Forklift, arm support electro-hydraulic control method, device, equipment and medium of forklift and arm support electro-hydraulic control method and device of forklift

Abstract

The invention discloses a forklift loader and an electro-hydraulic control method, device and equipment for an arm support of the forklift loader and a medium, and relates to the field of arm support control. Opening and closing of the hydraulic enable valve are controlled based on the CAN network state, and network connection with the multi-way valve control unit is established when the CAN network state is normal; wherein if the CAN network state is normal, the hydraulic enable valve is controlled to be opened, and otherwise, the hydraulic enable valve is controlled to be closed; and after network connection, the multi-way valve control unit is used for controlling the corresponding coil to move based on the digital flow control request signal so as to control the opening degree of a valve element of the target digital bus multi-way valve. When the CAN network state is normal, the multi-way valve control units of the digital bus multi-way valves are used for controlling the opening degrees of the valve elements of the digital bus multi-way valves, when the CAN network state is abnormal, the hydraulic enable valves are controlled to be closed, abnormal actions of the arm frame are prevented, and the smoothness, accuracy and safety of the arm frame in the actual operation process are improved.

Description

Technical Field

[0001] The present invention relates to the field of boom control, and in particular to a forklift and an electro-hydraulic control method, device, equipment and medium for the boom thereof. Background Art

[0002] With the continuous enrichment of aerial work construction scenes, when the attachment of the telescopic arm forklift is a cargo fork, it is often necessary to transport heavy goods to designated locations at different heights and angles or to transport them back to the ground from high places at different heights and angles during the operation. Therefore, how to control the smooth and safe operation of the forklift's boom during the operation has become a key indicator for evaluating whether the forklift's important performance is good.

[0003] In the existing forklift boom control technology, the hydraulic threaded cartridge valve is often controlled by the electrical system to achieve boom amplitude change, extension and retraction, fork adjustment and other actions. Since the valve core movement stroke of the threaded cartridge valve is short and the actual displacement of the valve core cannot be obtained, the smoothness, accuracy and safety in the actual operation process cannot be effectively controlled, and there are problems such as jitter when starting / stopping the boom and poor effect of boom micro-movement. Summary of the invention

[0004] The purpose of the present invention is to provide a forklift and its boom electro-hydraulic control method, device, equipment, and medium, which can use the multi-way valve control unit of each digital bus multi-way valve to control the opening of its own valve core when the CAN network status is normal, and control the hydraulic enabling valve to be closed when the CAN network status is abnormal, thereby preventing the boom from moving abnormally, and improving the smoothness, accuracy and safety of the boom during actual operation.

[0005] In a first aspect, the present application discloses an electro-hydraulic control method for an arm, which is applied to a vehicle control unit of a forklift, wherein the forklift is also provided with a vehicle control handle, and the arm of the forklift is provided with a multi-way valve group and a hydraulic enabling valve, wherein the vehicle control unit is respectively connected to the vehicle control handle, the hydraulic enabling valve and the multi-way valve group, wherein the hydraulic enabling valve is connected to the multi-way valve group, wherein the multi-way valve group includes a plurality of digital bus multi-way valves, wherein the digital bus multi-way valve includes a multi-way valve control unit and a coil, and wherein the electro-hydraulic control method for the arm includes:

[0006] Monitor CAN network status;

[0007] Controlling the opening and closing of the hydraulic enabling valve based on the CAN network status, and establishing a network connection with the multi-way valve control unit when the CAN network status is normal; wherein, if the CAN network status is normal, the hydraulic enabling valve is controlled to be opened, otherwise, the hydraulic enabling valve is controlled to be closed;

[0008] receiving a control signal for a target digital bus multi-way valve sent by the vehicle control handle, and generating a digital flow control request signal based on the control signal; the target digital bus multi-way valve is any digital bus multi-way valve among the multiple digital bus multi-way valves;

[0009] The digital flow control request signal is sent to the multi-way valve control unit of the target digital bus multi-way valve through the network connection, so that the multi-way valve control unit controls the movement of the corresponding coil based on the digital flow control request signal to control the opening of the valve core of the target digital bus multi-way valve; wherein the displacement of the coil is positively correlated with the opening of the valve core of the target digital bus multi-way valve.

