Control method of anti-overload telescopic boom forklift

Abstract

According to the control method of the anti-overload telescopic arm forklift, the forklift comprises a forklift body, two fork arms arranged on a telescopic arm of the forklift body and arranged in parallel, a plurality of pressure sensors 1 arranged in the length direction of the two fork arms at intervals, a control module and a display screen, the control module is electrically connected with the pressure sensor 1 and the display screen, and the display screen is used for displaying information of the fork arm and the corresponding pressure sensor 1 in the length direction of the fork arm; according to the method, the coordinate system can be established to judge the gravity center distribution condition of goods in the container, and a forklift driver selects to directly face the forklift to the gravity center of the container, so that the container is more stable in the transferring, loading and unloading processes, and safety accidents are greatly reduced; and during loading, the total weight of the goods can be obtained according to the pressure sensor, so that whether the loading is overloaded or not is judged.

Description

Technical Field

[0001] The invention relates to the technical field of logistics transportation equipment, and in particular to a control method for an overload-proof telescopic arm forklift. Background Art

[0002] In the logistics and transportation industry, telescopic forklifts are important loading and unloading tools, and their safety and stability are of vital importance. However, when loading cargo, the center of gravity of telescopic forklifts in the prior art is often not at the center for some special-shaped items. In particular, the cargo box is often difficult to directly observe the inside, and it is difficult for loading and unloading personnel to accurately judge the weight distribution of the cargo through the cargo box, so that the cargo box is easy to fall off the forklift during the transfer and loading and unloading process, causing safety accidents.

[0003] For example, the prior art publication number is: CN115231476B, the structure and method of the weighing fork overload protection, which includes a fork lifting frame, on which two fork legs perpendicular to the fork lifting frame are fixedly provided, the fork legs are provided with fork leg covers, and weighing sensors are respectively installed at both ends of the fork legs, and the fork lifting frame is provided with a controller, and the controller is electrically connected to the weighing sensor;

[0004] However, the existing technology can only calculate whether the cargo is offset from the center, and it is difficult to specifically analyze the specific point of the center of gravity of the cargo. This is of little help to the driver when loading the cargo, and it is difficult for the driver to load according to the existing center position. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention aims to provide a control method for an overload-proof telescopic forklift to solve the problem.

[0007] In order to achieve the above object, the present invention is implemented by the following technical solution: the forklift includes a body, two fork arms arranged on the telescopic arm of the body and arranged in parallel, a plurality of pressure sensors arranged at intervals along the length direction of the two fork arms, a control module and a display screen, wherein the control module is electrically connected to the pressure sensor and the display screen respectively, and the display screen is used to display the information of the corresponding pressure sensor of the fork arm and its length direction;

[0008] The control method comprises:

[0009] S1, controlling the forklift to move to any side of the cargo box and lift the cargo box off the ground by a predetermined distance, and the control module further acquires information from each pressure sensor;

[0010] S2. Take the center of the two forks as the origin O, establish a two-dimensional coordinate system X, Y, and fit the position of the center of gravity of the shipping box in the two-dimensional coordinate system X, Y;

[0011] S3, the control module further determines whether the center of gravity of the cargo in the cargo box is within a preset range, and if so, performs normal operation, otherwise issues a danger warning to remind the driver to adjust the position of the forklift relative to the cargo box and repeat step S1, wherein the preset range is a rectangular range formed by the X-axis, the two fork arms and the vehicle body.

[0012] In step S1, the predetermined distance is 5 to 10 cm.

[0013] In step S1 to step S2, the control module further obtains information from each pressure sensor and fits the position of the center of gravity of the cargo box in the two-dimensional coordinate system X, Y. The specific steps include:

[0014] S01, obtain the information of the pressure sensors on the two fork arms, and record them as F1...F n , where n is the total number of pressure sensors;

[0015] S02. Calculate the sum of the forces measured by all pressure sensors, i.e. the total weight of the cargo G m =F1+F2+......+F n ;

[0016] S03, define the position coordinates of each pressure sensor on the two fork arms, namely (X1, Y1), (X2, Y2), (X3, Y4)......(X n ,Y n );

[0017] S04. According to the moment balance principle, the center of gravity of the cargo (X M ,X Y ) The torques in the X and Y directions are equal in magnitude and opposite in direction to the sum of the torques of each pressure sensor in the X and Y directions, so the total torque of the cargo in the X direction is equal to the sum of the torques of each pressure sensor in the X direction, that is, F1×X1+F2×X2.....F n ×X n =G m ×X M ; Similarly, the total moment of the cargo in the Y direction is equal to the sum of the moments of each pressure sensor in the Y direction, that is, F1×Y1+F2×Y2.....F n ×Y n =G m ×X Y ;

[0018] From the above two equations, we get

[0019]

[0020] In step S3, it further includes:

[0021] The fork arm, the pressure sensor and the center of gravity of the cargo are displayed on a two-dimensional coordinate system X, Y through the display, so that the driver can adjust the position of the forklift relative to the cargo box.

[0022] In step S3, it further includes: recommending an optimal position of the forklift relative to the cargo box according to the center of gravity of the cargo.

[0023] The four vertices defining the preset range are A, B, C, and D; the midpoint of the side length AD coincides with the origin O.

[0024] The length of the side AD is equal to the distance L1 between the two fork arms.

[0025] The length of side AB is equal to the distance L2 between the X-axis and the vehicle body.

[0026] Beneficial effects: The present invention can determine the distribution of the center of gravity of the goods in the cargo box by establishing a coordinate system. The forklift driver can choose to point the forklift directly at the center of gravity of the cargo box, thereby making the cargo box more stable during transportation and loading and unloading, greatly reducing the occurrence of safety accidents; and when loading, the total weight of the goods can be obtained according to the pressure sensor to determine whether the loading is overloaded. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of embodiment 1 of the present invention;

[0028] Figure 2 Schematic diagram of other embodiments of the present invention.

[0029] In the figure: pressure sensor-1, fork arm-2, vehicle body-3, cargo box-4. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention.

[0031] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0032] Example 1

[0033] The forklift comprises two fork arms 2, and a plurality of the pressure sensors 1 are arranged on the fork arms 2, so that the pressure sensors 1 are arranged vertically on the fork arms 2; wherein the pressure sensors 1 are distributed in a multi-row double-column manner in each fork arm 2;

[0034] The control method comprises:

[0035] S1, control the forklift to move to any side of the cargo box 4, and lift the cargo box 4 7 cm off the ground, during which the control module further obtains information from each pressure sensor 1; as shown in Table 1;

[0036]

[0037] The control module collects information from each pressure sensor 1 to obtain the total weight of the cargo, and evaluates whether the total weight of the cargo exceeds the maximum load-bearing capacity of the forklift; in this step, each pressure sensor 1 is designed to measure the weight it bears. When the weight of the cargo box 4 is sensed by each pressure sensor 1, the weight of the cargo box 4 is distributed to different pressure sensors 1 according to the pressure sensors 1 and the shape and placement of the cargo in the cargo box 4.

[0038] In this way, these pressure sensors 1 are not "dividing" the weight of the cargo box 4, but "measuring" the pressure exerted by the cargo box 4 on each of them (pressure sensors 1). Therefore, the reading given by each pressure sensor 1 is actually a part of the weight exerted by the cargo box 4 at the location of the pressure sensor 1.

[0039] To find the mass of the whole heavy object, you need to add the parts together. This is because the total mass of an object is the sum of the masses of all its parts;

[0040] So it is calculated by the following formula: G m =F1+F2+F3+......+F 12 =65+11+12+16+14+32+452+509+634+476+364+482=3067, the total weight of the goods can be obtained m =3067KG; In this embodiment, the forklift is a telescopic forklift model HNT50-2 from Fujian South China Heavy Industry Machinery Manufacturing Co., Ltd., and the maximum load-bearing capacity of the forklift is Ge is 5000KG; therefore, G m <G e , the control module evaluates that the forklift is in a normal state and is not overloaded. If the forklift is in a normal state, the corresponding indicator light (not shown in the figure) will be lit on the display screen to prompt the forklift driver. On the contrary, if G m >G e When the control module evaluates that the forklift is in an overloaded state, it will also prompt the forklift driver through the corresponding indicator light to stop using the forklift to load the cargo box 4; to prevent the forklift from being overloaded and ensure operational safety.

[0041] S2, taking the center of the two fork arms 2 as the origin O, establishing a two-dimensional coordinate system X, Y, and based on step S1, fitting the position of the center of gravity of the cargo box 4 in the two-dimensional coordinate system X, Y, the specific steps include:

[0042] S01, obtain information of the pressure sensors 1 on the two fork arms 2, and record them as F1...F n , where n is the total number of pressure sensors 1, i.e., Table 1;

[0043] S02. Calculate the sum of the forces measured by all pressure sensors 1, i.e. the total weight of the cargo G m =F1+F2+......+F n ; That is, G in step S1 m =3067.

[0044] S03, define the position coordinates of each pressure sensor 1 on the two fork arms 2, namely (X1, Y1), (X2, Y2), (X3, Y4)......(X 12 ,Y 12 );

[0045] S04. According to the moment balance principle, the center of gravity of the cargo (X M ,X Y ) The torques in the X and Y directions are equal in magnitude and opposite in direction to the sum of the torques of each pressure sensor in the X and Y directions, so the total torque of the cargo in the X direction is equal to the sum of the torques of each pressure sensor 1 in the X direction, that is, F1×X1+F2×X2.....F n ×X n =G m ×X M Similarly, the total moment of the cargo in the Y direction is equal to the sum of the moments of each pressure sensor 1 in the Y direction, that is, F1×Y1+F2×Y2.....F n ×Y n =G m ×X Y ;

[0046] From the above two equations, we get

[0047] Right now Right now Obtain the center of gravity of the cargo (1,2).

[0049] It is used to accurately measure the weight distribution of the goods to determine where the center of gravity of the goods in the invisible cargo box 4 is located, and then through subsequent steps, the center of gravity of the goods is placed within a preset range to prevent the forklift from dropping the goods during transportation or loading and unloading, causing safety accidents.

[0050] The fork arm 2, the pressure sensor 1 and the center of gravity of the cargo are displayed on the two-dimensional coordinate system X, Y through the display, so that the driver can adjust the position of the forklift relative to the cargo box 4 conveniently; all information is visualized on the display screen; through the display screen, the transparency and accuracy of the operation are improved, and the operator is convenient to make decisions.

[0051] S3. The control module further determines whether the center of gravity of the cargo in the cargo box 4 is within a preset range. If so, normal operation is performed; otherwise, a danger reminder is issued to remind the driver to adjust the position of the forklift relative to the cargo box 4 and repeat step S1, wherein the preset range is a rectangular range formed by the X-axis, the two fork arms 2 and the vehicle body 3; in this embodiment, the four vertices of the preset range are defined as A, B, C, and D, and the midpoint of the length AD coincides with the origin O; the length of the side AD is equal to the distance L1 between the two fork arms 2; the length of the side AB is equal to the distance L2 between the X-axis and the vehicle body 3; based on the center of gravity (1, 2) of the cargo, the forklift driver can intuitively see on the display screen where the center of gravity (1, 2) of the cargo is located in the two-dimensional coordinate system X, Y, and can judge that the center of gravity (1, 2) of the cargo is not within the preset range, so the forklift orientation needs to be adjusted so that the center of gravity (1, 2) of the cargo falls within the preset range.

[0052] In this way, the forklift driver can put the cargo box 4 down again, and then drive the forklift to the right side of the cargo box 4, re-insert the cargo box 4 and transport it, so that the right side of the cargo box 4 is facing the forklift, so as to achieve the purpose of optimizing weight distribution and avoid the accident of overturning caused by the unstable center of gravity of the cargo box 4 during transportation by the forklift.

[0053] See also Figure 2 , further, the control module is electrically connected to the existing vehicle brake system; at least two speed zones are set on the side of the forklift with the X axis facing the forklift; in one embodiment, the speed zones are B1 and B2; when the center of gravity of the cargo (X M ,X Y ) falls in speed zone B1, the maximum travel speed of the forklift can be greater than the center of gravity of the cargo (X M ,XY ) falls within speed zone B2; the defined maximum travel speed of the forklift is set with reference to the forklift user manual, so as to adjust the maximum travel speed in multiple speed zones, thereby preventing the forklift driver from driving too fast and causing safety accidents.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control method for an overload-proof telescopic forklift, characterized in that: The forklift comprises a vehicle body, two fork arms arranged in parallel on the telescopic arms of the vehicle body, a plurality of pressure sensors arranged at intervals along the length direction of the two fork arms, a control module and a display screen, wherein the control module is electrically connected to the pressure sensor and the display screen respectively, and the display screen is used to display information of the fork arms and the corresponding pressure sensors in the length direction thereof; The control method comprises: S1, controlling the forklift to move to any side of the cargo box and lift the cargo box off the ground by a predetermined distance, during which the control module further obtains information from each pressure sensor; S2. Take the center of the two forks as the origin O, establish a two-dimensional coordinate system X, Y, and fit the position of the center of gravity of the shipping box in the two-dimensional coordinate system X, Y; S3, the control module further determines whether the center of gravity of the cargo in the cargo box is within a preset range, and if so, performs normal operation, otherwise issues a danger warning to remind the driver to adjust the position of the forklift relative to the cargo box and repeat step S1, wherein the preset range is a rectangular range formed by the X-axis, the two fork arms and the vehicle body.

2. The control method of an overload-proof telescopic forklift according to claim 1, characterized in that: In step S1, the predetermined distance is 5 to 10 cm.

3. The control method of an overload-proof telescopic forklift according to claim 1, characterized in that: In step S1 to step S2, the control module further obtains information from each pressure sensor and fits the position of the center of gravity of the cargo box in the two-dimensional coordinate system X, Y. The specific steps include: S01, obtain the information of the pressure sensors on the two fork arms, and record them as F1...F n , where n is the total number of pressure sensors; S02. Calculate the sum of the forces measured by all pressure sensors, i.e. the total weight of the cargo G m =F1+F2+......+F n ; S03, define the position coordinates of each pressure sensor on the two fork arms, that is, (X1,Y1),(Y2,Y2),(X3,Y4)......(X n ,Y n ); S04. According to the moment balance principle, the center of gravity of the cargo (X M ,X Y ) in the X and Y directions are equal in magnitude and opposite in direction to the sum of the moments of each pressure sensor in the X and Y directions, so the total moment of the cargo in the X direction is equal to the sum of the moments of each pressure sensor in the X direction, that is, F1×X1+F2×X2.....F n ×X n =G m ×X M ; Similarly, the total moment of the cargo in the Y direction is equal to the sum of the moments of each pressure sensor in the Y direction, that is, F1×Y1+F2×Y2.....F n ×Y n =G m ×X Y ; From the above two equations, we get 4. The control method of an overload-proof telescopic forklift according to claim 2, characterized in that: In step S3, it further includes: The fork arm, the pressure sensor and the center of gravity of the cargo are displayed on a two-dimensional coordinate system X, Y through the display, so that the driver can adjust the position of the forklift relative to the cargo box.

5. The control method of an overload-proof telescopic forklift according to claim 4, characterized in that: In step S3, it further includes: recommending an optimal position of the forklift relative to the cargo box according to the center of gravity of the cargo.

6. The control method of an overload-proof telescopic forklift according to claim 1, characterized in that: The four vertices defining the preset range are A, B, C, and D; the midpoint of the side length AD coincides with the origin O.

7. The control method of an overload-proof telescopic forklift according to claim 6, characterized in that: The length of the side AD is equal to the distance L1 between the two fork arms.

8. The control method of an overload-proof telescopic forklift according to claim 6, characterized in that: The length of side AB is equal to the distance L2 between the X-axis and the vehicle body.

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