CN217780674U

CN217780674U - Forklift truck

Info

Publication number: CN217780674U
Application number: CN202221670867.4U
Authority: CN
Inventors: 赵俊斌; 刘志刚
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2021-06-30
Filing date: 2022-06-28
Publication date: 2022-11-11
Anticipated expiration: 2032-06-28

Abstract

The utility model relates to a fork truck operation control field discloses a fork truck, fork truck includes frame assembly (1) and fixes portal (4) on frame assembly (1), frame assembly (1) has the controller, be connected with the movable part on portal (4), the movable part sets up to can follow under drive arrangement's effect portal (4) and reciprocate, be equipped with displacement sensor on the movable part, displacement sensor is used for monitoring the displacement condition of movable part, and send displacement signal to the controller; the frame assembly (1) is provided with a switch, and when the movable part is located at a preset position, the corresponding switch is triggered and sends a calibration signal to the controller. In the cyclic reciprocating process of the fork, the movable part passes through the preset position for multiple times and calibrates the displacement sensor for multiple times, so that the accuracy of the fork position acquired by the controller can be ensured.

Description

Forklift truck

Technical Field

The utility model relates to a fork truck operation control field specifically relates to a fork truck.

Background

In the forklift operation control field, in the processes of carrying, unloading goods and the like, the height of the fork is often required to be adjusted, the traditional adjusting mode is controlled by a driver manually, but the manual control may cause inaccurate goods placing position due to visual errors, and danger is easy to occur. With the development of the technology, especially in the application of the AGV forklift, the position information of the fork can be acquired by arranging a sensor on the forklift, and the automatic control of the forklift is further realized on the basis of the position information.

However, there may be errors in the sensors for obtaining the fork positions, for example, in the prior art CN111099524A, a self-propelled AGV counterweight forklift is disclosed, and a cable encoder or a laser range finder for detecting/sensing the rising height and position of the forklift mast is installed on one side of the forklift mast. To acting as go-between encoder, because when using, the fork need carry out reciprocating motion round trip, when the direction of motion changes, the cotton rope can have the transient moment under inertial effect to lose the pulling force in the twinkling of an eye, and then certain error can appear. In addition, the complicated working environment, such as the inclination of the ground, mechanical vibration, etc., causes errors of the sensor, which cannot be completely avoided even by using the laser range finder. However, if the error of the sensor is too large, the fork height recorded by the controller is not consistent with the actual height on the shelf, so that danger occurs.

Therefore, how to reduce the error of the fork position sensor of the forklift, so as to make the operation of the forklift more stable is a problem to be solved urgently by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the easy problem of producing the error of fork position sensor that prior art exists, providing a fork truck, this fork truck can calibrate the fork position automatically when the operation, has avoided the easy problem of producing the error after the fork goes up and down many times.

In order to achieve the above object, an aspect of the present invention provides a forklift, including a frame assembly and a gantry fixed on the frame assembly, the frame assembly having a controller, the gantry being connected with a movable portion, the movable portion being configured to move up and down along the gantry under the action of a driving device, the movable portion being provided with a displacement sensor, the displacement sensor being configured to monitor a displacement condition of the movable portion and send a displacement signal to the controller; and a switch is arranged on the frame assembly, and when the movable part is positioned at a preset position, the corresponding switch is triggered and sends a calibration signal to the controller.

Preferably, the switch comprises a proximity switch arranged at the lower part of the frame assembly, and a sensing surface is arranged at one side of the proximity switch, which is close to the movable part.

Preferably, the proximity switch is removably mounted to a lower portion of the frame assembly.

Preferably, the proximity switch is connected to the frame assembly through a displacement adjustment mechanism, and the displacement adjustment mechanism is configured to adjust a distance from the sensing surface to the movable portion.

Preferably, the proximity switch is installed on the frame assembly through an L-shaped support, one end of the L-shaped support is fixedly connected with the frame assembly, the other end of the L-shaped support penetrates through the proximity switch, threads are arranged on the proximity switch, and the proximity switch is fixed with the L-shaped support through nuts on two sides of the L-shaped support.

