[go: up one dir, main page]

CN118684168B - A method and system for limiting torque of telescopic forklift - Google Patents

A method and system for limiting torque of telescopic forklift Download PDF

Info

Publication number
CN118684168B
CN118684168B CN202411174577.4A CN202411174577A CN118684168B CN 118684168 B CN118684168 B CN 118684168B CN 202411174577 A CN202411174577 A CN 202411174577A CN 118684168 B CN118684168 B CN 118684168B
Authority
CN
China
Prior art keywords
point
arm
force
cylinder
oil cylinder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202411174577.4A
Other languages
Chinese (zh)
Other versions
CN118684168A (en
Inventor
姚洪
孙士山
胡艳华
王建超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangcha Group Co Ltd
Original Assignee
Hangcha Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hangcha Group Co Ltd filed Critical Hangcha Group Co Ltd
Priority to CN202411174577.4A priority Critical patent/CN118684168B/en
Publication of CN118684168A publication Critical patent/CN118684168A/en
Application granted granted Critical
Publication of CN118684168B publication Critical patent/CN118684168B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B66C23/821—Bracing equipment for booms
    • B66C23/826—Bracing equipment acting at an inclined angle to vertical and horizontal directions
    • B66C23/828—Bracing equipment acting at an inclined angle to vertical and horizontal directions where the angle is adjustable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • 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
    • B66F9/065—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 non-masted
    • B66F9/0655—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 non-masted with a telescopic boom
    • 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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/007—Simulation or modelling
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Structural Engineering (AREA)
  • Data Mining & Analysis (AREA)
  • General Engineering & Computer Science (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Transportation (AREA)
  • Pure & Applied Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Geology (AREA)
  • Databases & Information Systems (AREA)
  • Software Systems (AREA)
  • Automation & Control Theory (AREA)
  • Algebra (AREA)
  • Chemical & Material Sciences (AREA)
  • Civil Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Operations Research (AREA)
  • Evolutionary Biology (AREA)
  • Combustion & Propulsion (AREA)
  • Analytical Chemistry (AREA)
  • Probability & Statistics with Applications (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The invention discloses a moment limiting method of a telescopic boom forklift, which relates to the technical field of anti-tilting safety of telescopic boom forklifts, and aims to acquire supporting forces of a pitching oil cylinder, a compensating oil cylinder and a tilting oil cylinder; taking the point O as a first coordinate origin, acquiring initial position coordinates of an outer arm gravity center F point, an inner arm gravity center G point, an inner arm and fork hinging point C point, an upper hinging point and a lower hinging point of a pitching oil cylinder and a compensation oil cylinder relative to the point O; taking the point C as a second coordinate origin, acquiring initial position coordinates of a fork gravity center H point and an upper and lower hinging point of the inclined oil cylinder relative to the point C, and thus respectively obtaining corresponding force arm values; the O point is taken as a moment balance point to establish a moment balance equation among the pitching oil cylinder, the compensation oil cylinder, the outer arm, the inner arm, the fork and the load so as to obtain weighing weight; solving a force limit percentage value, and controlling the speed of the fork action according to the force limit percentage value; the gravity center position of the carrying object is considered, the judgment is more accurate when the judgment limit percentage value is reached, and the accuracy of rollover prevention judgment of the telescopic boom forklift is improved.

