CN210234603U - Integrated safety control system for counterweight type forklift - Google Patents
Integrated safety control system for counterweight type forklift Download PDFInfo
- Publication number
- CN210234603U CN210234603U CN201920465974.5U CN201920465974U CN210234603U CN 210234603 U CN210234603 U CN 210234603U CN 201920465974 U CN201920465974 U CN 201920465974U CN 210234603 U CN210234603 U CN 210234603U
- Authority
- CN
- China
- Prior art keywords
- fork
- sensor
- forklift
- frame
- locking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Forklifts And Lifting Vehicles (AREA)
Abstract
The utility model discloses an integrated safety control system for a balance weight type forklift, which belongs to the technical field of safety control and comprises a sensor module, a frame and axle locking mechanism, a fork and door frame control mechanism and an integrated controller; the integrated controller collects output signals of the detection sensors, outputs control instructions to the frame and axle locking mechanism, the fork and the frame control mechanism according to different operation working conditions of the forklift, performs integrated safety control on the forklift, and improves integrated safety performance of operation safety and rollover safety of the fork of the forklift.
Description
Technical Field
The utility model relates to a safety control technical field, in particular to an integrated safety control system for counter-weight formula fork truck.
Background
The counter-weight forklift is the forklift type which is most widely applied, along with the rapid development of market economy, the forklift application field is more and more extensive, the application working environment is more and more complex, and higher requirements are also provided for the safety performance of the forklift.
In the stacking operation process of the forklift, the fork is inclined forwards to the limit position, and the goods move forwards and fall off due to inertia, so that casualties are caused; the fork is inclined backwards to the limit position, and the goods move forwards due to inertia, so that the goods extrude or injure operators; when the fork tilts backwards, the goods are easy to crush or injure operators when exceeding the corresponding height.
At present, the front part of a counter-weight forklift is provided with a working device for loading and unloading goods, a front wheel is a driving wheel, a rear wheel is a steering wheel, and a double-trapezoid steering mechanism is adopted. A hinged point is arranged in the middle of the steering axle and connected with the frame, and the frame can swing up and down relative to the steering axle through the hinged point. Although the hinge connection mode of the forklift improves the flexibility of the operation of the forklift and the stability of the forklift when the forklift passes through a concave road surface and a convex road surface, the forklift has the advantages that the forklift swings due to the inclination angle of the supporting plane, the supporting plane of the forklift is not overlapped with the driving plane, and the side turning accident caused by transverse instability is easy to happen in the process of turning and carrying operation.
Therefore, the improvement of the safety of stacking and carrying operations of the counter weight type forklift has an urgent significance on the active safety performance of the forklift.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the defect that above-mentioned background art exists to improve the security of fork truck stack operation and transport operation process.
In order to achieve the above purpose, the utility model adopts an integrated safety control system for a balance weight type forklift, which comprises a sensor module, a frame and axle locking mechanism and an integrated controller; the output end of the sensor module is connected with the input end of the integrated controller, and the output end of the integrated controller is connected with the frame and the axle locking mechanism.
Further, the sensor module includes gyroscope sensor and speed sensor at least, and gyroscope sensor installs in fork truck barycenter position, and speed sensor installs in fork truck derailleur output shaft position.
Further, the frame and axle locking mechanism comprises a locking oil cylinder and a locking electromagnetic valve, the locking electromagnetic valve is installed in an oil duct of the locking oil cylinder, and the locking oil cylinder is vertically installed between the frame and the axle.
The integrated controller is characterized by further comprising a fork and portal frame control mechanism, wherein the output end of the integrated controller is connected with the frame and the axle locking mechanism;
the fork and portal control mechanism comprises a tilt oil cylinder and a tilt electromagnetic valve, the tilt electromagnetic valve is arranged in an oil duct of the tilt oil cylinder, and the tilt oil cylinder is arranged between the fork and the portal.
Furthermore, the sensor module also comprises a fork height sensor, a gantry inclination angle sensor and a fork load sensor;
the fork height sensor is installed at the upper end of the portal frame, the portal frame inclination angle sensor is installed at the hinged position of the inclined oil cylinder and the forklift body, and the fork load sensor is installed at the bottom end of the portal frame.
Compared with the prior art, the utility model discloses there are following technological effect: the utility model discloses an installation sensor module on heavy-duty fork truck, integrated controller and frame and axle locking mechanism, the sensor signal of sensor module input is received to the integrated controller, this sensor signal includes fork truck's lateral acceleration signal and speed of a motor vehicle signal at least, the lateral safety acceleration under the integrated controller calculates different speeds of a motor vehicle, and when the current lateral acceleration of fork truck reaches the lateral safety acceleration of safe settlement, integrated controller control frame and axle locking mechanism, realize the lateral safety control of frame and axle locking mechanism, prevent that fork truck further slope from leading to goods and fork truck's lateral tilting, guarantee goods and operating personnel's safety.