Preferably, the switch is a photoelectric switch, a transmitter and a receiver of the photoelectric switch are arranged on the frame assembly, and a reflector plate is arranged at a corresponding position of the movable portion, so that when the movable portion is located at the preset position, the receiver can receive light emitted by the transmitter and reflected by the reflector plate, and the photoelectric switch is triggered.

Preferably, the controller is configured to obtain a preset position corresponding to the switch according to a calibration signal sent by the switch, and to complete calibration according to the preset position and the displacement signal.

Preferably, the switch is triggered when the movable portion is at the lowest point of the frame assembly.

Preferably, the displacement sensor is a pull wire encoder.

Preferably, the switch is electrically connected with the controller and is used for sending a calibration signal to the controller, and the controller is electrically connected with the displacement sensor and controls the data clearing of the displacement sensor based on the calibration signal.

According to the technical scheme, when the pallet fork moves to the preset position, the switch is triggered and sends a calibration signal to the controller, the controller automatically calibrates, the pallet fork passes through the preset position for multiple times in the cyclic reciprocating process, and the displacement sensor is calibrated for multiple times, so that the accuracy of the pallet fork position acquired by the controller can be guaranteed; furthermore, the position of the switch can be adjusted according to actual requirements, so that the scheme of the utility model is suitable for different situations; furthermore, a plurality of switches can be arranged, so that the frequency of automatic calibration is increased, the number of references used during calibration is increased, and the calibration result is more accurate; further, the switch can use a proximity switch or a photoelectric switch, so that mechanical contact can be reduced, and the service life of the switch can be prolonged.

Drawings

Fig. 1 is a schematic structural diagram of a forklift according to an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of a forklift in accordance with an embodiment of the present invention;

FIG. 3 is a schematic view of the proximity switch assembly according to one embodiment of the present invention;

FIG. 4 is a schematic view of a proximity switch according to an embodiment of the present invention;

fig. 5 is a schematic diagram of signal transmission of a sensing control unit according to an embodiment of the present invention.

Description of the reference numerals

1. Frame assembly 11 guide rail

12 L-shaped bracket 2 goods shelf

3. Fork 4 mast

5. Proximity switch 51 sensing surface

6. Stay wire encoder

Detailed Description

In the present invention, unless otherwise specified, the use of directional terms such as "upper, lower, left, and right" generally means upper, lower, left, and right as viewed with reference to the drawings. "inner and outer" refer to the inner and outer relative to the profile of the components themselves. "distal and proximal" refer to distal and proximal relative to a component.

The utility model provides a forklift, as shown in figure 1, forklift includes frame assembly 1 and fixes portal 4 on the frame assembly 1, frame assembly 1 has the controller, be connected with the movable part on the portal 4, the movable part sets up to follow under drive arrangement's effect portal 4 reciprocates.

The utility model discloses in, portal 4 includes guide rail 11 and the drive arrangement of vertical direction, the movable part is in follow under drive arrangement's the effect guide rail 11 reciprocates, the movable part includes goods shelves 2 and fork 3, fork 3 with goods shelves 2 are connected and are on a parallel with ground to be used for the bearing goods. The goods shelf 2 and the fork 3 can move up and down along the guide rail 11 together under the action of the driving device.

The frame assembly 1 is provided with a controller, the movable part is provided with a displacement sensor, and the displacement sensor is used for monitoring the displacement condition of the movable part and sending a displacement signal to the controller; and a switch is arranged on the frame assembly 1, and when the movable part is positioned at a preset position, the corresponding switch is triggered and sends a calibration signal to the controller.

Specifically, be equipped with a plurality of switches on frame assembly 1, when the movable part is located different preset positions, corresponding switch triggers and to the controller sends the calibration signal, the controller can obtain the corresponding preset position of switch according to the calibration signal that different switches sent to can accomplish the calibration according to preset position and displacement signal.