Description

Moment limiting method and system for telescopic boom forklift
Technical Field
The invention relates to the technical field of anti-tilting safety of telescopic boom forklifts, in particular to a moment limiting method and a moment limiting system of a telescopic boom forklift.
Background
The telescopic boom forklift is widely applied to material handling places such as farms, ports and the like according to the versatility and the flexibility, and can meet the carrying and handling of objects with different heights and weights due to the telescopic boom, so that the handling efficiency is greatly improved.
However, in the practical application process of the telescopic boom forklift, due to the fact that the telescopic length and the weight of the carried objects are different, tipping moments generated by the carried objects under different working conditions are different, rollover accidents occur frequently, equipment damage is caused, and life safety is endangered.
At present, a telescopic boom forklift moment limiting system mostly adopts a strain gauge to limit moment, detects strain caused by rear axle load change, calculates actual load torque through stress strain, and gives an alarm when the load moment is close to or exceeds a safety limit value, and stops working of a telescopic boom so as to avoid danger. The torque limiting system in the form is simple in structure and convenient to apply, but from the feedback of a user, the main problems are as follows: 1. the object-carrying tipping moment obtained by the method has low precision and is thicker; 2. the strain gauge is sensitive to temperature change and electromagnetic interference, and needs better temperature environment and signal shielding; 3. the force limit system with the form can not display the load weight more intuitively to an operator except for force limit alarm; 4. when passing through a bumpy road surface, false alarm conditions can be caused by load change of the rear axle.
In the actual working process of the telescopic boom forklift, not only is the lifting and telescopic range of the boom larger, but also the complex visual field blind area of the working condition is more, if the weight weighing precision of the load is not high, the load is only used as a reference by taking the strain gauge force limit alarm signal, the pre-judgment is difficult to be made, and the rollover condition is easy to occur.
To the person skilled in the art, how to improve the accuracy of rollover prevention judgment of the telescopic forklift is a technical problem to be solved at present.
Disclosure of Invention
The invention provides a moment limiting method of a telescopic forklift, which considers the gravity center position of a load when calculating the weight of the load, is more accurate when judging the percentage value of the force limit, and improves the accuracy of rollover prevention judgment of the telescopic forklift, and the specific scheme is as follows:
a moment limiting method of a telescopic boom forklift comprises the following steps:
The supporting force of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder is obtained;
Taking a hinge point O of an outer arm and a vehicle body as a first coordinate origin, and acquiring initial position coordinates of a gravity center F point of the outer arm, a gravity center G point of the inner arm, a hinge point C point of the inner arm and a fork, an upper hinge point and a lower hinge point of a pitching oil cylinder and a compensation oil cylinder relative to the point O; taking the hinging point C as a second coordinate origin, and acquiring initial position coordinates of a fork gravity center H point and an upper hinging point and a lower hinging point of the inclined oil cylinder relative to the point C; based on long angle sensor length And angle ofCalculating the change value of each key coordinate point and the moment arm value of each component by the change value;
According to the corresponding relation between the forces and the force arms of the components, using the O point as a moment balance point, establishing a moment balance equation among the pitching oil cylinder, the compensation oil cylinder, the outer arm, the inner arm, the fork and the load to obtain weighing weight;
and comparing the weighed weight value with the allowed load weight, solving a force limit percentage value, and controlling the speed of fork motion according to the force limit percentage value.
Optionally, the acquiring the supporting forces of the pitch cylinder, the compensation cylinder and the tilt cylinder includes:
acquiring detection values of pressure sensors of a pitching oil cylinder, a compensation oil cylinder, a rod cavity of an inclined oil cylinder and a rodless cavity;
Calculating supporting forces of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder according to detection values of the pressure sensors:
pitching oil cylinder supporting force:
compensating the supporting force of the oil cylinder:
Tilting cylinder supporting force:
wherein, 、、The pressure of the large cavity of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder is respectively,、、The pressure of the small cavity of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder are respectively,、、The large cavity diameters of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder are respectively,、、The diameters of the small cavities of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder are respectively.
Optionally, the O point is used as a moment balance point to calculate the arm force arm value of the outer arm, the inner arm, the fork, the load, the pitching oil cylinder and the compensating oil cylinder and the abscissa change value of the hinging point C:
hinge point C abscissa change value:
Arm value of outer arm:
Internal arm strength arm value:
Fork arm value:
Load moment arm value:
pitch hydro-cylinder action arm of force:
compensating the acting force arm of the oil cylinder:
wherein, 、、The initial abscissa of the F point, the G point and the C point relative to the O point,、、The initial ordinate of the point F, the point G and the point C relative to the point O respectively,The initial abscissa of point H relative to point C,The initial abscissa, angle, of point I relative to point CAngle ofThe values of AOB and POQ are respectively given when the large arm and the fork are horizontal relative to the ground.
Optionally, the moment balance point is taken as the point C to calculate the moment arm value of the inclined oil cylinder and the horizontal distance between the point I of the gravity center of the load and the point C:
Tilting cylinder action arm of force:
horizontal distance of point I relative to point C ：
C is taken as an origin, and a moment balance equation among the inclined oil cylinder, the fork and the weight of the loaded object is established
Thereby can be obtained
Wherein the angle isIs the value of DCE when the boom and the fork are horizontal relative to the ground,Is the angle sensor measurement.
Optionally, the acquiring the weighing weight includes:
Weighing moment balance equation:
To obtain the weight of the load ：
。
Optionally, the calculating the force limit percentage value includes:
wherein, To allow the load weight value, it is obtained by allowing a preset value in the load curve table.
Optionally, the controlling the speed of the fork motion according to the force limit percentage value includes:
when the force limit percentage is smaller than 90%, the large arm normally acts, and the magnitude of the output current value of the main control electromagnetic valve and the rotating speed of the engine are related to the opening degree of the control handle;
When the force limit percentage reaches 90%, the large arm action is limited in speed, the current output of the main control electromagnetic valve is reduced, the rotating speed of the engine is reduced, and meanwhile, the instrument carries out force limit overrun early warning prompt;
When the force limit percentage reaches 100%, the whole vehicle controller stops the current output of the main control electromagnetic valve, adjusts the rotation speed of the engine to an idle state, prohibits the large arm from moving, and simultaneously carries out force limit overrun alarm prompt on the instrument.
The invention also provides a moment limiting system of the telescopic boom forklift, which comprises the following components:
The sensor module comprises pressure sensors for detecting a pitching oil cylinder, a compensating oil cylinder, a rod cavity and a rodless cavity of the tilting oil cylinder, an angle sensor for detecting the relative rotation angle of a fork and an inner arm, and a long angle sensor for measuring the lifting angle and the extending length of the arm support;
