Automatic leveling control device and control method for pallet fork of forklift

Abstract

The invention discloses a forklift pallet fork automatic leveling control device and method. The forklift pallet fork automatic leveling control device comprises a forklift frame; the outer door frame is rotationally connected with the forklift frame so as to realize forward leaning or backward leaning of the outer door frame; the mechanical multi-way valve assembly is arranged on the forklift frame, and the mechanical multi-way valve assembly is connected with the outer door frame and used for controlling the rotation amplitude of the outer door frame; the angle sensor is arranged on the forklift frame and used for detecting the angle between the outer portal and the horizontal plane; and the alarm assembly is in signal connection with the angle sensor and the mechanical multi-way valve assembly, and the alarm assembly is used for giving an alarm when the included angle between the outer portal and the horizontal plane is not a specified value and descends. According to the forklift pallet fork automatic leveling control device and method, the position of the outer portal frame is detected through the angle sensor, and when the outer portal frame does not descend in the designated state, the alarm assembly can give an alarm to remind that operation is stopped, and safety accidents are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of forklift control systems, and more specifically, to an automatic leveling control device for forklift forks. In addition, the present application also provides a control method applicable to the above control device. Background Art

[0002] With the rapid economic development and the rapid rise of the logistics industry, more and more forklifts are widely used to quickly sort and load and unload goods, which greatly reduces labor costs; but it is particularly important to ensure the stability of goods, especially some carefully handled or valuable items, during the handling process while improving operating efficiency. In the actual operation of the forklift, the actual angle of the mast is difficult to accurately determine due to the driver's visual impairment. When stacking goods, it is very easy to cause the goods to be squeezed and damaged when the fork is not in a horizontal position. In addition, when the mast of the forklift is in a forward tilted state, it is very easy to cause the goods to slip during the handling of goods, resulting in major safety accidents.

[0003] The mechanical valve counterbalanced forklifts currently used in the market are mostly implemented with electric proportional multi-way valves or mechanical valves with internal integrated functional valve blocks, which cannot be implemented on the original multi-way valves. The cost of improving the multi-way valves is high and the structure is too complicated.

[0004] In summary, how to avoid safety accidents is a problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a forklift fork automatic leveling control device and control method, which can detect whether the outer mast is in a specified position during the descent process through an angle sensor. If it is not in the specified position, an alarm will be issued to avoid safety accidents.

[0006] Another object of the present invention is to provide a control method applied to the above control device.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A forklift fork automatic leveling control device and control method, comprising:

[0009] Forklift frame;

[0010] An outer mast is rotatably connected to the forklift frame to achieve forward or backward tilting of the outer mast;

[0011] A mechanical multi-way valve assembly is provided on the forklift frame, the mechanical multi-way valve assembly is connected to the outer mast and is used to control the rotation amplitude of the outer mast;

[0012] An angle sensor, provided on the forklift frame, the angle sensor is used to detect the angle between the outer mast and a horizontal plane;

[0013] An alarm component is connected to the angle sensor and the mechanical multi-way valve assembly signal, and the alarm component is used to issue an alarm when the angle between the outer door frame and the horizontal plane is not a specified value and is descending.

[0014] Preferably, it also includes a joystick, which is arranged on the forklift frame. The joystick includes a tilting valve rod, which is connected to the mechanical multi-way valve assembly and is used to control the forward or backward rotation of the outer mast through the mechanical multi-way valve assembly.

[0015] Preferably, a leveling button switch is provided on the tilting valve rod, and the leveling button switch cooperates with the tilting valve rod to control the outer mast to enter a fork leveling mode.

[0016] Preferably, it also includes a control system, which is connected to the mechanical multi-way valve assembly, the angle sensor, and the alarm component signal. The control system is used to receive the detection result of the angle sensor and control whether the alarm component issues an alarm based on the detection result and the signal sent by the mechanical multi-way valve assembly.

[0017] Preferably, the joystick also includes a descending valve rod and a lower frame micro switch, the descending valve rod and the lower frame micro switch are abutted against each other, the descending valve rod and the lower frame micro switch cooperate to control the descent of the outer door frame, and the outer door frame is also provided with a proximity switch connected to the control system signal.

