CN220317349U

CN220317349U - Lifting operation early warning system of electric forklift

Info

Publication number: CN220317349U
Application number: CN202321529023.2U
Authority: CN
Inventors: 杨鹏飞
Original assignee: Zoomlion Heavy Machinery Anhui Industrial Vehicle Co ltd
Current assignee: Zoomlion Heavy Machinery Anhui Industrial Vehicle Co ltd
Priority date: 2023-06-15
Filing date: 2023-06-15
Publication date: 2024-01-09
Anticipated expiration: 2033-06-15

Abstract

The utility model discloses a lifting operation early warning system of an electric forklift, which comprises an inclination sensor arranged on the portal side of the electric forklift, a weighing sensor for measuring the weight of goods, a height sensor for measuring the lifting height, an acceleration sensor for detecting the acceleration of the goods in the lifting operation process, a controller module electrically connected with the inclination sensor, the weighing sensor, the height sensor and the acceleration sensor, a display module electrically connected with the controller module and used for displaying data pages, and a warning module electrically connected with the controller module and used for sending warning information. According to the lifting operation early warning system of the electric forklift, information is collected through the plurality of sensors, warning and prompting in forklift operation engineering can be achieved, and standardized setting and abnormal condition pre-reminding before forklift lifting operation are achieved.

Description

Lifting operation early warning system of electric forklift

Technical Field

The utility model belongs to the technical field of forklifts, and particularly relates to a lifting operation early warning system of an electric forklift.

Background

At present, the lifting operation management of the electric fork lift industry on vehicles is in a relatively extensive stage, and is mostly based on the fact that a single sensor collects signals or only a camera and other devices are arranged to monitor the lifting of goods in front of a portal frame.

Patent document publication number CN114593117a discloses a forklift load weight measuring system and method based on lift cylinder pressure measurement. The method comprises the steps of obtaining a pressure analog quantity value of a hydraulic loop of a lifting hydraulic cylinder through a pressure acquisition module, obtaining the pressure analog quantity value of the hydraulic loop of the lifting hydraulic cylinder through the pressure acquisition module, sending the pressure digital quantity value to a main control module, obtaining a pressure-load relation by using a least square method through an off-line calibration mode, calculating by the main control module according to the pressure digital quantity according to the pressure-load relation to obtain load weight, communicating the load weight calculated by the main control module to a forklift instrument display module through a CAN bus communication module, and displaying the load weight through the forklift instrument display module.

In the above patent document, a pressure acquisition module is used for acquiring the pressure analog value of a hydraulic circuit of a lifting hydraulic cylinder, and an analog-to-digital conversion module is used for converting the pressure analog value into a pressure digital value; the digital quantity value is transmitted to a main control module. And obtaining a pressure-load weight relation through a least square method module, and calculating to obtain the load weight through a main control module according to the pressure-load weight relation. And the CAN communication module communicates the load weight calculated by the main controller module to the forklift instrument display module for display.

The first problem of the above patent document is that the least square method is a fitting calculation, and when the data sample distribution dispersion is large, the fitted linear curve may cause a part of data errors to be large, and the above patent document defines the weighing system as trade settlement in the expression, and the weighing precision is not described. According to the actual application of finished products on the market, the error is usually about 5-15%, and can only be used as an estimated weighing, but not as a settlement basis.

The second problem of the above patent document is that the value section in the lifting process of the forklift is not defined, and it is known that the forklift has a problem that the speed is slow to fast to a stable point when lifting, and the weight at the stable point should be taken when weighing, so as to avoid the interference of the lifting acceleration and other similar factors on the weight of the goods.

Disclosure of Invention

The present utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, the utility model provides a lifting operation early warning system of an electric forklift, and aims to realize standardized setting before lifting operation of the forklift and pre-prompt of abnormal conditions.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows: the lifting operation early warning system of the electric forklift comprises an inclination sensor arranged on the portal side of the electric forklift, a weighing sensor used for measuring the weight of goods, a height sensor used for measuring the lifting height, an acceleration sensor used for detecting the acceleration amount of the goods in the lifting operation process, a controller module electrically connected with the inclination sensor, the weighing sensor, the height sensor and the acceleration sensor, a display module electrically connected with the controller module and used for displaying data pages, and a warning module electrically connected with the controller module and used for sending warning information.

The inclination angle sensor is a current type, voltage type, MODBUS bus type or CAN bus type inclination angle sensor.

The weighing sensor is a tension sensor arranged at a portal chain of the electric forklift.

The height sensor is a pull-wire sensor.

The display module is a touch screen.

The warning module is a warning lamp or a buzzer.

According to the lifting operation early warning system of the electric forklift, information is collected through the plurality of sensors, warning and prompting in forklift operation engineering can be achieved, and standardized setting and abnormal condition pre-reminding before forklift lifting operation are achieved.