the input signal acquisition module is used for reading detection values of each pressure sensor, each angle sensor and each long angle sensor and inputting an allowable load curve table;
The force calculation module is used for calculating the supporting force of the pitching oil cylinder, the compensation oil cylinder and the tilting oil cylinder according to the pressure sensor value, and the weight of the outer arm Weight of inner armFork weightObtained by actual measurement;
The moment arm calculation module is used for calculating moment arm values of the outer arm, the inner arm, the fork, the load, the pitching oil cylinder, the compensation oil cylinder and the change value of the horizontal coordinate of the hinging point C by taking the point O as a moment balance point, and calculating the moment arm values of the inclined oil cylinder and the horizontal distance of the gravity center I point of the load relative to the point C by taking the point C as the moment balance point;
the weighing calculation module is used for obtaining the force and the force arm of each module according to the obtained force and the force arm, taking the O point as a moment balance point, and establishing a moment balance equation among the pitching oil cylinder, the compensation oil cylinder, the outer arm, the inner arm, the fork and the carrying object to obtain the weighing weight;
the force limit percentage calculation module is used for comparing the weighing weight with the allowable load weight and solving a force limit percentage value;
And the force limit system stability control module is used for controlling the fork action according to the force limit percentage value.
Optionally, the force limiting system stability control module is implemented by the ECU controlling the engine regulated oil pump and the VCU regulated main control valve.
Optionally, the device also comprises an instrument state representation module which is used for realizing the weight display of the load, the force limit percentage display, the force limit overrun early warning, the force limit overrun warning and the large arm action cutting display.
The invention provides a moment limiting method of a telescopic boom forklift, which comprises the steps of obtaining supporting forces of a pitching oil cylinder, a compensating oil cylinder and an inclined oil cylinder; taking a hinge point O of an outer arm and a vehicle body as a first coordinate origin, and acquiring initial position coordinates of a gravity center F point of the outer arm, a gravity center G point of the inner arm, a hinge point C point of the inner arm and a fork, an upper hinge point and a lower hinge point of a pitching oil cylinder and a compensation oil cylinder relative to the point O; taking the hinging point C as a second coordinate origin, and acquiring initial position coordinates of a fork gravity center H point and an upper hinging point and a lower hinging point of the inclined oil cylinder relative to the point C, so as to respectively obtain corresponding force arm values; according to the forces and the force arms of the modules, taking the O point as a moment balance point, establishing a moment balance equation among the pitching oil cylinder, the compensating oil cylinder, the outer arm, the inner arm, the fork and the carrying object to obtain weighing weight; comparing the weighing value with the allowable load weight, solving a force limit percentage value, and controlling the speed of fork motion according to the force limit percentage value; according to the invention, the horizontal distance of the gravity center of the load relative to the intersection point of the inner arm can be accurately calculated through the moment balance equation model, the gravity center position of the load is considered, the judgment is more accurate when the judgment is carried out in percentage, and the accuracy of rollover prevention judgment of the telescopic arm forklift is improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a telescopic boom forklift boom structure and a stress analysis;
FIG. 2 is a schematic diagram of a telescopic boom forklift torque limiting system;
FIG. 3 is a flow chart diagram illustrating the coordination of the modules of the telescopic boom forklift torque limiting system;
FIG. 4 is a stability control flow chart for a telescopic boom forklift torque limiting method;
fig. 5 is a flow chart of the carrier arm calculation.
The drawings include:
The system comprises a pitching oil cylinder 1, a pitching oil cylinder large cavity pressure sensor 1-1, a pitching oil cylinder small cavity pressure sensor 1-2, a compensation oil cylinder large cavity pressure sensor 2-1, a compensation oil cylinder small cavity pressure sensor 2-2, an inclined oil cylinder 3, an inclined oil cylinder pressure large cavity pressure sensor 3-1, an inclined oil cylinder pressure large cavity pressure sensor 3-2, an angle sensor 4, a long angle sensor 5, an allowable load curve table 6, a vehicle-mounted controller 7, an instrument state representation module 8, a control handle 9, an engine controller 10, an engine 11, an oil pump 12, a main control valve 13 and a working oil cylinder 14.
Detailed Description
The invention provides a moment limiting method for a telescopic forklift, which considers the gravity center position of a load when calculating the weight of the load, is more accurate when judging the percentage value of the moment limit, and improves the accuracy of rollover prevention judgment of the telescopic forklift.
In order to make those skilled in the art better understand the technical solution of the present invention, the following describes the moment limiting method and system of the telescopic forklift according to the present invention in detail with reference to the accompanying drawings and the specific embodiments.
The invention provides a moment limiting method of a telescopic boom forklift, which comprises the following steps:
Firstly, acquiring supporting forces of a pitching oil cylinder, a compensation oil cylinder and an inclined oil cylinder; this procedure was used to obtain the force of the three cylinders. The pitching oil cylinder 1 is an oil cylinder for adjusting the pitching angle of the outer arm, the compensating oil cylinder 2 stretches and contracts along with the pitching adjustment of the outer arm, and the tilting oil cylinder 3 adjusts the angle of the fork according to the stretching amplitude of the compensating oil cylinder 2 so as to keep the carrying object horizontal as much as possible. Wherein the two ends of the pitching oil cylinder 1 are respectively connected with the vehicle body and the outer arm, the two ends of the compensation oil cylinder 2 are respectively connected with the vehicle body and the outer arm, the two ends of the tilting oil cylinder 3 are respectively connected with the inner arm and the fork, and the fork is provided with a load.
Secondly, referring to fig. 1, the pitch cylinder 1, the compensation cylinder 2 and the tilt cylinder 3 in fig. 1 only show partial structures for illustration; taking a hinge point O of an outer arm and a vehicle body as a first coordinate origin, and acquiring initial position coordinates of a gravity center F point of the outer arm, a gravity center G point of the inner arm, a hinge point C point of the inner arm and a fork, an upper and lower hinge point of a pitching oil cylinder 1 and an upper and lower hinge point of a compensation oil cylinder 2 relative to the point O; taking a C point of a hinge point of the inner arm and the fork as a second coordinate origin, and acquiring initial position coordinates of a gravity center H point of the fork and an upper and lower hinge point of the inclined oil cylinder 3 relative to the C point; based on long angle sensor lengthAnd angle ofAnd calculating the change value of each key coordinate point and the moment arm value of each component by the change value. This procedure is used to obtain the relative positions of the points, which are used to obtain the moment arm values. Because the outer arm swings up and down in pitching around the point O, the inner arm moves in translation relative to the outer arm and the fork rotates relative to the inner arm, the arm of force of each component part of the outer arm, the inner arm, the fork, the carrying object and the like can be changed.
