Forward moving type forklift control system and control method

Abstract

The invention discloses a reach forklift control system and a control method. The reach forklift control system comprises a mechanism motor, a moving mechanism, a motor driving controller, a control instrument, an operation switching module, a motor monitoring module, a maximum speed module, a speed control algorithm module and a control target algorithm switching module, and the motor driving controller and the mechanism motor adopt an absolute position mode control mode. The maximum torque and precise current control are provided on the premise that the maximum efficiency is guaranteed, the operation characteristics of a mechanism motor are fed back in real time through the motor monitoring module, the target algorithm switching module is controlled to conduct algorithm switching in real time, and therefore the performance requirements of the reach forklift in different operation modes are met. Different modes can be rapidly switched, adjustment can be conducted according to different operation requirements, the misoperation risk is avoided, and the operation efficiency and safety are effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of forklift control, and in particular relates to a control system and a control method for a reach forklift. Background Art

[0002] A reach-type electric forklift is a type of warehouse truck. It can be divided into a sit-down reach-type and a stand-up reach-type according to the mode of operation. Reach-type forklifts have a smaller lifting capacity and are often driven by electric motors. Due to their special driving mode, their prospects are unanimously optimistic in the industry, and their market share is increasing year by year. Reach-type forklifts frequently enter and exit narrow aisles for stacking, which requires a simple, intelligent, fast and safe way to switch the direction of travel of the vehicle. Since the steering of the rear drive wheels of ordinary reach-type forklifts is controlled solely by the steering wheel through hydraulic components, a sequence of operations must be performed when switching the steering. During frequent operations, the driver's operating intensity is high, the risk of misoperation is high, and the operating efficiency is low. Moreover, after entering the mode state, the vehicle cannot go straight and is prone to go diagonally, and it is very easy to hit the shelves or aisles on both sides in narrow aisles. Summary of the Invention

[0003] In order to at least partially solve the above-mentioned technical problems existing in the prior art, the present invention provides a reach forklift control system and control method.

[0004] The reach truck control system of the present invention comprises:

[0005] A mechanism motor, the mechanism motor being used to provide power for driving the forklift;

[0006] A moving mechanism, the moving mechanism being connected to the mechanism motor and used to control the movement of the forklift;

[0007] A motor drive controller connected to the mechanism motor, the motor drive controller is used to control the forklift operation mode and monitor the operation information of the mechanism motor;

[0008] a control instrument connected to the motor drive controller and configured to display motion information and transmit control signals to the motor drive controller;

[0009] An operation switching module, the operation switching module is connected to the motor drive controller, and the operation switching module is used to switch between different operation modes of the forklift;

[0010] A motor monitoring module, wherein the motor monitoring module is used to monitor the operating characteristics of the motor;

[0011] A maximum speed module, which is used to limit the maximum operating speed of the motor;

[0012] A speed control algorithm module, the speed control algorithm module is connected to the motor monitoring module and the maximum speed module, and the speed control algorithm module is used to calculate the forklift movement control parameters and the fork movement control parameters;

[0013] A control target algorithm switching module, wherein the input end of the control target algorithm switching module is connected to the motor drive controller and the speed control algorithm module, and the output end of the control target algorithm switching module is connected to the mechanism motor. The control target algorithm switching module is used to switch different motion control algorithms in real time according to different control targets, and provide maximum torque and precise current control for the mechanism motor while ensuring maximum efficiency.

[0014] Furthermore, in the above-mentioned reach truck control system, the moving mechanism includes a traction mechanism, a steering mechanism, a lifting mechanism, a lowering mechanism, a forward tilting mechanism, a backward tilting mechanism and a left and right moving mechanism, and the output end of the mechanism motor is connected to the traction mechanism, the steering mechanism, the lifting mechanism, the lowering mechanism, the forward tilting mechanism, the backward tilting mechanism and the left and right moving mechanism respectively through a reducer.

[0015] Furthermore, in the above-mentioned reach forklift control system, the operation switching module includes an accelerator mechanism and a function button, and the output ends of the accelerator mechanism and the function button are both connected to the input end of the motor drive controller. The function button is used to input a corresponding control signal to the motor drive controller according to the function information, and the accelerator mechanism is used to control the speed signal of the motor drive controller.

