Method for testing shake quantity of forklift gantry

Abstract

The invention provides a forklift gantry shaking quantity testing method which is realized through a digital integrated testing system, a forward and backward moving electromagnetic valve, an angle sensor, a motion sensor, an analog quantity acquisition module, a CAN module and a vehicle controller. The forward and backward moving electromagnetic valve, the angle sensor and the motion sensor send acquired signals to the digital integrated test system; the peak-to-peak value of the maximum oscillation signal of the angle, the acceleration and the angular velocity in the signals collected in the shaking period is taken as the maximum value of the shaking amount; the shaking time is obtained through analysis of the digital integrated test system, and the maximum value of the shaking time and the shaking quantity is the shaking quantity of the forklift portal frame to be tested. According to the invention, the problems that the gaps of rollers of the portal are different, and the welding deformation of channel steel of the portal only depends on visual subjective judgment, or the front-and-back shaking displacement test is carried out in a single direction are solved.

Description

Technical Field

[0001] The present application belongs to the technical field of forklift testing, and in particular to a method for testing the sway of a forklift mast. Background Art

[0002] After the forklift mast moves forward or backward, tilts forward or backward, or stops operating during high-position operation, the mast still shakes violently due to inertia, seriously affecting the operator's safety and experience. This is a problem that forklift manufacturers urgently need to solve.

[0003] Currently, the test of forklift mast sway mainly relies on visual subjective judgment, or single-direction forward and backward sway displacement test. Since this method does not take into account the sway of the mast in multiple directions caused by the distortion of the mast and the test of the sway time of the mast, the test evaluation is not comprehensive, which in turn affects the optimization and improvement of the mast sway. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a forklift mast sway testing method, which can test the mast sway amount and sway time in multiple directions under various working conditions, so as to more scientifically test and evaluate the forklift mast sway.

[0005] The technical solution of this application to solve the above technical problems is as follows:

[0006] The embodiment of the present application provides a forklift mast sway test method, which is implemented by a digital integrated test system, a forward and backward solenoid valve, an angle sensor, a motion sensor, an analog quantity acquisition module, a CAN module and a vehicle controller, including:

[0007] When the mast shakes, the forward and backward solenoid valves, angle sensors and motion sensors send the collected signals to the digital integrated test system;

[0008] The peak-to-peak value of the maximum oscillation signal of the angle, acceleration and angular velocity in the signal collected during the shaking period is taken as the maximum shaking amount;

[0009] The shaking time is obtained by analyzing the digital integrated test system, and the maximum value of the shaking time and the shaking amount is the measured forklift mast shaking amount.

[0010] Optionally, the collected signal includes:

[0011] Angle values ​​θ of the forklift mast in the X, Y, and Z directions x ,θ y ,θ z ; The analog output value U of the forward and backward solenoid valve 前移 , U 后移 ; Acceleration signal a x 、a y、a z and the angular velocity signal ω x ,ω y ,ω z .

[0012] Optionally, the method further includes: determining the working condition of the sway test through the collected signal.

[0013] Optionally, the shaking time is the maximum peak value of the shaking angle under the working condition as the shaking start time t 开始 , when the angle no longer changes, it is regarded as the end time of shaking 结束 .

[0014] Optionally, the working conditions include: a mast forward moving working condition, a mast retracting working condition, a forklift forward moving working condition and a forklift backward moving working condition.

[0015] Optionally, when the gantry forward movement handle is operated, the forward and backward movement solenoid valve outputs a forward movement voltage signal, and the gantry is in a gantry forward movement working condition.

[0016] Optionally, when the mast retraction handle is operated, the forward and backward movement solenoid valve outputs a retraction voltage signal, and the mast is in a mast retraction condition.

[0017] Optionally, a forward switch signal is read from a vehicle controller, and when the forklift is in a forward working condition, the forward switch signal changes from 0 to 1.

[0018] Optionally, a reverse switch signal is read from a vehicle controller, and when the forklift is in reverse working condition, the reverse switch signal changes from 0 to 1.

[0019] The embodiments of the present application bring the following beneficial effects:

[0020] 1. Solved the problem of relying on subjective visual judgment or single-direction forward and backward shaking displacement testing;

[0021] 2. Through multi-dimensional gantry sway parameter testing, we have a more comprehensive understanding and evaluation of the gantry sway, providing data support for subsequent improvements.

[0022] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application are realized and obtained by the structures specifically pointed out in the description, claims and drawings.

[0023] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings.

