CN111776992B - A forklift walking, lifting and tilting linkage safety system - Google Patents
A forklift walking, lifting and tilting linkage safety system Download PDFInfo
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- CN111776992B CN111776992B CN202010544023.4A CN202010544023A CN111776992B CN 111776992 B CN111776992 B CN 111776992B CN 202010544023 A CN202010544023 A CN 202010544023A CN 111776992 B CN111776992 B CN 111776992B
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- 239000003921 oil Substances 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 239000010720 hydraulic oil Substances 0.000 claims description 2
- 230000001788 irregular Effects 0.000 abstract description 8
- 230000001133 acceleration Effects 0.000 description 22
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Classifications
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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
-
- 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
-
- 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
-
- 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
-
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to a forklift walking lifting tilting linkage safety system 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 portal front tilting action switch S5, a portal rear tilting action switch S6, a pressure switch S7 and a portal tilting position sensor SQ1. The invention can avoid the fork truck to walk at a higher speed in the state of full load, high lifting and forward tilting of the portal frame, and improve the operation safety of the fork truck; unsafe factors generated by irregular driving are automatically identified from the electric control of the forklift, the efficiency of limiting error operation is gradually improved, 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 fork truck walking lifting tilting linkage safety system.
Background
The basic functions of a traditional forklift include three functions of walking, lifting and tilting, and the speed control of these three functions are usually independent of each other and are not related to each other, which results in the existence of some unsafe factors in the operation of the forklift, such as: when the forklift is in a full-load state, the portal frame is lifted up and is accompanied with forward tilting, and at the moment, if a vehicle walks at a high speed, the vehicle is easy to tilt, so that the 'walking, the portal frame needs to fall down and tilt in place' warning can be mentioned in a manual of a driver of the forklift. However, in actual production, many forklift drivers pursue operation efficiency, disregard operation warning, and safety production accidents occur.
Therefore, development of a fork truck walking lifting tilting linkage safety system is urgently needed, so that a fork truck with full load, high lifting and forward tilting of a portal frame is prevented from walking at a high speed, unsafe factors caused by irregular driving are avoided from the aspect of electric control of the fork truck, and irregular driving habits of fork truck drivers are corrected.
Disclosure of Invention
The invention aims to provide a forklift walking lifting tilting linkage safety system which can prevent a full-load forklift with high lifting and forward tilting of a portal from running at a high speed and avoid unsafe factors caused by irregular driving from the aspect of forklift electric control.
In order to achieve the above purpose, the present invention adopts the following technical scheme: a forklift walking lifting tilting linkage safety system 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 portal front tilting action switch S5, a portal rear tilting action switch S6, a pressure switch S7 and a portal tilting position sensor SQ1;
The positive electrode of the storage battery B is respectively connected with a +48V power input end of the DC-DC power converter, a driving power input end B of the traction controller and a driving power input end B+ of the pump motor controller through a power switch S1, the negative electrode of the storage battery B is respectively connected with the negative electrode end of the DC-DC power converter, the negative electrode end B of the traction controller and the negative electrode end B-of the pump motor controller, the +12V output end of the DC-DC power converter is respectively connected with a control power input end KEY of the traction controller and a control power input end KEY of the pump motor controller through a KEY switch K1, the +12V output end of the DC-DC power converter is respectively supplied to a lifting action switch S4, a pre-portal tilting action switch S5, a post-portal tilting action switch S6, a pressure switch S7 and a portal tilting position sensor SQ 1;
the driving output end U, V, W of the traction controller is connected with the traction motor M1, a traction motor encoder for detecting the rotation speed and the rotation direction of the traction motor is arranged on the traction motor M1, the output end of the traction motor encoder is connected with the D input end of the traction controller, the first signal input end FORWARD of the traction controller is connected with one end of the FORWARD direction switch S2, the second signal input end BACKWARD of the traction controller is connected with one end of the BACKWARD direction switch S3, the third signal input end CPOT of the traction controller is connected with one end of the accelerator SR1, the CAN port of the traction controller is connected with the CAN port of the pump motor controller, and 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 the KEY switch K1 and the control power input end KEY of the pump motor controller;
The driving output U, V, W of the pump motor controller is connected with the pump motor M2, the pump motor M2 is provided with a pump motor encoder for detecting the motor rotation speed, 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 pre-portal tilting action switch S5, a post-portal tilting action switch S6, a pressure switch S7 and a portal tilting position sensor SQ1 in a one-to-one correspondence manner.