Furthermore, the displacement sensor is a stay wire encoder 6, the movable end of the stay wire encoder 6 is connected with the goods shelf 2, and the measuring direction of the stay wire encoder 6 is parallel to the guide rail 11 and is used for acquiring the position information of the goods shelf 2 and the fork 3 relative to the door frame 4 and continuously transmitting the position signal to the controller.

As shown in fig. 2, a proximity switch 5 is disposed on a lower portion of one side of the frame assembly 1, which is close to the goods shelf 2 and the fork 3, the proximity switch 5 is mounted on the frame assembly 1 through an L-shaped bracket 12, one end of the L-shaped bracket 12 is connected to the frame assembly 1 through a bolt, the other end of the L-shaped bracket 12 is provided with the proximity switch 5 in a penetrating manner, and the proximity switch 5 is provided with a thread and is fixed to the L-shaped bracket 12 through nuts on two sides of the L-shaped bracket 12. The sensing surface 51 of the proximity switch 5 is close to one side of the shelf 2 and the fork 3, and when the shelf 2 or the fork 3 is at the lowest point, the distance between the sensing surface 51 and the sensing surface is smaller than the action distance of the proximity switch 5, that is, when the shelf 2 and the fork 3 are at the lowest point, the proximity switch 5 generates a calibration signal and transmits the calibration signal to the controller. And after receiving the calibration signal, the controller records the current position signal as the lowest point to finish the automatic calibration process.

In addition, as shown in fig. 3-4, by adjusting the relative positions of the nuts on both sides of the L-shaped bracket and the proximity switch 5, the distance between the sensing surface 51 and the shelf 2 or the fork 3 can be adjusted to adapt to shelves of different specifications and ensure the normal operation of the proximity switch 5, and since the proximity switch 5 is detachably mounted, the maintenance is very convenient.

In other embodiments of the present invention, the proximity switch 5 may also be set at different positions according to actual requirements, for example, at a preset position at an appointed height of the frame assembly 1, and when the controller performs calibration, the appointed height and the current position signal are used for calibration; the proximity switches 5 are multiple, and when the device is used, the controller performs calibration according to different height and position signals corresponding to the proximity switches 5. Through the measures, the positions of the goods shelf 2 and the fork 3 collected by the controller can be more accurate, and the error of the stay wire encoder 6 is reduced.

In other embodiments of the present invention, the proximity switch 5 may be another type of switch that can be automatically triggered according to the position of the shelf 2 or the fork 3. For example, a photoelectric switch is arranged on the frame assembly 1, a transmitter and a receiver are arranged on the frame assembly, a reflector plate is arranged at a corresponding position of the goods shelf 2 or the fork 3, and when the goods shelf 2 or the fork 3 is located at a preset position of the photoelectric switch, the photoelectric switch is triggered to send a calibration signal to the controller; or the mechanical switch is arranged on the guide rail 11 of the frame assembly 1, when the goods shelf 2 and the fork 3 are at the height of the mechanical switch, the mechanical switch is triggered under the action of the goods shelf 2 and the fork 3 to send a calibration signal to the controller, and when the goods shelf 2 and the fork 3 leave the preset position of the mechanical switch, the mechanical switch is restored under the action of elasticity.

In other embodiments of the present invention, the stay wire encoder 6 can also be other existing displacement sensors that can be used to monitor displacement and send signals to the controller, such as a laser sensor fixed on the frame assembly 1, and laser light is irradiated on the shelf 2 or the fork 3. Although the mode that various types of sensors produced the error and the size of error are different, use the technical scheme of the utility model all can realize goods shelves 2 with the automatic calibration of fork 3 position improves the controller to goods shelves 2 with the accuracy of fork 3 control.

In other embodiments of the present invention, the shelf 2 or the fork 3 may be set to different movable portions according to the application scenario of the forklift.

In one embodiment, as shown in fig. 1 and 5, the proximity switch 5 is disposed at the lowest point of the frame assembly 1. When the pallet fork 3 descends to the lowest point position of the frame assembly 1, the proximity switch 5 can detect an origin signal and send the origin signal to the controller, and at the moment, the controller clears all recorded pulse signal data returned by the stay wire encoder 6, and controls the pallet fork 3 to continue to ascend.