[0024] Advantages of additional aspects of the present application will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 This is a flow chart of a forklift mast sway test method shown in an embodiment of the present application;

[0027] Figure 2 It is a principle block diagram of the forklift mast sway test system shown in the embodiment of the present application;

[0028] Figure 3 This is a data curve of the gantry sway amount shown in a specific example of this application. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0030] Example

[0031] To facilitate understanding of the embodiments of the present application, a method for testing the sway of a forklift mast disclosed in the embodiments of the present application is described in detail as follows:

[0032] This embodiment provides a forklift mast sway test method, which is implemented by a digital integrated test system, a forward and backward solenoid valve, an angle sensor, a motion sensor, an analog quantity acquisition module, a CAN module and a vehicle controller, and includes the following steps:

[0033] Step S1: When the mast shakes, the forward and backward moving solenoid valve, the angle sensor and the motion sensor send the collected signals to the digital integrated test system;

[0034] Specifically, the collected signals include:

[0035] Angle values ​​θ of the forklift mast in the X, Y, and Z directions x ,θ y ,θ z; The analog output value U of the forward and backward solenoid valve 前移 , U 后移 ; Acceleration signal a x 、a y 、a z and the angular velocity signal ω x ,ω y ,ω z ;

[0036] Among them, the signals of the angle sensor and the forward and backward electromagnetic valve are analog voltage signal outputs;

[0037] The motion sensor collects acceleration signals and angular velocity signals, both of which are CAN signal outputs;

[0038] During the specific implementation process, the angle sensor and the motion sensor are installed at the load center of the gantry fork by a magnetic method.

[0039] The system principle for implementing the method of this application is as follows Figure 2 As shown, the specific working process is as follows:

[0040] The analog acquisition module collects the angle sensor signals of the gantry in the X, Y, and Z directions and the analog output signals of the forward and backward solenoid valves, and sends the collected signals to the digital integrated test system to obtain the angle values ​​θ in the X, Y, and Z directions. x ,θ y ,θ z And the analog output value U of the forward and backward solenoid valve 前移 , U 后移 ;The CAN module receives the acceleration signal a from the motion sensor x 、a y 、a z and the angular velocity signal ω x ,ω y ,ω z , and also sends these collected signals to the digital integrated test system; finally, the vehicle controller transmits the motor speed n through the CAN network 牵引电机 、n 泵电机 Send to digital integrated test system;

[0041] When the mast shakes, the digital integrated test system obtains the test data of the whole process of mast shaking through the parameters collected by the angle sensor, motion sensor, etc., the motor speed CAN signal, and the analog output signal of the forward and backward solenoid valve;

[0042] It can be understood that the test data of the entire gantry shaking process is all the information collected by the angle sensor and the motion sensor from the beginning of the gantry shaking until the gantry shaking completely stops.

[0043] Step S2: taking the peak-to-peak value of the maximum oscillation signal of the angle, acceleration and angular velocity in the signals collected during the shaking period as the maximum shaking amount;

[0044] Specifically, the test data of the whole process of gantry shaking is processed as follows:

[0045] During the shake test, the output signals of angle, acceleration and angular velocity are periodic oscillation attenuation signals. The peak-to-peak value of the maximum oscillation signal within the period is taken as the maximum shake value, that is, the gantry shake index parameter:

[0046] Maximum sway angle of the gantry in the X direction θ maxx =θ 峰峰值maxx

[0047] Maximum sway angle of the gantry in the Y direction θ maxy =θ 峰峰值maxy

[0048] Maximum sway angle of the gantry in Z direction θ maxz =θ 峰峰值maxz

[0049] Maximum sway acceleration of the gantry in the X direction a maxx =a 峰峰值maxx

[0050] Maximum sway acceleration of the gantry in the Y direction a maxy =a 峰峰值maxy

[0051] Maximum sway acceleration of the gantry in Z direction a maxz =a 峰峰值maxz

[0052] Maximum angular velocity of gantry shaking in X direction ω maxx =ω 峰峰值maxx

[0053] Maximum angular velocity of gantry shaking in Y direction ω maxy =ω 峰峰值maxy

[0054] Maximum angular velocity of gantry shaking in Z direction ω maxz =ω 峰峰值maxz .

[0055] Step S3: Analyzing the shaking time through the digital integrated test system, the maximum value of the shaking time and the shaking amount is the shaking amount of the forklift mast measured;

[0056] The shaking time is obtained through the analysis of the digital integrated test system software, see Figure 3 During the analysis, the X-axis is used as the time axis, the Y-axis is used as the real-time value of the shaking angle during the whole process, and the shaking time is taken as the maximum peak value of the shaking angle under the current working conditions as the shaking start time t 开始, when the angle no longer changes, it is regarded as the end time of shaking 结束 , the gantry shaking time under the working conditions is:

[0057] t 晃动时间 =t 结束 -t 开始 .

[0058] In a feasible implementation manner, the working condition of the sway test is determined by the collected signal;

[0059] During the specific implementation process, in order to accurately determine the test conditions, it is necessary to simultaneously monitor the motor speed signal, the analog output value of the forward and backward solenoid valve, the forward switch signal, the reverse switch signal, etc.

[0060] The motor speed signals are mainly traction motor speed and pump motor speed. The traction motor speed is used to determine the speed of the vehicle before it stops running; the pump motor speed is used to determine the speed of the vehicle before it stops moving forward or backward. Both are CAN signal outputs.

[0061] The analog output value of the forward and backward moving solenoid valve is used to determine the time and status of the forward and backward moving operation.

[0062] This embodiment determines the working condition of the sway test through the analog output signal of the forward and backward solenoid valve, the vehicle forward switch signal, the reverse switch signal and the motor speed signal;

[0063] Specifically including: mast forward working condition, mast retracting working condition, forklift forward working condition and forklift backward working condition;

[0064] In a feasible implementation scheme, when the mast forward movement handle is operated, the forward and backward movement solenoid valve outputs a forward movement voltage signal, and the mast is in a mast forward movement working condition; the specific situation is as follows:

[0065] The speed of the gantry forward movement is determined by the speed of the pump motor. When the gantry forward movement is finished, the forward and backward movement solenoid valve outputs a forward movement voltage signal of 0V, which is used as the starting point of the gantry forward movement condition. When the gantry shaking angle does not change, it is used as the end point of the gantry forward movement condition.

[0066] In a feasible implementation scheme, when the mast retraction handle is operated, the forward and backward movement solenoid valve outputs a retraction voltage signal, and the mast is in a mast retraction condition;

[0067] Specifically, the mast retraction speed is determined by the pump motor speed. When the mast retraction action is completed, the forward and backward solenoid valve outputs a retraction voltage signal of 0V, which is used as the starting point of the mast shaking in the mast retraction condition. When the mast shaking angle does not change, it is used as the end point of the mast shaking in the mast retraction condition.

[0068] In a feasible implementation scheme, a forward switch signal is read from a vehicle controller. When the forklift is in forward working condition, the forward switch signal changes from 0 to 1. Specifically, the vehicle speed during forward operation is determined by the rotation speed of the traction motor. When the forward movement of the vehicle is finished, the forward switch signal changes from "1" to "0", which is used as the starting point of the mast shaking in the forward working condition of the vehicle. When the mast shaking angle does not change, it is used as the end point of the mast shaking in the forward working condition of the vehicle.

[0069] In a feasible implementation, the reverse switch signal is read from the vehicle controller. When the forklift is in reverse operation, the reverse switch signal changes from 0 to 1. Specifically, the speed of the vehicle during reverse operation is determined by the rotation speed of the traction motor. When the vehicle ends the reverse action, the reverse switch signal changes from "1" to "0", which is the starting point of the mast shaking in the vehicle reverse operation. When the mast shaking angle does not change, it is the end point of the mast shaking in the vehicle reverse operation.

[0070] The forklift mast sway test and evaluation method provided in the present application collects field signals through sensors, classifies actual working conditions, and tests and analyzes the above 10 parameters under different working conditions through a digital integrated test system to obtain the mast sway angle, sway angular velocity, sway acceleration and sway time values ​​in the three directions of X, Y and Z. By comparing the sizes of these parameter test values, the present application achieves an objective and comprehensive evaluation of the forklift mast sway.

[0071] It should be noted that the flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the method according to the embodiment of the present application. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or a code, and the part of the module, the program segment or the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flow chart, and the combination of the boxes in the block diagram and / or the flow chart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0072] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A forklift mast sway test method, which is implemented by a digital integrated test system, a forward and backward electromagnetic valve, an angle sensor, a motion sensor, an analog quantity acquisition module, a CAN module and a vehicle controller, and is characterized in that: include: When the mast shakes, the forward and backward solenoid valves, angle sensors and motion sensors send the collected signals to the digital integrated test system; The peak-to-peak value of the maximum oscillation signal of the angle, acceleration and angular velocity in the signal collected during the shaking period is taken as the maximum shaking amount; The shaking time is obtained by analyzing the digital integrated test system, and the maximum value of the shaking time and the shaking amount is the measured forklift mast shaking amount.

2. The forklift mast sway test method according to claim 1, characterized in that: The collected signal includes: Angle values ​​θ of the forklift mast in the X, Y, and Z directions x ,θ y ,θ z ; The analog output value U of the forward and backward solenoid valve 前移 , U 后移 ; Acceleration signal a x 、a y 、a z and the angular velocity signal ω x ,ω y ,ω z .

3. The forklift mast sway test method according to claim 2, characterized in that: Also includes: The working condition of the sway test is determined by the collected signal.

4. The forklift mast sway test method according to claim 3, characterized in that: The shaking time is the maximum peak value of the shaking angle under the working condition as the shaking start time t 开始 , when the angle no longer changes, it is regarded as the end time of shaking 结束 .

5. The forklift mast sway test method according to claim 3 or 4, characterized in that: The working conditions include: a mast forward moving working condition, a mast retracting working condition, a forklift forward moving working condition and a forklift backward moving working condition.

6. The forklift mast sway test method according to claim 5, characterized in that: When the mast forward movement handle is operated, the forward and backward movement solenoid valve outputs a forward movement voltage signal, and the mast is in the mast forward movement condition.

7. The forklift mast sway test method according to claim 5, characterized in that: When the mast retraction handle is operated, the forward and backward movement solenoid valve outputs a retraction voltage signal, and the mast is in the mast retraction condition.

8. The forklift mast sway test method according to claim 5, characterized in that: The forward switch signal is read from the vehicle controller. When the forklift is moving forward, the forward switch signal changes from 0 to 1.

9. The forklift mast sway test method according to claim 5, characterized in that: The reverse switch signal is read from the vehicle controller. When the forklift is in reverse working condition, the reverse switch signal changes from 0 to 1.

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