The traction controller adopts an ACE2-350 controller, and the pump motor controller adopts 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 portal front tilting action switch S5 and the portal rear tilting action switch S6 are 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 portal tilting position sensor SQ1 is a resistance type displacement sensor, and the 1 meter lifting height switch and the 3 meter lifting height switch are all Hall type photoelectric switches.
According to the technical scheme, the beneficial effects of the invention are as follows: firstly, the invention can avoid the fork truck to walk at a higher speed in the state of full load, high lifting and forward tilting of the portal, and improve the operation safety of the fork truck; secondly, unsafe factors generated by irregular driving are automatically identified from the aspect of forklift electrical control, the efficiency of limiting error operation is gradually improved, irregular driving habits of forklift drivers are corrected, and the operation confidence of the drivers is increased.
Drawings
Fig. 1 is a schematic circuit diagram of the present invention.
Detailed Description
As shown in fig. 1, the forklift walking lifting tilting linkage safety system 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, a3 meter lifting height switch 4, a lifting action switch S4, a pre-portal tilting action switch S5, a post-portal tilting action switch S6, a pressure switch S7 and a portal tilting position sensor SQ1;
The positive electrode of the storage battery B is respectively connected with a +48V power input end of the DC-DC power converter, a driving power input end B of the traction controller and a driving power input end B+ of the pump motor controller through a power switch S1, the negative electrode of the storage battery B is respectively connected with the negative electrode end of the DC-DC power converter, the negative electrode end B of the traction controller and the negative electrode end B-of the pump motor controller, the +12V output end of the DC-DC power converter is respectively connected with a control power input end KEY of the traction controller and a control power input end KEY of the pump motor controller through a KEY switch K1, the +12V output end of the DC-DC power converter is respectively supplied to a lifting action switch S4, a pre-portal tilting action switch S5, a post-portal tilting action switch S6, a pressure switch S7 and a portal tilting position sensor SQ 1;
The driving output end U, V, W of the traction controller is connected with the traction motor M1, the traction motor M1 is provided with a traction motor encoder 1 for detecting the rotation speed and the rotation direction of the traction motor, the output end of the traction motor encoder 1 is connected with the D input end of the traction controller, the first signal input end FORWARD of the traction controller is connected with one end of the FORWARD direction switch S2, the second signal input end BACKWARD of the traction controller is connected with one end of the BACKWARD direction switch S3, the third signal input end CPOT of the traction controller is connected with one end of the accelerator SR1, the CAN port of the traction controller is connected with the CAN port of the pump motor controller, and 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 the KEY switch K1 and the control power supply input end KEY of the pump motor controller;
The driving output U, V, W of the pump motor controller is connected with the pump motor M2, the pump motor M2 is provided with a pump motor encoder 2 for detecting the motor rotation speed, 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 the 1 meter lifting height switch 3, the 3 meter lifting height switch 4, the lifting action switch S4, the pre-portal tilting action switch S5, the post-portal tilting action switch S6, the pressure switch S7 and the portal tilting position sensor SQ1 in a one-to-one correspondence.
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 portal front tilting action switch S5 and the portal rear tilting action switch S6 are 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 portal tilting position sensor SQ1 is a resistance type displacement sensor, and the 1 meter lifting height switch 3 and the 3 meter 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 mast and 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 open circuits, so that the mast is judged to be in a low lifting state; when the fork lifting height exceeds 1 meter and is smaller than 3 meters, the 1 meter lifting height switch 3 is closed, the 3 meter lifting height switch 4 is opened, and the portal frame is judged to be in a middle lifting state. When the lifting height of the fork exceeds 3 meters, the 1 meter lifting height switch 3 and the 3 meter lifting height switch 4 are both closed, and the fork truck portal frame is in a high lifting state.
The lifting action switch S4, the front portal tilting action switch S5 and the rear portal tilting action switch S6 are execution action switches and are consistent with a hydraulic action control switch of a common electric forklift.
The pressure switch S7 is arranged in a hydraulic oil way of a lifting oil cylinder of the forklift, whether the forklift is loaded or not is judged by detecting the pressure of the bottom of the oil cylinder, the pressure switch S7 is set to be in a closed pressure of 5MPa, the forklift is in an empty or light load state, and the pressure switch S7 is opened; if the forklift is in a heavy-load state, the bottom pressure of the lifting oil cylinder exceeds 5Mpa, and the pressure switch S7 is closed, so that the heavy-load state of the forklift is judged.
The portal tilting position sensor SQ1 is arranged on the portal and used for judging the tilting state of the portal, so that whether the portal is in a backward tilting state or not can be judged, when the feedback voltage of the portal tilting position sensor SQ1 is smaller than 6V, the portal tilting position sensor SQ1 is judged to be in a backward tilting state, and when the feedback voltage of the portal tilting position sensor SQ1 is larger than or equal to 6V, the portal tilting position sensor SQ1 is judged to be in a non-backward tilting state.
The working principle of the invention is as follows:
1. The forklift is started by stopping the closed state, the power switch S1 is pressed, the key switch K1 is turned on, the vehicle is started, at the moment, the pump motor controller detects information from the lifting height switch 3 and the lifting height switch 4 which are 1 meter, the pressure switch S7 and the portal inclined position sensor SQ1, the initial state of the forklift is judged, and the following description is made on the aspects of forklift operation speed control in terms of different starting initial states:
1.1, the initial state is that a lifting height switch 3 of 1 meter is opened, and a lifting height switch 4 of 3 meter is opened, which indicates that the forklift is in a low lifting state; the mast inclination position sensor SQ1 judges that the mast is in a backward inclination state, and the system does not judge the closing and opening states of the pressure switch S7 because the mast is in a low-level lifting state. At the moment, the operation lifting, tilting and walking are not limited, the speed of the device is not limited, and the device can reach the maximum value, namely the maximum lifting speed of no-load lifting is 500mm/s, the maximum lifting speed of full-load lifting is 360mm/s, the maximum tilting speed is 6 DEG/s, the maximum walking speed is 14.4km/h, and the walking acceleration is 4m/s 2.
1.2, The initial state is that a lifting height switch 3 of 1 meter is opened, and a lifting height switch 4 of 3 meter is opened, which indicates that the forklift is in a low lifting state; the portal tilt position sensor SQ1 determines that the portal is in a non-reclined state, and the system does not determine the closed and open state of the pressure switch S7 because the portal is in a low-level lifting state. At the moment, the lifting operation switch S4 is closed, the pump motor controller receives lifting signals, the 1-meter lifting height switch 3 open-circuit signal and the 3-meter lifting height switch 4 open-circuit signal are synthesized, the portal tilting position sensor SQ1 is not in a backward tilting state signal, the rotating speed of the pump motor M2 is controlled to be 50% of the maximum value when the idle lifting speed is reached, the rotating speed of the pump motor M2 is detected through the pump motor encoder 2, and the idle lifting maximum speed under the working condition is 250mm/S; at this time, the tilting motion is operated, the tilting speed is not limited, and the tilting speed can reach the maximum value of 6 degrees/s; at the moment, 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 down, the traction controller receives a walking operation signal, and integrates a 1-meter lifting height switch 3 open-circuit signal and a 3-meter lifting height switch 4 open-circuit signal transmitted by the pump motor controller, the portal tilting position sensor SQ1 is not in a backward tilting state signal, so that the rotating speed of the traction motor M1 is controlled to be 50% of the maximum value of the walking speed, the rotating speed and the angular acceleration of the motor are controlled to be 50% of the maximum value, 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, and the walking maximum speed under the working condition is 7.2km/h, and the walking acceleration is 2M/S 2.
1.3, The initial state is that a lifting height switch 3 of 1 meter is closed, and a lifting height switch 4 of 3 meters is opened, which indicates that the forklift is in a middle lifting state; the pressure switch S7 is opened to indicate no load or light load of the forklift; the mast tilt position sensor SQ1 determines that the mast is in a reclined state. At the moment, the lifting operation is performed, the lifting action switch S4 is closed, the pump motor controller receives a lifting signal, and the rotating speed of the pump motor M2 is not controlled because of the backward tilting state signal of the portal tilting position sensor SQ1, and the no-load lifting speed can reach 100% of the maximum value, namely 500mm/S; at this time, the tilting motion is operated, the tilting speed is not limited, and the tilting speed can reach the maximum value of 6 degrees/s; at the moment, 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 down, the traction controller receives a walking operation signal, and the open-circuit signal of the 1-meter lifting height switch 3 and the open-circuit signal of the 3-meter lifting height switch 4 transmitted by the pump motor controller are combined, the mast inclination position sensor SQ1 is in a backward inclination state, so that the rotating speed of the traction motor M1 is controlled to be 50% of the maximum value of the walking speed, the rotating speed and the angular acceleration of the motor are controlled to be 50% of the maximum value, the rotating speed and the angular acceleration of the traction motor M1 are detected by the traction motor encoder 1 to be fed back to the traction controller, and closed-loop control is formed, and the walking maximum speed under the working condition is 7.2km/h, and the walking acceleration is 2M/S 2.
1.4, The initial state is that a lifting height switch 3 of 1 meter is closed, and a lifting height switch 4 of 3 meters is opened, which indicates that the forklift is in a middle lifting state; the pressure switch S7 is closed to indicate the heavy load of the forklift; the mast tilt position sensor SQ1 determines that the mast is in a reclined state. At the moment, the operation lifting is performed, the lifting action switch S4 is closed, the pump motor controller receives a lifting signal, the mast inclination position sensor SQ1 is in a backward inclination state, and the rotating speed of the pump motor M2 is not controlled and controlled, namely, the maximum value is 100% of the maximum value when the lifting speed is heavy, namely, 360mm/S; at the moment, the forward tilting action is operated, a door frame forward tilting action switch S5 is closed, a pump motor controller receives a door frame 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 synthesized, a door frame tilting position sensor SQ1 backward tilting state signal is used for controlling 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 DEG/S; at the moment, the backward tilting action is operated, a door frame 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; at the moment, 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 down, the traction controller receives a walking operation signal, 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 are combined, the gantry inclination position sensor SQ1 is in a backward inclination state, the rotating speed of the traction motor M1 is controlled to be 50% of the maximum value of the walking speed, the rotating speed and the angular acceleration of the motor are controlled to be 50% of the maximum value, 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, and closed loop control is formed, the walking maximum speed under the working condition is 7.5km/h, and the walking acceleration is 2M/S 2.
1.5, The initial state is that a lifting height switch 3 of 1 meter is closed, and a lifting height switch 4 of 3 meters is opened, which indicates that the forklift is in a middle lifting state; the pressure switch S7 is opened to indicate no load or light load of the forklift; the mast tilt position sensor SQ1 determines that the mast is in a non-reclined state. At the moment, the lifting operation switch S4 is closed, the pump motor controller receives a lifting signal, integrates 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 portal tilting position sensor SQ1 non-backward tilting state signal, controls the rotating speed of the pump motor M2 to be 50% of the maximum value when the no-load lifting speed is reached, and detects the rotating speed of the pump motor M2 through the pump motor encoder 2, wherein the no-load lifting speed under the working condition is 250mm/S; at the moment, the forward tilting action is operated, a door frame forward tilting action switch S5 is closed, a pump motor controller receives a door frame 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 synthesized, a door frame tilting position sensor SQ1 is not a 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 DEG/S; at the moment, the backward tilting action is operated, a door frame 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; at the moment, 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 down, the traction controller receives a walking operation signal, 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 are combined, the portal tilting position sensor SQ1 is not in a backward tilting state signal, so that the rotating speed of the traction motor M1 is controlled to be 25% of the maximum value of the walking speed, the rotating speed and the angular acceleration of the motor are controlled to be 25% of the maximum value, 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, and the walking maximum speed under the working condition is 3.6km/h, and the walking acceleration is 1M/S 2.
1.6, The initial state is that a lifting height switch 3 of 1 meter is closed, and a lifting height switch 4 of 3 meters is opened, which indicates that the forklift is in a middle lifting state; the pressure switch S7 is closed to indicate the heavy load of the forklift; the mast tilt position sensor SQ1 determines that the mast is in a non-reclined state. At the moment, the lifting operation switch S4 is closed, the pump motor controller receives a lifting signal, a 1-meter lifting height switch 3 closing signal, a 3-meter lifting height switch 4 opening signal, a pressure switch S7 closing signal and a portal tilting position sensor SQ1 non-backward tilting state signal are synthesized, the rotating speed of the pump motor M2 is controlled to be 50% of the maximum value when the full-load lifting speed is reached, the rotating speed of the pump motor M2 is detected through the pump motor encoder 2, and the full-load lifting maximum speed under the working condition is 250mm/S; at the moment, the forward tilting action is operated, a door frame forward tilting action switch S5 is closed, a pump motor controller receives a door frame 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 synthesized, a pressure switch S7 closing signal is synthesized, a door frame tilting position sensor SQ1 is not a backward tilting state signal, 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 under the working condition is 1.5 DEG/S; at the moment, the post-tilting action is operated, a post-tilting action switch S6 of the portal is closed, a pump motor controller receives a post-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 synthesized, a pressure switch S7 closing signal is synthesized, a portal tilting position sensor SQ1 is not used for controlling the rotating speed of a pump motor M2, the backward tilting speed is the maximum value, and the working condition maximum backward tilting speed is 6 DEG/S; at the moment, 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 down, the traction controller receives a walking operation signal, 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 are combined, the portal tilting position sensor SQ1 is not in a backward tilting state signal, so that the rotating speed of the traction motor M1 is controlled to be 25% of the maximum value of the walking speed, the rotating speed and the angular acceleration of the motor are controlled to be 25% of the maximum value, 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, and the walking maximum speed under the working condition is 3.6km/h, and the walking acceleration is 1M/S 2.
1.7, The initial state is that a lifting height switch 3 of 1 meter is closed, and a lifting height switch 4 of 3 meter is closed, which indicates that the forklift is in a high lifting state; the pressure switch S7 is opened to indicate no load or light load of the forklift; the mast tilt position sensor SQ1 determines that the mast is in a reclined state. At the moment, the operation lifting is performed, the lifting action switch S4 is closed, the pump motor controller receives a lifting signal, the rotating speed of the pump motor M2 is not controlled because of the backward tilting state signal of the portal tilting position sensor SQ1, the maximum value of the idle lifting speed is 100%, and the idle lifting maximum speed under the working condition is 500mm/S; at the moment, the forward tilting action is operated, a door frame forward tilting action switch S5 is closed, a pump motor controller receives a door frame forward tilting action switch S5 signal, a1 meter lifting height switch 3 closing signal, a 3 meter lifting height switch 4 closing signal and a pressure switch S7 open circuit signal are synthesized, a door frame tilting position sensor SQ1 backward tilting state signal is used for controlling the rotating speed of a pump motor M2 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 under the working condition is 1.5 DEG/S; at the moment, the post-tilting action is operated, a post-tilting action switch S6 of the portal is closed, a pump motor controller receives a post-tilting action switch 18 signal, a 1-meter lifting height switch 3 closing signal, a 3-meter lifting height switch 4 closing signal and a pressure switch S7 open circuit signal are synthesized, a portal tilting position sensor SQ1 is in a backward tilting state signal, the rotating speed of a pump motor M2 is controlled to be 50% of the maximum backward tilting speed, and the maximum backward tilting speed under the working condition is 3 DEG/S; at the moment, 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 down, the traction controller receives a walking operation signal, 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 are combined, the gantry inclination position sensor SQ1 is not a backward inclination state signal, the rotating speed of the traction motor M1 is controlled to be 12.5% of the maximum value of the walking speed, the rotating speed and the angular acceleration of the motor are controlled to be 12.5% of the maximum value, the rotating speed and the angular acceleration of the traction motor M1 are detected by the traction motor encoder 1 to be fed back to the traction controller, closed-loop control is formed, the walking maximum speed under the working condition is 1.8km/h, and the walking acceleration is 0.5M/S 2.
1.8, The initial state is that a lifting height switch 3 of 1 meter is closed, and a lifting height switch 4 of 3 meter is closed, which indicates that the forklift is in a high lifting state; the pressure switch S7 is closed to indicate the heavy load of the forklift; the mast tilt position sensor SQ1 determines that the mast is in a reclined state. At the moment, the lifting operation is operated, the lifting action switch S4 is closed, the pump motor controller receives a lifting signal, the rotating speed of the pump motor M2 is not controlled because of the backward tilting state signal of the portal tilting position sensor SQ1, the maximum value of the full-load lifting speed is 100%, and the full-load lifting maximum speed under the working condition is 360mm/S; at the moment, the forward tilting action is operated, a door frame forward tilting action switch S5 is closed, a pump motor controller receives a door frame forward tilting action switch S5 signal, a 1-meter lifting height switch 3 closing signal, a 3-meter lifting height switch 4 closing signal and a pressure switch S7 closing signal are synthesized, a door frame tilting position sensor SQ1 backward tilting state signal is used for controlling the rotating speed of a pump motor M2 to be 12.5% 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 under the working condition is 0.75 DEG/S; at the moment, a post-tilting action is operated, a post-tilting action switch S6 of the portal is closed, a pump motor controller receives a post-tilting action switch 18 signal, a 1-meter lifting height switch 3 closing signal, a 3-meter lifting height switch 4 closing signal and a pressure switch S7 closing signal are synthesized, a portal tilting position sensor SQ1 is in a backward tilting state signal, the rotating speed of a pump motor M2 is controlled to be 50% of the maximum backward tilting speed, and the maximum backward tilting speed under the working condition is 3 DEG/S; at the moment, 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 down, the traction controller receives a walking operation signal, 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 are combined, the gantry inclination position sensor SQ1 is used for tilting the state signal, the rotating speed of the traction motor M1 is controlled to be 12.5% of the maximum value of the walking speed, the rotating speed and the angular acceleration of the motor are controlled to be 12.5% of the maximum value, 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 walking maximum speed under the working condition is 1.8km/h, and the walking acceleration is 0.5M/S 2.
1.9, The initial state is that a lifting height switch 3 of 1 meter is closed, and a lifting height switch 4 of 3 meter is closed, which indicates that the forklift is in a high lifting state; the pressure switch S7 is opened to indicate no load or light load of the forklift; the mast tilt position sensor SQ1 determines that the mast is in a non-reclined state. At the moment, the lifting operation switch S4 is closed, the pump motor controller receives a lifting signal, integrates a 1-meter lifting height switch 3 closing signal and a 3-meter lifting height switch 4 closing signal, a pressure switch S7 opening signal, a portal tilting position sensor SQ1 is not in a backward tilting state signal, the rotating speed of the pump motor M2 is controlled to be 25% of the maximum value when the lifting speed is full-load, the rotating speed of the pump motor M2 is detected through the pump motor encoder 2, and the working condition no-load lifting maximum speed is 125mm/S; ; at the moment, the forward tilting action is operated, a door frame forward tilting action switch S5 is closed, a pump motor controller receives a door frame forward tilting action switch S5 signal, a 1-meter lifting height switch 3 closing signal, a 3-meter lifting height switch 4 closing signal and a pressure switch S7 open circuit signal are synthesized, a door frame tilting position sensor SQ1 is not a backward tilting state signal, the rotating speed of a pump motor M2 is controlled to be 12.5% of the maximum value of the 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 under the working condition is 0.75 DEG/S; at the moment, a post-tilting action is operated, a post-tilting action switch S6 of the portal is closed, a pump motor controller receives a signal of the post-tilting action switch S6 of the portal, integrates a closing signal of a lifting height switch 3 of 1 meter and a closing signal of a lifting height switch 4 of 3 meters, and an opening signal of a pressure switch S7, a non-backward tilting state signal of a portal tilting position sensor SQ1, and controls the rotating speed of a pump motor M2 to be 50% of the maximum backward tilting speed, wherein the maximum backward tilting speed under the working condition is 3 DEG/S; at this time, 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, the traction controller receives a walking operation signal, and the 1-meter lifting height switch 3 closing signal and the 3-meter lifting height switch 4 closing signal transmitted by the pump motor controller are synthesized, the portal tilting 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, The initial state is that a lifting height switch 3 of 1 meter is closed, and a lifting height switch 4 of 3 meter is closed, which indicates that the forklift is in a high lifting state; the pressure switch S7 is closed to indicate the heavy load of the forklift; the mast tilt position sensor SQ1 determines that the mast is in a non-reclined state. At the moment, the lifting operation switch S4 is closed, the pump motor controller receives a lifting signal, 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, a portal tilting position sensor SQ1 is not a backward tilting state signal, the rotating speed of the pump motor M2 is controlled to be 25% of the maximum value when the lifting speed is full-load, the rotating speed of the pump motor M2 is detected through the pump motor encoder 2, and the full-load lifting speed under the working condition is 90mm/S; ; at the moment, the forward tilting action is operated, the front tilting action switch S5 of the portal is closed, the pump motor controller receives the signal of the front tilting action switch S5 of the portal, integrates the closing signal of the lifting height switch 3 of 1 meter and the closing signal of the lifting height switch 4 of 3 meters, the closing signal of the pressure switch S7, the non-backward tilting state signal of the portal tilting position sensor SQ1, the control of the operation of the pump motor M2 is forbidden, and the forward tilting action is forbidden; at the moment, a post-tilting action is operated, a post-tilting action switch S6 of the portal is closed, a pump motor controller receives a signal of the post-tilting action switch S6 of the portal, synthesizes a closing signal of a lifting height switch 3 of 1 meter and a closing signal of a lifting height switch 4 of 3 meters, a closing signal of a pressure switch S7, a non-backward tilting state signal of a portal tilting position sensor SQ1, and controls the rotating speed of a pump motor M2 to be 25% of the maximum backward tilting speed, wherein the maximum backward tilting speed under the working condition is 1.5 DEG/S; at this time, 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, the traction controller receives a walking operation signal, and the 1-meter lifting height switch 3 closing signal and the 3-meter lifting height switch 4 closing signal transmitted by the pump motor controller are synthesized, the portal tilting 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 avoid the forklift from running at a higher speed in the state of full load, high lifting and forward tilting of the portal, and improve the operation safety of the forklift; according to the invention, unsafe factors generated by irregular driving are automatically identified from the aspect of forklift electrical control, the efficiency of limiting the wrong operation is gradually carried out, irregular driving habits of forklift drivers are corrected, and the operation confidence of the drivers is increased.