Drawings
The following detailed description of the embodiments of the present invention is made with reference to the accompanying drawings:
FIG. 1 is a schematic diagram of an integrated safety control system for a counterbalanced lift truck
FIG. 2 is a schematic diagram of an integrated safety control system architecture;
fig. 3 is a schematic diagram of the structure of the integrated safety control system.
In the figure:
10-a sensor module; 20-frame and axle locking mechanism; 30-fork and frame control mechanisms; 40-an integrated controller; 11-a gyroscope sensor; 12-vehicle speed sensor; 13-fork height sensor 13; 14-gantry tilt sensor; 15-fork load sensor; 21-locking the oil cylinder; 22-a latching solenoid valve; 31-tilting oil cylinder; 32-tilt solenoid valve; 51-axle; 52-vehicle body (frame); 53-a portal; 54-pallet fork.
Detailed Description
To further illustrate the features of the present invention, please refer to the following detailed description and accompanying drawings. The drawings are for reference and illustration purposes only and are not intended to limit the scope of the present disclosure.
As shown in fig. 1 to 3, the present embodiment discloses an integrated safety control system for a counter-weight forklift, including: a sensor module 10, a frame and axle locking mechanism 20 and an integrated controller 40; the output end of the sensor module 10 is connected with the input end of the integrated controller 40, and the output end of the integrated controller 40 is connected with the frame and axle locking mechanism 20. The integrated controller selects a 16-bit Seika singlechip MC9S12XS128 which is used for acquiring sensor signals output by the sensor module and acquiring the current state of the forklift according to the sensor signals, so that locking control is performed on the frame and the axle locking structure, the control of the side-tipping angle of the forklift in the transportation and turning operation process is realized, the side-tipping of the forklift caused by transportation and turning of the forklift is avoided, and the safety control in the transportation and turning operation process of the forklift is realized.
Further, the sensor module 10 at least comprises a gyroscope sensor 11 and a vehicle speed sensor 12, the gyroscope sensor 11 is installed at the position of the center of mass of the forklift, and the vehicle speed sensor 12 is installed at the position of an output shaft of the forklift transmission.
The gyro sensor 11 is configured to detect a lateral acceleration of the forklift, and the integrated controller 40 determines a roll attitude of the forklift according to the lateral acceleration of the forklift.
The vehicle speed sensor 12 is used for detecting the movement speed of the forklift, and the movement speed of the forklift is calculated by measuring the gear tooth number of an output shaft of a transmission of the forklift and comprehensively calculating the movement speed of the forklift together with a main reduction ratio and a tire rolling radius of the transmission.
Further, the frame and axle locking mechanism 20 includes a locking oil cylinder 21 and a locking electromagnetic valve 22, the locking electromagnetic valve 22 is installed in an oil passage of the locking oil cylinder 21, the locking oil cylinder 21 is vertically installed between the frame and the axle, and the locking oil cylinder 21 is hinged to both the frame and the axle.
The locking solenoid valve 22 is a two-position two-way high-speed switching solenoid valve, and is configured to receive a control instruction output by the integrated controller 40 to perform locking and unlocking, so as to cut off an oil supply channel of the locking cylinder 21 and open the oil supply channel of the locking cylinder 22, and control a posture of a forklift body during a forklift carrying operation.
This embodiment is through current mechanical system mechanism local transformation that trades to fork truck, install the electric locking solenoid valve additional in the single strong point both sides of turning to the rear axle, locking hydraulic cylinder and corresponding sensor, control locking cylinder and connect frame and rear axle through locking solenoid valve, when the danger of turning on one's side appears in fork truck, the pressure of the support cylinder between initiative adjustment steering axle and the frame, the side direction holding power of increase frame, the rear wheel swing lock of fork truck is realized to the possibility that reduces fork truck to turn on one's side, make fork truck's support plane become the rectangle by triangle-shaped, increase support area, improve fork truck lateral stability.
Further, the control system also comprises a fork and portal control mechanism 30, and the output end of the integrated controller 40 is connected with the fork and portal control mechanism 30;
the fork and mast control mechanism 30 includes a tilt cylinder 31 and a tilt solenoid valve 32, the tilt solenoid valve 32 is installed in an oil passage of the tilt cylinder 31, the tilt cylinder 31 is installed between the fork and mast, and the tilt cylinder 31 is hinged to the forklift body.
The tilt solenoid valve 32 is a three-position four-way high-speed switching solenoid valve, and the tilt solenoid valve 32 is configured to receive a control instruction output by the integrated controller 40 to perform locking and unlocking operations, so as to cut off an oil supply channel of the tilt cylinder 31 and open the oil supply channel of the tilt cylinder 31, and control the fork to continue forward tilting operation and backward tilting operation, thereby ensuring the safety of goods and operators.
Further, the sensor module 10 further includes a fork height sensor 13, a mast tilt sensor 14, and a fork load sensor 15;
the fork height sensor 13 is arranged at the upper end of the portal frame, the portal inclination angle sensor 14 is arranged at the hinged position of the inclined oil cylinder and the forklift body, and the fork load sensor 15 is arranged at the bottom end of the portal frame.
The fork height sensor 13 is used for detecting the lifting height of the fork, the portal inclination angle sensor 14 is used for detecting the front inclination angle and the rear inclination angle of the fork, and meanwhile, the portal inclination angle sensor 14 can measure the hinge angle of the inclined oil cylinder and the forklift body and convert the hinge angle into the portal inclination angle. The backward tilting angle and the gantry inclination angle of the fork are measured to judge the safety of working conditions such as stacking operation of the fork of the forklift, and the fork operation is intervened in time, so that the safety of the fork operation is improved.
The fork load sensor 15 is used to detect the fork load, which is calculated by measuring the oil pressure of the fork lift tilt cylinder 31.
It should be noted that the integrated controller 40 receives the sensor signals transmitted by the fork height sensor 13, the mast tilt sensor 14 and the fork load sensor 15, determines the body posture of the forklift in the stacking operation according to the sensor signals, limits the forward tilting operation and the backward tilting operation of the forks, and places the goods and the forward tilting and backward tilting of the forklift.
Specifically, will the utility model discloses an on improvement fork truck turning stability's control system was applied to certain type 3 tons of counter-balanced formula fork truck, this fork truck parameter as follows: the maximum forward inclination angle of the pallet fork is 6 degrees, the maximum forward inclination angle is 12 degrees, the maximum load is 3 tons, the self weight of the forklift is 4.6 tons, and the maximum lifting height is 3 meters.
Example 1:
by taking the safety control of the front tilting angle of the fork in the stacking operation working condition as an example, the working process of the integrated safety system in the scheme is explained as follows:
firstly, according to a method for determining the forward-tilting limit angle of the fork, the center of a grounding connecting line of a front wheel of the fork is used as a fulcrum, when the product of the mass of the fork and the distance from the mass center of the fork to the grounding connecting line of the front wheel is equal to the product of the mass of the goods and the distance from the mass center of the goods to the grounding connecting line of the front wheel, the corresponding forward-tilting limit angle of the fork is the forward-tilting limit angle of the fork, the height of the fork is 1.68 m, the load is 2.5 tons, and the forward-tilting limit angle of the fork is calculated to.
When the fork is lifted to 1.68 meters to execute backward tilting operation, when the fork tilts forward to a limit angle of 3 degrees, a stop control instruction is output to the tilting electromagnetic valve, oil supply of the tilting oil cylinder is cut off, the fork stops continuing forward tilting operation, the forward tilting angle of the fork is limited to 3 degrees through the fork and a frame control mechanism, and forward tilting of the goods and the forklift due to further forward tilting of the fork is prevented.
Example 2:
the working process of the integrated safety system of the patent is described by taking the safety control in the working condition of the carrying operation as an example:
firstly, according to a method for determining the lateral acceleration of the tilting safety of the forklift, when the forklift carries the forklift at different speeds and turns a corner, and the sum of the ground contact pressure of the wheels at the inner side of the forklift is reduced to half of the sum of the original ground contact pressure, the lateral acceleration of the corresponding forklift is the lateral acceleration of the tilting safety of the forklift at the current speed, and the lateral acceleration of the forklift during no-load turning is calculated to be 0.1945g when the speed of the forklift is 7 km/h;
when the forklift turns at the speed of 7km/h in an unloaded mode and the lateral acceleration of the forklift reaches 0.1945g of safe lateral acceleration, a control command is output to the locking electromagnetic valve, an oil duct of the locking oil cylinder is cut off, the locking oil cylinder is in a locking state, the side-tipping safety control of the frame and the axle locking mechanism is achieved, the forklift is prevented from tipping laterally, and the safety of goods and operators is guaranteed.
Therefore, adopt the utility model discloses an integrated safety control system can prevent effectively that fork truck from at the side of turning on of stack operation and transport turning process, promotes fork truck stability and initiative safety.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (5)
1. An integrated safety control system for a counter-weight forklift is characterized by comprising a sensor module, a frame, an axle locking mechanism and an integrated controller; the output end of the sensor module is connected with the input end of the integrated controller, and the output end of the integrated controller is connected with the frame and the axle locking mechanism; the sensor module at least comprises a gyroscope sensor and a vehicle speed sensor, the gyroscope sensor is arranged at the position of the mass center of the forklift, and the vehicle speed sensor is arranged at the position of an output shaft of the forklift transmission; the frame and axle locking mechanism comprises a locking oil cylinder and a locking electromagnetic valve, the locking electromagnetic valve is installed in an oil duct of the locking oil cylinder, and the locking oil cylinder is vertically installed between the frame and the axle.
2. The integrated safety control system for a counterbalanced lift truck as recited in claim 1, wherein said sensor module further comprises a fork height sensor, a mast tilt sensor, and a fork load sensor;
the fork height sensor is installed on the upper end of the portal frame, the portal frame inclination angle sensor is installed at the hinged position of the inclined oil cylinder and the forklift body, and the fork load sensor is installed at the bottom end of the portal frame.
3. The integrated safety control system for a counterbalanced lift truck as recited in claim 2, further comprising a fork and mast control mechanism, said integrated controller output connected to said fork and mast control mechanism;
the fork and portal control mechanism comprises a tilt oil cylinder and a tilt electromagnetic valve, the tilt electromagnetic valve is arranged in an oil duct of the tilt oil cylinder, and the tilt oil cylinder is arranged between the fork and the portal.
4. The integrated safety control system for a counterbalanced lift truck as recited in claim 1, wherein said locking solenoid is a two-position two-way high speed on/off solenoid.
5. The integrated safety control system for a counterbalanced lift truck as recited in claim 3, wherein said tilt solenoid is a three-position, four-way, high speed on/off solenoid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920465974.5U CN210234603U (en) | 2019-04-08 | 2019-04-08 | Integrated safety control system for counterweight type forklift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920465974.5U CN210234603U (en) | 2019-04-08 | 2019-04-08 | Integrated safety control system for counterweight type forklift |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210234603U true CN210234603U (en) | 2020-04-03 |
Family
ID=69968655
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920465974.5U Active CN210234603U (en) | 2019-04-08 | 2019-04-08 | Integrated safety control system for counterweight type forklift |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210234603U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109866570A (en) * | 2019-04-08 | 2019-06-11 | 安徽合力股份有限公司 | A kind of integrated safety control system and control method for counterbalanced lift truck |
-
2019
- 2019-04-08 CN CN201920465974.5U patent/CN210234603U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109866570A (en) * | 2019-04-08 | 2019-06-11 | 安徽合力股份有限公司 | A kind of integrated safety control system and control method for counterbalanced lift truck |
| CN109866570B (en) * | 2019-04-08 | 2024-03-29 | 安徽合力股份有限公司 | Integrated safety control system and control method for balanced-weight forklift |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109866570B (en) | Integrated safety control system and control method for balanced-weight forklift | |
| US7165643B2 (en) | Industrial truck having increased static/quasi-static and dynamic tipping stability | |
| US7706947B2 (en) | Industrial truck having increased static or quasi-static tipping stability | |
| JP6268307B2 (en) | Side shift limiter | |
| US20100204891A1 (en) | Acceleration control for vehicles having a loader arm | |
| CN112811361B (en) | Safety control system for operation fork of manual control valve of forklift | |
| EP3901383B1 (en) | A controller | |
| CN112707338A (en) | Cargo carrying load bearing capacity detection system and method based on industrial forklift intellectualization | |
| CN210234603U (en) | Integrated safety control system for counterweight type forklift | |
| CN203698103U (en) | Engineering machinery and anti-rollover early warning system thereof | |
| CN114235114B (en) | Ultrasonic weight measurement method | |
| CN117963789A (en) | Telescopic arm type engineering vehicle control method and device and telescopic arm type engineering vehicle | |
| US20040031628A1 (en) | Method to control at least one movement of an industrial truck | |
| US4390314A (en) | Container truck for lifting and carrying away a container | |
| CN114179720B (en) | Carrier early warning system and carrier early warning method | |
| CN207524903U (en) | A kind of safety system for fork truck | |
| KR20120070647A (en) | A system controlling height of fork automatically and method for it | |
| CN110240091B (en) | Dynamic stability control method and system and industrial vehicle | |
| CN218988697U (en) | Balance device of hydraulic vehicle | |
| CN112573441A (en) | Fork truck with adjustable balance weight | |
| CN114803950B (en) | Safety control method and device for telescopic boom and telescopic boom forklift | |
| CN118405635B (en) | Fork truck safety control system and battery fork truck | |
| CN213738442U (en) | Movable kettle device | |
| CN221420477U (en) | Auxiliary control device for speed limit of container front crane in driving and crane | |
| CN218231737U (en) | Three-fulcrum balancing AGV forklift |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |