface using the utility model；
In figure, the 1, first attitude transducer, the 2, second attitude transducer, the 3, first distance measuring sensor, the 4, second ranging biography
Sensor, 5, third distance measuring sensor, 6, Acquisition Processor, 7, wireless transmitter, 8, wireless receiver, 9, host computer.
Specific implementation mode
The utility model is described in further detail below in conjunction with the accompanying drawings.
Pallet fork condition checkout gear in fork truck examination as depicted in figs. 1 and 2, including the first attitude transducer 1, the second appearance
State sensor 2, Acquisition Processor 6, wireless transmitter 7, wireless receiver 8 and host computer 9.Wherein, the first attitude transducer 1 is pacified
On the pallet fork arm of fork truck.Second attitude transducer 2 is mounted on the vehicle frame of fork truck.Acquisition Processor 6 respectively with the first appearance
State sensor 1 and the connection of the second attitude transducer 2, the data that the first attitude transducer 1 and the second attitude transducer 2 are acquired
Make difference processing.Wireless transmitter 7 is connect with Acquisition Processor 6, and data of the Acquisition Processor 6 after handled are sent out
It goes.Wireless receiver 8 is connect with wireless transmitter 7, receives the data transmitted by the wireless transmitter 7.Host computer 9 passes through string
It mouthful is connect with wireless receiver 8, the wireless receiver 8 sends received data to host computer 9 and handled and judged.
In the present embodiment, wireless transmitter 7 is mounted on fork truck, and wireless receiver 8 is mounted near monitoring room, is wirelessly connect
It receives device 8 by serial ports to be connected with host computer 9, transfers data to host computer 9.Acquisition Processor 6 uses wireless collection processor,
It is mounted on fork truck.
In the utility model, pallet fork inclination angle, that is, relative angle of the pallet fork relative to vehicle body is one in Auto-Evaluation System
Important reference signal.The utility model while the Installation posture sensor on pallet fork arm and vehicle frame（That is the first posture senses
Device 1 and the second attitude transducer 2）, using two attitude transducers difference as the tilt angles finally measured, so no matter
How is terrain environment, and calculus of finite differences can offset the influence of terrain environment, while increasing jamproof ability.
Below by taking the first attitude transducer 1 and the second attitude transducer 2 are angular transducer as an example, to the utility model into
Row is described in detail（This process assumes that pallet fork inclination angle remains unchanged）：
（One）In the case of evenness of road surface（Road surface is desirable level face, referring to Fig. 3）：
（1）First attitude transducer 1 is installed on pallet fork arm, detects the inclination angle theta 1 of pallet fork relative level in real time.
（2）Second attitude transducer 2 is installed on the vehicle body of fork truck, detects vehicle body inclining with respect to the horizontal plane in real time
Angle θ 2.
（3）Fork truck inclination angle is equal to 2=θ of θ 1- θ 3.
（Two）In the case that vehicle body is in non-aqueous flat road surface（It is △ θ angles to have size between road surface and desirable level face
Difference, referring to Fig. 4）：
（1）First attitude transducer 1 is installed on pallet fork arm, and 1 return value of the first attitude transducer is θ 1+ △ θ at this time.
（2）Second attitude transducer 2 is installed on the vehicle body of fork truck, and 2 return value of the second attitude transducer is θ 2+ △ at this time
θ。
（3）Fork truck inclination angle is equal to（The return value of first attitude transducer 1）-（The return value of second attitude transducer 2）, i.e.,
（θ1+△θ）-（θ2+△θ）=θ1-θ2=θ3.
As it can be seen that this differential process counteracts the error introduced due to Uneven road, simultaneously because the reasons such as vehicle body shake are drawn
The interference and error risen can also be offset together.
In the present embodiment, pallet fork condition checkout gear in the fork truck examination, further includes the first distance measuring sensor 3 and second
Distance measuring sensor 4.First distance measuring sensor 3 is mounted on the pallet fork of fork truck, first distance measuring sensor 3 and Acquisition Processor 6
Connection.Second distance measuring sensor 4 is mounted on the pallet fork of fork truck, which connect with Acquisition Processor 6.It adopts
The data that set processor 6 is acquired the first distance measuring sensor 3 and the second distance measuring sensor 4 pass through wireless transmitter 7, wireless
Receiver 8 sends host computer 9, the number that host computer 9 is acquired based on the first distance measuring sensor 3 and the second distance measuring sensor 4 to
According to the pallet fork to judge fork truck whether in the range of liftoff 20cm-30cm.
In the present embodiment, pallet fork condition checkout gear in fork truck examination, further includes third distance measuring sensor 5, this
Three distance measuring sensors 5 are mounted on the pallet fork of fork truck, which is electrically connected with Acquisition Processor 6, acquisition process
Device 6 sends the data that third distance measuring sensor 5 is acquired to host computer 9 by wireless transmitter 7, wireless receiver 8, upper
Data that machine 9 is acquired based on third distance measuring sensor 5 judge whether the pallet fork of fork truck lands.
In the present embodiment, the first distance measuring sensor 3, the second distance measuring sensor 4 and third distance measuring sensor 5 are all made of infrared
Line distance measuring sensor, the first distance measuring sensor 3, the second distance measuring sensor 4 and third distance measuring sensor 5 are installed successively from top to bottom
On pallet fork, and third distance measuring sensor 5 is mounted on the position of the liftoff 20cm of fork truck.First distance measuring sensor 3, the second ranging pass
Sensor 4 is depending on the actual conditions of fork truck.
In the present embodiment, the biographies such as 3-axis acceleration also can be used in first attitude transducer, 1 and second attitude transducer 2
Sensor.Radar sensor also can be used in first distance measuring sensor 3, the second distance measuring sensor 4 and third distance measuring sensor 5,
Or ultrasonic distance-measuring sensor or laser range sensor etc..
Claims (6)
1. pallet fork condition checkout gear in a kind of fork truck examination, which is characterized in that including：
First attitude transducer（1）, it is mounted on the pallet fork arm of fork truck；
Second attitude transducer（2）, it is mounted on the vehicle frame of fork truck；
Acquisition Processor（6）, the Acquisition Processor（6）Respectively with the first attitude transducer（1）With the second attitude transducer（2）Even
It connects, by the first attitude transducer（1）With the second attitude transducer（2）The data acquired make difference processing；
Wireless transmitter（7）, the wireless transmitter（7）With Acquisition Processor（6）Connection, by the Acquisition Processor（6）It is residing
Data after reason are sent；
Wireless receiver（8）, the wireless receiver（8）With wireless transmitter（7）Connection, receives the wireless transmitter（7）Institute
The data of transmission；
Host computer（9）, the host computer（9）With wireless receiver（8）Connection, the wireless receiver（8）By received data
Send host computer to（9）It is handled and is judged.
2. pallet fork condition checkout gear in fork truck examination according to claim 1, which is characterized in that further include：
First distance measuring sensor（3）, it is mounted on the pallet fork of fork truck, first distance measuring sensor（3）With Acquisition Processor（6）Even
It connects；
Second distance measuring sensor（4）, it is mounted on the pallet fork of fork truck, and the second distance measuring sensor（4）It is sensed positioned at the first ranging
Device（3）Lower section, second distance measuring sensor（4）With Acquisition Processor（6）Connection.
3. pallet fork condition checkout gear in fork truck examination according to claim 2, which is characterized in that further include：
Third distance measuring sensor（5）, it is mounted on the pallet fork of fork truck, and third distance measuring sensor（5）It is sensed positioned at the second ranging
Device（4）Lower section, the third distance measuring sensor（5）With Acquisition Processor（6）Electrical connection.
4. pallet fork condition checkout gear in fork truck examination according to any one of claims 1 to 3, it is characterised in that：Described
One attitude transducer（1）For angular transducer, or it is 3-axis acceleration；
Second attitude transducer（2）For angular transducer, or it is 3-axis acceleration.
5. pallet fork condition checkout gear in fork truck examination according to claim 2 or 3, it is characterised in that：Described first surveys
Away from sensor（3）For radar sensor, or it is ultrasonic distance-measuring sensor, or is laser range sensor, or is surveyed for infrared ray
Away from sensor；
Second distance measuring sensor（4）For radar sensor, or it is ultrasonic distance-measuring sensor, or is sensed for laser ranging
Device, or be infrared distance measuring sensor.
6. pallet fork condition checkout gear in fork truck examination according to claim 3, it is characterised in that：The third ranging passes
Sensor（5）For radar sensor, or it is ultrasonic distance-measuring sensor, or is laser range sensor, or is passed for infrared distance measuring
Sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820124830.9U CN208037958U (en) | 2018-01-25 | 2018-01-25 | Pallet fork condition checkout gear in fork truck examination |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820124830.9U CN208037958U (en) | 2018-01-25 | 2018-01-25 | Pallet fork condition checkout gear in fork truck examination |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208037958U true CN208037958U (en) | 2018-11-02 |
Family
ID=63954314
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820124830.9U Active CN208037958U (en) | 2018-01-25 | 2018-01-25 | Pallet fork condition checkout gear in fork truck examination |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208037958U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110282580A (en) * | 2019-06-28 | 2019-09-27 | 潍柴动力股份有限公司 | Pallet fork tilt angle control |
| WO2022077913A1 (en) * | 2020-10-13 | 2022-04-21 | 安徽合力股份有限公司 | Forklift tilt cylinder motion buffer control system and method based on angle compensation |
-
2018
- 2018-01-25 CN CN201820124830.9U patent/CN208037958U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110282580A (en) * | 2019-06-28 | 2019-09-27 | 潍柴动力股份有限公司 | Pallet fork tilt angle control |
| CN110282580B (en) * | 2019-06-28 | 2021-06-04 | 潍柴动力股份有限公司 | Fork inclination angle control system |
| WO2022077913A1 (en) * | 2020-10-13 | 2022-04-21 | 安徽合力股份有限公司 | Forklift tilt cylinder motion buffer control system and method based on angle compensation |
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Address after: No. 12-40001, Shuian community, Chongqing Patentee after: Chongqing Yifeng Intelligent Technology Co.,Ltd. Address before: No. 12-40001, Shuian community, Chongqing Patentee before: CHONGQING WINNER SOFTWARE CO.,LTD. |