CN116853980A - High-precision monitoring method and monitoring system for load and load of lifting truck - Google Patents
High-precision monitoring method and monitoring system for load and load of lifting truck Download PDFInfo
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- CN116853980A CN116853980A CN202211211661.XA CN202211211661A CN116853980A CN 116853980 A CN116853980 A CN 116853980A CN 202211211661 A CN202211211661 A CN 202211211661A CN 116853980 A CN116853980 A CN 116853980A
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- Prior art keywords
- load
- lifting platform
- pressure
- height
- lifting
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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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0625—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement with wheels for moving around the floor
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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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
- B66F7/0666—Multiple scissor linkages vertically arranged
-
- 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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/08—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated
-
- 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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides a high-precision monitoring method and a monitoring system for load and load of a lifting vehicle, which solve the technical problems of low precision and the like in the prior art. The method comprises the following steps: s1: acquiring the running state of a lifting platform of the lifting vehicle; s2: determining the no-load state height pressure relation and the full-load state height pressure relation of the lifting platform in the corresponding running state; s3: acquiring the height of a lifting platform of the lifting vehicle; s4: determining the full-load pressure of the lifting platform at the corresponding height under the corresponding running state, and marking the full-load pressure as the real-time full-load pressure; s5: calculating the average value of the real-time full-load pressure in the set time; s6: acquiring the pressure of a lifting platform of the lifting vehicle; s7: calculating the average value of the pressure of the lifting platform in the set time; s8: if the average value of the pressure of the lifting platform in the set time exceeds the set proportion of the average value of the real-time full-load pressure in the set time, sending an alarm signal; otherwise, the process goes to step S1. The advantages are that: different running states of the lifting platform are distinguished, and the precision is higher.
Description
Technical Field
The invention belongs to the technical field of monitoring systems, and particularly relates to a high-precision monitoring method and a high-precision monitoring system for load and load of a lifting vehicle.
Background
The lift truck generally comprises a truck body, a lifting structure and a lifting platform, wherein the truck body is provided with the lifting structure, and the lifting structure is provided with the lifting platform.
In the existing load and load monitoring system of the lift truck, cantilever beam type weighing sensors are adopted for monitoring the load, but the sensors are suitable for equipment with fixed platforms and even force distribution, and the aerial work platforms cannot uniformly distribute the force, so that the load of the aerial work platforms cannot be accurately detected by adopting the detection method, and the problem that no alarm is given in the error range of 10 percent (20 percent is adopted in some cases) of the maximum full load exists.
The load of the lifting platform is measured by using a height sensor and a pressure sensor, the pressure of the load at different heights can be judged by sampling and recording the height-pressure curve graph of the lifting platform in the full load state when the lifting platform is static, and a loudspeaker alarm is carried out when the load reaches full load.
However, the lifting platform has actions of continuous lifting, continuous descending, lifting stopping, stopping lifting, lifting stopping, stopping descending and stopping descending in the lifting process, at the moment, the friction force of the lifting structure changes, oil pressure fluctuates and the like, and the method using the height sensor and the pressure sensor needs to continuously detect overload for a long time such as 2.5 seconds to send out an overload alarm signal, so that an overload-caused safety accident is easily caused by an amplification error.
Disclosure of Invention
The invention aims to provide a high-precision monitoring method for the load of the lift truck, which aims to solve the problems.
Another object of the present invention is to provide a high-precision monitoring system for monitoring load of a lift truck with higher precision, in order to solve the above-mentioned problems.
A high-precision monitoring method for the load of a lift truck comprises the following steps:
s1: acquiring the running state of a lifting platform of the lifting vehicle;
s2: according to the running state of the lifting platform, determining the no-load state height pressure relation and the full-load state height pressure relation of the lifting platform under the corresponding running state;
s3: acquiring the height of a lifting platform of the lifting vehicle;
s4: determining the full-load pressure of the lifting platform at the corresponding height under the corresponding running state according to the height of the lifting platform, and marking the full-load pressure as the real-time full-load pressure;
s5: calculating the average value of the real-time full-load pressure in the set time;
s6: acquiring the pressure of a lifting platform of the lifting vehicle;
s7: calculating the average value of the pressure of the lifting platform in the set time;
s8: if the average value of the pressure of the lifting platform in the set time exceeds real time the set proportion of the average value of the full load pressure in the set time, then send out an alarm signal; otherwise, the process goes to step S1.
The height-pressure relation of the lifting platform in the empty state and the height-pressure relation of the lifting platform in the full state under different motion states are distinguished, a high pressure relationship is no longer used in general regardless of the motion state of the lift platform, so that the error range of overload alarm is smaller and the reaction time is shorter, the precision and the full-load working safety of the whole vehicle are improved.
Preferably the ground is used to determine the position of the ground, the lifting platform has no-load state high pressure under corresponding running state the relationship and the full state height pressure relationship are obtained by the following steps:
p1: not on the lifting platform at the height of the base plate, at the same height, respectively acquiring the no-load state height of the lifting platform when the lifting platform is stationary a degree-pressure relationship and a full-load state height-pressure relationship;
p2: under different heights of the lifting platform, respectively acquiring an empty state height pressure relation and a full state height pressure relation when the lifting platform continuously rises and continuously falls;
or the corresponding no-load state height pressure relation and full-load state height pressure relation of the lifting platform are obtained through the following steps:
p1: under different heights of the lifting platform, respectively acquiring the height-pressure relationship of the lifting platform in an idle state and the height-pressure relationship of the lifting platform in a full state when the lifting platform is stationary;
p2: the method comprises the steps of respectively obtaining an empty state height pressure relation and a full state height pressure relation during lifting and stopping and/or stopping and lifting and/or stopping and descending combined movement of a lifting platform;
or the corresponding no-load state height pressure relation and full-load state height pressure relation of the lifting platform are obtained through the following steps:
p1: under different heights of the lifting platform, respectively acquiring the height-pressure relationship of the lifting platform in an idle state and the height-pressure relationship of the lifting platform in a full state when the lifting platform is stationary;
p2: under different heights of the lifting platform, respectively acquiring an empty state height pressure relation and a full state height pressure relation when the lifting platform continuously rises and continuously falls;
p3: and respectively acquiring the empty state height pressure relation and the full state height pressure relation of the lifting platform during lifting and stopping and/or lifting and/or stopping and descending combined movement.
Preferably, the set proportion is the proportion of the difference between the full load pressure and the no load pressure of the corresponding height of the lifting platform under the corresponding running state.
Preferably, the set proportion is 105% of the difference between the full load pressure and the no load pressure of the corresponding height of the lifting platform under the corresponding running state.
Preferably, the set time is 1.2 seconds.
The monitoring system of the high-precision monitoring method for the load of the lift truck comprises a controller, wherein no-load state height pressure relation data and full-load state height pressure relation data of the lift platform under different running states are stored in the controller, and the controller is connected with a pressure sensor and a height sensor.
Preferably, the controller is connected to an alarm device.
Preferably, the lifting vehicle is a scissor fork lifting vehicle, and comprises a vehicle body, the vehicle body upside is equipped with scissor fork lifting structure, the upside of scissor fork lifting structure is equipped with lift platform, is equipped with lift drive hydraulic stem between two scissor fork bars of scissor fork lifting structure or between vehicle body and scissor fork bars, pressure sensor sets up on lift drive hydraulic stem, the altitude sensor sets up on lift platform or the scissor fork lifting structure of lifting vehicle.
Preferably, the height sensor is an angle sensor and is arranged on the scissor lifting structure.
Preferably, the number of the angle sensors is two, and the angle sensors are respectively and symmetrically arranged on two scissor rods on the scissor lifting structure. The two paths of angle sensors are symmetrically arranged on the two shearing fork rods on the shearing fork lifting structure, so that shake can be well eliminated, ageing deformation of the shearing fork rods can be well counteracted, and key error factors in the load weighing process are solved.