Claims (1)
1. A fork truck walking plays to rise and inclines linkage safety system 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), a1 meter lifting height switch (3), a 3 meter lifting height switch (4), a lifting action switch S4, a pre-portal tilting action switch S5, a post-portal tilting action switch S6, a pressure switch S7 and a portal tilting position sensor SQ1;
The positive electrode of the storage battery B is respectively connected with a +48V power input end of the DC-DC power converter, a driving power input end B of the traction controller and a driving power input end B+ of the pump motor controller through a power switch S1, the negative electrode of the storage battery B is respectively connected with the negative electrode end of the DC-DC power converter, the negative electrode end B of the traction controller and the negative electrode end B-of the pump motor controller, the +12V output end of the DC-DC power converter is respectively connected with a control power input end KEY of the traction controller and a control power input end KEY of the pump motor controller through a KEY switch K1, the +12V output end of the DC-DC power converter is respectively supplied to a lifting action switch S4, a pre-portal tilting action switch S5, a post-portal tilting action switch S6, a pressure switch S7 and a portal tilting position sensor SQ 1;
The driving output end U, V, W of the traction controller is connected with the traction motor M1, a traction motor encoder (1) for detecting the rotation speed and the rotation direction of the traction motor is arranged 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, the first signal input end FORWARD of the traction controller is connected with one end of a FORWARD direction switch S2, the second signal input end BACKWARD of the traction controller is connected with one end of a BACKWARD direction switch S3, the third signal input end CPOT of the traction controller is connected with one end of an accelerator SR1, the CAN port of the traction controller is connected with the CAN port of the pump motor controller, and 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 input end KEY of the pump motor controller;
The driving output end U, V, W of the pump motor controller is connected with the pump motor M2, the pump motor M2 is provided with a pump motor encoder (2) for detecting the rotating speed of the motor, 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 front portal tilting action switch S5, a rear portal tilting action switch S6, a pressure switch S7 and a portal tilting position sensor SQ1 in a one-to-one correspondence manner;
The traction controller adopts an ACE2-350 controller, and the pump motor controller adopts 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 portal front tilting action switch S5 and the portal rear tilting action switch S6 are 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 portal tilting position sensor SQ1 is a resistance type displacement sensor, and the 1 meter lifting height switch (3) and the 3 meter 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 mast and 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 open circuits, and the mast is judged to be in a low-position lifting state; when the lifting height of the fork exceeds 1 meter and is smaller than 3 meters, a1 meter lifting height switch (3) is closed, a 3 meter lifting height switch (4) is opened, and the portal frame is judged to be in a middle lifting state; when the lifting height of the fork exceeds 3 meters, the 1 meter lifting height switch (3) and the 3 meter lifting height switch (4) are both closed, and the fork truck portal frame is in a high lifting state;
The pressure switch S7 is arranged in a hydraulic oil way of a lifting oil cylinder of the forklift, whether the forklift is loaded or not is judged by detecting the pressure of the bottom of the oil cylinder, the pressure switch S7 is set to be in a closed pressure of 5MPa, the forklift is in an empty or light load state, and the pressure switch S7 is opened; if the forklift is in a heavy-load state, the bottom pressure of the lifting oil cylinder exceeds 5Mpa, and a pressure switch S7 is closed to judge the heavy-load state of the forklift;
The portal tilting position sensor SQ1 is arranged on the portal and used for judging the tilting state of the portal, so that whether the portal is in a backward tilting state or not can be judged, when the feedback voltage of the portal tilting position sensor SQ1 is smaller than 6V, the portal tilting position sensor SQ1 is judged to be in a backward tilting state, and when the feedback voltage of the portal tilting position sensor SQ1 is larger than or equal to 6V, the portal tilting position sensor SQ1 is judged to be in a non-backward tilting state.
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| CN107215829B (en) * | 2017-06-28 | 2023-05-02 | 安徽合力股份有限公司 | Electric fork truck 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 |
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