Drawings

The present specification includes the following drawings, the contents of which are respectively:

FIG. 1 is a schematic diagram of a lift operation early warning system of an electric fork lift truck according to the present utility model;

FIG. 2 is a schematic diagram of a tilt sensor configuration;

FIG. 3 is a schematic diagram of static pre-lift weighing;

marked in the figure as:

1. an electric forklift; 2. a sensor unit; 3. an inclination sensor; 4. a weighing sensor; 5. a height sensor; 6. an acceleration sensor; 7. a controller module; 8. a display module; 9. and a warning module.

Detailed Description

The following detailed description of the embodiments of the utility model, given by way of example only, is presented in the accompanying drawings to aid in a more complete, accurate and thorough understanding of the concepts and aspects of the utility model, and to aid in its practice, by those skilled in the art.

As shown in fig. 1, the utility model provides a lifting operation early warning system of an electric forklift, which comprises an inclination sensor 3 arranged on a portal side of the electric forklift, a weighing sensor 4 for measuring the weight of goods, a height sensor 5 for measuring the lifting height, an acceleration sensor 6 for detecting the acceleration amount of the goods in the lifting operation process, a controller module 7 electrically connected with the inclination sensor 3, the weighing sensor 4, the height sensor 5 and the acceleration sensor 6, a display module 8 electrically connected with the controller module 7 and used for displaying data pages, and a warning module 9 electrically connected with the controller module 7 and used for sending warning information. The lifting operation early warning system is used for realizing that an operator uses the vehicle under the condition of meeting the safety working condition of the vehicle, and prompting the driver to pay attention to the abnormal point through sound and light when the safety working condition is not met and the active triggering condition is not met. When the active triggering condition is reached, the lifting operation of the electric forklift is actively controlled.

Specifically, as shown in fig. 1, the sensor unit 2 is a signal acquisition component and is mounted on the electric forklift 1, and in this embodiment, the sensor unit 2 is composed of an inclination sensor 3, a weighing sensor 4, a height sensor 5, and an acceleration sensor 6. The inclination sensor 3 is installed on the portal side of the electric fork truck, and CAN be selected from a current type, a voltage type, a MODBUS bus type and a CAN bus type.

For convenience of control, in this embodiment, the tilt sensor 3 is a CAN bus type tilt sensor, and various settings CAN be implemented as shown in fig. 2. The tilt sensor 3 CAN support multi-node expansion due to the adoption of the CAN bus, has the capability of multi-point processing after the parameters are set by inquiring, and the controller module 7 CAN exclude unreliable tilt signals according to a set strategy, so that the false alarm rate is greatly reduced, and the parameters CAN be conveniently transferred to a new sensor after the sensor fails, so that the maintenance time is shortened. The transmission rate from 125K bps to 1M bps can be set according to the site requirement, so as to meet the communication requirement, and the default is 125K bps in the embodiment. The zero point can be provided with an absolute zero point and a relative zero point, and the relative zero point takes the currently measured angle as the zero point; the absolute zero is zero at 0 °. The signal output frequency is supported and set, so that high-frequency output in one sampling period can be realized, and the situation of control lag caused by sampling lag is avoided.

The effectiveness and accuracy of the load cell 4, which is a key component for measuring the weight of the cargo, are directly related to the actual effect of the whole system. In the present embodiment, a tension sensor is used as the load cell 4. The weighing sensor 4 is arranged at the portal chain of the electric forklift, and the static perpendicularity of the chain can be adjusted, so that the chain is regarded as a rigid part in the lifting process, the deformation is negligible, and the weight of goods can be obtained by measuring the tension of the chain.

The height sensor 5 is used as a component for measuring the lifting height, and in this embodiment, a pull-wire type sensor is used as the height sensor 5. The stay wire sensor has the advantages of simple installation, stainless steel stay wires affected by temperature, small elastic deformation and the like, and when the sensor acquires signals, data are transmitted to the controller module 7 through the CAN bus.

The acceleration sensor 6 is used for detecting the acceleration amount during the lifting operation, and in this embodiment, the acceleration sensor 6 transmits the collected signal to the controller module 7 through the CAN bus. The acceleration sensor 6 CAN select an X axis or a Y axis to detect the acceleration in the axial direction, two pins are connected into a positive power supply electrode and a negative power supply electrode, and the other two pins are CAN-H and CAN-L wires respectively and are used as CAN communication transmission lines.

The controller module 7 is installed on the body of the electric forklift, when the controller module 7 receives data transmitted by the sensor unit 2 through the CAN bus, the controller module 7 performs active or passive control after internal logic judgment and operation processing, and a control strategy is described with reference to a legend:

1. weighing before static lifting: when the forklift is used for carrying out cargo lifting operation, the cargoes are required to be weighed, signals are collected through the inclination angle sensor 3, the height sensor 5 and the acceleration sensor 6, and the inclination angle sensor 3, the height sensor 5 and the acceleration sensor 6 transmit collected data to the controller module 7; when the inclination sensor 3 detects that the current cargo is located at the horizontal position, the height sensor 5 detects that the height of the current cargo is lower than 200mm and the acceleration sensor 6 detects that the acceleration of the cargo does not exceed the set threshold value, three working conditions are 3 seconds, a signal transmitted by the current weighing sensor 4 is placed in a trusted interval, and the controller module 7 performs weight measurement. The controller module 7 determines whether the current cargo weight is allowed to be lifted. When the weight of the goods does not trigger the active intervention or the passive reminding strategy, the goods are allowed to be lifted, and the display module 8 displays the current weight of the goods in an image-text mode.

