WO2022156199A1

WO2022156199A1 - Force-sensing speed control handle

Info

Publication number: WO2022156199A1
Application number: PCT/CN2021/112946
Authority: WO
Inventors: 邵云杰; 潘春江; 陶圣; 徐强; 章俊超; 曹健斌; 王耀明
Original assignee: 浙江金华文瑞机电有限公司
Priority date: 2021-01-21
Filing date: 2021-08-17
Publication date: 2022-07-28
Also published as: CN214383679U

Abstract

A force-sensing speed control handle, comprising a handle body (1), wherein a grip is mounted on the handle body (1); a sensor (4) is mounted in the grip; a control box (5) is mounted on the handle body (1); the control box (5) is provided with a lifting button (6), an interlocking button (7), a horn button (8) and an emergency reverse button (9); and the control box (5) is further internally provided with a signal processing circuit board (10) for detecting a force receiving direction and a received force value of the sensor (4) and carrying out corresponding control output according to the detected force receiving direction and the received force value of the sensor. The sensor can detect a pull force or a push force, and then a forklift is driven to move forward or backward; and the operating speed of the forklift can be determined according to the detected pull force or push force, thereby achieving more intelligent control.

Description

A force-sensitive speed control handle

technical field

The utility model belongs to the technical field of handling equipment, in particular to a force-sensing speed control handle.

Background technique

The manual forklift is widely used in the transportation industry. Its small structure and flexible use make it work in various complex environments. The existing manual forklift mainly relies on manpower to pull the forklift to travel, which is inconvenient in use. However, the current control method of electric forklift generally controls the walking speed of the forklift through the Hall-type rotary handle accelerator on the handle. This control method has many problems in use, such as because of The damping of the return spring of the handle accelerator is too low. Due to the frequent starting and stopping of the electric truck, it is difficult to control the required speed signal when the operator is not proficient, and it is easy to accelerate too fast. When an emergency occurs At this time, the user may subconsciously grasp and push the handle, and the handle accelerator cannot be released in time, which may cause safety hazards.

SUMMARY OF THE INVENTION

The utility model proposes a force-sensing speed control handle in view of the problems of inconvenient use and easy occurrence of potential safety hazards in the control mode of the control handle of the electric forklift in the prior art.

The purpose of the invention of the present invention is achieved through the following technical solutions: a force-sensing speed control handle, comprising a handle body, a handle is installed on the handle body, and a sensor for detecting the force condition of the handle is installed in the handle, so A control box is installed on the handle body, the control box is provided with a lifting button, an interlock button, a horn button, and an emergency reverse button, and the control box is also provided with a force direction and force value of the detection sensor. A signal processing circuit board that makes corresponding control output according to the detected force direction and force value of the sensor; the signal processing circuit board includes a force detection module, a power supply module and an MCU, and the force detection module Including an operational amplifier U5, the operational amplifier U5 transmits the analog signal of the sensor to the MCU after amplifying processing; the power module includes a power management chip U2, and the power management chip U2 converts the +24V input power into the signal processing circuit board. +5V power supply required; the No. 1 pin of the MCU receives the signal from the operational amplifier U5, the No. 19 pin of the MCU is the PWM output pin, and the No. 20 pin of the MCU is the direction signal output pin .

In the above solution, the force-sensing speed control handle is installed on the forklift and applied to the electric control of the forklift. The hoisting button on the control box is connected to the hoisting motor relay that controls the lifting of the forklift, the horn button is directly connected to the horn, and the emergency reverse button is connected to the travel motor controller. When the emergency reverse button is pressed, the travel motor will obtain A reverse running control command enables the forklift to run in an emergency reverse direction in the event of an emergency during operation. The signal processing circuit board in the control box receives the analog signal from the sensor, and the signal processing is amplified by the force detection module of the signal processing circuit board and then transmitted to the MCU. The MCU outputs control commands to the forklift according to the force and direction. The controller of the motor controls the running speed and running direction of the walking motor according to the magnitude and direction of the force. The interlock button is not only the safety button of the force-sensing speed control handle, but also the operation hold button. Only when the interlock button is pressed, the travel motor of the forklift will run according to the command, but the interlock will be released when the travel motor of the forklift is running. The button can keep the travel motor of the forklift running at the speed and direction before the release of the interlock button, saving the user's physical strength. Until the force detected on the sensor is very different from the force before the interlock button is released, or the output can be refreshed after the interlock button is pressed again. Make the control of the forklift more intelligent.

Preferably, the handle includes a grip portion and a support portion, the grip portion is laterally installed on the upper end of the handle body, the grip portion protrudes outward relative to the left and right sides of the handle body, and the grip portion is located on the left and right sides of the handle body. The side parts are symmetrically arranged, the left and right sides of the handle body are also fixedly installed with support parts, the other ends of the two support parts are respectively fixedly connected with the two ends of the handle part, and the interior of the handle part is located on the left and right sides of the handle body. A sensor is installed on each of the two sides, and the two sensors are connected in parallel with the input terminal of the operational amplifier U5. There are two sensors installed to meet the usage habits of different users.

Preferably, the sensor is a bidirectional cantilever beam sensor, and the bidirectional cantilever beam sensor is a piezoresistive sensor. The bidirectional cantilever beam sensor can detect the force on the handle in two directions, one direction is the pulling force and the other is the thrust force.

Preferably, the No. 14 pin of the MCU is connected to a button SW1, and the button SW1 is an interlock button on the control box.

Preferably, a button protective cover is provided on the emergency reverse button. Prevent the button from being misoperated.

Preferably, the model of the MCU is N76E003AT20-T.

Preferably, the model of the power management chip U2 is XL1509-5.0E1, and the No. 4 pin of the power management chip U2 is connected to an external switch signal. The No. 4 pin of the power management chip U2 is the power output control pin of the chip, and the power management chip U2 provides power to the signal processing circuit board. By controlling the on-off of the No. 4 pin of the power management chip U2, It can control whether the signal processing circuit board can work with electricity.

Preferably, the resistors R5, R6, R7 and R8 connected to the input end of the operational amplifier U5 are the internal circuit structure of the sensor.

Preferably, a control handle for controlling the unloading of the oil cylinder is also installed on the handle body, and a connecting rod connected with the jacking oil cylinder of the forklift is installed on the control handle. When the forklift lifts to a certain height and needs to be lowered, it is only necessary to pull up the control handle, and the lifting pressure in the oil cylinder can be unloaded through the connecting rod of the control handle, so that the forklift can return to its original height.

Compared with the prior art, the utility model has the following beneficial effects: the sensor can detect the pulling force and the pushing force, and then drive the forklift to move forward or backward; The larger the size, the faster the forklift will run; the emergency reverse button is set to prevent the occurrence of emergencies. The setting of the interlock button not only provides insurance for the operation of the forklift, but also maintains the operation state of the forklift during the operation of the forklift, saving the physical strength of the user and making the control of the forklift more intelligent.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the exploded view of the utility model;

Fig. 3 is the use state diagram 1 of the utility model installed on the forklift;

Fig. 4 is the use state diagram 2 of the utility model installed on the forklift;

FIG. 5 is a circuit structure diagram of a signal processing circuit board.

Markings in the figure: 1. Main body of handle; 2. Handshake part; 3. Support part; 4. Sensor; 5. Control box; 6. Lifting button; 7. Interlocking button; 8. Horn button; 9. Emergency reverse Button; 10, signal processing circuit board; 11, control handle; 12, connecting rod; 13, button protection cover; 14, forklift; 15, power button.

Detailed ways

The present utility model will be further described below in conjunction with the embodiments represented by the accompanying drawings:

Example 1

As shown in FIGS. 1 to 4 , a force-sensitive speed control handle includes a handle body 1 on which a handle is mounted, the handle includes a grip portion 2 and a support portion 3, and the grip portion 2 is laterally installed on the On the upper end of the handle body 1, the handle portion 2 protrudes outward relative to the left and right sides of the handle body 1, and the handle portion 2 is located symmetrically on the left and right sides of the handle body 1. The supporting parts 3 are also fixedly installed respectively, and the other ends of the two supporting parts 3 are respectively fixedly connected with the two ends of the handle part 2, and a sensor 4 is installed inside the handle part 2 on the left and right sides of the handle body, respectively. The two sensors 4 are connected in parallel with the input end of the operational amplifier U5, and the sensor 4 is a piezoresistive bidirectional cantilever beam sensor. A control handle 11 for controlling the unloading of the oil cylinder is also installed on the handle body 1 , and a connecting rod 12 connected with the jacking oil cylinder of the forklift 14 is installed on the control handle 11 . A control box 5 is installed on the handle main body 1, and the control box 5 is provided with a lifting button 6, an interlock button 7, a horn button 8, and an emergency reverse button 9. The emergency reverse button 9 is also installed to prevent the button from misoperation. Button protection cover 13. The control box 5 is also provided with a signal processing circuit board 10 which detects the force direction and force value of the sensor 4 and makes corresponding control output according to the detected force direction and force value of the sensor 4.

As shown in FIG. 5 , the signal processing circuit board 10 includes a force detection module, a power supply module and an MCU, the force detection module includes an operational amplifier U5, and the input end of the operational amplifier U5 is connected to resistors R5, R6, R7, R8 , the resistors R5, R6, R7, R8 are the internal circuit structure of the sensor 4. The operational amplifier U5 amplifies the analog signal of the sensor 4 and transmits it to the MCU; the power module includes a power management chip U2 with a model of XL1509-5.0E1, and the No. 4 pin of the power management chip U2 is connected to the power supply on the forklift 14 The button 15 is used to control the power-on work of the entire forklift 14 and the power-on work of the signal processing circuit board 10 in the control box 5 through the power button 15 . The power management chip U2 converts the +24V input power supply into the +5V power supply required by the signal processing circuit board 10; the No. 1 pin of the MCU receives the signal from the operational amplifier U5, and the No. 19 pin of the MCU can output 0- The PWM output pin of 5V linear voltage is connected to the controller of the walking motor on the forklift 14 to control the speed of the walking motor. The No. 20 pin of the MCU is the direction signal output pin, which is connected to the controller of the walking motor on the forklift 14 to control The running direction of the travel motor. Pin 14 of the MCU is connected to the button SW1, which is the interlock button 7 on the control box 5. The button SW1 is an insurance button, and only when the button SW1 is pressed can the corresponding pins of the MCU output the corresponding control signal to the controller of the traveling motor of the forklift 14, and the forklift 14 will operate according to the corresponding command.

The force-sensing speed control handle is installed on the forklift 14 and used in conjunction with the forklift 14 . The hoisting button 6 on the control box 5 is connected to the hoisting motor relay that controls the hoisting of the forklift 14, the horn button 8 is directly connected to the horn, and the emergency reverse button 9 is connected to the controller of the traveling motor. When the power button 15 on the forklift 14 is pressed and powered on, the signal processing circuit board 10 will receive a reset signal. When the user uses it, pull the handle hard, and the sensor 4 installed in the handshake 2 detects the pulling force. When the pulling force is less than 10N, the MCU has no control signal output, and the forklift 14 does not run. When the detected pulling force is between 10N and 50N, press the interlock button 7, the 19th pin of the MCU outputs a linear 0-5V analog voltage to control the running speed of the travel motor on the forklift 14, the 19th pin of the MCU The higher the voltage output by the pin, the faster the running speed of the traveling motor. At the same time, the No. 20 pin of the MCU outputs the running direction signal of the 24V traveling motor to control the forklift 14 to run in the direction of the user's pulling force. When the pulling force detected by the sensor 4 is greater than 50N, and the interlock button 7 is pressed, the pin 19 of the MCU outputs a 5V analog voltage to control the forklift 14 to run at the fastest speed. When the user pushes the handle, the control logic is the same as when the handle is pulled, and the motor runs in the opposite direction, which will not be repeated here. When the interlock button 7 is released during the running process of the travel motor of the forklift truck 14, the travel motor of the forklift 14 can be kept running at the speed and direction before the release of the interlock button 7 until the force detected by the sensor 4 reaches the release of the interlock button 7. When the difference between the previous force is more than 50N, or after pressing the interlock button 7 again, the output can be refreshed again.

In order to prevent the occurrence of a sudden situation, an emergency reverse button 9 is also set on the control box 5. Usually, the emergency reverse button 9 is in the button protective cover 13 to prevent accidental operation by the user. When the direction is turned, the user can open the button protection cover 13 and push the emergency reverse button 9, and the forklift 14 will immediately run in reverse, and the running speed will be executed at the original running speed.

The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art of the present invention can make various modifications or supplements to the described specific embodiments or replace them in similar ways, but will not deviate from the spirit of the present invention or go beyond the appended claims the defined range.

Claims

A force-sensing speed control handle, comprising a handle body (1), characterized in that a handle is installed on the handle body (1), and a sensor (4) for detecting the force condition of the handle is installed in the handle, and the handle A control box (5) is installed on the handle body (1), and the control box (5) is provided with a lift button (6), an interlock button (7), a horn button (8), and an emergency reverse button (9). ), the control box (5) is also provided with the force direction and force value of the detection sensor (4), and the corresponding control output is made according to the detected force direction and force value of the sensor (4). The signal processing circuit board (10); the signal processing circuit board (10) includes a force detection module, a power supply module and an MCU, the force detection module includes an operational amplifier U5, and the operational amplifier U5 simulates the sensor (4) The quantity signal is amplified and transmitted to the MCU; the power module includes a power management chip U2, and the power management chip U2 converts the +24V input power into the +5V power required by the signal processing circuit board (10); the MCU The No. 1 pin of the MCU receives the signal from the operational amplifier U5, the No. 19 pin of the MCU is the PWM output pin, and the No. 20 pin of the MCU is the direction signal output pin.
A force-sensing speed control handle according to claim 1, characterized in that, the handle comprises a grip portion (2) and a support portion (3), and the grip portion (2) is laterally installed on the handle body (1) The upper end of the handle body (2) protrudes outward relative to the left and right sides of the handle body (1), and the handle body (2) is located symmetrically on the left and right sides of the handle body (1). 1) Supporting parts (3) are also fixedly installed on the left and right sides respectively, and the other ends of the two supporting parts (3) are respectively fixedly connected with the two ends of the handshake part (2), and the handshake part (2) A sensor (4) is installed on each of the left and right sides of the handle body (1) inside, and the two sensors (4) are connected in parallel and then connected to the input end of the operational amplifier U5.
The force-sensing speed control handle according to claim 1, wherein the sensor (4) is a bidirectional cantilever beam sensor, and the bidirectional cantilever beam sensor is a piezoresistive sensor.
A force-sensing speed control handle according to claim 1, characterized in that, the No. 14 pin of the MCU is connected to a button SW1, and the button SW1 is an interlock button (7) on the control box (5).
A force-sensitive speed control handle according to claim 1, characterized in that, a button protective cover (13) is provided on the emergency reverse button (9).
The force-sensing speed control handle according to claim 1, wherein the model of the MCU is N76E003AT20-T.
A kind of force-sensing speed control handle according to claim 1, is characterized in that, the model of described power management chip U2 is XL1509-5.0E1, and the No. 4 pin of power management chip U2 connects external switch signal successively.
The force-sensing speed control handle according to claim 1, wherein the resistors R5, R6, R7, and R8 connected to the input end of the operational amplifier U5 are the internal circuit structure of the sensor (4).
A force-sensing speed control handle according to claim 1, characterized in that, a control handle (11) for controlling the unloading of the oil cylinder is also installed on the handle body (1), and the control handle (11) is mounted on the handle body (1). A connecting rod (12) connected to the jacking cylinder of the forklift is installed.