[0010] Optionally, the forklift further includes a human-machine interaction unit, which, after controlling the hydraulic enabling valve to be closed, further includes:

[0011] Send CAN network fault bus information to the human-machine interaction unit so as to trigger a corresponding alarm through the human-machine interaction unit.

[0012] Optionally, after establishing a network connection with the multi-way valve control unit when the CAN network is in a normal state, the method further includes:

[0013] Determining whether the multi-way valve control unit is online;

[0014] If yes, opening the hydraulic enabling valve;

[0015] If not, sending a restart command to the multi-way valve control unit so that the multi-way valve control unit restarts;

[0016] If the multi-way valve control unit restarts successfully, the hydraulic enabling valve is opened and returned to the multi-way valve control unit which sends the digital flow control request signal to the target digital bus multi-way valve via the network connection;

[0017] If the multi-way valve control unit fails to restart, the method returns to sending a restart command to the multi-way valve control unit.

[0018] Optionally, after the multi-way valve control unit fails to restart, the method further includes:

[0019] Count the number of restarts plus one, and determine whether the new number of restarts is greater than the preset number;

[0020] If yes, closing the hydraulic enabling valve;

[0021] Send the multi-way valve control unit offline bus information to the human-machine interaction unit so as to trigger a corresponding alarm through the human-machine interaction unit.

[0022] Optionally, the digital bus multi-way valve further includes a detection unit, which, after establishing a network connection with the multi-way valve control unit when the CAN network is in a normal state, further includes:

[0023] Determining whether the vehicle control unit is online by the multi-way valve control unit;

[0024] If yes, the position of the valve core of the target digital bus multi-way valve is read by the detection unit and sent to the corresponding multi-way valve control unit;

[0025] Controlling the corresponding coil movement based on the digital flow control request signal and the position of the valve core of the target digital bus multi-way valve by the multi-way valve control unit to control the opening of the valve core of the target digital bus multi-way valve;

[0026] If not, closing the target digital bus multi-way valve through the multi-way valve control unit;

[0027] The vehicle control unit offline bus information is sent to the human-machine interaction unit through the multi-way valve control unit, so as to trigger a corresponding alarm through the human-machine interaction unit.

[0028] Optionally, after reading the position of the valve core of the target digital bus multi-way valve by the multi-way valve control unit, the method further includes:

[0029] When the control signal is not received, determining by the multi-way valve control unit whether the valve core of the target digital bus multi-way valve is stuck;

[0030] If yes, closing the target digital bus multi-way valve through the multi-way valve control unit;

[0031] Sending valve core stuck bus information to the human-machine interaction unit through the multi-way valve control unit, so as to trigger a corresponding alarm through the human-machine interaction unit;

[0032] If not, the multi-way valve control unit controls the movement of the corresponding coil based on the digital flow control request signal and the position of the valve core of the target digital bus multi-way valve to control the opening of the valve core of the target digital bus multi-way valve.

[0033] Optionally, determining whether a valve core of the target digital bus multi-way valve is stuck by the multi-way valve control unit includes:

[0034] Determining, by the multi-way valve control unit, whether the position of the valve core of the target digital bus multi-way valve is within a preset range;

[0035] If yes, it indicates that the valve core of the target digital bus multi-way valve is not stuck;

[0036] If not, it indicates that the valve core of the target digital bus multi-way valve is stuck.

[0037] In a second aspect, the present application discloses an electro-hydraulic control device for an arm, which is applied to a vehicle control unit of a forklift, wherein the forklift is also provided with a vehicle control handle, and the arm of the forklift is provided with a multi-way valve group and a hydraulic enabling valve, wherein the vehicle control unit is respectively connected to the vehicle control handle, the hydraulic enabling valve and the multi-way valve group, wherein the hydraulic enabling valve is connected to the multi-way valve group, wherein the multi-way valve group includes a plurality of digital bus multi-way valves, wherein the digital bus multi-way valve includes a multi-way valve control unit and a coil, and wherein the electro-hydraulic control device for the arm includes:

[0038] Monitoring module, used to monitor the CAN network status;

[0039] A network connection module, used to control the opening and closing of the hydraulic enabling valve based on the CAN network status, and to establish a network connection with the multi-way valve control unit when the CAN network status is normal; wherein, if the CAN network status is normal, the hydraulic enabling valve is controlled to be opened, otherwise, the hydraulic enabling valve is controlled to be closed;