When the pallet fork 3 rises to leave the lowest point position of the frame assembly 1, the proximity switch 5 has no detection signal, the stay wire encoder 6 continues to send pulse signals, and meanwhile, the controller records pulse signal data again.

The controller can clear the pulse signal data sent by the stay wire encoder 6 at the moment when the fork 3 falls to the bottom of the frame assembly 1 each time, and calibrate the actual height of the fork 3 at the moment to be a fixed value. Because the proximity switch 5 is fixed relative to the ground height, before the fork 3 rises, the fork must pass through the proximity switch 5 each time, so that an original point signal detected by the proximity switch 5 is sent to the controller, and the controller clears the data returned by the stay wire encoder 6 to perform the next rising action, thereby completing the error correction of the position of the fork 3, and preventing the fork 3 from accumulating errors caused by frequent lifting and unloading.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. The technical idea of the utility model within the scope, can be right the utility model discloses a technical scheme carries out multiple simple variant, makes up with any suitable mode including each concrete technical feature. In order to avoid unnecessary repetition, the present invention does not separately describe various possible combinations. These simple variations and combinations should also be considered as disclosed in the present invention, all falling within the scope of protection of the present invention.

Claims

1. A forklift is characterized by comprising a frame assembly (1) and a portal (4) fixed on the frame assembly (1), wherein the frame assembly (1) is provided with a controller, the portal (4) is connected with a movable part, the movable part is arranged to move up and down along the portal (4) under the action of a driving device, the movable part is provided with a displacement sensor, and the displacement sensor is used for monitoring the displacement condition of the movable part and sending a displacement signal to the controller;

the frame assembly (1) is provided with a switch, and when the movable part is located at a preset position, the corresponding switch is triggered and sends a calibration signal to the controller.

2. A lift truck as claimed in claim 1, characterised in that said switch comprises a proximity switch (5) arranged at the lower part of said frame assembly (1), said proximity switch (5) having a sensing surface (51) on the side thereof adjacent to said movable part.

3. A lift truck as claimed in claim 2, characterised in that said proximity switch (5) is removably mounted in a lower portion of said frame assembly (1).

4. A lift truck as claimed in claim 2, characterised in that said proximity switch (5) is connected to said frame assembly (1) by means of a displacement adjustment mechanism for adjusting the distance of said sensing surface (51) from said movable portion.

5. The forklift according to claim 3 or 4, wherein the proximity switch (5) is mounted on the frame assembly (1) through an L-shaped bracket (12), one end of the L-shaped bracket (12) is fixedly connected with the frame assembly (1), the other end of the L-shaped bracket (12) penetrates through the proximity switch (5), the proximity switch (5) is provided with threads, and the proximity switch is fixed with the L-shaped bracket (12) through nuts on two sides of the L-shaped bracket (12).

6. The lift truck according to claim 1, characterized in that said switch is a photoelectric switch, a transmitter and a receiver of said photoelectric switch are arranged on said frame assembly (1), a reflector is arranged in the corresponding position of said mobile portion, and when said mobile portion is in said preset position, said receiver can receive the light emitted by said transmitter and reflected by said reflector, so as to trigger said photoelectric switch.

7. The lift truck of claim 1, wherein the controller is configured to obtain a preset position corresponding to the switch based on a calibration signal sent by the switch, and to perform calibration based on the preset position and the displacement signal.

8. A lift truck as claimed in claim 1, characterised in that said switch is activated when said movable part is at the lowest point of said frame assembly (1).

9. A forklift truck according to claim 1, characterised in that said displacement sensor is a wire encoder (6).

10. The forklift of claim 1, wherein the switch is electrically connected to the controller for sending a calibration signal to the controller, and the controller is electrically connected to the displacement sensor for controlling the clearing of the displacement sensor data based on the calibration signal.