[0018] Preferably, a connecting rod fixing bracket is provided on the outer door frame, and the connecting rod fixing bracket is connected to the angle sensor through an action connecting rod, and the angle sensor is used to detect the angle of the action connecting rod.

[0019] Preferably, the action connecting rod is a telescopic connecting rod, both ends of which are provided with adjustment nuts, and the adjustment nuts are used to adjust the length of the action connecting rod.

[0020] Preferably, a tilt micro switch is also provided on the joystick, and the tilt micro switch is arranged in contact with the tilt valve rod and connected to the control system. The tilt micro switch is a normally open micro switch, and the tilt micro switch is used to transmit a signal to the control system when the tilt valve rod moves.

[0021] Preferably, it also includes a tilt cylinder, which is arranged on the forklift frame and connected to the outer mast, and the mechanical multi-way valve assembly is connected to the tilt cylinder and is used to control the tilt cylinder to push the outer mast to rotate.

[0022] A control method, applicable to the above-mentioned forklift fork automatic leveling control device, comprising:

[0023] Recording a voltage signal A input by the angle sensor when the outer mast is in a vertical state;

[0024] Disconnect the leveling button switch, manipulate the tilting valve rod, and drive the tilting micro switch to close, so as to tilt the outer mast forward or backward;

[0025] The leveling button switch is closed, the tilting valve rod is operated, and the tilting micro switch is driven to close, and the leveling mode of the outer mast is entered;

[0026] The current value of the signal of the angle sensor is recorded and the opening of the tilt valve is gradually reduced until the leveling of the outer mast is completed.

[0027] The present invention provides an automatic leveling control device for a forklift fork, wherein a rotatable outer mast and an angle sensor are arranged on the forklift frame of the device, and the angle between the outer mast and the horizontal plane can be detected by the angle sensor. When the angle between the outer mast and the horizontal plane is at a preset angle, when the outer mast is controlled to descend by a mechanical multi-way valve assembly, the alarm component will not sound an alarm. When the angle between the forklift frame and the outer mast is not at the preset angle, taking the present application as an example, when the outer mast is not in a vertical state and falls, the alarm component will sound an alarm to remind the operator to stop the descent of the outer mast and further level the outer mast. After the leveling is completed, the alarm component will no longer sound an alarm. In this way, the leveling of the mast can be achieved at the lowest cost through the setting of the angle sensor to avoid safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0029] Figure 1 This is a schematic diagram of the structure of the automatic leveling control device for forklift forks provided by the present invention;

[0030] Figure 2 A schematic diagram of the structure of the joystick provided by the present invention;

[0031] Figure 3 This is an operation flow chart of the automatic leveling control device for forklift forks provided by the present invention;

[0032] Figure 4 A schematic diagram of the hydraulic oil circuit provided by the present invention;

[0033] Figure 5 A schematic diagram of the control relationship of the automatic leveling control device for forklift forks provided by the present invention;

[0034] Figure 6 This is a schematic diagram of the installation position of the proximity switch provided by the present invention.

[0035] Reference numerals:

[0036] 1-Forklift frame; 2-External mast; 3-Mechanical multi-way valve assembly; 4-Angle sensor; 5-Tilt valve stem; 6-Leveling button switch; 7-Lower valve stem; 8-Lower frame micro switch; 9-Connecting rod fixing bracket; 10-Tilt micro switch; 11-Actuating connecting rod; 12-Proportional valve block; 13-Proximity switch; 14-Bracket plate; 15-Transition plate; 16-Limit switch action plate; 17-Fork frame. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0038] The core of the present invention is to provide an automatic leveling control device for a forklift fork, which can detect the angle between the outer mast and the horizontal plane through an angle sensor to determine the relative position of the outer mast and the forklift frame. When the outer mast is in a non-vertical state and descends, the alarm component will cause an alarm to sound, reminding the operator to stop the descending operation of the outer mast.

[0039] Another core of the present invention is to provide a control method suitable for the above control device.

[0040] The present application provides a forklift fork automatic leveling control device, comprising: a forklift frame 1, an outer door frame 2, a mechanical multi-way valve assembly 3, an angle sensor 4 and an alarm component;

[0041] The outer mast 2 is rotatably connected to the forklift frame 1 to achieve the forward or backward tilt of the outer mast 2;

[0042] The mechanical multi-way valve assembly 3 is arranged on the forklift frame 1, and the mechanical multi-way valve assembly 3 is connected to the outer mast 2 and is used to control the rotation amplitude of the outer mast 2;

[0043] The angle sensor 4 is provided on the forklift frame 1, and the angle sensor 4 is used to detect the angle between the outer door frame 2 and the horizontal plane;

[0044] The alarm component is connected to the angle sensor 4 and the mechanical multi-way valve assembly 3. The alarm component is used to issue an alarm when the angle between the outer door frame 2 and the horizontal plane is not a specified value and is descending.

[0045] For details, please refer to the attached Figure 1 , the forklift frame 1 serves as the base of the forklift. When the movement of the forklift is not considered, the forklift frame 1 is regarded as a fixed structure. An angle sensor 4 and an outer mast 2 are arranged on the forklift frame 1. The outer mast 2 and the forklift frame 1 can rotate relative to each other. The angle sensor 4 can detect the position of the outer mast 2 relative to the forklift frame 1. Since it has been described above that the forklift frame 1 is regarded as a fixed structure, the relative position between the outer mast 2 and the forklift frame 1 is also the position relative to the horizontal plane. It should be noted that the ground is assumed to be a horizontal plane in this article, that is, the forklift only performs the rising or falling movement of the outer mast 2 on the horizontal ground. The angle sensor 4 can determine whether the outer mast 2 is in a vertical position. State, in this application, only the vertical state is used as the specified angle, and other angles are not discussed, but still belong to the protection scope of this application. When the angle sensor 4 detects that the outer mast 2 is in a vertical state, the alarm component will not sound an alarm during the descent of the outer mast 2. When the angle sensor 4 detects that the outer mast 2 is not in a vertical state, and the outer mast 2 is in a descent process, the alarm component will sound an alarm to remind the operator that the outer mast 2 is not in a vertical state and the outer mast 2 should be leveled. After the leveling is completed, the alarm component will stop the alarm, and the outer mast 2 can be further lowered, thereby avoiding safety accidents caused by the descent of the outer mast 2 that is not in a vertical state.

[0046] On the basis of the above embodiment, it also includes a joystick, which is arranged on the forklift frame 1. The joystick includes a tilting valve rod 5, which is connected to the mechanical multi-way valve assembly 3 and is used to control the forward or backward rotation of the outer door frame 2 through the mechanical multi-way valve assembly 3.

[0047] For details, please refer to the attached Figure 2 A joystick is provided on the forklift frame 1. The operator controls the direction of the hydraulic oil in the mechanical multi-way valve assembly 3 through the joystick, so as to realize the rising, falling and rotation of the outer door frame 2. The joystick includes a tilting valve rod 5. When the forklift is started, the tilting valve rod 5 is operated to move forward and backward, and the oil pump motor of the forklift drives the gear pump to work. The solenoid valve of the functional valve block is not energized and is in the initial state. The outer door frame 2 can realize normal forward and backward tilting action.

[0048] On the basis of the above embodiment, a leveling button switch 6 is provided on the tilting valve rod 5, and the leveling button switch 6 cooperates with the tilting valve rod 5 to control the outer mast 2 to enter the fork leveling mode.

[0049] Specifically, when the tilting valve rod 5 is operated and the leveling button switch 6 is pressed to tilt forward, the electronic control system of the forklift can control the energization of the solenoid valve according to the required leveling angle, the solenoid valve is closed, and the multi-way valve overflows to achieve forward tilting and leveling.

[0050] On the basis of the above-mentioned embodiment, it also includes a control system, which is connected to the mechanical multi-way valve assembly 3, the angle sensor 4, and the alarm component signal. The control system is used to receive the detection result of the angle sensor 4, and control the alarm component whether to sound an alarm based on the detection result and the signal sent by the mechanical multi-way valve assembly 3.

[0051] Specifically, the control system of the forklift is generally replaced by a controller. The design of the mechanical multi-way valve assembly 3 can refer to the attached Figure 4 The mechanical multi-way valve assembly 3 is connected in series with the proportional valve block 12. The mechanical multi-way valve assembly 3 can refer to the existing technology. The present application has not made any improvements, so it will not be described here. The controller is connected with the angle sensor, the alarm component, and the mechanical multi-way valve assembly 3. The operator can control the opening or closing of any valve port in the mechanical multi-way valve assembly 3 through the joystick. The controller can control the power on or off of the proportional valve block 12. The angle sensor can transmit the detection result to the controller. The controller determines whether the outer door frame 2 is in a vertical state according to the received signal. When the outer door frame 2 descends and the outer door frame 2 is not in a vertical state, the controller sends a signal to the alarm component to make the alarm component sound an alarm.

[0052] On the basis of the above embodiment, the joystick also includes a descending valve rod 7 and a lower frame micro switch 8, which are abutted against each other. The descending valve rod 7 and the lower frame micro switch 8 cooperate to control the descent of the outer door frame 2. The outer door frame 2 is also provided with a proximity switch connected to the control system signal.

[0053] Specifically, when the descending valve rod 7 is operated, the lowering micro switch 8 is triggered, the controller receives the descending signal, and the goods descend. When the goods descend to a certain safety height limit, the proximity switch 13 is triggered, and the controller receives the proximity switch signal. At the same time, the angle sensor 4 can send a signal corresponding to the corresponding angle according to the current angle position of the outer mast 2. If the position of the outer mast 2 detected by the angle sensor 4 is in a vertical state at this time, it will descend directly; if not, the buzzer alarm is driven, and the driver hears the buzzer alarm and stops descending. He presses the leveling button switch 6 and pulls the tilting valve rod 5 to adjust the outer mast 2 to a vertical state. The alarm component stops buzzing. At this time, there is no alarm reminder when the outer mast 2 descends, and the driver can descend the outer mast 2 normally.

[0054] Please refer to the attached Figure 6The proximity switch 13 is a normally open limit switch, which is fixed on the forklift outer frame 2 through the bracket plate 14. The limit switch action plate 16 is installed on the fork frame 17 through the transition plate 15. The limit switch action plate 16 can move with the lifting or lowering of the fork frame 17. When the goods drop to the set safety height limit, the limit switch action plate 16 will trigger the proximity switch 13 on the outer frame 2, the switch is closed, and a high-level signal is output.

[0055] On the basis of the above embodiment, a connecting rod fixing bracket 9 is provided on the outer door frame 2 , and the connecting rod fixing bracket 9 is connected to the angle sensor 4 via an action connecting rod 11 , and the angle sensor 4 is used to detect the angle of the action connecting rod 11 .

[0056] Specifically, the action link 11 includes two rotatable links, and the two ends of the action link 11 are respectively connected to the angle sensor 4, the tilt cylinder body or the outer door frame 2. The angle sensor 4 can detect the position of the action link 11, and the position feedback of the outer door frame 2 is realized through the position of the action link 11, that is, the position detection of the action link 11 by the angle sensor 4 can feedback the angle between the outer door frame 2 and the horizontal plane, thereby reducing the detection difficulty and improving the detection accuracy.

[0057] On the basis of the above-mentioned embodiment, the action link 11 is a telescopic link, and both ends of the action link 11 are provided with adjustment nuts, and the adjustment nuts are used to adjust the length of the action link 11 .

[0058] Specifically, the action link 11 can adjust the total length of the connecting rod through the adjusting nuts at both ends, which greatly enhances the adaptability and convenient assembly. At the same time, the action link 11 can amplify the change range of several degrees from the tilt cylinder to the bottom forward to the bottom backward in the whole process to drive the angle sensor 4 to change in a large range of 0-90°, which greatly increases the detection range of the angle sensor 4, reduces the error of the actual angle of the outer frame 2 caused by the tiny measurement error of the angle sensor 4, and greatly improves the accuracy of fork leveling.

[0059] On the basis of the above embodiment, a tilt micro switch 10 is also provided on the joystick. The tilt micro switch 10 is arranged in contact with the tilt valve rod 5 and is connected to the control system. The tilt micro switch 10 is a normally open micro switch. The tilt micro switch 10 is used to transmit signals to the control system when the tilt valve rod 5 moves.

[0060] Specifically, the tilt micro switch 10 can be in contact with the tilt valve rod 5. The upward or downward movement of the multi-way valve tilt control rod can push the contacts of the tilt micro switch 10 to close and output a high-level signal. The leveling button switch 6 is manually controlled by the driver according to actual needs. The button switch is also a normally open contact switch. When the button is pressed, the contacts close and a high-level signal is output.

[0061] On the basis of the above embodiment, it also includes a tilt cylinder, which is arranged on the forklift frame 1 and connected to the outer mast 2. The mechanical multi-way valve assembly 3 is connected to the tilt cylinder and is used to control the tilt cylinder to push the outer mast 2 to rotate.

[0062] Specifically, the mechanical multi-way valve assembly 3 of the present application can be referred to in the attached Figure 4 It should be noted that the mechanical multi-way valve assembly 3 is a multi-way valve that relies on mechanical action to open and close the valve port and is controlled by a joystick. The tilt joystick can control the opening or closing of the front and rear tilt valve ports to control the direction of the hydraulic oil in the tilt pipeline, so that the tilt cylinder pushes or pulls back the rotation of the outer mast 2 relative to the forklift frame 1. When the outer mast 2 rotates to a predetermined position, the controller controls the proportional valve block 12 to be energized, thereby enabling the leveling of the outer mast 2.

[0063] On the basis of the above embodiment, the angle sensor is a Hall type angle sensor.

[0064] Specifically, the Hall-type angle sensor can perform angle measurement and position measurement on the outer door frame 2. The Hall sensor does not need to directly contact the object being measured and can work reliably in harsh environments. It has the advantages of a wide range of applications, mature technology, and high stability. In addition, since there are no moving parts, the Hall sensor has higher reliability and life.

[0065] On this basis, the present application also provides a control method based on the control device for leveling the forks of an electric forklift, and the specific control steps are as follows:

[0066] Adjust the fork to a horizontal state (the corresponding outer mast 2 is in a vertical state at this time), short-circuit the vertical calibration interface connected to the controller, and after receiving the high-level signal, the controller reads the voltage signal input by the angle sensor 4 on the outer mast 2 at this time, and records the signal at this time as the fork is in a horizontal state (the outer mast is in a vertical state), and the signal value is set to A.

[0067] The leveling button switch 6 is disconnected, and the tilting valve stem 5 is operated to drive the tilting micro switch 10 to close. After the controller receives the tilting signal, it drives the motor to drive the gear pump to rotate at the set speed (this speed can be set by the customer). At this time, the outer door frame 2 can complete the forward or backward tilting action.

[0068] The leveling button switch 6 is closed, the tilting valve stem 5 is operated, and the tilting micro switch 10 is driven to close. When the controller receives the tilting signal and the leveling signal, it enters the fork leveling mode, and the drive motor works at 500r / min. The main controller controls the tilt proportional valve port according to the detection value of the signal of the angle sensor 4 on the outer frame 2.

[0069] It should be noted that no matter whether the input signal of the angle sensor 4 changes from large to small (corresponding to the state of the outer mast 2 changing from the forward tilting state to the backward tilting state) or changes from small to large (corresponding to the state of the outer mast 2 changing from the backward tilting state to the forward tilting state), when the current value of the signal value of the angle sensor 4 (denoted as CV1) CV1 is outside the range of A±200mV, the controller does not drive the tilt solenoid valve, and the movement of the outer mast 2 is not restricted.

[0070] When the current value of the signal value of the angle sensor 4 (recorded as CV2), CV2 is within the range of A±200mV, and outside the range of A±50mV, the tilt valve opening is controlled to be 50%, that is, the oil circuit is reduced by half, and the movement of the outer mast 2 slows down;

[0071] When the current value of the signal value of the angle sensor 4 (recorded as CV3), CV3 is within the range of A±50mV, and outside the range of A±10mV, the tilt valve opening is controlled to be 15%, that is, the oil circuit continues to shrink, and the movement of the outer mast 2 is further slowed down;

[0072] When the current value of the signal value of the angle sensor 4 (recorded as CV4) is within the range of A±10mV, the tilt valve opening is controlled to 0%, that is, the oil circuit is locked, the outer mast 2 stops, the fork is in a horizontal state, that is, the outer mast 2 is in a vertical state, and the leveling of the outer mast 2 is completed.

[0073] Please refer to the attached Figure 3 After the above steps are completed, the system can exit the fork leveling mode only after the leveling button switch 6 is released and the tilting valve rod 5 is reset to the static position (the tilting micro switch 10 is disconnected). The tilting proportional valve loses power, the oil circuit is unobstructed, and it can continue to operate normally. When the controller receives the signal of the lowering micro switch 8 and the signal of the proximity switch at the same time, the control determines whether the fork is in a horizontal state (whether the outer mast 2 is in a vertical state) according to the signal of the angle sensor 4. If not, the controller drives the alarm to remind the driver of the fork status at all times and locks the descending action of the outer mast 2.

[0074] In general, the forklift fork automatic leveling control device and its adapted control method have the following beneficial effects:

[0075] 1. By controlling the speed of the outer mast 2 in a step-by-step manner, the error between the final state of the fork and the calibrated state is greatly reduced. The voltage value corresponding to the maximum range is only 10mV, making the fork leveling accuracy extremely high.

[0076] 2. Through the unique connecting rod structure and the angle sensor 4, the small angle change of the tilt cylinder is magnified ten times, driving the wide range change of the angle sensor 4, greatly eliminating the influence of the jump of the output value of the angle sensor 4 on the fork leveling angle, and improving the accuracy of leveling.

[0077] 3. The unique adjustable connecting rod, namely the action connecting rod 11, is no longer limited to high assembly compatibility, which reduces the processing technology and assembly difficulty, can significantly reduce the production cost, and is more economical.

[0078] 4. The unique two-way leveling control method is no longer limited to the change value of the angle sensor 4 must change from large to small or from small to large, and the installation requirements and assembly requirements are greatly reduced, achieving higher replicability in different car models and lower restrictions on the installation position. Moreover, if a one-way locking solenoid valve is used and installed in the forward tilt oil circuit, the forward tilt leveling of the fork can be achieved; if it is installed in the rear tilt oil circuit, the rear tilt leveling can be achieved; but if a two-way locking valve is used, the mechanical valve can achieve forward and backward tilt two-way leveling. Different functions can be flexibly selected according to user needs, which improves versatility.

[0079] 5. The reset-type exit leveling mode control method can effectively ensure that when the driver completes the fork leveling action, he first releases the leveling button switch 6 and then releases the tilting valve rod 5, and the outer mast 2 will not continue to move, avoiding the problem that the outer mast 2 deviates from the vertical state due to the wrong sequence of releasing the leveling button switch 6 and the tilting valve rod 5, and avoiding the driver's repeated operations.

[0080] 6. An alarm component is added, and the alarm status is associated with the angle of the outer mast 2, which can remind the driver in real time whether the fork is currently in a horizontal state. The alarm component can also be replaced with a light prompt.

[0081] 7. The convenient method of calibrating the angle of the horizontal state of the fork is no longer limited to the use of a computer or a host computer, which greatly improves operability and effectiveness. The mast state can be recalibrated anytime and anywhere, greatly reducing maintenance costs.

[0082] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0083] The above is a detailed introduction to the automatic leveling control device and control method for a forklift fork provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified in a number of ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A forklift fork automatic leveling control device, characterized in that: include: Forklift frame (1); An outer mast (2) is rotatably connected to the forklift frame (1) to enable the outer mast (2) to tilt forward or backward; A mechanical multi-way valve assembly (3) is arranged on the forklift frame (1), the mechanical multi-way valve assembly (3) is connected to the outer door frame (2) and is used to control the rotation amplitude of the outer door frame (2); An angle sensor (4) is arranged on the forklift frame (1), and the angle sensor (4) is used to detect the angle between the outer door frame (2) and a horizontal plane; An alarm component is connected to the angle sensor (4) and the mechanical multi-way valve assembly (3) by signal, and the alarm component is used to issue an alarm when the angle between the outer door frame (2) and the horizontal plane is not a specified value and is descending.

2. The automatic leveling control device for forklift forks according to claim 1, characterized in that: It also includes a joystick, which is arranged on the forklift frame (1), and the joystick includes a tilting valve rod (5). The tilting valve rod (5) is connected to the mechanical multi-way valve assembly (3) and is used to control the forward or backward tilting rotation of the outer mast (2) through the mechanical multi-way valve assembly (3).

3. The automatic leveling control device for forklift forks according to claim 2, characterized in that: A leveling button switch (6) is provided on the tilting valve rod (5), and the leveling button switch (6) cooperates with the tilting valve rod (5) to control the outer mast (2) to enter a fork leveling mode.

4. The automatic leveling control device for forklift forks according to claim 3, characterized in that: The invention also comprises a control system, wherein the control system is connected to the mechanical multi-way valve assembly (3), the angle sensor (4), and the alarm component signal, and the control system is used to receive the detection result of the angle sensor (4), and control the alarm component whether to issue an alarm based on the detection result and the signal issued by the mechanical multi-way valve assembly (3).

5. The automatic leveling control device for forklift forks according to claim 4, characterized in that: The joystick also includes a descending valve rod (7) and a lowering frame micro switch (8), the descending valve rod (7) and the lowering frame micro switch (8) are arranged in abutment with each other, the descending valve rod (7) and the lowering frame micro switch (8) cooperate to control the descent of the outer door frame (2), and the outer door frame (2) is also provided with a proximity switch (13) connected to the control system signal.

6. The automatic leveling control device for forklift forks according to claim 5, characterized in that: A connecting rod fixing bracket (9) is provided on the outer door frame (2); the connecting rod fixing bracket (9) is connected to the angle sensor (4) via an action connecting rod (11); and the angle sensor (4) is used to detect the angle of the action connecting rod (11).

7. The automatic leveling control device for forklift forks according to claim 6, characterized in that: The action connecting rod (11) is a telescopic connecting rod, and both ends of the connecting rod are provided with adjustment nuts, and the adjustment nuts are used to adjust the length of the action connecting rod (11).

8. The automatic leveling control device for forklift forks according to claim 7, characterized in that: The joystick is also provided with a tilt micro switch (10), the tilt micro switch (10) being arranged in contact with the tilt valve linkage stem (5) and connected to the control system, the tilt micro switch (10) being a normally open micro switch, and the tilt micro switch (10) being used to transmit a signal to the control system when the tilt valve linkage stem (5) moves.

9. The automatic leveling control device for forklift forks according to any one of claims 1 to 8, characterized in that: It also includes a tilting cylinder, which is arranged on the forklift frame (1) and connected to the outer mast (2); the mechanical multi-way valve assembly (3) is connected to the tilting cylinder and is used to control the tilting cylinder to push the outer mast (2) to rotate.

10. A control method, applicable to the automatic leveling control device for forklift forks according to claim 8, characterized in that: include: Recording a voltage signal A input by the angle sensor when the outer mast is in a vertical state; Disconnect the leveling button switch, manipulate the tilting valve rod, and drive the tilting micro switch to close, so as to tilt the outer mast forward or backward; The leveling button switch is closed, the tilting valve rod is operated, and the tilting micro switch is driven to close, and the leveling mode of the outer mast is entered; The current value of the signal of the angle sensor is recorded and the opening of the tilt valve is gradually reduced until the leveling of the outer mast is completed.

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