[0040] A generating module, configured to receive a control signal for a target digital bus multi-way valve sent by the vehicle control handle, and then generate a digital flow control request signal based on the control signal; the target digital bus multi-way valve is any digital bus multi-way valve among the multiple digital bus multi-way valves;

[0041] A sending module is used to send the digital flow control request signal to the multi-way valve control unit of the target digital bus multi-way valve through the network connection, so that the multi-way valve control unit controls the movement of the corresponding coil based on the digital flow control request signal to control the opening of the valve core of the target digital bus multi-way valve; wherein the displacement of the coil is positively correlated with the opening of the valve core of the target digital bus multi-way valve.

[0042] In a third aspect, the present application discloses an arm boom electro-hydraulic control device, comprising a vehicle control handle for triggering a control signal for any digital bus multi-way valve, and the arm boom electro-hydraulic control device further comprises:

[0043] Memory, used to store computer programs;

[0044] The vehicle control unit connected to the vehicle control handle is used to execute the computer program to implement the steps of the boom electro-hydraulic control method as described above.

[0045] In a fourth aspect, the present application discloses a forklift truck, comprising a boom, on which a multi-way valve group and a hydraulic enabling valve are provided, and also comprising a boom electro-hydraulic control device as described above, wherein a vehicle control unit of the boom electro-hydraulic control device is connected to the multi-way valve group and the hydraulic enabling valve; the multi-way valve group comprises a plurality of digital bus multi-way valves, and the digital bus multi-way valve comprises a multi-way valve control unit and a coil.

[0046] In a fifth aspect, the present application discloses a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the boom electro-hydraulic control method as described above.

[0047] The present application provides a forklift and its arm electro-hydraulic control method, device, equipment, and medium, which monitor the CAN network status; control the opening and closing of the hydraulic enabling valve based on the CAN network status, and establish a network connection with the multi-way valve control unit when the CAN network status is normal; wherein, if the CAN network status is normal, the hydraulic enabling valve is controlled to be opened, otherwise the hydraulic enabling valve is controlled to be closed; upon receiving a control signal for a target digital bus multi-way valve sent by a vehicle control handle, a digital flow control request signal is generated based on the control signal; the target digital bus multi-way valve is any digital bus multi-way valve among a plurality of digital bus multi-way valves; the digital flow control request signal is sent to the multi-way valve control unit of the target digital bus multi-way valve through a network connection, so that the multi-way valve control unit controls the movement of the corresponding coil based on the digital flow control request signal to control the opening of the valve core of the target digital bus multi-way valve; wherein the displacement of the coil is positively correlated with the opening of the valve core of the target digital bus multi-way valve. It can be seen that the present application utilizes the multi-way valve control units of each digital bus multi-way valve to control the opening of its own valve core when the CAN network status is normal, and controls the hydraulic enabling valve to be closed when the CAN network status is abnormal, thereby preventing abnormal movement of the boom and improving the smoothness, accuracy and safety of the boom during actual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the prior art and the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 It is a flow chart of a boom electro-hydraulic control method disclosed in the present invention;

[0050] Figure 2 It is a flowchart of a specific boom electro-hydraulic control method disclosed in the present invention;

[0051] Figure 3 It is a structural schematic diagram of a boom electro-hydraulic control system disclosed in the present invention;

[0052] Figure 4 The present invention is a schematic structural diagram of an electro-hydraulic control device for an arm support disclosed in the present invention. DETAILED DESCRIPTION

[0053] The core of the present invention is to provide a forklift and its boom electro-hydraulic control method, device, equipment, and medium, which can use the multi-way valve control unit of each digital bus multi-way valve to control the opening of its own valve core when the CAN network status is normal, and control the hydraulic enabling valve to close when the CAN network status is abnormal, thereby preventing abnormal movement of the boom and improving the smoothness, accuracy and safety of the boom during actual operation.

[0054] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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.