Compared with the prior art, the high-precision monitoring method and the monitoring system for the load of the lift truck have the advantages that:
1. the method has the advantages that the height-pressure relation of the lifting platform in the empty state and the height-pressure relation of the lifting platform in the full state under different motion states are distinguished, and one height-pressure relation is not used in a general way no matter the motion state of the lifting platform, so that the error range of overload alarm is smaller, the reaction time is shorter, and the precision and the full-load working safety of the whole vehicle are improved;
2. the two paths of angle sensors are symmetrically arranged on the two shearing fork rods on the shearing fork lifting structure, so that shake can be well eliminated, ageing deformation of the shearing fork rods can be well counteracted, and key error factors in the load weighing process are solved.
Drawings
Fig. 1 provides a flow chart of the method of the present invention.
Fig. 2 provides a system block diagram of the present invention.
Fig. 3 provides a schematic view of the structure of the present invention mounted on a lift truck.
Fig. 4 provides an empty state height pressure profile and a full state height pressure profile of the present invention in a stationary operating state of the lift platform.
Fig. 5 provides an empty state height pressure profile and a full state height pressure profile of the present invention in a combined motion operating state of the lift platform.
In the figure, a controller 1, a pressure sensor 2, a height sensor 3, an angle sensor 31, an alarm device 4, a vehicle body 5, a scissor lift structure 6, a lift platform 7 and a lift driving hydraulic rod 8.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more apparent, the present invention is further described below with reference to the accompanying drawings and specific embodiments, but the present invention is not limited to the described embodiments, but includes all modifications, variations and equivalents falling within the scope of the appended claims.
As shown in fig. 1, a high-precision monitoring method for load of a lift truck comprises the following steps:
s1: acquiring the running state of a lifting platform 7 of the lifting vehicle;
s2: according to the running state of the lifting platform 7, determining the no-load state height pressure relation and the full-load state height pressure relation of the lifting platform 7 under the corresponding running state;
s3: acquiring the height of a lifting platform 7 of the lifting vehicle;
s4: according to the height of the lifting platform 7, determining the full-load pressure of the lifting platform 7 at the corresponding height under the corresponding running state, and recording the full-load pressure as the real-time full-load pressure;
s5: calculating the average value of the real-time full-load pressure in the set time;
s6: acquiring the pressure of a lifting platform 7 of the lifting vehicle;
s7: calculating the average value of the pressure of the lifting platform 7 in the set time;
s8: if the average value of the pressure of the lifting platform 7 in the set time exceeds the set proportion of the average value of the real-time full-load pressure in the set time, an alarm signal is sent; otherwise, the process goes to step S1.
The no-load state height pressure relation and full-load state height pressure relation of the lifting platform 7 under different motion states are distinguished, and one height pressure relation is not used in a general way no matter the motion state of the lifting platform 7, so that the error range of overload alarm is smaller, the reaction time is shorter, and the precision and the full-load working safety of the whole vehicle are improved.
The corresponding no-load state height pressure relation and full-load state height pressure relation of the lifting platform 7 are obtained through the following steps:
p1: as shown in fig. 4, under different heights of the lifting platform 7, the no-load state height pressure relationship and the full-load state height pressure relationship when the lifting platform 7 is stationary are respectively obtained;
p2: under different heights of the lifting platform 7, respectively acquiring an empty state height pressure relation and a full state height pressure relation when the lifting platform 7 continuously ascends and continuously descends;
p3: as shown in fig. 5, the empty state height pressure relationship and the full state height pressure relationship at the time of lifting platform 7 lifting and stopping and/or lifting and/or lowering and/or stopping-lowering combined movement are acquired respectively.
The set proportion is the proportion of the difference between the full load pressure and the no load pressure of the corresponding height of the lifting platform 7 in the corresponding running state, the proportion is preferably 105%, and the set time is preferably 1.2 seconds.