Then, according to the forces and force arms of the components, using the O point as a moment balance point, establishing a moment balance equation among the pitching oil cylinder, the compensation oil cylinder, the outer arm, the inner arm, the fork and the load to obtain weighing weight; due to the weight of the outer armWeight of inner armFork weightFor the fixed quantity, the fixed quantity can be obtained through actual measurement, the load which is taken by each time on the fork is different, and the weight of the load is unknown; and the supporting force of the pitching oil cylinder and the compensating oil cylinder and the force arm are obtained in the previous steps. The weight obtained by this step is the weight of the load.
And then, comparing the weighed weight value with the allowed load weight, solving a force limit percentage value, and controlling the speed of fork motion according to the force limit percentage value.
According to the invention, by establishing a moment balance equation, the factors of the gravity center and the moment arm of the load are independently considered, the horizontal distance of the gravity center of the load relative to the intersection point of the inner arm can be accurately calculated, the gravity center position of the load is considered, the judgment is more accurate when the weight limit percentage value is judged, and the accuracy of rollover prevention judgment of the telescopic arm forklift is improved.
Based on the scheme, the process for acquiring the supporting forces of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder specifically comprises the following steps:
The method comprises the steps that an input signal acquisition module is used for acquiring detection values of pressure sensors of a pitching oil cylinder, a compensation oil cylinder, a tilting oil cylinder with a rod cavity and a rodless cavity; calculating supporting forces of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder according to detection values of the pressure sensors:
pitching oil cylinder supporting force:
（4-1）
compensating the supporting force of the oil cylinder:
（4-2）
Tilting cylinder supporting force:
（4-3）
wherein, 、、The pressure of the large cavity of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder (the large cavity is a rodless cavity) is respectively provided,、、The pressure of small cavities (small cavities are rod cavities) of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder respectively,、、The large cavity diameters of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder are respectively,、、The diameters of the small cavities of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder are respectively.
When the moment arm calculation is carried out, the moment arm value of the outer arm, the inner arm, the fork, the load, the pitching oil cylinder and the compensating oil cylinder and the abscissa change value of the hinging point C are calculated by taking the point O as a moment balance point:
hinge point C abscissa change value:
（4-4）
Arm value of outer arm:
（4-5）
Internal arm strength arm value:
（4-6）
Fork arm value:
（4-7）
Load moment arm value:
（4-8）
pitch hydro-cylinder action arm of force:
（4-9）
compensating the acting force arm of the oil cylinder:
（4-10）
wherein, 、、The initial abscissa of the F point, the G point and the C point relative to the O point,、、The initial ordinate of the point F, the point G and the point C relative to the point O respectively,The initial abscissa of point H relative to point C,The initial abscissa, angle, of point I relative to point CAngle ofThe values of AOB and POQ are respectively given when the large arm and the fork are horizontal relative to the ground.
The C point is used as a moment balance point to calculate the moment arm value of the inclined oil cylinder and the horizontal distance between the gravity center I point of the load and the C point:
Tilting cylinder action arm of force:
（4-11）
horizontal distance of point I relative to point C ：
C is taken as an origin, and a moment balance equation among the inclined oil cylinder, the fork and the weight of the load is established:
（4-12）
this can be achieved by:
（4-13）
Wherein the angle is Is the value of DCE when the boom and the fork are horizontal relative to the ground,Is the angle sensor measurement.
The method for obtaining the weighing weight comprises the following steps:
Weighing moment balance equation:
（4-14）
The weight of the carrier can be obtained from the formulas (4-7), (4-8), (4-12) and (4-14) ：
（4-15）
Calculating the percentage value of the force limit:
（4-16）
wherein, To allow the load weight value, it is obtained by allowing a preset value in the load curve table.
In the process of lifting, descending, extending and other actions of the fork in combination with fig. 4, the speed of the fork action is controlled according to the force limit percentage value, and three situations exist:
when the force limit percentage is smaller than 90%, the large arm normally acts, and the magnitude of the output current value of the main control electromagnetic valve and the rotating speed of the engine are related to the opening degree of the control handle.
When the force limit percentage reaches 90%, the large arm action is limited in speed, the current output of the main control electromagnetic valve is reduced, the rotating speed of the engine is reduced, and meanwhile, the instrument carries out force limit overrun early warning prompt.
When the force limit percentage reaches 100%, the whole vehicle controller stops the current output of the main control electromagnetic valve, adjusts the rotation speed of the engine to an idle state, prohibits the large arm from moving, and simultaneously carries out force limit overrun alarm prompt on the instrument.
From the above description, the weighing basic principle of the invention is as follows: the moment of the gravity of each section arm and the load to the point O and the supporting moment of the pitching oil cylinder and the compensating oil cylinder to the point O are calculated through the length and angle signals of the pressure sensor and the arm support, then a load weight weighing model is constructed according to a moment balance principle, the weighing model is solved, the weight of the load is collected, and the load gravity is uncertain to the point O moment arm.
And the calculation principle of a material carrying arm: the angle sensor 4 is used for collecting the angle change value of a triangle DCE formed by the upper and lower hinge points of the inclined oil cylinder and the hinge points of the fork and the inner arm, and the pressure sensor is used for collecting the pressure value of the inclined oil cylinder to calculate the acting force of the inclined oil cylinderCalculating the arm of force of the inclined oil cylinder by triangle cosine theorem and triangle area formulaAnd (3) taking a joint C of the fork and the inner arm as an origin, establishing a moment balance equation among the inclined oil cylinder, the fork and the weight of the load, and solving the moment arm value of the load to the point C by the moment balance equation, wherein the calculation formula is shown in the formulas (4-13).
Moment arm of gravity of carrying object to O pointForce arm for decomposing into its pair of C pointsHorizontal distance from point C to point OThe sum is shown as formula (4-8), the moment arm of the gravity of the load to the point O is calculated by calculating the change value of the abscissa of the point C as formula (4-4) and the horizontal distance of the point I relative to the point C as formula (4-13), the value is substituted into the weighing model of each section of arm and the load to the point O, the weight of the load as formula (4-15) can be accurately calculated, the ratio of the weight of the load to the weight of the allowable load is calculated to determine the percentage of the force limiting system, and the action of the hydraulic system is controlled according to the percentage value of the force limiting system, so that the scheme can improve the weighing precision and the stability of the moment limiting system.
The invention also provides a moment limiting system of the telescopic boom forklift, which is shown in combination with fig. 2 and 3 and comprises a sensor module, an input signal acquisition module, a force calculation module, a moment arm calculation module, a weighing calculation module, a force limit percentage calculation module and a force limit system stability control module.
The sensor module comprises pressure sensors for detecting rod cavities and rodless cavities of the pitching oil cylinder 1, the compensating oil cylinder 2 and the tilting oil cylinder 3, and the rod cavities and the rodless cavities of the three are respectively provided with the pressure sensors. The sensor module specifically comprises a pitching oil cylinder large cavity pressure sensor 1-1, a pitching oil cylinder small cavity pressure sensor 1-2, a compensation oil cylinder large cavity pressure sensor 2-1, a compensation oil cylinder small cavity pressure sensor 2-2, an inclined oil cylinder pressure large cavity pressure sensor 3-1 and an inclined oil cylinder pressure large cavity pressure sensor 3-2.
The sensor module further comprises an angle sensor 4 for detecting the relative rotation angle of the fork and the inner arm, and the angle sensor 4 is arranged at the C point of the hinge point of the inner arm and the fork and can detect the included angle between the fork and the inner arm. The sensor module further comprises a long angle sensor 5 for measuring the lifting angle and the extending length of the arm support, the long angle sensor 5 is arranged on the outer arm, and the long angle sensor 5 is used for measuring the lifting angle and the extending length of the arm support.
The input signal acquisition module is used for reading detection values of each pressure sensor, each angle sensor and each long angle sensor, inputting an allowable load curve table, and directly writing the allowable load curve table into the vehicle-mounted controller 7 (VCU).
The force calculation module calculates the supporting forces of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder according to the values of the pressure sensors, and the weight of the outer armWeight of inner armFork weightObtained by actual measurement;
pitching oil cylinder supporting force:
（4-1）
compensating the supporting force of the oil cylinder:
（4-2）
Tilting cylinder supporting force:
（4-3）
wherein, 、、The pressure of the large cavity of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder is respectively,、、The pressure of the small cavity of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder are respectively,、、The large cavity diameters of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder are respectively,、、The diameters of the small cavities of the pitching oil cylinder, the compensating oil cylinder and the tilting oil cylinder are respectively.
The moment arm calculation module takes the hinge point O of the outer arm and the vehicle body as a coordinate origin, and measures initial position coordinates of the center of gravity F point of the outer arm, the center of gravity G point of the inner arm, the hinge point C point of the inner arm and the fork, the upper and lower hinge points of the pitching oil cylinder and the compensation oil cylinder relative to the point O; and measuring initial position coordinates of the gravity center H point of the fork and the upper and lower hinge points of the inclined oil cylinder relative to the point C by taking the hinge point C as a coordinate origin. Based on long angle sensor lengthAnd angle ofAnd calculating the change value of each key coordinate point and the moment arm value of each module according to the change value.
The O point is used as a moment balance point to calculate the arm force value of the outer arm, the inner arm, the fork, the load, the pitching oil cylinder and the compensating oil cylinder and the abscissa change value of the hinging point C:
（4-4）
Arm value of outer arm:
（4-5）
Internal arm strength arm value:
（4-6）
Fork arm value:
（4-7）
Load moment arm value:
（4-8）
pitch hydro-cylinder action arm of force:
（4-9）
compensating the acting force arm of the oil cylinder:
（4-10）
wherein, 、、The initial abscissa of the F point, the G point and the C point relative to the O point,、、The initial ordinate of the point F, the point G and the point C relative to the point O respectively,The initial abscissa of point H relative to point C,The initial abscissa, angle, of point I relative to point CAngle ofThe values of AOB and POQ are respectively given when the large arm and the fork are horizontal relative to the ground.
The point C is taken as a moment balance point to calculate the moment arm value of the inclined oil cylinder and the horizontal distance between the point I of the gravity center of the load and the point C;
Tilting cylinder action arm of force:
（4-11）
horizontal distance of point I relative to point C ：
C is taken as an origin, and a moment balance equation among the inclined oil cylinder, the fork and the weight of the loaded object is established
（4-12）
Thereby can be obtained
（4-13）
Wherein the angle isIs the value of DCE when the boom and the fork are horizontal relative to the ground,Is the angle sensor measurement.
The weighing calculation module obtains the weighing weight by taking the O point as a moment balance point according to the obtained forces and the moment arms of the modules and establishing moment balance equations among the pitching oil cylinder, the compensation oil cylinder, the outer arm, the inner arm, the fork and the carrying object;
Weighing moment balance equation:
（4-14）
The weight of the carrier can be obtained from the formulas (4-7), (4-8), (4-12) and (4-14) ：
（4-15）
The force limit percentage calculation module compares the weighing weight with the allowable load weight, and obtains a force limit percentage value;
（4-16）
The force limit system stability control module controls the fork to act according to the force limit percentage value, and when the force limit percentage is smaller than 90% in combination with FIG. 4 in the process of lifting, descending, extending and the like of the fork, the large arm normally acts, and the magnitude of the output current value of the main control electromagnetic valve and the rotation speed of the engine are related to the opening degree of the control handle; when the force limit percentage reaches 90%, the lifting, descending and extending actions of the large arm are limited in speed, the current output of the main control electromagnetic valve is reduced, the rotating speed of the engine is reduced, and meanwhile, the instrument carries out early warning prompt of force limit overrun; when the force limit percentage reaches 100%, the whole vehicle controller stops the current output of the main control electromagnetic valve, adjusts the rotating speed of the engine to an idle state, prohibits the lifting, descending and extending actions of the large arm, and simultaneously carries out force limit overrun alarm prompt on the instrument so as to ensure the safe operation of the vehicle.
The force limiting system stability control module is realized by an ECU controlling an engine regulating oil pump and a VCU regulating main control valve. The pitching oil cylinder pressure sensor, the compensating oil cylinder pressure sensor, the tilting oil cylinder pressure sensor and the angle sensor are connected to the signal input end of the vehicle-mounted controller 7, the load curve table is allowed to be directly written into the vehicle-mounted controller 7, the output end of the vehicle-mounted controller 7 is connected with a proportional electromagnetic valve, the engine drives a main pump, the output high-pressure oil enters the working oil cylinder 14 through the proportional electromagnetic valve to execute corresponding actions, the weighing calculation module and the force limit percentage calculation module are calculated and processed by the controller, and the long-angle sensor 5, the control handle 9, the engine controller 10 (ECU) and the instrument state representation module 8 are connected with the vehicle-mounted controller 7 through a CAN bus. The instrument state representation module 8 is used for realizing load weight display, force limit percentage display, force limit overrun early warning, force limit overrun alarm and large arm action cut-off display.
The invention installs an angle sensor at the hinge axis C of the fork and the inner arm to measure the relative rotation angle of the fork and the inner armCalculating the arm of force of the inclined oil cylinder according to the triangle cosine theorem and the area formula. Moment arm for loading gravity to O pointDecomposing the force arm of the point I to the point C and the sum of the horizontal distance between the point C and the point O, collecting the pressure values of two cavities of the tilting cylinder, establishing a moment balance equation of the weights of the tilting cylinder, the fork and the object by taking the point C as a moment balance point, and solving the force arm value of the point I to the point C. Solving the weight value of the load according to the formula (4-15) so as to solve the force limit percentage value, and when the force limit percentage is smaller than 90%, enabling the big arm to normally act; when the force limit percentage is more than 90% and less than 100%, the lifting, descending and extending actions of the large arm are limited in speed; when the force limit percentage is greater than 100%, the lifting, descending and extending actions of the large arm are forbidden so as to ensure the safe running of the vehicle.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (6)

1.一种伸缩臂叉车力矩限制方法，其特征在于，包括：1. A method for limiting torque of a telescopic forklift, comprising: 获取俯仰油缸、补偿油缸、倾斜油缸的支撑力；包括：Get the support force of the pitch cylinder, compensation cylinder, and tilt cylinder; including: 获取俯仰油缸、补偿油缸、倾斜油缸有杆腔和无杆腔的压力传感器的检测值；Obtain the detection values of the pressure sensors of the rod cavity and rodless cavity of the pitch cylinder, the compensation cylinder, and the tilt cylinder; 根据各个压力传感器的检测值计算俯仰油缸、补偿油缸、倾斜油缸支撑力：Calculate the support force of the pitch cylinder, compensation cylinder, and tilt cylinder based on the detection values of each pressure sensor: 俯仰油缸支撑力：Pitch cylinder support force : ； ; 补偿油缸支撑力：Compensation cylinder support force : ； ; 倾斜油缸支撑力：Tilt cylinder support force : ； ; 其中，、、分别为俯仰油缸、补偿油缸、倾斜油缸大腔压力，、、分别为俯仰油缸、补偿油缸、倾斜油缸小腔压力，、、分别为俯仰油缸、补偿油缸、倾斜油缸大腔直径，、、分别为俯仰油缸、补偿油缸、倾斜油缸小腔直径；in, , , They are the large chamber pressures of the pitch cylinder, compensation cylinder, and tilt cylinder, respectively. , , They are the small chamber pressures of the pitch cylinder, compensation cylinder, and tilt cylinder, respectively. , , They are the large diameters of the pitch cylinder, compensation cylinder, and tilt cylinder. , , They are the small cavity diameters of the pitch cylinder, compensation cylinder, and tilt cylinder respectively; 以外臂与车身铰接点O为第一坐标原点，获取外臂重心F点、内臂重心G点、内臂与货叉铰接点C点、俯仰油缸及补偿油缸上下铰接点相对于O点的初始位置坐标；以铰接点C为第二坐标原点，获取货叉重心H点、倾斜油缸上下铰接点相对于C点的初始位置坐标；根据长角传感器长度和角度变化值计算各关键坐标点变化值及各组成的力臂值；Take the hinge point O between the outer arm and the vehicle body as the first coordinate origin, obtain the initial position coordinates of the outer arm gravity point F, the inner arm gravity point G, the inner arm and fork hinge point C, the pitch cylinder and the upper and lower hinge points of the compensation cylinder relative to point O; take the hinge point C as the second coordinate origin, obtain the initial position coordinates of the fork gravity point H, the upper and lower hinge points of the tilt cylinder relative to point C; according to the length of the long angle sensor and angle Change value calculation of each key coordinate point change value and each component's force arm value; 以O点为力矩平衡点求取外臂、内臂、货叉、载物、俯仰油缸、补偿油缸力臂值以及铰接点C横坐标变化值：Take point O as the moment balance point to obtain the force arm values of the outer arm, inner arm, fork, load, pitch cylinder, compensation cylinder and the horizontal coordinate change value of the hinge point C: 铰接点C横坐标变化值：Change value of the horizontal coordinate of the hinge point C : ； ; 外臂力臂值：Outer arm moment value : ； ; 内臂力臂值：Inner arm moment value : ； ; 货叉力臂值：Fork force arm value : ； ; 载物力臂值：Loading force arm value : ； ; 俯仰油缸作用力臂：Pitch cylinder lever arm : ； ; 补偿油缸作用力臂：Compensation cylinder force arm : ； ; 其中，、、分别为F点、G点、C点相对于O点的初始横坐标，、、分别为F点、G点、C点相对于O点的初始纵坐标，为H点相对于C点的初始横坐标，为I点相对于C点的初始横坐标，角度b为大臂与水平面的夹角，角度、角度分别为大臂及货叉相对于地面水平时∠AOB、∠POQ的值；为OA两点的间距；为OB两点的间距；为OP两点的间距；为OQ两点的间距；in, , , are the initial horizontal coordinates of point F, point G, and point C relative to point O, , , are the initial ordinates of point F, point G, and point C relative to point O, is the initial horizontal coordinate of point H relative to point C, is the initial horizontal coordinate of point I relative to point C, angle b is the angle between the upper arm and the horizontal plane, and angle ,angle They are the values of ∠AOB and ∠POQ when the boom and fork are horizontal relative to the ground; is the distance between two points of OA; is the distance between two points of OB; is the distance between the two points of OP; is the distance between two points of OQ; 以C点为力矩平衡点求取倾斜油缸力臂值以及载物重心I点相对于C点的水平距离：Take point C as the moment balance point to calculate the tilt cylinder force arm value and the horizontal distance of the load gravity center point I relative to point C: 倾斜油缸作用力臂：Tilt cylinder lever arm : ； ; I点相对于C点的水平距离：The horizontal distance between point I and point C : 以C为原点，建立倾斜油缸支撑力、货叉重量、载物重量三者之间力矩平衡方程：With C as the origin, establish the tilt cylinder support force , Fork weight , Load weight The torque balance equation between the three: ； ; 由此可得：From this we can get: ； ; 其中，角度为大臂及货叉相对于地面水平时∠DCE的值，为角度传感器测量值，为CI两点的垂直距离，为CH两点的垂直距离；为CD两点的间距；为CE两点的间距；Among them, the angle is the value of ∠DCE when the boom and fork are horizontal relative to the ground, is the angle sensor measurement value, is the vertical distance between the two points CI, is the vertical distance between two points CH; is the distance between two points CD; is the distance between the two points CE; 根据各组成的力与力臂对应关系，以O点为力矩平衡点，建立俯仰油缸支撑力、补偿油缸支撑力、外臂重量、内臂重量、货叉重量、载物重量之间的力矩平衡方程获取称重重量，包括：According to the corresponding relationship between the force and the lever arm of each component, take point O as the moment balance point and establish the pitch cylinder support force , Compensation cylinder support force , outer arm weight , Inner arm weight , Fork weight , Load weight The moment balance equation between the two is used to obtain the weighing weight, including: 称重力矩平衡方程：Weighing moment balance equation: ； ; 得到载物重量：Get the load weight : ； ; 将称重重量值与允许的载物重量做对比，求取力限百分比值，根据所述力限百分比值控制货叉动作的速度。