[0055] In the existing forklift boom control technology, the hydraulic threaded cartridge valve is often controlled by the electrical system to achieve boom amplitude change, extension and retraction, fork adjustment and other actions. Since the threaded cartridge valve has a short valve core movement stroke and cannot obtain the actual displacement of the valve core, the smoothness, accuracy and safety in the actual operation process cannot be effectively controlled, and there are problems such as equipment shaking when starting / stopping the boom and poor effect of boom micro-movement. To this end, the present application provides a boom electro-hydraulic control solution that can improve the smoothness, accuracy and safety of the boom in the actual operation process.

[0056] See also Figure 1 As shown, Figure 1 The present invention discloses a flow chart of an electro-hydraulic control method for a boom.

[0057] The boom electro-hydraulic control method is applied to a vehicle control unit of a forklift truck. The forklift truck is also provided with a vehicle control handle. The boom of the forklift truck is provided with a multi-way valve group and a hydraulic enabling valve. The vehicle control unit is respectively connected to the vehicle control handle, the hydraulic enabling valve and the multi-way valve group. The hydraulic enabling valve is connected to the multi-way valve group. The multi-way valve group includes a plurality of digital bus multi-way valves. The digital bus multi-way valve includes a multi-way valve control unit and a coil. The boom electro-hydraulic control method includes:

[0058] S11. Monitor the CAN network status.

[0059] S12, controlling the opening and closing of the hydraulic enabling valve based on the CAN network status, and establishing a network connection with the multi-way valve control unit when the CAN network status is normal; wherein, if the CAN network status is normal, the hydraulic enabling valve is controlled to be opened, otherwise, the hydraulic enabling valve is controlled to be closed.

[0060] In order to provide effective protection when the CAN network status is abnormal, that is, when the CAN network quality is poor, to avoid the risk of the forklift tipping over when the arm's extension length exceeds the amplitude limit due to abnormal arm movement. The present application enables CAN network communication quality monitoring to monitor the CAN network status before controlling the arm movement, and sets a hydraulic enabling valve for the arm, using the hydraulic enabling valve as the main control valve. If the vehicle control unit detects that the CAN network is normal, the vehicle control unit can control the hydraulic enabling valve to open, and the hydraulic enabling valve provides the total flow for the multi-way valve group to control the normal movement of the arm.

[0061] S13, receiving a control signal for a target digital bus multi-way valve sent by a vehicle control handle, and generating a digital flow control request signal based on the control signal; the target digital bus multi-way valve is any digital bus multi-way valve among the multiple digital bus multi-way valves.

[0062] Considering that the valve core movement stroke of the hydraulic threaded cartridge valve is short and the actual displacement of the valve core cannot be obtained, the hydraulic threaded cartridge valve cannot control the smooth and precise movement of the boom, and there are problems such as shaking when starting / stopping the boom, poor micro-movement effect of the boom, and the safety state of the hydraulic valve. For this reason, the multi-way valve group of the present invention adopts a digital bus multi-way valve. The movement stroke of the valve core of the digital bus multi-way valve is longer, the valve core position sensing effect and the valve core temperature sensing effect are better, and the digital bus multi-way valve includes a multi-way valve control unit and a coil. The multi-way valve control unit can use its own signal transmission with the vehicle control unit to accurately control the movement of its own coil, and realize accurate control of the opening of the valve core of each digital bus multi-way valve.

[0063] Specifically, the vehicle control handle will send a control signal for the target digital bus multi-way valve to the vehicle control unit. The control signal of the target digital bus multi-way valve is an electrical digital signal. The number of the target digital bus multi-way valves is determined by the boom action requirements. The vehicle control unit performs corresponding logical operations on the control signal of the target digital bus multi-way valve, and then generates a corresponding digital flow control request signal, which is an electrical digital signal. It should be noted that in order to control the boom to move to different heights and angles, there are multiple digital bus multi-way valves.

[0064] S14. Send a digital flow control request signal to a multi-way valve control unit of a target digital bus multi-way valve through a network connection, so that the multi-way valve control unit controls the movement of a corresponding coil based on the digital flow control request signal to control the opening of a valve core of the target digital bus multi-way valve; wherein the displacement of the coil is positively correlated with the opening of the valve core of the target digital bus multi-way valve.

