KR20240080466A - Forklift equipped with wireless operation haptic joystick conversion module - Google Patents

Abstract

It relates to a forklift equipped with a wireless operation haptic joystick conversion module that improves work efficiency by improving the safety and convenience of work through wireless operation by adding only a simple wireless operation haptic joystick conversion module to a general manual operation forklift. , a wireless operation that controls the operation of the forklift with either a control command from the manual operation unit or a remote wireless control command, and measures the current consumed for running and leading current and transmits it wirelessly to a wireless joystick. Haptic joystick conversion module communicates wirelessly with the wireless operation haptic joystick conversion module to transmit remote control commands to the wireless operation haptic joystick conversion module, and drives according to the driving current consumption and lifting current consumption transmitted from the wireless operation haptic joystick conversion module. A forklift equipped with a wireless operation haptic joystick conversion module is implemented, including a wireless joystick that controls the operation of the operation joystick and the lifting operation joystick and informs the operator of overload.

Description

Forklift equipped with wireless operation haptic joystick conversion module}

The present invention relates to a forklift equipped with a wireless operation haptic joystick conversion module. In particular, by adding only a simple wireless operation haptic joystick conversion module to a general manual operation forklift, the safety and convenience of work are improved through wireless operation. This relates to a forklift equipped with a wireless operation haptic joystick conversion module to improve efficiency.

In general, a forklift is a device dedicated to loading and unloading cargo. A mast assembly installed vertically in front of a movable trackless vehicle is equipped with forks that lift and lower by hydraulic pressure, allowing the cargo to be lifted and moved easily. Because it can be loaded, it is widely used to transport and load or transfer cargo in logistics centers, discount stores, or equipment factories.

Manual forklifts that are operated by a person directly on board are classified into standing type, walking type, and sit-down type, and are operated manually by a person.

The basic driving functions of a manually operated forklift operated manually by a person include forward driving, backward driving, direction changing driving, speed changing driving, slow driving, and emergency stop functions.

In addition, the basic forklift functions of a manually operated forklift operated manually by a person include lifting up/down tilting front/back and shifting left/right functions.

In addition, the basic switch functions of a manually operated forklift that is manually operated by a person include main power on/off, emergency stop switch, battery level display function, and a function to prevent workers from being caught when reversing.

FIG. 1A is a photograph of a typical manually operated forklift, FIG. 1B is a full-length photograph of a typical manually operated forklift, and FIG. 1C is a configuration diagram of a typical manually operated forklift.

A typical manually operated forklift is equipped with a manual control unit 10 for manual operation. The manual control unit 10 includes a drive control key 11 for controlling the forklift forward, backward, direction, and speed, a port control key 12 for fork up-down, tilting, and shifting operations, and power on/off keys. It may include function operation keys 13 for operating various functions such as off, emergency maintenance, and status display.

In addition, a drive motor driver 21 is provided that operates the drive motor 22 for driving the forklift according to the operation of the drive control key 11, and adjusts the speed by slowing down the power generated by the drive motor 22. A drive reducer 23 is provided.

In addition, a steering motor driver 31 is provided that drives the steering motor 32 for steering according to the operation of the fork operation key 12 and the driving of the drive motor driver 21, and the steering motor 32 A steering reducer 33 is provided to control steering by reducing the generated power.

In addition, it is provided with an integrated driving/steering module 50 that controls the forward/backward, direction, and speed of the forklift according to the driving of the driving reducer 23 and the steering reducer 33.

In addition, a hydraulic motor driver 41 that provides driving force for fork operation according to the operation of the function control key 13 and the steering motor driver 31 is provided, and the steering motor 32 and the hydraulic motor driver 41 ), a power pack 42 that provides power to move the fork up/down, tilting, and shifting the fork, and a fork moving unit 43 that is connected to the power pack 42 to move the fork up/down, tilting, and shifting the fork. Includes.

This general manually operated forklift has a drive motor driver 21, a steering motor driver 31, a drive motor 22, a steering motor 32, a drive reducer 23, according to the manual operation of the drive control key 11. The steering reducer 33 and the driving/steering integrated drive module 50 are interconnected to perform basic driving-related functions. That is, driving-related functions such as forward driving, backward driving, direction change driving, speed conversion function, slow driving, and emergency stop function are operated.

