CN111776992A - Forklift walking lifting and tilting linkage safety system - Google Patents
Forklift walking lifting and tilting linkage safety system Download PDFInfo
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- CN111776992A CN111776992A CN202010544023.4A CN202010544023A CN111776992A CN 111776992 A CN111776992 A CN 111776992A CN 202010544023 A CN202010544023 A CN 202010544023A CN 111776992 A CN111776992 A CN 111776992A
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- 230000001788 irregular Effects 0.000 abstract description 8
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07513—Details concerning the chassis
- B66F9/07531—Battery compartments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
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- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to a lifting and tilting linkage safety system for the walking of a forklift, which comprises a storage battery B, a power switch S1, a DC-DC power converter, a traction controller, a traction motor M1, a traction motor encoder, a key switch K1, a forward direction switch S2, a backward direction switch S3, an accelerator SR1, a pump motor controller, a pump motor M2, a pump motor encoder, a 1-meter lifting height switch, a 3-meter lifting height switch, a lifting action switch S4, a gantry forward tilting action switch S5, a gantry backward tilting action switch S6, a pressure switch S7 and a gantry tilting position sensor SQ 1. The invention can prevent the forklift from traveling at a higher speed under the states of full load, high lifting and forward tilting of the gantry, thereby improving the operation safety of the forklift; unsafe factors caused by irregular driving are automatically identified from the electrical control of the forklift, the efficiency of limiting error operation is carried out step by step, and the operation confidence of a driver is increased.
Description
Technical Field
The invention relates to the technical field of electric forklifts, in particular to a safety system for walking, lifting and tilting linkage of a forklift.
Background
The basic functions of a conventional forklift include three functions of walking, lifting and tilting, and the speed control of the three functions are usually independent and independent from each other, which causes some unsafe factors in the operation of the forklift, such as: when the forklift is in a full-load state, the door frame is lifted higher and tilts forwards, and at the moment, if the forklift runs at a higher speed, the vehicle is easy to have a rollover accident, so that the driver manual of the forklift refers to a warning that the door frame needs to fall and tilt backwards to be in place during running. However, many forklift drivers in actual production still pursue operation efficiency and neglect operation warning, which causes safety production accidents.
Therefore, the development of a forklift walking, lifting and tilting linkage safety system is urgently needed, so that the situation that a forklift which is fully loaded, lifted and tilted forward is prevented from walking at a higher speed is avoided, unsafe factors caused by irregular driving are avoided from the aspect of forklift electrical control, and irregular driving habits of a forklift driver are corrected.
Disclosure of Invention
The invention aims to provide a forklift walking, lifting and inclining linkage safety system which can prevent a forklift from walking at a higher speed when the forklift is fully loaded, lifted and tilted, and prevent unsafe factors caused by irregular driving from electrical control of the forklift.
In order to achieve the purpose, the invention adopts the following technical scheme: a lift-up and inclination linkage safety system for the walking of a forklift comprises a storage battery B, a power switch S1, a DC-DC power converter, a traction controller, a traction motor M1, a traction motor encoder, a key switch K1, a forward direction switch S2, a backward direction switch S3, an accelerator SR1, a pump motor controller, a pump motor M2, a pump motor encoder, a 1-meter lift height switch, a 3-meter lift height switch, a lift action switch S4, a gantry forward tilting action switch S5, a gantry backward tilting action switch S6, a pressure switch S7 and a gantry inclination position sensor SQ 1;
the anode of the storage battery B is respectively connected with the +48V power supply input end of the DC-DC power supply converter, the driving power supply input end B of the traction controller and the driving power supply input end B + of the pump motor controller through a power switch S1, the negative pole of the storage battery B is respectively connected with the negative pole end of the DC-DC power converter, the negative pole end B of the traction controller and the negative pole end B of the pump motor controller, the +12V output end of the DC-DC power converter is respectively connected with the control power input end KEY of the traction controller and the control power input end KEY of the pump motor controller through a KEY switch K1, and the +12V output end of the DC-DC power converter is respectively supplied with power to a lifting action switch S4, a gantry forward tilting action switch S5, a gantry backward tilting action switch S6, a pressure switch S7 and a gantry tilting position sensor SQ1 through a KEY switch K1;
the driving output end U, V, W of the traction controller is connected with a traction motor M1, a traction motor encoder for detecting the rotating speed and the rotating direction of the traction motor is installed on the traction motor M1, the output end of the traction motor encoder is connected with the D input end of the traction controller, a first signal input end FORWARD of the traction controller is connected with one end of a FORWARD direction switch S2, a second signal input end BACKWARD of the traction controller is connected with one end of a BACKWARD direction switch S3, a third signal input end CPOT of the traction controller is connected with one end of an accelerator SR1, a CAN port of the traction controller is connected with a CAN port of a pump motor controller, the other end of the FORWARD direction switch S2, the other end of the BACKWARD direction switch S3 and the other end of the accelerator SR1 are connected in parallel and then connected between a KEY switch K1 and a control power supply input end KEY of the pump motor controller;
the driving output end U, V, W of the pump motor controller is connected with a pump motor M2, a pump motor encoder for detecting the rotating speed of the motor is installed on the pump motor M2, the output end of the pump motor encoder is connected with the D input end of the pump motor controller, and the first, second, third, fourth, fifth, sixth and seventh signal input ends of the pump motor controller are respectively connected with a 1-meter lifting height switch, a 3-meter lifting height switch, a lifting action switch S4, a gantry forward tilting action switch S5, a gantry backward tilting action switch S6, a pressure switch S7 and a gantry tilting position sensor SQ1 in a one-to-one correspondence mode.
The traction controller employs an ACE2-350 controller and the pump motor controller employs an ACE2-500 controller.
The power switch S1 is an emergency stop type mechanical switch, the forward direction switch S2, the backward direction switch S3, the lifting action switch S4, the gantry forward tilting action switch S5 and the gantry backward tilting action switch S6 are all analog quantity conversion switches, and the pressure switch S7 is a normally open type pressure switch; the accelerator SR1 is a voltage type output potentiometer, the gantry inclined position sensor SQ1 is a resistance type displacement sensor, and a lifting height switch of 1 meter and a lifting height switch of 3 meters are Hall type photoelectric switches.
According to the technical scheme, the beneficial effects of the invention are as follows: firstly, the invention can prevent the forklift from traveling at a higher speed under the states of full load, high lifting and forward tilting of the gantry, thereby improving the operation safety of the forklift; secondly, unsafe factors caused by irregular driving are automatically recognized from the electrical control of the forklift, the efficiency of limiting wrong operation is gradually increased, the irregular driving habits of a forklift driver are corrected, and the operation confidence of the driver is increased.
Drawings
Fig. 1 is a circuit schematic of the present invention.
Detailed Description
As shown in fig. 1, a lift-tilt linkage safety system for the walking of a forklift comprises a storage battery B, a power switch S1, a DC-DC power converter, a traction controller, a traction motor M1, a traction motor encoder 1, a key switch K1, a forward direction switch S2, a backward direction switch S3, an accelerator SR1, a pump motor controller, a pump motor M2, a pump motor encoder 2, a 1-meter lift height switch 3, a 3-meter lift height switch 4, a lift action switch S4, a gantry forward tilt action switch S5, a gantry action switch S6, a pressure switch S7 and a gantry tilt position sensor SQ 1;
the anode of the storage battery B is respectively connected with the +48V power supply input end of the DC-DC power supply converter, the driving power supply input end B of the traction controller and the driving power supply input end B + of the pump motor controller through a power switch S1, the negative pole of the storage battery B is respectively connected with the negative pole end of the DC-DC power converter, the negative pole end B of the traction controller and the negative pole end B of the pump motor controller, the +12V output end of the DC-DC power converter is respectively connected with the control power input end KEY of the traction controller and the control power input end KEY of the pump motor controller through a KEY switch K1, and the +12V output end of the DC-DC power converter is respectively supplied with power to a lifting action switch S4, a gantry forward tilting action switch S5, a gantry backward tilting action switch S6, a pressure switch S7 and a gantry tilting position sensor SQ1 through a KEY switch K1;
the driving output end U, V, W of the traction controller is connected with a traction motor M1, a traction motor encoder 1 for detecting the rotating speed and the rotating direction of the traction motor is installed on the traction motor M1, the output end of the traction motor encoder 1 is connected with the D input end of the traction controller, a first signal input end FORWARD of the traction controller is connected with one end of a FORWARD direction switch S2, a second signal input end BACKWARD of the traction controller is connected with one end of a BACKWARD direction switch S3, a third signal input end CPOT of the traction controller is connected with one end of an accelerator SR1, a CAN port of the traction controller is connected with a CAN port of a pump motor controller, the other end of the FORWARD direction switch S2, the other end of the BACKWARD direction switch S3 and the other end of the accelerator SR1 are connected in parallel and then connected between a KEY switch K1 and a control power supply input end KEY of the pump motor controller;
the drive output end U, V, W of the pump motor controller is connected with a pump motor M2, a pump motor encoder 2 for detecting the rotating speed of the motor is installed on a pump motor M2, the output end of the pump motor encoder 2 is connected with the D input end of the pump motor controller, and the first, second, third, fourth, fifth, sixth and seventh signal input ends of the pump motor controller are respectively connected with a lifting height switch 3 of 1 meter, a lifting height switch 4 of 3 meters, a lifting action switch S4, a gantry forward tilting action switch S5, a gantry backward tilting action switch S6, a pressure switch S7 and a gantry tilting position sensor SQ1 in a one-to-one correspondence mode.
As shown in FIG. 1, the traction controller employs an ACE2-350 controller and the pump motor controller employs an ACE2-500 controller. The power switch S1 is an emergency stop type mechanical switch, the forward direction switch S2, the backward direction switch S3, the lifting action switch S4, the gantry forward tilting action switch S5 and the gantry backward tilting action switch S6 are all analog quantity conversion switches, and the pressure switch S7 is a normally open type pressure switch; the accelerator SR1 is a voltage type output potentiometer, the gantry inclined position sensor SQ1 is a resistance type displacement sensor, and the 1m lifting height switch 3 and the 3 m lifting height switch 4 are Hall type photoelectric switches.
The 1-meter lifting height switch 3 and the 3-meter lifting height switch 4 are used for detecting the lifting state of the forklift gantry, are normally-open Hall type photoelectric switches, and when the lifting height of the forklift is lower than 1 meter, the 1-meter lifting height switch 3 and the 3-meter lifting height switch 4 are both open circuits, and the gantry is judged to be in a low-position lifting state; when the lifting height of the pallet fork exceeds 1 meter and is less than 3 meters, the lifting height switch 3 with the length of 1 meter is closed, the lifting height switch 4 with the length of 3 meters is opened, and the gantry is judged to be in a middle lifting state. When the lifting height of the fork exceeds 3 meters, the lifting height switch 3 with the length of 1 meter and the lifting height switch 4 with the length of 3 meters are both closed, and the fork truck gantry is in a high-position lifting state.
The lifting action switch S4, the gantry forward tilting action switch S5 and the gantry backward tilting action switch S6 are execution action switches and are consistent with hydraulic action control switches of common electric forklifts.
The pressure switch S7 is arranged in a hydraulic oil circuit of a forklift lifting oil cylinder, whether the forklift is loaded or not is judged by detecting the pressure at the bottom of the oil cylinder, the closing pressure of the pressure switch S7 is set to be 5MPa, the forklift is in an idle load or light load state, and the pressure switch S7 is opened; if the forklift is in a heavy load state, the pressure of the bottom of the lifting oil cylinder exceeds 5Mpa, the pressure switch S7 is closed, and the heavy load state of the forklift is judged.
The mast inclined position sensor SQ1 is mounted on the mast and used for judging the inclined state of the mast, and can judge whether the mast is in a retroversion state or a non-retroversion state, when the feedback voltage of the mast inclined position sensor SQ1 is less than 6V, the mast inclined position sensor SQ1 judges that the mast is in the retroversion state, and when the feedback voltage of the mast inclined position sensor SQ1 is greater than or equal to 6V, the mast inclined position sensor SQ1 judges that the mast is.
The working principle of the invention is as follows:
1. the forklift is started from a stop-off state, a power switch S1 is pressed, a key switch K1 is switched on, a vehicle is started, at the moment, a pump motor controller detects information from a 1-meter lifting height switch 3, a 3-meter lifting height switch 4, a pressure switch S7 and a gantry inclined position sensor SQ1, the initial state of the forklift is judged, and the following description is carried out on the aspect of controlling the operation speed of the forklift in different starting initial states:
1.1, the initial state is that a lifting height switch 3 with the length of 1 meter is open, and a lifting height switch 4 with the length of 3 meters is open, which indicates that the forklift is in a low-level lifting state; the mast tilt position sensor SQ1 determines that the mast is in a backward tilt state, and the system does not determine the on and off states of the pressure switch S7 because the mast is in a low-rise state. At the moment, the lifting, the tilting and the walking are operated, the speed is not limited and can reach the maximum value, namely the maximum speed of no-load lifting is 500mm/s, the maximum speed of full-load lifting is 360mm/s, the maximum value of tilting speed is 6 degrees/s, the maximum value of walking speed is 14.4km/h, and the walking acceleration is 4m/s2。
1.2, the initial state is that a lifting height switch 3 with the length of 1 meter is open, and a lifting height switch 4 with the length of 3 meters is open, which indicates that the forklift is in a low-level lifting state; the mast tilt position sensor SQ1 determines that the mast is in a non-recline state, and the system does not determine the on and off states of the pressure switch S7 because the mast is in a low-rise state. At the moment, the operation is lifted, a lifting action switch S4 is closed, a pump motor controller receives lifting signals, integrates 1-meter lifting height switch 3 open-circuit signals, 3-meter lifting height switch 4 open-circuit signals and gantry inclination position sensor SQ1 non-backward tilting state signals, controls the rotating speed of a pump motor M2 to be 50% of the maximum value when the no-load lifting speed is carried out, detects the rotating speed of a pump motor M2 through a pump motor encoder 2, and the maximum speed of the no-load lifting under the working condition is 250 mm/S; at the moment, the operation of the tilting motion is carried out, the tilting speed is not limited, and the tilting speed can reach the maximum value of 6 degrees/s; operating the vehicle to walk at the moment, switching on a forward direction switch S2 or a backward direction switch S3, stepping on an accelerator SR1, receiving a walking operation signal by a traction controller, integrating a 1-meter lifting height switch 3 open-circuit signal, a 3-meter lifting height switch 4 open-circuit signal and a gantry inclination position sensor SQ1 non-backward tilting state signal transmitted by a pump motor controller, thereby controlling the rotating speed of a traction motor M1 to be 50% of the maximum walking speed and the rotating angular acceleration of the motor to be 50% of the maximum walking speed, detecting the rotating speed and the angular acceleration of the traction motor M1 by a traction motor encoder 1, feeding the rotating speed and the angular acceleration back to the traction controller to form closed-loop control, wherein the maximum walking speed of the working condition is 7.2km/h2。
1.3 initial state is 1m lifting height switch 3 closed, 3 m lifting height switch4, opening a circuit to indicate that the forklift is in a middle lifting state; the pressure switch S7 is opened, which indicates that the forklift is unloaded or lightly loaded; the mast tilt position sensor SQ1 determines that the mast is in a reclined state. At the moment, the operation is lifted, a lifting action switch S4 is closed, a pump motor controller receives a lifting signal, and the rotating speed of a pump motor M2 is not controlled due to a backward tilting state signal of a gantry tilting position sensor SQ1, so that the no-load lifting speed can reach 100% of the maximum value, namely 500 mm/S; at the moment, the operation of the tilting motion is carried out, the tilting speed is not limited, and the tilting speed can reach the maximum value of 6 degrees/s; operating the vehicle to walk at the moment, switching on a forward direction switch S2 or a backward direction switch S3, stepping on an accelerator SR1, receiving a walking operation signal by a traction controller, integrating a 1-meter lifting height switch 3 open-circuit signal, a 3-meter lifting height switch 4 open-circuit signal and a gantry tilt position sensor SQ1 backward tilting state signal transmitted by a pump motor controller, thereby controlling the rotating speed of a traction motor M1 to be 50% of the maximum walking speed and the rotating angular acceleration of the motor to be 50% of the maximum walking speed, detecting the rotating speed and the angular acceleration of the traction motor M1 through a traction motor encoder 1, feeding the rotating speed and the angular acceleration back to the traction controller to form closed-loop control, wherein the maximum walking speed of the working condition is 7.2km/h, and2。
1.4, in the initial state, the 1-meter lifting height switch 3 is closed, and the 3-meter lifting height switch 4 is open, which indicates that the forklift is in a middle lifting state; pressure switch S7 is closed, indicating a heavy forklift load; the mast tilt position sensor SQ1 determines that the mast is in a reclined state. At the moment, the operation is lifted, a lifting action switch S4 is closed, a pump motor controller receives a lifting signal, a gantry inclined position sensor SQ1 is in a backward tilting state, the rotating speed of a pump motor M2 is not controlled and controlled because the gantry is in the backward tilting state, and the maximum value is 100 percent (360 mm/S) when the heavy-load lifting speed is carried out; at the moment, the operation is performed with forward tilting action, a gantry forward tilting action switch S5 is closed, a pump motor controller receives a gantry forward tilting action switch S5 signal, a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 opening signal are integrated, a gantry tilting position sensor SQ1 backward tilting state signal controls the rotating speed of a pump motor M2 to be 50% of the maximum forward tilting speed, the rotating speed of the pump motor M2 is detected through a pump motor encoder 2, and the maximum forward tilting speed of the working condition is 3 degrees/S; at the moment, the operation is backward movedWhen the door frame backward tilting action switch S6 is closed, the backward tilting speed is not limited and can reach the maximum value of 6 degrees/S; operating the vehicle to walk at the moment, switching on a forward direction switch S2 or a backward direction switch S3, stepping on an accelerator SR1, receiving a walking operation signal by a traction controller, integrating a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 opening signal transmitted by a pump motor controller, and a gantry tilt position sensor SQ1 backward tilting state signal, so as to control the rotating speed of a traction motor M1 to be 50% of the maximum walking speed and the rotating angular acceleration of the motor to be 50% of the maximum walking speed, detecting the rotating speed and the angular acceleration of the traction motor M1 by a traction motor encoder 1, feeding the rotating speed and the angular acceleration back to the traction controller to form closed-loop control, wherein the maximum walking speed of the working condition is 7.5km/h, and2。
1.5, in the initial state, a 1-meter lifting height switch 3 is closed, and a 3-meter lifting height switch 4 is opened, which indicates that the forklift is in a middle lifting state; the pressure switch S7 is opened, which indicates that the forklift is unloaded or lightly loaded; the mast tilt position sensor SQ1 determines that the mast is in a non-reclined state. At the moment, the operation is lifted, a lifting action switch S4 is closed, a pump motor controller receives lifting signals, a 1-meter lifting height switch 3 closing signal, a 3-meter lifting height switch 4 opening signal, a pressure switch S7 opening signal and a gantry inclination position sensor SQ1 non-retroversion state signal are integrated, the rotating speed of a pump motor M2 is controlled to be 50% of the maximum value when the no-load lifting speed is achieved, the rotating speed of the pump motor M2 is detected through a pump motor encoder 2, and the no-load lifting maximum speed of the working condition is 250 mm/S; at the moment, the operation is performed with forward tilting action, a gantry forward tilting action switch S5 is closed, a pump motor controller receives a gantry forward tilting action switch S5 signal, a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 opening signal are integrated, a gantry tilting position sensor SQ1 is a non-backward tilting state signal, the rotating speed of a pump motor M2 is controlled to be 50% of the maximum forward tilting speed, the rotating speed of the pump motor M2 is detected through a pump motor encoder 2, and the maximum forward tilting speed of the working condition is 3 degrees/S; at the moment, the backward tilting action is operated, the gantry backward tilting action switch S6 is closed, the backward tilting speed is not limited, and the speed can reach the maximum value of 6 degrees/S; when the vehicle is operated to walk, the forward direction switch S2 or the backward direction switch S3 is turned on, the accelerator SR1 is stepped on, and the traction controller receives the walkingWalking operation signals are combined with 1-meter lifting height switch 3 closing signals, 3-meter lifting height switch 4 opening signals and gantry inclined position sensor SQ1 non-backward tilting state signals transmitted by a pump motor controller, so that the rotating speed of a traction motor M1 is controlled to be 25% of the maximum value of walking speed, the rotating angular acceleration of the motor is controlled to be 25% of the maximum value, the rotating speed and the angular acceleration of the traction motor M1 are detected by a traction motor encoder 1 and fed back to the traction controller to form closed-loop control, the walking maximum speed of the working condition is 3.6km/h, and the walking acceleration is 1M/s2。
1.6, in the initial state, a 1-meter lifting height switch 3 is closed, and a 3-meter lifting height switch 4 is opened, which indicates that the forklift is in a middle lifting state; pressure switch S7 is closed, indicating a heavy forklift load; the mast tilt position sensor SQ1 determines that the mast is in a non-reclined state. At the moment, the operation is lifted, a lifting action switch S4 is closed, a pump motor controller receives lifting signals, a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 opening signal are synthesized, a pressure switch S7 closing signal and a gantry inclined position sensor SQ1 non-retroversion state signal are synthesized, the rotating speed of a pump motor M2 is controlled to be 50% of the maximum value when the full-load lifting speed is adopted, the rotating speed of the pump motor M2 is detected through a pump motor encoder 2, and the maximum speed of the full-load lifting under the working condition is 250 mm/S; at the moment, the operation is performed with forward tilting action, a gantry forward tilting action switch S5 is closed, a pump motor controller receives a gantry forward tilting action switch S5 signal, a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 opening signal are integrated, a pressure switch S7 closing signal and a gantry tilting position sensor SQ1 non-backward tilting state signal are controlled, the rotating speed of a pump motor M2 is controlled to be 25% of the maximum forward tilting speed, the rotating speed of a pump motor M2 is detected through a pump motor encoder 2, and the maximum forward tilting speed of the working condition is 1.5 degrees/S; at the moment, the backward tilting action is operated, the gantry backward tilting action switch S6 is closed, the pump motor controller receives a backward tilting action switch 18 signal, a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 opening signal are combined, the pressure switch S7 closing signal is obtained, the gantry tilting position sensor SQ1 is not a backward tilting state signal, the rotating speed of the pump motor M2 is not controlled, the backward tilting speed is the maximum value, and the maximum backward tilting speed of the working condition is 6 degrees/S; when the vehicle is operated to run, the forward direction switch S2 is turned on or the reverse direction switch is turned onS3 is turned off, the accelerator SR1 is stepped on, the traction controller receives a walking operation signal, and integrates a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 opening signal transmitted by the pump motor controller, and a gantry inclination position sensor SQ1 non-retroversion state signal, so that the rotating speed of the traction motor M1 is controlled to be 25% of the maximum walking speed, the rotating angular acceleration of the motor is 25% of the maximum, the rotating speed and the angular acceleration of the traction motor M1 are detected by the traction motor encoder 1 and fed back to the traction controller to form closed-loop control, the maximum walking speed of the working condition is 3.6km/h, and the walking acceleration is 1M/S2。
1.7, in the initial state, a 1-meter lifting height switch 3 is closed, and a 3-meter lifting height switch 4 is closed, which indicates that the forklift is in a high-position lifting state; the pressure switch S7 is opened, which indicates that the forklift is unloaded or lightly loaded; the mast tilt position sensor SQ1 determines that the mast is in a reclined state. At the moment, the operation is lifted, a lifting action switch S4 is closed, a pump motor controller receives a lifting signal, and the rotating speed of a pump motor M2 is not controlled due to a backward tilting state signal of a gantry tilting position sensor SQ1, and is 100% of the maximum value during no-load lifting, and the maximum speed of the no-load lifting under the working condition is 500 mm/S; at the moment, the operation is performed with forward tilting action, a gantry forward tilting action switch S5 is closed, a pump motor controller receives a gantry forward tilting action switch S5 signal, a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 closing signal are integrated, a pressure switch S7 open circuit signal and a gantry tilting position sensor SQ1 backward tilting state signal are integrated, the rotating speed of a pump motor M2 is controlled to be 25% of the maximum forward tilting speed, the rotating speed of the pump motor M2 is detected through a pump motor encoder 2, and the maximum forward tilting speed of the working condition is 1.5 degrees/S; at the moment, the backward tilting motion is operated, the gantry backward tilting motion switch S6 is closed, the pump motor controller receives signals of the backward tilting motion switch 18, integrates a 1-meter lifting height switch 3 closing signal, a 3-meter lifting height switch 4 closing signal, a pressure switch S7 open circuit signal and a gantry tilting position sensor SQ1 backward tilting state signal, and controls the rotating speed of the pump motor M2 to be 50% of the maximum backward tilting speed, and the maximum backward tilting speed of the working condition is 3 degrees/S; when the vehicle is operated to walk, the forward direction switch S2 or the backward direction switch S3 is switched on, the accelerator SR1 is stepped on, the traction controller receives a walking operation signal and integrates pump motor controlThe device transmits a 1-meter lifting height switch 3 closing signal, a 3-meter lifting height switch 4 closing signal and a gantry inclined position sensor SQ1 non-backward tilting state signal, so that the rotating speed of a traction motor M1 is controlled to be 12.5% of the maximum value of the walking speed, the rotating angular acceleration of the motor is 12.5% of the maximum value, the rotating speed and the angular acceleration of the traction motor M1 are detected by a traction motor encoder 1 and fed back to a traction controller to form closed-loop control, the maximum walking speed of the working condition is 1.8km/h, and the walking acceleration is 0.5M/s2。
1.8, in the initial state, a 1-meter lifting height switch 3 is closed, and a 3-meter lifting height switch 4 is closed, which indicates that the forklift is in a high-position lifting state; pressure switch S7 is closed, indicating a heavy forklift load; the mast tilt position sensor SQ1 determines that the mast is in a reclined state. At the moment, the operation is lifted, a lifting action switch S4 is closed, a pump motor controller receives a lifting signal, and the rotating speed of a pump motor M2 is not controlled due to a backward tilting state signal of a gantry tilting position sensor SQ1, the maximum speed of the full-load lifting is 100% of the maximum speed in the full-load lifting state, and the maximum speed of the full-load lifting is 360mm/S in the working condition; at the moment, the operation is performed with forward tilting action, a gantry forward tilting action switch S5 is closed, a pump motor controller receives a gantry forward tilting action switch S5 signal, a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 closing signal are integrated, a pressure switch S7 closing signal and a gantry tilting position sensor SQ1 backward tilting state signal are integrated, the rotating speed of a pump motor M2 is controlled to be 12.5% of the maximum forward tilting speed, the rotating speed of a pump motor M2 is detected through a pump motor encoder 2, and the maximum forward tilting speed of the working condition is 0.75 degrees/S; at the moment, the backward tilting motion is operated, the gantry backward tilting motion switch S6 is closed, the pump motor controller receives signals of the backward tilting motion switch 18, integrates a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 closing signal, a pressure switch S7 closing signal and a gantry tilting position sensor SQ1 backward tilting state signal, and controls the rotating speed of a pump motor M2 to be 50% of the maximum backward tilting speed, and the maximum backward tilting speed of the working condition is 3 degrees/S; at the moment, the vehicle is operated to walk, the forward direction switch S2 or the backward direction switch S3 is switched on, the accelerator SR1 is stepped on, the traction controller receives a walking operation signal and synthesizes a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 closing signal transmitted by the pump motor controller, and the gantry inclines and inclinesThe inclined position sensor SQ1 backward tilting state signal controls the rotation speed of the traction motor M1 to be 12.5% of the maximum value of the walking speed and the rotation angular acceleration of the motor to be 12.5% of the maximum value, the rotation speed and the angular acceleration of the traction motor M1 are detected by the traction motor encoder 1 and fed back to the traction controller to form closed loop control, the maximum walking speed of the working condition is 1.8km/h, and the walking acceleration is 0.5M/s2。
1.9 in the initial state, a 1-meter lifting height switch 3 is closed, and a 3-meter lifting height switch 4 is closed, which indicates that the forklift is in a high-position lifting state; the pressure switch S7 is opened, which indicates that the forklift is unloaded or lightly loaded; the mast tilt position sensor SQ1 determines that the mast is in a non-reclined state. At the moment, the operation is lifted, a lifting action switch S4 is closed, a pump motor controller receives lifting signals, a 1-meter lifting height switch 3 closing signal, a 3-meter lifting height switch 4 closing signal, a pressure switch S7 open-circuit signal and a gantry inclined position sensor SQ1 non-retroversion state signal are integrated, the rotating speed of a pump motor M2 is controlled to be 25% of the maximum value when the lifting speed is fully loaded, the rotating speed of the pump motor M2 is detected through a pump motor encoder 2, and the maximum speed of the no-load lifting under the working condition is 125 mm/S; (ii) a At the moment, the operation is performed with forward tilting action, a gantry forward tilting action switch S5 is closed, a pump motor controller receives a gantry forward tilting action switch S5 signal, a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 closing signal are integrated, a pressure switch S7 open circuit signal and a gantry tilting position sensor SQ1 non-backward tilting state signal are integrated, the rotating speed of a pump motor M2 is controlled to be 12.5% of the maximum forward tilting speed, the rotating speed of a pump motor M2 is detected through a pump motor encoder 2, and the maximum forward tilting speed of the working condition is 0.75 degrees/S; at the moment, the backward tilting action is operated, the gantry backward tilting action switch S6 is closed, the pump motor controller receives a gantry backward tilting action switch S6 signal, a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 closing signal are combined, a pressure switch S7 open circuit signal and a gantry tilting position sensor SQ1 non-backward tilting state signal are combined, the rotating speed of the pump motor M2 is controlled to be 50% of the maximum backward tilting speed, and the maximum backward tilting speed of the working condition is 3 degrees/S; when the vehicle is operated to walk, the forward direction switch S2 or the backward direction switch S3 is switched on, the accelerator SR1 is stepped on, the traction controller receives a walking operation signal, and a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 closing signal which are transmitted by the pump motor controller are combined, and the gantry tilt position sensor SQ1 is not in a backward tilting state signal, so that the traction motor M1 is forbidden to work, and the vehicle does not run.
1.10 in the initial state, a 1-meter lifting height switch 3 is closed, and a 3-meter lifting height switch 4 is closed, which indicates that the forklift is in a high-position lifting state; pressure switch S7 is closed, indicating a heavy forklift load; the mast tilt position sensor SQ1 determines that the mast is in a non-reclined state. At the moment, the operation is lifted, a lifting action switch S4 is closed, a pump motor controller receives lifting signals, a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 closing signal are synthesized, a pressure switch S7 closing signal and a gantry inclined position sensor SQ1 non-retroversion state signal are synthesized, the rotating speed of a pump motor M2 is controlled to be 25% of the maximum value when the full-load lifting speed is realized, the rotating speed of the pump motor M2 is detected through a pump motor encoder 2, and the maximum speed of the full-load lifting under the working condition is 90 mm/S; (ii) a At the moment, the operation is performed with forward tilting motion, a gantry forward tilting motion switch S5 is closed, a pump motor controller receives a gantry forward tilting motion switch S5 signal, a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 closing signal are integrated, a pressure switch S7 closing signal and a gantry tilting position sensor SQ1 non-backward tilting state signal are combined, the pump motor M2 is prohibited from working, and forward tilting motion is prohibited; at the moment, the backward tilting action is operated, the gantry backward tilting action switch S6 is closed, the pump motor controller receives a gantry backward tilting action switch S6 signal, a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 closing signal are integrated, a pressure switch S7 closing signal and a gantry tilting position sensor SQ1 non-backward tilting state signal are combined, the rotating speed of the pump motor M2 is controlled to be 25% of the maximum backward tilting speed, and the maximum backward tilting speed of the working condition is 1.5 degrees/S; when the vehicle is operated to walk, the forward direction switch S2 or the backward direction switch S3 is switched on, the accelerator SR1 is stepped on, the traction controller receives a walking operation signal, and a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 closing signal which are transmitted by the pump motor controller are combined, and the gantry tilt position sensor SQ1 is not in a backward tilting state signal, so that the traction motor M1 is forbidden to work, and the vehicle does not run.
The logic control table of the present invention is shown in table 1.
TABLE 1
In conclusion, the invention can prevent the forklift from traveling at a higher speed under the states of full load, high lifting and forward tilting of the gantry, thereby improving the operation safety of the forklift; the invention automatically identifies unsafe factors caused by irregular driving from the electrical control of the forklift, limits the efficiency of error operation step by step, corrects the irregular driving habit of a forklift driver and increases the operation confidence of the driver.
Claims (3)
1. The utility model provides a fork truck walking plays to rise slope linkage safety coefficient which characterized in that: the device comprises a storage battery B, a power switch S1, a DC-DC power converter, a traction controller, a traction motor M1, a traction motor encoder (1), a key switch K1, a forward direction switch S2, a backward direction switch S3, an accelerator SR1, a pump motor controller, a pump motor M2, a pump motor encoder (2), a 1-meter lifting height switch (3), a 3-meter lifting height switch (4), a lifting action switch S4, a gantry forward tilting action switch S5, a gantry backward tilting action switch S6, a pressure switch S7 and a gantry tilting position sensor SQ 1;
the anode of the storage battery B is respectively connected with the +48V power supply input end of the DC-DC power supply converter, the driving power supply input end B of the traction controller and the driving power supply input end B + of the pump motor controller through a power switch S1, the negative pole of the storage battery B is respectively connected with the negative pole end of the DC-DC power converter, the negative pole end B of the traction controller and the negative pole end B of the pump motor controller, the +12V output end of the DC-DC power converter is respectively connected with the control power input end KEY of the traction controller and the control power input end KEY of the pump motor controller through a KEY switch K1, and the +12V output end of the DC-DC power converter is respectively supplied with power to a lifting action switch S4, a gantry forward tilting action switch S5, a gantry backward tilting action switch S6, a pressure switch S7 and a gantry tilting position sensor SQ1 through a KEY switch K1;
the driving output end U, V, W of the traction controller is connected with a traction motor M1, a traction motor encoder (1) for detecting the rotating speed and the rotating direction of the traction motor is installed on the traction motor M1, the output end of the traction motor encoder (1) is connected with the D input end of the traction controller, a first signal input end FORWARD of the traction controller is connected with one end of a FORWARD direction switch S2, a second signal input end BACKWARD of the traction controller is connected with one end of a BACKWARD direction switch S3, a third signal input end CPOT of the traction controller is connected with one end of an accelerator SR1, a CAN port of the traction controller is connected with a CAN port of a pump motor controller, the other end of the FORWARD direction switch S2, the other end of the BACKWARD direction switch S3 and the other end of the accelerator SR1 are connected in parallel and then connected between a KEY switch K1 and a control power supply input end KEY of the pump motor controller;
the drive output end U, V, W of the pump motor controller is connected with a pump motor M2, a pump motor encoder (2) for detecting the rotating speed of the motor is installed on the pump motor M2, the output end of the pump motor encoder (2) is connected with the D input end of the pump motor controller, and the first, second, third, fourth, fifth, sixth and seventh signal input ends of the pump motor controller are respectively connected with a 1-meter lifting height switch (3), a 3-meter lifting height switch (4), a lifting action switch S4, a gantry forward tilting action switch S5, a gantry backward tilting action switch S6, a pressure switch S7 and a gantry tilting position sensor SQ1 in a one-to-one correspondence mode.
2. The forklift walking and tilting linkage safety system of claim 1, wherein: the traction controller employs an ACE2-350 controller and the pump motor controller employs an ACE2-500 controller.
3. The forklift walking and tilting linkage safety system of claim 1, wherein: the power switch S1 is an emergency stop type mechanical switch, the forward direction switch S2, the backward direction switch S3, the lifting action switch S4, the gantry forward tilting action switch S5 and the gantry backward tilting action switch S6 are all analog quantity conversion switches, and the pressure switch S7 is a normally open type pressure switch; the accelerator SR1 is a voltage type output potentiometer, the gantry inclined position sensor SQ1 is a resistance type displacement sensor, and the 1m lifting height switch (3) and the 3 m lifting height switch (4) are both Hall type photoelectric switches.
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| KR20000015287A (en) * | 1998-08-28 | 2000-03-15 | 추호석 | Pump motor control device of electromotive forklift and method thereof |
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| CN108455491A (en) * | 2018-03-14 | 2018-08-28 | 安徽合力股份有限公司 | A kind of electri forklift electric-control system with password startup function |
| CN109502518A (en) * | 2018-12-14 | 2019-03-22 | 安徽合力股份有限公司 | A kind of electri forklift electromagnetic valve controlling system |
| CN212246108U (en) * | 2020-06-15 | 2020-12-29 | 安徽合力股份有限公司 | Forklift walking lifting and tilting linkage safety system |
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2020
- 2020-06-15 CN CN202010544023.4A patent/CN111776992A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000015287A (en) * | 1998-08-28 | 2000-03-15 | 추호석 | Pump motor control device of electromotive forklift and method thereof |
| CN107215829A (en) * | 2017-06-28 | 2017-09-29 | 安徽合力股份有限公司 | A kind of electri forklift operation control system |
| CN108455491A (en) * | 2018-03-14 | 2018-08-28 | 安徽合力股份有限公司 | A kind of electri forklift electric-control system with password startup function |
| CN109502518A (en) * | 2018-12-14 | 2019-03-22 | 安徽合力股份有限公司 | A kind of electri forklift electromagnetic valve controlling system |
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