[0065] Since the vehicle control unit is connected to the multi-way valve control units of all digital bus multi-way valves, the vehicle control unit can send the generated digital flow control request signal to the multi-way valve control unit of the corresponding target digital bus multi-way valve, and the multi-way valve control unit of each target digital bus multi-way valve controls the movement of its corresponding coil with an electrical analog signal to control the opening of its own valve core, thereby realizing independent control of each digital bus multi-way valve. Among them, the displacement of the coil is positively correlated with the opening of the valve core of the target digital bus multi-way valve.

[0066] It can be seen that the present application utilizes the multi-way valve control units of each digital bus multi-way valve to control the opening of its own valve core when the CAN network status is normal, and controls the hydraulic enabling valve to be closed when the CAN network status is abnormal, thereby preventing abnormal movement of the boom and improving the smoothness, accuracy and safety of the boom during actual operation.

[0067] Based on the above embodiments:

[0068] For details, see Figure 2 As shown, Figure 2 The present invention discloses a flow chart of a specific boom electro-hydraulic control method.

[0069] As an optional embodiment, the forklift further includes a human-machine interaction unit, and after controlling the hydraulic enabling valve to be closed, further includes:

[0070] Send CAN network fault bus information to the human-machine interaction unit so as to trigger a corresponding alarm through the human-machine interaction unit.

[0071] In order to provide timely prompts when the CAN network status is abnormal so as to take corresponding measures to deal with potential dangers or problems, the present embodiment provides a human-machine interaction unit for the forklift, and the human-machine interaction unit is connected to the vehicle control unit. When the vehicle control unit detects that the CAN network status is abnormal, the vehicle control unit will send CAN network fault bus information indicating the abnormal CAN network status to the human-machine interaction unit, and the human-machine interaction unit can pop up the CAN network fault alarm information in the form of a pop-up window.

[0072] It can be seen that this embodiment provides a human-computer interaction unit for the forklift. When an abnormal CAN network status occurs, the vehicle control unit will send CAN network fault bus information representing the abnormal CAN network status to the human-computer interaction unit, and the human-computer interaction unit can pop up the CAN network fault alarm information in the form of a pop-up window.

[0073] As an optional embodiment, after establishing a network connection with the multi-way valve control unit when the CAN network state is normal, the method further includes:

[0074] Determine whether the multi-way valve control unit is online;

[0075] If yes, open the hydraulic enabling valve;

[0076] If not, a restart command is sent to the multi-way valve control unit so that the multi-way valve control unit restarts;

[0077] If the multi-way valve control unit restarts successfully, the hydraulic enabling valve is opened and returned to the multi-way valve control unit which sends the digital flow control request signal to the target digital bus multi-way valve through the network connection;

[0078] If the multi-way valve control unit fails to restart, the process returns to sending a restart command to the multi-way valve control unit.

[0079] Specifically, after establishing a network connection with the multi-way valve control unit when the CAN network status is normal, if the multi-way valve control unit is not online, even if the vehicle control unit can send the generated digital flow control request signal to the multi-way valve control unit of the corresponding target digital bus multi-way valve, the multi-way valve control unit will not control the movement of its corresponding coil, and the opening of the valve core of the target digital bus multi-way valve where the multi-way valve control unit is not online will not change, and the arm will move abnormally. To this end, after establishing a network connection with the multi-way valve control unit when the CAN network status is normal, this embodiment also needs to determine whether the multi-way valve control unit is online. If the multi-way valve control unit is online, open the hydraulic enabling valve to provide flow to the target digital bus multi-way valve to ensure the normal operation of the boom; if the multi-way valve control unit is offline, send a restart command to the offline multi-way valve control unit so that the offline multi-way valve control unit can be restarted, and determine whether the restart of the offline multi-way valve control unit is successful. When the offline multi-way valve control unit restarts successfully, open the hydraulic enabling valve to provide flow to the target digital bus multi-way valve to ensure the normal operation of the boom. When the offline multi-way valve control unit fails to restart, continue to send restart commands to the offline multi-way valve control unit until the offline multi-way valve control unit restarts successfully.

[0080] It can be seen that in this embodiment, when the multi-way valve control unit is offline, a restart command is sent to the offline multi-way valve control unit until the offline multi-way valve control unit is restarted successfully, and then the hydraulic enabling valve is opened to provide flow to the target digital bus multi-way valve to ensure the normal operation of the boom.

[0081] As an optional embodiment, after the multi-way valve control unit fails to restart, the method further includes:

[0082] Count the number of restarts plus one, and determine whether the new number of restarts is greater than the preset number;

[0083] If yes, close the hydraulic enabling valve;

[0084] Send the multi-way valve control unit offline bus information to the human-machine interaction unit so as to trigger the corresponding alarm through the human-machine interaction unit.

[0085] Considering that if the multi-way valve control unit is damaged, even if the multi-way valve control unit is offline, sending a restart command to the offline multi-way valve control unit will not successfully restart. Therefore, after each restart failure of the offline multi-way valve control unit, the restart count can be increased by one. When the new restart count is greater than the preset count, it indicates that the multi-way valve control unit is damaged, the corresponding digital bus multi-way valve loses control, and cannot control the normal movement of the boom. In order to prevent the boom from moving in an unsafe direction, the vehicle control unit closes the hydraulic enabling valve, stops providing flow to the target digital bus multi-way valve, and sends the offline bus information of the multi-way valve control unit indicating that the multi-way valve control unit is offline to the human-computer interaction unit. The human-computer interaction unit can pop up the offline alarm information of the multi-way valve control unit in the form of a pop-up window.

[0086] It can be seen that after each failed restart of the offline multi-way valve control unit, the restart count is increased by one. When the new restart count is greater than the preset count, the flow is stopped from being provided to the target digital bus multi-way valve. The vehicle control unit sends the multi-way valve control unit offline bus information indicating that the multi-way valve control unit is offline to the human-computer interaction unit. The human-computer interaction unit can pop up the multi-way valve control unit offline alarm information in the form of a pop-up window.

[0087] As an optional embodiment, the digital bus multi-way valve further includes a detection unit, which, after establishing a network connection with the multi-way valve control unit when the CAN network state is normal, further includes:

[0088] Determine whether the vehicle control unit is online through the multi-way valve control unit;

[0089] If yes, the position of the valve core of the target digital bus multi-way valve is read by the detection unit and sent to the corresponding multi-way valve control unit;

[0090] Controlling the corresponding coil movement based on the digital flow control request signal and the position of the valve core of the target digital bus multi-way valve by the multi-way valve control unit to control the opening of the valve core of the target digital bus multi-way valve;

[0091] If not, the target digital bus multi-way valve is closed through the multi-way valve control unit;

[0092] The vehicle control unit offline bus information is sent to the human-machine interaction unit through the multi-way valve control unit, so as to trigger a corresponding alarm through the human-machine interaction unit.

[0093] Specifically, after establishing a network connection with the multi-way valve control unit when the CAN network is in normal state, if the vehicle control unit is not online, even if the vehicle control handle sends a control signal for the target digital bus multi-way valve to the vehicle control unit, and the vehicle control unit generates a digital flow control request signal based on the control signal of the target digital bus multi-way valve, the multi-way valve control unit cannot receive the digital flow control request signal from the vehicle control unit, and the corresponding digital bus multi-way valve loses control and cannot control the normal movement of the boom. To prevent the boom from moving in an unsafe direction, the vehicle control unit closes the hydraulic enabling valve, stops providing flow to the target digital bus multi-way valve, and sends the vehicle control unit offline bus information indicating that the vehicle control unit is not online to the human-computer interaction unit, and the human-computer interaction unit can pop up the vehicle control unit offline alarm information in the form of a pop-up window.

[0094] It should be noted that the digital bus multi-way valve also includes a detection unit, which can detect the position of the corresponding valve core and send the signal representing the position of the corresponding valve core to the multi-way valve control unit in the form of an electrical analog signal so that the multi-way valve control unit can perform subsequent processing.

[0095] It can be seen that if the vehicle control unit is not online, in order to avoid abnormal movement of the boom, the vehicle control unit closes the hydraulic enabling valve and stops providing flow to the target digital bus multi-way valve. The vehicle control unit sends its own offline vehicle control unit offline bus information to the human-computer interaction unit, and the human-computer interaction unit can pop up the vehicle control unit offline alarm information in the form of a pop-up window.