[0016] Furthermore, in the above-mentioned reach forklift control system, the motor monitoring module is composed of a position encoder, a position feedback mechanism and a motor encoder.

[0017] Furthermore, the above-mentioned reach truck control system further includes a signal light, which is connected to the motor monitoring module and the maximum speed module, and is used to indicate whether the operating status is normal.

[0018] The present invention also provides a control method for a reach truck control system, comprising:

[0019] During operation, the corresponding function button is selected in the operation switching module and the control signal is input to the motor drive controller in combination with the acceleration mechanism. The motor drive controller controls the corresponding mode of the mechanism motor, thereby performing motion transmission control on the traction mechanism, steering mechanism, lifting mechanism, lowering mechanism, forward tilt mechanism, backward tilt mechanism and left and right moving mechanism. At the same time, the motor monitoring module monitors the operating characteristics of the mechanism motor, and then calculates the forklift movement control parameters and the fork movement control parameters through the speed control algorithm module in combination with the maximum speed module. The control target algorithm switching module uses the speed control algorithm module according to the control target of the motor drive controller to switch different motion control algorithms in real time, calculate the forklift movement control parameters and the fork movement control parameters, and provide maximum torque and precise current control under the premise of ensuring the maximum efficiency of the mechanism motor.

[0020] However, the control instrument can input the corresponding control signal to directly control the motor drive controller, and monitor the system by reading the system information received by the motor drive controller.

[0021] The reach truck control system and control method of the present invention have the following advantages and beneficial effects:

[0022] The present invention controls the motor drive controller by running the switching module, so that the reach forklift can quickly switch between different modes. By controlling the coordination of the target algorithm switching module and the speed control algorithm module, it can be adjusted according to different operating requirements, effectively improving operating efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only used to further understand the embodiments of the present invention and constitute part of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0024] Figure 1 It is a structural schematic diagram of the reach forklift control system of the present invention.

[0025] Description of reference numerals:

[0026] 1: Mechanism motor;

[0027] 2: moving mechanism, 21: traction mechanism, 22: steering mechanism, 23: lifting mechanism, 24: lowering mechanism, 25: forward tilting mechanism, 26: backward tilting mechanism, 27: left and right moving mechanism;

[0028] 3: Motor drive controller; 4: Control instrument;

[0029] 5: Operation switch module, 51: Accelerator mechanism, 52: Function button;

[0030] 6: Motor monitoring module, 61: Position encoder, 62: Position feedback mechanism, 63: Motor encoder;

[0031] 7: Maximum speed module; 8: Speed ​​control algorithm module; 9: Control target algorithm switching module; 10: Signal light. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0033] like Figure 1 As shown, the reach truck control system of the present invention includes:

[0034] Mechanism motor 1, which is used to provide power for the forklift;

[0035] Moving mechanism 2, the moving mechanism 2 is connected to the mechanism motor 1, and the moving mechanism 2 is used to control the movement of the forklift;

[0036] The motor drive controller 3 is connected to the mechanism motor 1. The motor drive controller 3 and the mechanism motor 1 adopt an absolute position mode control method. The motor drive controller 3 is used to control the forklift operation mode and monitor the operation information of the mechanism motor 1;

[0037] A control instrument 4 is connected to the motor drive controller 3 and is used to display action information and transmit control signals to the motor drive controller 3. The control instrument 4 can select multiple operating modes, including super mode (S mode), power mode (P mode), economy mode (E mode) and safety mode (SPE mode);

[0038] An operation switching module 5 is connected to the motor drive controller 3 and is used to switch between different operation modes of the forklift;

[0039] The motor monitoring module 6 is used to monitor the motor operating characteristics;

[0040] Maximum speed module 7, which is used to limit the maximum operating speed of the motor;

[0041] Speed ​​control algorithm module 8, which is connected to motor monitoring module 6 and maximum speed module 7, and is used to calculate forklift movement control parameters and fork movement control parameters;

[0042] Among them, the forklift movement control parameters include: driving speed, acceleration rate and deceleration rate;

[0043] Fork movement control parameters include: forward speed, backward speed, forward acceleration rate, backward acceleration rate, forward deceleration rate and backward deceleration rate;

[0044] The control target algorithm switching module 9 has an input end connected to the motor drive controller 3 and the speed control algorithm module 8, and an output end connected to the mechanism motor 1. The control target algorithm switching module 9 is used to switch different motion control algorithms in real time according to different control targets, and provide maximum torque and precise current control for the mechanism motor 1 while ensuring maximum efficiency.