When active intervention is triggered or when a passive reminding strategy is triggered, cargo is not allowed to be lifted. At this time, the controller module 7 sends out a prompt through the display module 8 and the warning module 9 to inform personnel that the current lifting operation is abnormal.

According to the utility model, the inclination sensor is added to detect the horizontal condition of the current fork, so that the overturning risk caused by the inclination of the goods in the lifting process can be effectively avoided, and the lower limit value of the height of 200mm is added, so that the safety risk of too low or too high of the fork to vehicles and personnel can be avoided; the acceleration signal acquisition is added, so that whether the goods are in the ascending or descending process can be effectively judged, and the weighing of the goods can be kept in a relatively stable environment for metering, so that the accuracy is improved.

2. Weighing in the lifting process: when the static judgment is made that the goods can be lifted at the moment, and when the preset operation height is determined at the moment, an operator inputs the operation height at the controller module 7, the judgment is made by the load curve relation written in the controller module 7 in advance, and when the allowable load of the preset height is smaller than the static weighing value, the alarm prompt is made. If the current working height cannot be determined, the height sensor 5 detects the real-time height of the goods, the acceleration sensor 6 detects the real-time acceleration of the goods, and the current weight of the goods is corrected. When the weighing amount is not more than 15% of the current allowable value, the electric fork lift is triggered passively, when the weighing amount is more than 15%, active intervention is carried out, and the controller module 7 sends a control instruction to the electric fork lift 1 to stop lifting action.

3. The controller module 7 algorithm: under the condition of equal-precision repeated measurement, some measured values are sometimes found to deviate from the arithmetic average value of measurement more, namely, the absolute value of the residual error of the measured values is larger. For this type of suspicious values we cannot neither discard easily because the well obtained measurement values are not sufficiently based nor treat as normal values without any principle. The present utility model differs from the prior art in that the data is processed once by the leydig criterion. And eliminating coarse errors. The standard weight block is used as a reference quantity, the tension at the moment is measured through different working conditions under the environment, and the tension data is set as x _i (i＝0,1,2...n)，Is an arithmetic mean.

I.e.

And (5) processing the processed data by a least square method to obtain a first-order linear formula of the load weight and the tension. The relation is written to the controller module, and the 3 sigma value according to the rhinacid criterion is also written to the controller module as a standard control value. And the tension deviation of the subsequent real-time sampling is larger than 3 sigma, and the data is automatically removed. The display module 8 remains displaying "in measurement" until the weight is output after the data is authentic.

The display module 8 is a display unit, and in this embodiment, the display module 8 adopts a touch screen for displaying a data page. After the signals collected by the sensor unit 2 are converted by the controller module 7 through the CAN bus, the display module 8 displays the data of height, inclination angle, weight and the like. When there is an abnormality, the display module 8 displays the abnormality by a graphic-text manner.

The warning module 9 is a warning lamp or a buzzer. When the warning module 9 receives the abnormal signal sent by the controller module 7, audible and visual warning is carried out through a warning lamp or a buzzer installed on the electric forklift 1.

The utility model is described above by way of example with reference to the accompanying drawings. It will be clear that the utility model is not limited to the embodiments described above. As long as various insubstantial improvements are made using the method concepts and technical solutions of the present utility model; or the utility model is not improved, and the conception and the technical scheme are directly applied to other occasions and are all within the protection scope of the utility model.

Claims

1. Electric fork truck's promotion operation early warning system, its characterized in that: including setting up in electric fork truck's portal side inclination sensor, be used for measuring the weighing sensor of goods weight, be used for measuring the high sensor of lifting height, be used for detecting the acceleration transducer of the goods in the operation in-process of lifting, be the controller module who is connected with inclination sensor, weighing sensor, high sensor and acceleration transducer for the electricity, be connected and be used for showing the display module of data page with the controller module and be connected and be used for sending warning information's warning module for the electricity with the controller module.

2. The lift operation early warning system of an electric forklift according to claim 1, wherein: the inclination angle sensor is a current type, voltage type, MODBUS bus type or CAN bus type inclination angle sensor.

3. The lift operation early warning system of an electric forklift according to claim 1, wherein: the weighing sensor is a tension sensor arranged at a portal chain of the electric forklift.

4. The lift operation early warning system of an electric forklift according to claim 1, wherein: the height sensor is a pull-wire sensor.

5. The lift operation early warning system of an electric forklift according to any one of claims 1 to 4, wherein: the display module is a touch screen.

6. The lift operation early warning system of an electric forklift according to any one of claims 1 to 4, wherein: the warning module is a warning lamp or a buzzer.