[0096] As an optional embodiment, after the position of the valve core of the target digital bus multi-way valve is read by the multi-way valve control unit, the method further includes:

[0097] When no control signal is received, the multi-way valve control unit determines whether the valve core of the target digital bus multi-way valve is stuck;

[0098] If yes, the target digital bus multi-way valve is closed by the multi-way valve control unit;

[0099] Sending valve core stuck bus information to the human-machine interaction unit through the multi-way valve control unit, so as to trigger a corresponding alarm through the human-machine interaction unit;

[0100] If not, the multi-way valve control unit controls the corresponding coil movement based on the digital flow control request signal and the position of the valve core of the target digital bus multi-way valve to control the opening of the valve core of the target digital bus multi-way valve.

[0101] When no control signal is received, that is, the vehicle control handle has no operation input request, if the valve core of the target digital bus multi-way valve is stuck, when the vehicle control handle has an operation input request, that is, the arm needs to move, the vehicle control handle sends a control signal for the target digital bus multi-way valve to the vehicle control unit, and the vehicle control unit generates a digital flow control request signal based on the control signal. Due to the stuck valve core of the target digital bus multi-way valve, even if the multi-way valve control unit of the target digital bus multi-way valve receives the digital flow control request signal, the multi-way valve control unit cannot control the opening of the valve core of the target digital bus multi-way valve, and the arm cannot move normally.

[0102] To this end, in this embodiment, when no control signal is received, it is necessary to determine whether the valve core of the target digital bus multi-way valve is stuck through the multi-way valve control unit. If the multi-way valve control unit determines that the valve core of the target digital bus multi-way valve is stuck, the multi-way valve control unit closes the target digital bus multi-way valve, the target digital bus multi-way valve stops outputting flow, and sends the valve core stuck bus information characterizing the valve core stuck to the human-computer interaction unit, and the human-computer interaction unit can pop up the valve core stuck alarm information in the form of a pop-up window; if the multi-way valve control unit determines that the valve core of the target digital bus multi-way valve is not stuck, the multi-way valve control unit controls the movement of the corresponding coil based on the digital flow control request signal and the position of the valve core of the target digital bus multi-way valve to control the opening of the valve core of the target digital bus multi-way valve.

[0103] It can be seen that if the valve core is stuck, in order to avoid abnormal movement of the arm, the target digital bus multi-way valve is closed through the multi-way valve control unit, the target digital bus multi-way valve stops outputting flow, and the valve core stuck bus information characterizing the valve core stuck is sent to the human-computer interaction unit, and the human-computer interaction unit can pop up the valve core stuck alarm information in the form of a pop-up window.

[0104] As an optional embodiment, determining whether a valve core of a target digital bus multi-way valve is stuck by a multi-way valve control unit includes:

[0105] Determine, by means of a multi-way valve control unit, whether the position of the valve core of the target digital bus multi-way valve is within a preset range;

[0106] If yes, it indicates that the valve core of the target digital bus multi-way valve is not stuck;

[0107] If not, it indicates that the valve core of the target digital bus multi-way valve is stuck.

[0108] When no control signal is received, that is, there is no operation input request from the vehicle control handle, if the valve core of the target digital bus multi-way valve is stuck, the position of the valve core of the target digital bus multi-way valve will deviate from the preset range, and the preset range is the set middle position range that indicates that the valve core of the digital bus multi-way valve is not stuck. Then, the target digital bus multi-way valve is closed by the multi-way valve control unit, the target digital bus multi-way valve stops outputting flow, and the valve core stuck bus information indicating the valve core is stuck is sent to the human-computer interaction unit, and the human-computer interaction unit can pop up the valve core stuck alarm information in the form of a pop-up window; if the position of the valve core of the target digital bus multi-way valve is within the preset range, indicating that the valve core of the target digital bus multi-way valve is not stuck, the multi-way valve control unit controls the movement of the corresponding coil based on the digital flow control request signal and the position of the valve core of the target digital bus multi-way valve to control the opening of the valve core of the target digital bus multi-way valve.

[0109] It can be seen that in this embodiment, the multi-way valve control unit determines whether the position of the valve core of the target digital bus multi-way valve is within a preset range and whether the valve core of the target digital bus multi-way valve is stuck, so as to close the target digital bus multi-way valve when the valve core of the target digital bus multi-way valve is stuck to avoid abnormal movement of the arm, and control the movement of the corresponding coil when the valve core of the target digital bus multi-way valve is not stuck to control the opening of the valve core of the target digital bus multi-way valve.