Example two
The structure, principle and implementation steps of this embodiment are similar to those of the embodiment, except that:
the no-load state height pressure relation and the full-load state height pressure relation of the lifting platform 7 in the corresponding running state are obtained through the following steps:
p1: as shown in fig. 4, under different heights of the lifting platform 7, the no-load state height pressure relationship and the full-load state height pressure relationship when the lifting platform 7 is stationary are respectively obtained;
p2: and under different heights of the lifting platform 7, respectively acquiring the empty state height pressure relation and the full state height pressure relation when the lifting platform 7 continuously ascends and continuously descends.
Example III
The structure, principle and implementation steps of this embodiment are similar to those of the embodiment, except that:
the corresponding no-load state height pressure relation and full-load state height pressure relation of the lifting platform 7 are obtained through the following steps:
p1: as shown in fig. 4, under different heights of the lifting platform 7, the no-load state height pressure relationship and the full-load state height pressure relationship when the lifting platform 7 is stationary are respectively obtained;
p2: as shown in fig. 5, the empty state height pressure relationship and the full state height pressure relationship at the time of lifting platform 7 lifting and stopping and/or lifting and/or lowering and/or stopping-lowering combined movement are acquired respectively.
Example IV
The structure, principle and implementation steps of this embodiment are similar to those of the embodiment, except that:
the monitoring system of the high-precision monitoring method according to the load of the lift truck comprises a controller 1, wherein no-load state height pressure relation data and full-load state height pressure relation data of a lift platform 7 under different running states are stored in the controller 1, the controller 1 is connected with a pressure sensor 2, a height sensor 3 and an alarm device 4, and the alarm device 4 is preferably an LED lamp and/or a buzzer.
The lifting vehicle is a scissor type lifting vehicle and comprises a vehicle body 5, a scissor lifting structure 6 is arranged on the upper side of the vehicle body 5, a lifting platform 7 is arranged on the upper side of the scissor lifting structure 6, a lifting driving hydraulic rod 8 is arranged between two scissor rods of the scissor lifting structure 6 or between the vehicle body 5 and the scissor rods, the pressure sensor 2 is arranged on the lifting driving hydraulic rod 8, the height sensor 3 is arranged on the lifting platform 7 or the scissor lifting structure 6 of the lifting vehicle, and the height sensor 3 is an angle sensor 31 and is arranged on the scissor lifting structure 6; the number of the angle sensors 31 is preferably two, and the angle sensors are respectively and symmetrically arranged on two scissor rods on the scissor lifting structure 6. The two paths of angle sensors 31 are symmetrically arranged on the two shearing fork rods on the shearing fork lifting structure 6, so that shake can be well eliminated, ageing deformation of the shearing fork rods can be counteracted, and key error factors in the load weighing process are solved.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Although terms such as the controller 1, the pressure sensor 2, the height sensor 3, the angle sensor 31, the alarm device 4, the vehicle body 5, the scissors lifting structure 6, the lifting platform 7, the lifting driving hydraulic lever 8, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely for convenience in describing and explaining the nature of the invention; they are to be interpreted as any additional limitation that is not inconsistent with the spirit of the present invention.
Claims (10)
1. The high-precision monitoring method for the load of the lift truck is characterized by comprising the following steps of:
s1: acquiring the running state of a lifting platform of the lifting vehicle;
s2: according to the running state of the lifting platform, determining the no-load state height pressure relation and the full-load state height pressure relation of the lifting platform under the corresponding running state;
s3: acquiring the height of a lifting platform of the lifting vehicle;
s4: determining the full-load pressure of the lifting platform at the corresponding height under the corresponding running state according to the height of the lifting platform, and marking the full-load pressure as the real-time full-load pressure;
s5: calculating the average value of the real-time full-load pressure in the set time;
s6: acquiring the pressure of a lifting platform of the lifting vehicle;
s7: calculating the average value of the pressure of the lifting platform in the set time;
s8: if the average value of the pressure of the lifting platform in the set time exceeds the set proportion of the average value of the real-time full-load pressure in the set time, an alarm signal is sent; otherwise, the process goes to step S1.
2. The high-precision monitoring method of the load and the load of the lift truck according to claim 1, wherein the no-load state height-pressure relation and the full-load state height-pressure relation of the lift platform under the corresponding running state are obtained by the following steps:
p1: under different heights of the lifting platform, respectively acquiring the height-pressure relationship of the lifting platform in an idle state and the height-pressure relationship of the lifting platform in a full state when the lifting platform is stationary;
p2: under different heights of the lifting platform, respectively acquiring an empty state height pressure relation and a full state height pressure relation when the lifting platform continuously rises and continuously falls;
or the corresponding no-load state height pressure relation and full-load state height pressure relation of the lifting platform are obtained through the following steps:
p1: under different heights of the lifting platform, respectively acquiring the height-pressure relationship of the lifting platform in an idle state and the height-pressure relationship of the lifting platform in a full state when the lifting platform is stationary;
p2: the method comprises the steps of respectively obtaining an empty state height pressure relation and a full state height pressure relation during lifting and stopping and/or stopping and lifting and/or stopping and descending combined movement of a lifting platform;
or the corresponding no-load state height pressure relation and full-load state height pressure relation of the lifting platform are obtained through the following steps:
p1: under different heights of the lifting platform, respectively acquiring the height-pressure relationship of the lifting platform in an idle state and the height-pressure relationship of the lifting platform in a full state when the lifting platform is stationary;
p2: under different heights of the lifting platform, respectively acquiring an empty state height pressure relation and a full state height pressure relation when the lifting platform continuously rises and continuously falls;
p3: and respectively acquiring the empty state height pressure relation and the full state height pressure relation of the lifting platform during lifting and stopping and/or lifting and/or stopping and descending combined movement.
3. The method for monitoring the load of the lift truck with high precision according to claim 1, wherein the set proportion is a proportion of a difference between full load pressure and no load pressure of a corresponding height of the lift truck under a corresponding running state.
4. A method of high accuracy monitoring of a load of a lift truck according to claim 3, wherein the set proportion is 105% of the difference between the full load pressure and the empty load pressure of the lift platform at the corresponding height in the corresponding operating state.
5. The method for high-precision monitoring of a load of a lift truck according to claim 1, wherein the set time is 1.2 seconds.
6. A monitoring system for a high-precision monitoring method of the load carrying capacity of a lift truck according to any one of claims 1 to 5, comprising a controller, wherein no-load state height pressure relation data and full-load state height pressure relation data of the lift platform under different running states are stored in the controller, and the controller is connected with a pressure sensor and a height sensor.
7. The lift truck load high precision monitoring system of claim 6, wherein the controller is coupled to an alarm device.
8. The high-precision monitoring system for load and load of a lift truck according to claim 6, wherein the lift truck is a scissor lift truck and comprises a truck body, a scissor lifting structure is arranged on the upper side of the truck body, a lifting platform is arranged on the upper side of the scissor lifting structure, a lifting driving hydraulic rod is arranged between two scissor rods of the scissor lifting structure or between the truck body and the scissor rods, the pressure sensor is arranged on the lifting driving hydraulic rod, and the height sensor is arranged on the lifting platform or the scissor lifting structure of the lift truck.
9. The lift truck load weight high accuracy monitoring system of claim 8, wherein the height sensor is an angle sensor and is disposed on a scissor lift structure.
10. The lift truck load high precision monitoring system of claim 9, wherein the number of the angle sensors is two, and the angle sensors are respectively and symmetrically arranged on two scissor rods on the scissor lifting structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211211661.XA CN116853980A (en) | 2022-09-30 | 2022-09-30 | High-precision monitoring method and monitoring system for load and load of lifting truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211211661.XA CN116853980A (en) | 2022-09-30 | 2022-09-30 | High-precision monitoring method and monitoring system for load and load of lifting truck |
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| Publication Number | Publication Date |
|---|---|
| CN116853980A true CN116853980A (en) | 2023-10-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211211661.XA Pending CN116853980A (en) | 2022-09-30 | 2022-09-30 | High-precision monitoring method and monitoring system for load and load of lifting truck |
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| CN (1) | CN116853980A (en) |
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2022
- 2022-09-30 CN CN202211211661.XA patent/CN116853980A/en active Pending
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