In addition, according to the manual operation of the fork operation key 12, the steering motor driver 31, hydraulic motor driver 41, steering motor 32, power pack 42, and fork moving unit 43 are interlocked, Up/down lift function, tilting function to tilt the master, and left and right movement shift function of the fork are performed.

In addition, the manually operated forklift operates the function control key 13 to turn on/off the main power, emergency stop, display remaining battery power, and prevent the operator from getting caught when reversing.

However, since these manually operated forklifts operate only when the operator operates the manual control keys, there is an inconvenience in that the operator must move the forklift directly.

Therefore, as mentioned above, the inconvenience of workers having to move only by manual operation is eliminated, safety and convenience are improved through wireless operation, convenience is pursued in the overall design of the forklift by adding only a simple overall length to the existing manual forklift, and productivity is improved. There is a demand for a manually operated forklift that can achieve this.

Republic of Korea registered patent 10-1377662 (registered on March 18, 2014) (double-loaded unmanned forklift) Republic of Korea Open Patent No. 10-2020-00770127 (published on June 30, 2020) (electric forklift) Republic of Korea Patent Publication 10-2021-0149982 (published on December 10, 2021) (forklift equipped with auxiliary lighting to improve visibility)

Therefore, the present invention was proposed to solve all the problems occurring in the general manually operated forklift as described above. By adding only a simple wireless operation haptic joystick conversion module to the general manual operated forklift, work can be performed through wireless operation. The purpose is to provide a forklift equipped with a wireless operation haptic joystick conversion module to improve work efficiency by improving safety and convenience.

In order to achieve the above-described object, the “forklift equipped with a wirelessly operated haptic joystick conversion module” according to the present invention,

Manual control unit for manual operation;

A wireless operation haptic that controls the operation of the forklift with either a manual operation command from the manual operation unit or a remote wireless control command, and measures the current consumed for driving and the current consumed for lifting and transmits it wirelessly to a wireless joystick. Joystick conversion module;

A driving unit that operates the driving, steering, and fork according to the driving, steering, and fork control signals generated from the wireless operation haptic joystick conversion module;

An integrated driving/steering module that performs driving and steering operations in conjunction with the driving unit; and

It is characterized in that it includes a fork moving part that moves the fork up/down, tilting, and shifting in conjunction with the driving part.

In the above, the wireless operation haptic joystick conversion module is,

a remote control signal receiver that receives a remote control command generated from the wireless joystick and transmits driving current consumption and lifting current consumption data to the wireless joystick;

A travel motor current sensor that measures the current consumption of the travel motor during driving;

Lifting motor current sensor that measures the current consumption of the lifting motor during lifting;

Controls the driving of the forklift and the fork through a manual control command transmitted through the manual control unit or a remote control command received through the remote control signal receiver, and controls the transmission of driving motor current consumption data and lifting motor current consumption data. It is characterized by including a main control board.

In the above, the wireless operation haptic joystick conversion module is,

a drive encoder that detects the rotation amount of the drive motor provided in the drive unit and transmits it to the main control board;

It includes a steering encoder that detects the rotation amount of the steering motor provided in the driving unit and transmits it to the main control board,

The main control board controls the autonomous driving of the forklift and the movement amount of the fork according to the detected rotation amount of the drive encoder and the steering encoder.

In order to achieve the above-described object, the “forklift equipped with a wirelessly operated haptic joystick conversion module” according to the present invention,

Communicates wirelessly with the wireless operation haptic joystick conversion module to transmit a remote control command to the wireless operation haptic joystick conversion module, and operates the travel operation joystick according to the driving current consumption and lifting current consumption transmitted from the wireless operation haptic joystick conversion module. and a wireless joystick that controls the operation of the lifting operation joystick and informs the operator of overload.

In the above, the wireless joystick is,

A communication module that transmits a remote control command to the wirelessly operated haptic joystick conversion module or receives driving current consumption data and lifting current consumption data transmitted from the wirelessly operated haptic joystick conversion module;

Depending on the operation amount of the driving operation joystick and the lifting operation joystick, remote control commands for driving and lifting remote control are generated and transmitted to the wireless operation haptic joystick conversion module through the communication module, and the received driving current consumption data or lifting consumption data is controlled. a microprocessor for wireless operation that analyzes current data and generates an operation control signal to fix the traveling operation joystick or the lifting operation joystick when it is determined to be in an overload state;

A driving control joystick that generates a remote driving control signal;

A lifting operation joystick that generates a remote lifting operation signal;

a travel operation motor that generates an operation stop signal of the travel operation joystick according to an operation control signal generated by the wireless operation microprocessor;

a first rotation/linear drive unit that fixes the travel operation joystick by applying force in the opposite direction of operation of the travel operation joystick according to an operation stop signal generated from the travel operation motor;

a lifting operation motor that generates an operation stop signal of the lifting operation joystick according to an operation control signal generated by the wireless operation microprocessor;

It is characterized in that it includes a second rotation/linear driving unit that fixes the lifting operation joystick by applying force in the opposite direction of operation of the lifting operation joystick according to an operation stop signal generated from the lifting operation motor.

In the above, the microprocessor for wireless operation is,

If the received driving current consumption is an overload judgment current and the RPM of the driving motor is "0", the driving operation motor is driven in proportion to the received driving current consumption to generate a force that causes the driving operation joystick to operate in the opposite direction of the motion. In the event of a driving overload, the driving control joystick is fixed and the operator is made aware of the driving overload.

In the above, the microprocessor for wireless operation is,

If the received lifting current consumption is an overload judgment current and the RPM of the lifting motor is "0", the lifting operation motor is driven in proportion to the received lifting current consumption to generate a force that causes the lifting operation joystick to operate in the opposite direction of the operation. In the event of a lifting overload, the lifting operation joystick is fixed and the operator is made aware of the lifting overload.

According to the present invention, by adding only a simple wireless operation haptic joystick conversion module to a general manual operation forklift, the safety and convenience of work are improved through wireless operation, thereby improving work efficiency.

In addition, according to the present invention, by operating a manually operated forklift with a wireless joystick, anyone, regardless of gender or age, can become a skilled worker in a short period of time.

In addition, according to the present invention, there is an effect of ensuring safety even when working with a manually operated forklift in an area that the operator is not aware of.

Figure 1a is a photograph of a typical manually operated forklift;
Figure 1b is a full-length photograph of a typical manually operated forklift;
Figure 1c is a schematic diagram of a typical manually operated forklift;
Figure 2 is a configuration diagram of a forklift equipped with a wirelessly operated haptic joystick conversion module according to the present invention.

Hereinafter, a forklift equipped with a wirelessly operated haptic joystick conversion module according to a preferred embodiment of the present invention will be described in detail with reference to the attached drawings.

The terms or words used in the present invention described below should not be construed as limited to their usual or dictionary meanings, and the inventor may appropriately define the concept of the term in order to explain his/her invention in the best way. It must be interpreted with meaning and concept consistent with the technical idea of the present invention based on the principle that it can be done.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are only preferred embodiments of the present invention and do not represent the entire technical idea of the present invention, and therefore various equivalents and It should be understood that variations may exist.

Figure 2 is a configuration diagram of a forklift equipped with a wireless operation haptic joystick conversion module according to a preferred embodiment of the present invention, including a battery 110, a manual operation unit 120, a wireless operation haptic joystick conversion module 150, and a driving unit 160. ), a driving/steering integrated drive module 170, a fork moving unit 140, and a wireless joystick 200.

The battery 110 serves to supply driving power, and the manual operation unit 120 serves to input manual operation commands for manual operation.

This manual operation unit 120 includes a drive operation key 121 that generates a manual operation command to drive the forklift forward, backward, direction, and speed control according to manual operation, up and down of the fork according to manual operation, It may include a fork operation key 122 that generates manual fork operation commands for tilting and shifting operations, and a function operation key 123 that generates manual operation commands for functions including power on/off, emergency stop, and status display. there is.

The wireless operation haptic joystick conversion module 150 controls the operation of the forklift with one of the manual operation commands and remote wireless control commands of the manual operation unit 120, and reduces the current consumption for driving and leading consumption. It measures the current and transmits it wirelessly to the wireless joystick (200).

This wirelessly operated haptic joystick conversion module 150 is attached to a manually operated forklift and serves to operate the manually operated forklift in multiple operation modes including manual operation and remote operation.

To this end, the wireless operation haptic joystick conversion module 150 receives a remote control command generated from the wireless joystick 200 and transmits driving current consumption data and lifting current consumption data to the wireless joystick 200. The signal is transmitted through the signal receiver 156, the traveling motor current sensor 154 that measures the current consumption of the traveling motor during driving, the lifting motor current sensor 155 that measures the current consumption of the lifting motor during lifting, and the manual operation unit 120. The main control board controls the driving of the forklift and the fork through manual control commands or remote control commands received through the remote control signal receiver 156, and controls the transmission of driving motor current consumption data and lifting motor current consumption data. It may include (151).

In addition, the wireless operation haptic joystick conversion module 150 includes a drive encoder 152 that detects the rotation amount of the drive motor provided in the drive unit 160 and transmits it to the main control board 151, and the drive unit 160. It further includes a steering encoder 153 that detects the rotation amount of the steering motor provided in and transmits it to the main control board 151, wherein the main control board 151 includes the drive encoder 152 and the steering encoder 153. ) Controls the autonomous driving of the forklift and the amount of movement of the fork according to the detected rotation amount.

The driving unit 160 serves to operate the driving, steering, and fork according to the driving, steering, and fork control signals generated from the wireless operation haptic joystick conversion module 150.

This drive unit 160 includes a drive motor driver 161 that operates the drive motor 162 for driving the forklift, a drive reducer 163 that adjusts the speed by reducing the power generated by the drive motor 162, and steering. A steering motor driver 164 that drives the steering motor 165, a steering reducer 166 that adjusts steering by reducing the power generated by the steering motor 165, and a steering reducer 166 that controls steering by reducing the power generated by the wireless operation haptic joystick conversion module 150. A hydraulic motor driver 167 that provides driving force according to the fork operation signal, a power pack that provides power to move the fork up/down, tilt, and shift in conjunction with the steering motor 165 and the hydraulic motor driver 167. It may include (168).

The driver 160 and the main control board 151 can transmit and receive signals through CAN communication.

The driving/steering integrated drive module 170 performs driving and steering operations in conjunction with the driving unit 160.

The fork moving unit 140 functions in conjunction with the driving unit 160 to move the fork up/down, tilt, and shift the fork.

The wireless joystick 200 communicates wirelessly with the wirelessly operated haptic joystick conversion module 150 and transmits a remote control command to the wirelessly operated haptic joystick conversion module 150, and the wirelessly operated haptic joystick conversion module 150 It controls the operation of the traveling operation joystick and the lifting operation joystick according to the driving current consumption and lifting current consumption transmitted from and serves to inform the operator of overload.

This wireless joystick 200 transmits a remote control command to the wirelessly operated haptic joystick conversion module 150, or receives driving current consumption data and lifting current consumption data transmitted from the wirelessly operated haptic joystick conversion module 150. A wireless operation haptic joystick conversion module generates remote control commands for driving and lifting remote control according to the manipulation amounts of the communication module 208, the traveling operation joystick 201, and the lifting operation joystick 204, and uses the communication module 208 to generate remote control commands. (150), and if it is determined to be in an overload state by analyzing the received driving current consumption data or lifting current consumption data, an operation control signal is generated to fix the driving operation joystick (201) or the lifting operation joystick (204). a microprocessor 207 for wireless operation, a travel operation joystick 201 generating a remote travel operation signal, a lifting operation joystick 204 generating a remote lifting operation signal, and operations generated by the microprocessor 207 for wireless operation. A travel operation motor 203 that generates an operation stop signal of the travel operation joystick 201 in accordance with a control signal, and a force in the opposite direction of operation of the travel operation joystick 201 in accordance with the operation stop signal generated by the travel operation motor 203. The first rotation/linear drive unit 202 fixes the travel operation joystick 201 by applying a signal to stop the operation of the lifting operation joystick 204 according to the operation control signal generated from the wireless operation microprocessor 207. The lifting operation motor 206 performs a second rotation to fix the lifting operation joystick 204 by applying force in the opposite direction of operation of the lifting operation joystick 204 according to an operation stop signal generated from the lifting operation motor 206. It may include a linear driving unit 205.

The operation of the forklift equipped with the wirelessly operated haptic joystick conversion module according to the present invention configured as described above will be described in detail as follows.

The present invention implements a simple wireless operation haptic joystick conversion module 150 that can operate a manually operated forklift according to a remote wireless operation command, and after mounting it on an existing manually operated forklift, the manually operated forklift is Each block of and the wireless operation haptic joystick conversion module 150 are connected with a communication network and wire signal cable to transmit and receive signals.

Through this wireless operation haptic joystick conversion module 150, the manually operated forklift can be operated in a manual operation mode or in a remote control command mode through wireless.

For example, when the wirelessly operated haptic joystick conversion module 150 is mounted on a manually operated forklift and each component block is connected with a signal cable and a communication network, driving power is supplied to blocks requiring power through the battery 110. supply.

Next, an operation command for the manually operated forklift is generated using the manual control unit 120 or the wireless joystick 200.

The operation command generated in this way is input to the control device (implemented as any one of MCU, CPU, microcomputer, and microcontroller) of the main control board 152 of the wireless operation haptic joystick conversion module 150.

When operating a forklift in a manual operation mode, the user controls the operation of the forklift by operating the drive operation key 121, fork operation key 122, and function operation key 123 of the manual operation unit 120, as before. When a command is input, it is received by the main control board 151 of the wireless operation haptic joystick conversion module 150.

The main control board 151 controls the drive unit 160 connected through can communication according to the manual operation command transmitted, and operates the driving/steering integrated drive module 170 as before to control the forward, backward, direction, and speed of the forklift. etc., and controls the fork moving part 140 to up/down, tilt, and shift the fork.

Here, the operation of the forklift according to the manual operation of the manual operation unit 120 is the same as that of the existing manually operated forklift.

When the forklift starts operating by manual operation, the main control board 151 receives the status signal of the driving unit 160 through CAN communication and displays it through the display unit, allowing the user to recognize the forklift operation information in real time.

On the other hand, when the user issues a remote control command remotely using the wireless joystick 200, the main control board 151 that receives this ignores the signal from the manual operation unit 120 and performs a manual operation according to the remote control command. Controls the operation of the operated forklift.

When operating a manually operated forklift using a wireless joystick 200, the operator operates the travel control joystick 201 or the lifting control joystick 204 of the wireless joystick 200 to move the manually operated forklift or lift it. Manipulate movement. The driving operation signal or lifting operation signal manipulated in this way is generated as a control command in the wireless operation microprocessor 207, and the wireless remote control command is transmitted to the wireless operation haptic joystick conversion module 150 through the communication module 208. .

The main control board 151 of the wireless operation haptic joystick conversion module 150 controls the driving unit 160 connected through CAN communication according to the wireless remote control command received through the remote control signal receiver 156, as before. The driving/steering integrated drive module 170 is operated to control the forward, backward, direction, and speed of the forklift, and the fork moving unit 140 is controlled to up/down, tilt, and shift the fork.

Here, the operation of the forklift according to the wireless remote control command of the wireless joystick 200 is the same as that of the existing manually operated forklift.

When the forklift starts operating with a wireless remote control command from the wireless joystick 200, the main control board 151 measures the current consumed during driving in real time through the travel motor current sensor 154 and detects the remote control signal receiver 156. ) transmits the driving current consumption data wirelessly to the wireless joystick (200).

In addition, when the forklift is lifted by a wireless remote control command of the wireless joystick 200, the main control board 151 measures the current consumed during lifting in real time through the lifting motor current sensor 155 and transmits the remote control signal receiver to the remote control signal receiver. The lifting current consumption data is wirelessly transmitted to the wireless joystick (200) through (156).

Here, the traveling motor current sensor 154 is installed on a conductor connected to the driving motor driver and serves to measure the current consumption of the traveling motor, and the lifting motor current sensor 155 is installed on a conductor connected to the hydraulic motor driver to measure the current consumption of the hydraulic motor. It serves to measure current consumption.

Normally, when normal driving is performed without a load at 60m/min, the driving current consumption rises to an instantaneous current of 100A and then maintains 40A ~ 50A, and when normal driving is performed with a load of 1.5 tons at 60m/min, the driving current consumption increases to 100A. The instantaneous current rises to 110A and then maintains 50A ~ 300A. In situations where driving is impossible due to obstacles in the direction of travel, current consumption rises to over 450A.

The microprocessor 207 for wireless operation in the wireless joystick 200 checks whether the received driving current consumption is an overload judgment current of 310A to 450A, and if the driving current consumption is an overload judgment current, the RPM of the driving motor is " If the RPM of the driving motor is "0", it is determined that driving is not being performed due to an obstacle, and the driving operation motor 203 is driven in proportion to the received driving current consumption. By generating a force that causes the operation joystick 201 to operate in the opposite direction of the operation, the travel operation joystick 201 is fixed in case of a travel overload and the operator is made aware of the travel overload. In other words, if the travel control joystick 201 does not operate while the operator is manipulating the drive using the travel control joystick 201, the operator recognizes that the car is overloaded because the drive is not carried out due to an obstacle or the like.

When a driving overload is recognized, it quickly avoids obstacles or removes the thing causing the overload to prevent the system from being damaged or destroyed due to the overload.

In addition, when stopped with no load and no load, the standby current is 3A, and when lifting up/down, the lifting current consumption ranges from 100A to 230A. When loaded with a 1.5 Ton load, the standby current is 3A, and when lifting up/down, the standby current is 240A. Current consumption occurs up to ~250A. If lifting is impossible because the load is too heavy, the lifting current consumption reaches up to 364A.

The microprocessor 207 for wireless operation in the wireless joystick 200 checks whether the received lifting current consumption is an overload judgment current of 260A to 346A, and if the lifting current consumption is an overload judgment current, the RPM of the lifting motor is " If the RPM of the lifting motor is "0", it is determined that lifting is not performed due to overload or overload lifting has occurred, and the lifting operation motor 206 is operated in proportion to the received lifting current consumption. is driven to generate a force that causes the lifting operation joystick (204) to operate in the opposite direction of the motion, thereby fixing the lifting operation joystick (204) in case of lifting overload and allowing the operator to recognize the lifting overload in real time. In other words, if the lifting operation joystick 204 does not operate while the operator is operating the lifting using the lifting operation joystick 204, lifting is not performed due to overload and it is recognized that the worker is overloaded.

If lifting overload is recognized, quickly stop lifting and remove what is causing the overload to prevent damage or destruction of the system due to lifting overload.

According to the present invention, by adding only a simple wireless operation haptic joystick conversion module to a general manual operation forklift, work efficiency can be improved by improving the safety and convenience of work through wireless operation.

Additionally, according to the present invention, anyone of any age or gender can become a skilled worker in a short period of time by operating a manually operated forklift with a wireless joystick.

In addition, according to the present invention, safety can be guaranteed even when working with a manually operated forklift in an area that the operator is not aware of.

Although the invention made by the present inventor has been described in detail according to the above embodiments, the present invention is not limited to the above embodiments, and various changes can be made without departing from the gist of the invention, as is known in the art. It is self-evident to those who have it.

110: battery
120: manual control panel
121: Drive operation key
122: Fork operation key
123: Function operation keys
140: Fork moving part
150: Wireless operation haptic joystick conversion module
151: main control board
152: Drive encoder
153: Steering encoder
154: Travel motor current sensor
155: lifting motor current sensor
156: Remote control signal receiver
160: Running unit
170: Driving/steering integrated drive module
200: wireless joystick
201: Driving operation joystick
202: First rotary/linear driving unit
203: Driving motion motor
204: Lifting operation joystick
205: Second rotary/linear driving unit
206: Lifting motion motor
207: Microprocessor for wireless operation
208: communication module

Claims (7)