The weighing weight value is compared with the allowed load weight to obtain the force limit percentage value, and the speed of the fork movement is controlled according to the force limit percentage value. 2.根据权利要求1所述的伸缩臂叉车力矩限制方法，其特征在于，所述求取力限百分比值，包括：2. The telescopic forklift torque limiting method according to claim 1, characterized in that the obtaining of the force limit percentage value comprises: ； ; 其中，为允许载物重量值，通过允许载荷曲线表中的预设值获得。in, The permissible load weight is obtained by using the preset value in the permissible load curve table. 3.根据权利要求1或2所述的伸缩臂叉车力矩限制方法，其特征在于，所述根据所述力限百分比值控制货叉动作的速度，包括：3. The telescopic forklift torque limiting method according to claim 1 or 2, characterized in that the controlling the speed of the fork movement according to the force limit percentage value comprises: 当力限百分比小于90%时，大臂正常动作，主控电磁阀输出电流值大小及发动机转速关联操纵手柄开度；When the force limit percentage is less than 90%, the boom moves normally, and the output current value of the main control solenoid valve and the engine speed are related to the opening of the control handle; 当力限百分比达到90%时，对大臂动作进行速度限制，减小主控电磁阀电流输出同时降低发动机转速，同时仪表进行力限超限预警提示；When the force limit percentage reaches 90%, the speed of the boom action is limited, the current output of the main control solenoid valve is reduced, and the engine speed is reduced. At the same time, the instrument issues a force limit over-limit warning prompt; 当力限百分比达到100%时，整车控制器停止主控电磁阀电流输出同时将发动机转速调整为怠速状态，禁止进行大臂动作，同时仪表进行力限超限报警提示。When the force limit percentage reaches 100%, the vehicle controller stops the main solenoid valve current output and adjusts the engine speed to idle state, prohibiting the arm movement, and the instrument issues a force limit over-limit alarm. 4.一种伸缩臂叉车力矩限制系统，其特征在于，应用于权利要求1至3任一项所述的伸缩臂叉车力矩限制方法，包括：4. A telescopic forklift torque limiting system, characterized in that it is applied to the telescopic forklift torque limiting method according to any one of claims 1 to 3, comprising: 传感器模块，包括用于检测俯仰油缸、补偿油缸、倾斜油缸的有杆腔与无杆腔的压力传感器，用于检测货叉与内臂的相对旋转角度的角度传感器，用于测量臂架的举升角度和伸出长度的长角传感器；The sensor module includes a pressure sensor with a rod cavity and a rodless cavity for detecting the pitch cylinder, the compensation cylinder, and the tilt cylinder, an angle sensor for detecting the relative rotation angle between the fork and the inner arm, and a long angle sensor for measuring the lifting angle and the extension length of the boom; 输入信号获取模块，用于读取各压力传感器、角度传感器、长角传感器的检测值，并输入允许载荷曲线表；An input signal acquisition module is used to read the detection values of each pressure sensor, angle sensor, and long angle sensor, and input the allowable load curve table; 力计算模块，用于根据压力传感器值计算俯仰油缸、补偿油缸、倾斜油缸支撑力，外臂重量、内臂重量、货叉重量通过实际测量获得；Force calculation module, used to calculate the support force of the pitch cylinder, compensation cylinder, tilt cylinder, and outer arm weight according to the pressure sensor value , Inner arm weight , Fork weight Obtained through actual measurement; 力臂计算模块，用于以O点为力矩平衡点求取外臂、内臂、货叉、载物、俯仰油缸、补偿油缸力臂值以及铰接点C横坐标变化值，以C点为力矩平衡点求取倾斜油缸力臂值以及载物重心I点相对于C点的水平距离；The lever arm calculation module is used to calculate the lever arm values of the outer arm, inner arm, fork, load, pitch cylinder, compensation cylinder and the horizontal coordinate change value of the hinge point C with point O as the moment balance point, and calculate the lever arm value of the tilt cylinder and the horizontal distance of the load gravity center point I relative to point C with point C as the moment balance point; 称重计算模块，用于根据求取各模块力与力臂，以O点为力矩平衡点，建立俯仰油缸、补偿油缸、外臂、内臂、货叉、载物之间的力矩平衡方程获取称重重量；The weighing calculation module is used to obtain the weighing weight by obtaining the force and arm of each module, taking point O as the moment balance point, and establishing the moment balance equation between the pitch cylinder, compensation cylinder, outer arm, inner arm, fork and load; 力限百分比计算模块，用于将称重重量与允许的载物重量做对比，求取力限百分比值；The force limit percentage calculation module is used to compare the weighing weight with the allowed load weight to obtain the force limit percentage value; 力限系统稳定性控制模块，用于根据所述力限百分比值控制货叉动作。The force limit system stability control module is used to control the fork movement according to the force limit percentage value. 5.根据权利要求4所述的伸缩臂叉车力矩限制系统，其特征在于，力限系统稳定性控制模块由ECU控制发动机调节油泵、以及VCU调节主控阀实现。5. The telescopic forklift torque limiting system according to claim 4, characterized in that the force limiting system stability control module is realized by ECU controlling the engine regulating oil pump and VCU regulating the main control valve. 6.根据权利要求4所述的伸缩臂叉车力矩限制系统，其特征在于，还包括仪表状态表示模块，用于实现载物重量显示、力限百分比显示、力限超限预警、力限超限报警、大臂动作切断显示。6. The telescopic forklift torque limiting system according to claim 4 is characterized in that it also includes an instrument status display module for realizing load weight display, force limit percentage display, force limit over-limit warning, force limit over-limit alarm, and boom action cut-off display.
CN202411174577.4A 2024-08-26 2024-08-26 A method and system for limiting torque of telescopic forklift Active CN118684168B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202411174577.4A CN118684168B (en) 2024-08-26 2024-08-26 A method and system for limiting torque of telescopic forklift