[0045] Furthermore, in the above-mentioned reach truck control system, the moving mechanism 2 includes a traction mechanism 21, a steering mechanism 22, a lifting mechanism 23, a lowering mechanism 24, a forward tilting mechanism 25, a backward tilting mechanism 26 and a left and right moving mechanism 27, and the output end of the mechanism motor 1 is connected to the traction mechanism 21, the steering mechanism 22, the lifting mechanism 23, the lowering mechanism 24, the forward tilting mechanism 25, the backward tilting mechanism 26 and the left and right moving mechanism 27 respectively through a reducer.

[0046] Furthermore, in the above-mentioned reach truck control system, the operation switching module 5 includes an accelerator mechanism 51 and a function button 52. The output ends of the accelerator mechanism 51 and the function button 52 are both connected to the input end of the motor drive controller 3. The function button 52 is used to input a corresponding control signal to the motor drive controller 3 according to the function information. The accelerator mechanism 51 is used to control the speed of the motor drive controller 3. The accelerator mechanism has a potentiometer that is linearly related to the acceleration input.

[0047] The accelerator mechanism 51 and the function button 52 cooperate to realize switching of multiple combination modes including one-key switching of walking mode, one-key return mode and 180° / 360° switching mode.

[0048] Furthermore, in the above-mentioned reach forklift control system, the motor monitoring module 6 is composed of a position encoder 61 , a position feedback mechanism 62 and a motor encoder 63 .

[0049] Furthermore, the reach truck control system further includes a signal light 10 , which is connected to the motor monitoring module 6 and the maximum speed module 7 . The signal light 10 is used to indicate whether the operating status is normal.

[0050] The present invention also provides a control method for a reach truck control system, comprising:

[0051] During operation, the corresponding function button 52 is selected in the operation switching module 5 and the control signal is input to the motor drive controller 3 in combination with the acceleration mechanism. The motor drive controller 3 performs corresponding mode control on the mechanism motor 1, thereby performing motion transmission control on the traction mechanism 21, the steering mechanism 22, the lifting mechanism 23, the lowering mechanism 24, the forward tilting mechanism 25, the backward tilting mechanism 26 and the left and right moving mechanism 27, wherein the transmission control includes traction control, oil pump control, steering control and solenoid valve control. At the same time, the motor monitoring module 6 monitors the operating characteristics of the mechanism motor 1. During this process, the position of the mechanism motor 1 is measured by the position encoder 61 and the position feedback mechanism 62, and a closed-loop control algorithm is used to compare the actual position of the mechanism motor 1 with the target position. Compare and adjust the control signal to move the mechanism motor 1 to the target position; measure the speed feedback signal of the mechanism motor 1 through the motor encoder 63, use the closed-loop control algorithm to compare the actual speed of the mechanism motor 1 with the maximum speed, and adjust the control signal to control the mechanism motor 1 within the required speed range; the required torque output can also be achieved by adjusting the current control signal based on the current feedback signal of the mechanism motor 1. When a function is selected, the control target algorithm switching module 9 switches the forklift movement control parameters and the fork movement control parameters calculated by different motion control algorithms in real time according to the speed, position and torque required by the corresponding function, so that the mechanism motor 1 can provide maximum torque and precise current control under the premise of ensuring maximum efficiency;

[0052] However, the control instrument 4 can input corresponding control signals to directly control the motor drive controller 3 and monitor the motor drive controller 3 by reading the system information received by the motor drive controller 3.

[0053] In summary, compared with the prior art, the reach forklift control system and control method of the present invention have the following advantages and beneficial effects: the present invention controls the motor drive controller by running the switching module, so that the reach forklift can quickly switch between different modes, and can be adjusted according to different operating requirements by controlling the coordination of the target algorithm switching module and the speed control algorithm module, thereby effectively improving operating efficiency and safety.

[0054] It should be noted that, in this document, unless otherwise expressly specified or limited, the term "connected" or its synonyms should be interpreted broadly. For example, "connected" can mean a fixed or removable connection; a mechanical or electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication between two elements or the interaction between two elements. A person of ordinary skill in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances. Furthermore, expressions such as "first" and "second" are used solely to distinguish one entity or operation from another and do not necessarily require or imply any actual relationship or order between these entities or operations. Furthermore, the terms "comprise," "include," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Furthermore, the terms "front," "rear," "left," "right," "upper," and "lower" herein are used with reference to the positions shown in the accompanying drawings.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A reach truck control system, characterized in that: The reach truck control system comprises: A mechanism motor, the mechanism motor is used to provide power for driving the forklift; A moving mechanism, the moving mechanism is connected to the mechanism motor, and the moving mechanism is used to control the movement of the forklift; A motor drive controller, the motor drive controller is connected to the mechanism motor, the motor drive controller is used to control the forklift operation mode and monitor the mechanism motor operation information; A control instrument, which is connected to the motor drive controller and is used to display action information and transmit a control signal to the motor drive controller; An operation switching module, the operation switching module is connected to the motor drive controller, and the operation switching module is used to switch between different operation modes of the forklift; A motor monitoring module, wherein the motor monitoring module is used to monitor the running characteristics of the motor; A maximum speed module, which is used to limit the maximum operating speed of the motor; A speed control algorithm module, the speed control algorithm module is connected to the motor monitoring module and the maximum speed module, and the speed control algorithm module is used to calculate the forklift movement control parameters and the fork movement control parameters; A control target algorithm switching module, wherein the input end of the control target algorithm switching module is connected to the motor drive controller and the speed control algorithm module, and the output end of the control target algorithm switching module is connected to the mechanism motor. The control target algorithm switching module is used to switch different motion control algorithms in real time according to different control targets, and provide maximum torque and precise current control for the mechanism motor while ensuring maximum efficiency.

2. The reach truck control system according to claim 1, characterized in that: The moving mechanism includes a traction mechanism, a steering mechanism, a lifting mechanism, a lowering mechanism, a forward tilting mechanism, a backward tilting mechanism and a left and right moving mechanism. The output end of the mechanism motor is connected to the traction mechanism, the steering mechanism, the lifting mechanism, the lowering mechanism, the forward tilting mechanism, the backward tilting mechanism and the left and right moving mechanism respectively through a reducer.

3. The reach truck control system according to claim 1, characterized in that: The operation switching module includes an accelerator mechanism and a function button. The output ends of the accelerator mechanism and the function button are both connected to the input end of the motor drive controller. The function button is used to input a corresponding control signal to the motor drive controller according to function information, and the accelerator mechanism is used to input a speed control signal to the motor drive controller.

4. The reach truck control system according to claim 1, characterized in that: The motor monitoring module is composed of a position encoder, a position feedback mechanism and a motor encoder.

5. The reach truck control system according to claim 1, characterized in that: It also includes a signal light, which is connected to the motor monitoring module and the maximum speed module, and is used to display whether the operating status is normal.

6. A control method implemented by using the reach truck control system according to any one of claims 1 to 5, characterized in that: include: During operation, the corresponding function button is selected in the operation switching module and the control signal is input to the motor drive controller in combination with the acceleration mechanism. The motor drive controller controls the mechanism motor in the corresponding mode, thereby controlling the motion transmission of the traction mechanism, steering mechanism, lifting mechanism, lowering mechanism, forward tilting mechanism, backward tilting mechanism and left and right moving mechanism. At the same time, the motor monitoring module monitors the running characteristics of the mechanism motor, and then calculates the forklift movement control parameters and the fork movement control parameters through the speed control algorithm module in combination with the maximum speed module. The control target algorithm switching module uses the speed control algorithm module according to the control target of the motor drive controller to switch different motion control algorithms in real time, calculate the forklift movement control parameters and the fork movement control parameters, and provide maximum torque and precise current control under the premise of ensuring the maximum efficiency of the mechanism motor. However, the control instrument can input the corresponding control signal to directly control the motor drive controller, and monitor the system information received by the motor drive controller by reading it.

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