Manual control unit for manual operation;
A wireless operation that controls the operation of the forklift with a control command from either the manual operation command of the manual operation unit or the remote wireless control command, and measures the current consumed for driving and the current consumed for leading and transmits them wirelessly to the wireless joystick. Haptic joystick conversion module;
A driving unit that operates the driving, steering, and fork according to the driving, steering, and fork control signals generated from the wireless operation haptic joystick conversion module;
An integrated driving/steering module that performs driving and steering operations in conjunction with the driving unit; and
A forklift equipped with a wirelessly operated haptic joystick conversion module, comprising a fork moving unit that moves the fork up/down, tilting, and shifting in conjunction with the driving unit.
In claim 1, the wireless operation haptic joystick conversion module,
a remote control signal receiver that receives a remote control command generated from the wireless joystick and transmits driving current consumption and lifting current consumption data to the wireless joystick;
A travel motor current sensor that measures the current consumption of the travel motor during driving;
Lifting motor current sensor that measures the current consumption of the lifting motor during lifting; and
Controls the driving of the forklift and the fork through a manual control command transmitted through the manual control unit or a remote control command received through the remote control signal receiver, and controls the transmission of driving motor current consumption data and lifting motor current consumption data. A forklift equipped with a wirelessly operated haptic joystick conversion module, characterized in that it includes a main control board.
In claim 2, the wireless operation haptic joystick conversion module,
a drive encoder that detects the rotation amount of the drive motor provided in the drive unit and transmits it to the main control board;
It includes a steering encoder that detects the rotation amount of the steering motor provided in the driving unit and transmits it to the main control board,
A forklift equipped with a wireless operation haptic joystick conversion module, wherein the main control board controls the autonomous driving of the forklift and the movement amount of the fork according to the detected rotation amount of the drive encoder and the steering encoder.
In claim 1, a remote control command is transmitted to the wirelessly operated haptic joystick conversion module by wirelessly communicating with the wirelessly operated haptic joystick conversion module, and the driving current consumption and lifting current consumption transmitted from the wirelessly operated haptic joystick conversion module are transmitted. A forklift equipped with a wireless operation haptic joystick conversion module, characterized in that it includes a wireless joystick that controls the operation of the driving operation joystick and the lifting operation joystick and informs the operator of an overload.
In claim 4, the wireless joystick includes:
A communication module that transmits a remote control command to the wirelessly operated haptic joystick conversion module or receives driving current consumption data and lifting current consumption data transmitted from the wirelessly operated haptic joystick conversion module;
Depending on the operation amount of the driving operation joystick and the lifting operation joystick, remote control commands for driving and lifting remote control are generated and transmitted to the wireless operation haptic joystick conversion module through the communication module, and the received driving current consumption data or lifting consumption data is controlled. a microprocessor for wireless operation that analyzes current data and generates an operation control signal to fix the traveling operation joystick or the lifting operation joystick when it is determined to be in an overload state;
A driving control joystick that generates a remote driving control signal;
A lifting operation joystick that generates a remote lifting operation signal;
a travel operation motor that generates an operation stop signal of the travel operation joystick according to an operation control signal generated by the wireless operation microprocessor;
a first rotation/linear drive unit that fixes the travel operation joystick by applying force in the opposite direction of operation of the travel operation joystick according to an operation stop signal generated from the travel operation motor;
a lifting operation motor that generates an operation stop signal of the lifting operation joystick according to an operation control signal generated by the wireless operation microprocessor;
A wireless operation haptic joystick conversion module is provided, comprising a second rotation/linear drive unit that fixes the lifting operation joystick by applying force in the opposite direction of operation of the lifting operation joystick according to an operation stop signal generated from the lifting operation motor. forklift.
In claim 5, the microprocessor for wireless operation,
If the received driving current consumption is an overload judgment current and the RPM of the driving motor is "0", the driving operation motor is driven in proportion to the received driving current consumption to generate a force that causes the driving operation joystick to operate in the opposite direction of the motion. A forklift equipped with a wireless operation haptic joystick conversion module, which fixes the travel operation joystick in case of travel overload and makes the operator aware of the travel overload.
In claim 5, the microprocessor for wireless operation,
If the received lifting current consumption is an overload judgment current and the RPM of the lifting motor is "0", the lifting operation motor is driven in proportion to the received lifting current consumption to generate a force that causes the lifting operation joystick to operate in the opposite direction of the operation. A forklift equipped with a wireless operation haptic joystick conversion module, which fixes the lifting operation joystick in case of lifting overload and makes the operator aware of the lifting overload.

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