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202411174577.4A CN118684168B (en) 2024-08-26 2024-08-26 A method and system for limiting torque of telescopic forklift

Publications (2)

Publication Number Publication Date
CN118684168A CN118684168A (en) 2024-09-24
CN118684168B true CN118684168B (en) 2024-11-19

Family

ID=92774999

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202411174577.4A Active CN118684168B (en) 2024-08-26 2024-08-26 A method and system for limiting torque of telescopic forklift

Country Status (1)

Country Link
CN (1) CN118684168B (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110316681A (en) * 2018-03-30 2019-10-11 马尼托意大利有限责任公司 The machine and its operating method of radial type voluntarily operation
CN118529665A (en) * 2024-06-28 2024-08-23 徐工消防安全装备有限公司 A telescopic forklift anti-rollover method and system

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2490166A1 (en) * 1980-09-12 1982-03-19 Cuisinier Daniel Vehicle for lateral unloading of containers - has four bogey pick=up frame, reducing load over-turning moment
AU3686899A (en) * 1998-07-01 2000-01-20 Grove U.S. L.L.C. Transportable crane
CA2815333C (en) * 2010-11-12 2015-05-19 Jlg Industries, Inc. Longitudinal stability monitoring system
CN106225896A (en) * 2016-08-18 2016-12-14 厦门海普智能科技有限公司 A kind of forklift truck automatic weighing system and method thereof
CN107628545B (en) * 2017-11-01 2019-07-12 上海振华重工(集团)股份有限公司 A kind of moment limiting system of offshore crane
CN108100948B (en) * 2018-01-19 2024-04-19 安徽好运机械有限公司 Telescopic arm forklift fork leveling device and automatic debugging method thereof
CN109635229A (en) * 2018-12-07 2019-04-16 朱浩 A kind of telescopic arm forklift truck counterweight calculation method
IT202000006757A1 (en) * 2020-03-31 2021-10-01 Manitou Italia Srl Telehandler simulator.
ZA202110395B (en) * 2020-12-30 2023-11-29 Manitou Italia Srl Telehandler with facilitated alignment adjustment
CN113173524B (en) * 2021-05-28 2022-04-22 广东工业大学 Method, device, equipment and medium for hydraulic dynamic weighing of telescopic arm forklift
CN215756197U (en) * 2021-06-17 2022-02-08 徐州徐工港口机械有限公司 Control system of telescopic arm forklift
CN116588859B (en) * 2023-07-17 2023-11-17 临工重机股份有限公司 A telescopic arm forklift stability control system and method
CN116902863A (en) * 2023-09-12 2023-10-20 临工重机股份有限公司 Telescopic arm forklift control method, its control device and telescopic arm forklift
CN117208819B (en) * 2023-11-09 2024-02-02 临工重机股份有限公司 Control method of telescopic boom forklift supporting leg and telescopic boom forklift
CN117208820B (en) * 2023-11-09 2024-02-02 临工重机股份有限公司 Control method of telescopic boom forklift supporting leg and telescopic boom forklift
CN118108156A (en) * 2024-04-17 2024-05-31 中国矿业大学 A telescopic forklift load intelligent monitoring system and method

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110316681A (en) * 2018-03-30 2019-10-11 马尼托意大利有限责任公司 The machine and its operating method of radial type voluntarily operation
CN118529665A (en) * 2024-06-28 2024-08-23 徐工消防安全装备有限公司 A telescopic forklift anti-rollover method and system

Also Published As

Publication number Publication date
CN118684168A (en) 2024-09-24

Similar Documents

Publication Publication Date Title
CN109553040B (en) Aerial working platform truck and aerial working platform truck load weight detection method
CN110498341B (en) Safety control method and system for hoisting equipment
CN104961061B (en) Moment limiter for crawler crane and control method thereof
WO2019065391A1 (en) Wheel loader and bucket carrying load calculation method
CN102910543B (en) Crane and forward tilting prevention protection method and device thereof
US9630822B2 (en) Method of weighing a load lifted by a lifting arm of a machine
US20180116096A1 (en) Method for determining a weight of a payload for a utility vehicle
EP3636582B1 (en) A machine, controller, and control method
CN209306904U (en) Aerial working platform vehicle
EP2910912A1 (en) Improved monitoring system
CN101746683B (en) Anti-overturn controlling method for front loader, the device and front loader thereof
CN118684168B (en) A method and system for limiting torque of telescopic forklift
CN113494105A (en) System and method for determining a position value of a load associated with an implement
CN205537901U (en) Vehicle load is from weighing system
CN212450392U (en) Mobile crane and its anti-overturning monitoring device
CN118529665A (en) A telescopic forklift anti-rollover method and system
US3971008A (en) Crane overload detector using a boom bending moment detector
CN110167865A (en) Device for oblique pulling in compensation crane
CN110759281B (en) Weighing method of telescopic arm structure, equipment and storage medium thereof
CN212503674U (en) Aerial work weighing platform
CN115432580A (en) Control method and device for crane, controller and crane
JPH03238300A (en) Device for limiting working range of work vehicle for elevated for elevated place
CN215217927U (en) Large-diameter rocket and missile engine mass center test bench
CN119503628B (en) Method and system for monitoring stability of automobile crane
TWI745978B (en) Mobile crane with anti-overturn monitoring function, anti-overturn monitoring device thereof and mobile crane anti-overturn monitoring method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant