CN215756197U - Control system of telescopic arm forklift - Google Patents
Control system of telescopic arm forklift Download PDFInfo
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- CN215756197U CN215756197U CN202121340725.7U CN202121340725U CN215756197U CN 215756197 U CN215756197 U CN 215756197U CN 202121340725 U CN202121340725 U CN 202121340725U CN 215756197 U CN215756197 U CN 215756197U
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- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000003993 interaction Effects 0.000 claims abstract description 13
- 230000009471 action Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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Abstract
The utility model discloses a control system of a telescopic arm forklift in the field of engineering machinery control, which comprises a carrying vehicle, a telescopic arm, a fork tool, a detection unit and a control unit, wherein the detection unit and the control unit are used for detecting the working state of the telescopic arm forklift; the telescopic arm is rotationally connected to a frame of the carrier loader; the second hydraulic cylinder drives the telescopic arm to rotate, and the third hydraulic cylinder drives the telescopic arm to stretch; the first hydraulic cylinder rotates along with the telescopic arm to stretch; the fork tool is rotationally connected to the telescopic arm; the fourth hydraulic cylinder drives the fork tool to rotate; the first hydraulic cylinder and the fourth hydraulic cylinder synchronously move to drive and control the fork tool to be horizontally arranged; the detection unit is electrically connected with the control unit; when the forklift reaches the boundary condition, the control unit limits the dangerous direction action of the telescopic boom forklift and gives an alarm through the man-machine interaction unit at the same time, so that the safety of the telescopic boom forklift is improved.
Description
Technical Field
The utility model belongs to the technical field of control systems, and particularly relates to a control system and method for a telescopic boom forklift.
Background
The telescopic boom forklift is used as special equipment, consists of parts such as a carrying vehicle, a cab, a telescopic boom, a fork tool, tires and the like, is shown in figure 1, has functions of driving and fork operation, can be used for loading, unloading, transferring, transporting and the like on construction sites, industrial enterprises, agriculture and animal husbandry and the like, has a safe torque range and a maximum safe load limit, and can cause equipment damage and even rollover accidents if the load limit is exceeded.
In the conventional weighing of a force limit system of a telescopic arm forklift, a strain gauge is arranged on a rear axle of a vehicle, the strain gauge deforms when the load of the vehicle changes, and the actual load value of the vehicle is calculated by measuring the change of a stress strain value; when the telescopic arm forklift works, under the condition that the flatness of a road surface and the vibration of a vehicle cannot be guaranteed, a large error exists in the deformation detection of the strain gauge; when the telescopic arm forklift works, an operator cannot accurately judge the current load and the fork loading allowance of the forklift, the fork loading amount in the same working state can only be estimated blindly, and dangerous actions are directly limited when the safety range is exceeded, so that potential safety hazards can be brought and the working efficiency is not high.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a control system of a telescopic arm forklift, which accurately records the actual load of the forklift and improves the safety of the forklift.
In order to achieve the purpose, the technical scheme adopted by the utility model is as follows:
a control system of a telescopic boom forklift comprises a carrying cart, a telescopic boom, a fork tool, a detection unit and a control unit, wherein the detection unit and the control unit are used for detecting the working state of the telescopic boom forklift; the telescopic arm is rotationally connected to a frame of the carrier loader; the second hydraulic cylinder drives the telescopic arm to rotate, and the third hydraulic cylinder drives the telescopic arm to stretch; one side of the first hydraulic cylinder is rotationally connected to a frame of the carrier loader, and the other side of the first hydraulic cylinder is rotationally connected to the telescopic arm and rotates with the telescopic arm to enable the first hydraulic cylinder to be telescopic; the fork tool is rotationally connected to the telescopic arm; the fourth hydraulic cylinder drives the fork tool to rotate; the first hydraulic cylinder is connected with the fourth hydraulic cylinder through an oil way, and the first hydraulic cylinder and the fourth hydraulic cylinder synchronously move to drive and control the fork tool to be horizontally arranged; the control unit drives and controls the first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder and the fourth hydraulic cylinder; the detection unit is electrically connected with the control unit.
Preferably, the detection unit comprises a first pressure sensor and a second pressure sensor; the first pressure sensor is arranged in a large oil cavity of the fourth hydraulic cylinder, and the second pressure sensor is arranged in a small oil cavity of the fourth hydraulic cylinder; the first pressure sensor and the second pressure sensor are electrically connected with the control unit.
Preferably, the telescopic arm is provided with a long angle sensor; the long angle sensor is used for detecting the length and the angle of the telescopic arm; the long angle sensor is electrically connected with the control unit.
Preferably, the telescopic arm further comprises a human-computer interaction unit, the human-computer interaction unit is electrically connected with the control unit, and the human-computer interaction unit is used for displaying the length, the angle, the height, the working amplitude, the actual lifting capacity, the rated lifting capacity and the torque percentage parameter of the telescopic arm.
Preferably, the carrying vehicle is provided with a cab; the man-machine interaction unit is arranged in the cab.
Compared with the prior art, the utility model has the following beneficial effects:
the stress of the oil cylinder is calculated through the large oil cavity and the small oil cavity pressure of the fourth hydraulic cylinder, and the weight of the load in different states of the fork is calculated based on the stress of the fourth hydraulic cylinder for pushing the fork to turn over through measurement, so that the weight calculation is more accurate;
according to the utility model, the first hydraulic cylinder is rotated along with the telescopic boom to stretch, the first hydraulic cylinder is connected with the fourth hydraulic cylinder through an oil way, the first hydraulic cylinder and the fourth hydraulic cylinder synchronously move to drive and control the fork tool to be horizontally arranged, and the fork tool is always horizontally arranged along with the rotation of the telescopic boom, so that the operation difficulty of the telescopic boom forklift is simplified, and the safety of the telescopic boom forklift is improved;
the length and angle sensor is used for acquiring the telescopic length and the amplitude variation angle of the suspension arm, and the working amplitude and the height of the telescopic arm forklift are obtained through calculation; the telescopic boom forklift automatically detects, calculates and visually displays relevant information of the working state of the telescopic boom forklift and the actual load of the pallet fork in the telescopic and amplitude changing processes in real time, the display can be selected according to the needs of an operator, when the forklift reaches a boundary condition, the alarm is given through the human-computer interaction unit while the dangerous direction action of the telescopic boom forklift is limited, and the safety of the telescopic boom forklift is improved.
Drawings
Fig. 1 is a structural diagram of a telescopic boom forklift truck according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating the connection of a fourth hydraulic cylinder according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating the connection relationship of the fork according to an embodiment of the present invention;
in the figure: the hydraulic control system comprises a carrier loader 1, a telescopic arm 2, a third hydraulic cylinder 3, a long angle sensor 4, a fourth hydraulic cylinder 5, a fork tool 6, a cab 7, a second hydraulic cylinder 8, a first hydraulic cylinder 9, a second pressure sensor 10 and a first pressure sensor 11.
Detailed Description
The utility model is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
It should be noted that in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. As used in the description of the present invention, the terms "front," "back," "left," "right," "up," "down" and "in" refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
As shown in fig. 1-2, a control system of a telescopic boom forklift includes a carrier loader 1, a telescopic boom 2, a fork 6, a detection unit for detecting a working state of the telescopic boom forklift, and a control unit; the telescopic arm 2 is rotatably connected to a frame of the carrier loader 1; the second hydraulic cylinder 8 drives the telescopic arm 2 to rotate, a cylinder body of the second hydraulic cylinder 8 is rotationally connected to a frame of the carrier loader 1, a piston rod of the second hydraulic cylinder 8 is rotationally connected to the telescopic arm 2, and the third hydraulic cylinder 3 drives the telescopic arm 2 to stretch; one side of the first hydraulic cylinder 9 is rotatably connected to a frame of the carrier loader 1, and the other side of the first hydraulic cylinder 9 is rotatably connected to the telescopic arm 2 and rotates with the telescopic arm 2 to enable the first hydraulic cylinder 9 to stretch and retract; the fork tool 6 is rotatably connected to the telescopic arm 2; the fourth hydraulic cylinder 5 drives the fork 6 to rotate, the cylinder body of the fourth hydraulic cylinder 5 is rotatably connected to the end part of the telescopic arm 2, and the piston rod of the fourth hydraulic cylinder 5 is rotatably connected to the fork 6; the small oil cavity of the first hydraulic cylinder 9 is connected with the small oil cavity of the fourth hydraulic cylinder 5 through an oil way, and the large oil cavity of the first hydraulic cylinder 9 is connected with the large oil cavity of the fourth hydraulic cylinder 5 through an oil way; the first hydraulic cylinder 9 is extended, the fourth hydraulic cylinder 5 enters the first hydraulic cylinder 9, and the fourth hydraulic cylinder 5 is retracted; the first hydraulic cylinder 9 and the fourth hydraulic cylinder 5 move synchronously, so that the driving and controlling fork tool 6 is horizontally arranged, the operation difficulty of the telescopic boom forklift is simplified, and the safety of the telescopic boom forklift is improved; the control unit drives and controls the first hydraulic cylinder 9, the second hydraulic cylinder 8, the third hydraulic cylinder 3 and the fourth hydraulic cylinder 5 so as to control the telescopic boom forklift; the detection unit is electrically connected with the control unit.
The detection unit comprises a first pressure sensor 11 and a second pressure sensor 10; the first pressure sensor 11 is arranged in a large oil cavity of the fourth hydraulic cylinder 5, and the second pressure sensor 10 is arranged in a small oil cavity of the fourth hydraulic cylinder 5; the first pressure sensor 11 and the second pressure sensor 10 are electrically connected with the control unit; the stress of the oil cylinder is calculated through the large oil chamber and the small oil chamber pressure of the fourth hydraulic cylinder, and the weight of the load in different states of the fork is calculated based on the stress of the fourth hydraulic cylinder for pushing the fork to turn, so that the weight calculation is more accurate; a long angle sensor 4 is arranged on the telescopic arm 2; the long angle sensor 4 is used for detecting the length and the angle of the telescopic arm 2; the long angle sensor 4 is electrically connected with the control unit.
A cab 7 is arranged on the carrier loader 1; the man-machine interaction unit is arranged in the cab 7 and is electrically connected with the control unit, and the man-machine interaction unit is used for displaying the length, the angle, the height, the working amplitude, the actual lifting capacity, the rated lifting capacity and the torque percentage parameter of the telescopic arm 2.
As shown in fig. 1 to 3, in a control method of a control system of a telescopic boom forklift, a first pressure sensor 11 detects a large chamber pressure P1 of a fourth hydraulic cylinder 5; the second pressure sensor 10 detects the small chamber pressure P1 of the fourth hydraulic cylinder 5; the long angle sensor 4 detects the length and the angle of the telescopic arm 2;
the first pressure sensor 11, the second pressure sensor 10 and the long angle sensor 4 transmit the detected data to the control unit;
the control unit calculates the thrust of the fourth hydraulic cylinder according to the formula F, namely P1 multiplied by S1-P2 multiplied by S2; wherein S1 is the large oil chamber area of the fourth hydraulic cylinder 5, and S2 is the small oil chamber area of the fourth hydraulic cylinder 5; calculating the mass of the load according to the formula (m1+ m2) g × L2 ═ F × L1; wherein m1 is the weight of the fork, m2 is the mass of the load, g is the acceleration of gravity, L2 is the moment arm from the turning hinge point of the fork to the gravity center of the fork and the load, and L1 is the moment arm of the fourth hydraulic cylinder; judging the state of the telescopic arm forklift;
when the actual lifting capacity of the telescopic arm forklift exceeds the rated lifting capacity, the control unit limits the actions of the first hydraulic cylinder 9, the second hydraulic cylinder 8, the third hydraulic cylinder 3 and the fourth hydraulic cylinder 5, and the human-computer interaction unit displays an alarm prompt; when the action of the telescopic arm forklift exceeds a safety range; the control unit limits the action of the telescopic boom forklift, and the human-computer interaction unit displays an alarm prompt, so that the safety of the telescopic boom forklift is improved.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (5)
1. The control system of the telescopic-arm forklift is characterized by comprising a carrying vehicle (1), a telescopic arm (2), a fork tool (6), a detection unit and a control unit, wherein the detection unit and the control unit are used for detecting the working state of the telescopic-arm forklift; the telescopic arm (2) is rotatably connected to the frame of the carrier loader (1); the second hydraulic cylinder (8) drives the telescopic arm (2) to rotate, and the third hydraulic cylinder (3) drives the telescopic arm (2) to stretch; one side of the first hydraulic cylinder (9) is rotatably connected to a frame of the carrier loader (1), and the other side of the first hydraulic cylinder (9) is rotatably connected to the telescopic arm (2) and rotates along with the telescopic arm to enable the first hydraulic cylinder to stretch; the fork tool (6) is rotationally connected to the telescopic arm (2); the fourth hydraulic cylinder (5) drives the fork (6) to rotate; the first hydraulic cylinder (9) is connected with the fourth hydraulic cylinder (5) through an oil way, and the first hydraulic cylinder (9) and the fourth hydraulic cylinder (5) synchronously move to drive and control the fork tool to be horizontally arranged; the control unit drives and controls the first hydraulic cylinder (9), the second hydraulic cylinder (8), the third hydraulic cylinder (3) and the fourth hydraulic cylinder (5); the detection unit is electrically connected with the control unit.
2. A control system for a telescopic arm forklift truck according to claim 1, characterized in that said detection unit comprises a first pressure sensor (11), a second pressure sensor (10); the first pressure sensor (11) is arranged in a large oil cavity of the fourth hydraulic cylinder (5), and the second pressure sensor (10) is arranged in a small oil cavity of the fourth hydraulic cylinder (5); the first pressure sensor (11) and the second pressure sensor (10) are electrically connected with the control unit.
3. A control system for a telescopic boom forklift truck according to claim 1, characterized in that said telescopic boom (2) is provided with a long angle sensor (4); the long angle sensor (4) is used for detecting the length and the angle of the telescopic arm; the long angle sensor is electrically connected with the control unit.
4. The control system of claim 1, further comprising a human-machine interaction unit electrically connected to the control unit, the human-machine interaction unit being configured to display the length and angle, height, working amplitude, actual load capacity, rated load capacity, and torque percentage parameters of the telescopic boom.
5. A control system for a telescopic boom forklift as claimed in claim 4, characterized in that the carrier vehicle (1) is provided with a cab (7); the man-machine interaction unit is arranged in the cab (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121340725.7U CN215756197U (en) | 2021-06-17 | 2021-06-17 | Control system of telescopic arm forklift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121340725.7U CN215756197U (en) | 2021-06-17 | 2021-06-17 | Control system of telescopic arm forklift |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215756197U true CN215756197U (en) | 2022-02-08 |
Family
ID=80100709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121340725.7U Active CN215756197U (en) | 2021-06-17 | 2021-06-17 | Control system of telescopic arm forklift |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215756197U (en) |
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2021
- 2021-06-17 CN CN202121340725.7U patent/CN215756197U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240115 Address after: No. 17, the Pearl River East Road, Xuzhou High tech Industrial Development Zone, Xuzhou City, Jiangsu Province, 221000 Patentee after: XCMG FIRE-FIGHTING SAFETY EQUIPMENT Co.,Ltd. Address before: No. 68, Gaoxin Road, Xuzhou Economic and Technological Development Zone, Xuzhou City, Jiangsu Province, 221000 Patentee before: Xuzhou Xugong Port Machinery Co.,Ltd. |
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| TR01 | Transfer of patent right |