[0110] The present invention also provides a forklift, including a boom, on which a multi-way valve group and a hydraulic enabling valve are arranged, and also includes the boom electro-hydraulic control device as mentioned above, wherein the vehicle control unit of the boom electro-hydraulic control device is connected to the multi-way valve group and the hydraulic enabling valve; the multi-way valve group includes multiple digital bus multi-way valves, and the digital bus multi-way valve includes a multi-way valve control unit and a coil.

[0111] This embodiment effectively protects the boom by monitoring the CAN network status, the vehicle control unit and the multi-way valve control unit to determine whether the other party is online, and the multi-way valve control unit monitors and determines whether the valve core of the digital bus multi-way valve is stuck, thereby avoiding abnormal movement of the boom; and adopts a digital bus multi-way valve to replace the traditional cartridge valve. The digital bus multi-way valve has a more sufficient valve core control stroke, so that it can better achieve smooth control and reduce impact when the boom starts or stops; further, the digital bus multi-way valve contains a detection unit inside to provide real-time feedback on the movement stroke of the valve core of the digital bus multi-way valve, which can achieve precise control of the boom and improve work efficiency.

[0112] Furthermore, the forklift truck may also include a human-machine interaction unit, which is used to trigger a corresponding alarm when the CAN network status is abnormal, the vehicle control unit and / or the multi-way valve control unit is offline, and the valve core of the digital bus multi-way valve is stuck, so as to carry out subsequent processing. For details, please refer to Figure 3 As shown, Figure 3 The present invention is a schematic structural diagram of a boom electro-hydraulic control system disclosed in the present invention.

[0113] In addition, for the introduction of a forklift provided by the invention, please refer to the embodiment of the boom electro-hydraulic control method mentioned above, and the invention will not be repeated here.

[0114] It can be seen that the present application utilizes the multi-way valve control units of each digital bus multi-way valve to control the opening of its own valve core when the CAN network status is normal, and controls the hydraulic enabling valve to be closed when the CAN network status is abnormal, thereby preventing abnormal movement of the boom and improving the smoothness, accuracy and safety of the boom during actual operation.

[0115] Accordingly, see Figure 4 As shown, Figure 4 The present invention is a schematic structural diagram of an electro-hydraulic control device for an arm support disclosed in the present invention.

[0116] The present invention also provides an electro-hydraulic control device for an arm, which is applied to a vehicle control unit of a forklift, wherein the forklift is also provided with a vehicle control handle, and the arm of the forklift is provided with a multi-way valve group and a hydraulic enabling valve, wherein the vehicle control unit is respectively connected to the vehicle control handle, the hydraulic enabling valve and the multi-way valve group, wherein the hydraulic enabling valve is connected to the multi-way valve group, wherein the multi-way valve group includes a plurality of digital bus multi-way valves, wherein the digital bus multi-way valve includes a multi-way valve control unit and a coil, and wherein the electro-hydraulic control device for the arm includes:

[0117] Monitoring module 11, used to monitor the CAN network status;

[0118] A network connection module 12, used to control the opening and closing of the hydraulic enabling valve based on the CAN network state, and to establish a network connection with the multi-way valve control unit when the CAN network state is normal; wherein, if the CAN network state is normal, the hydraulic enabling valve is controlled to be opened, otherwise, the hydraulic enabling valve is controlled to be closed;

[0119] A generating module 13, configured to receive a control signal for a target digital bus multi-way valve sent by the vehicle control handle, and then generate a digital flow control request signal based on the control signal; the target digital bus multi-way valve is any digital bus multi-way valve among the multiple digital bus multi-way valves;

[0120] The sending module 14 is used to send the digital flow control request signal to the multi-way valve control unit of the target digital bus multi-way valve through the network connection, so that the multi-way valve control unit controls the movement of the corresponding coil based on the digital flow control request signal to control the opening of the valve core of the target digital bus multi-way valve; wherein the displacement of the coil is positively correlated with the opening of the valve core of the target digital bus multi-way valve.

[0121] It can be seen that the present application utilizes the multi-way valve control units of each digital bus multi-way valve to control the opening of its own valve core when the CAN network status is normal, and controls the hydraulic enabling valve to be closed when the CAN network status is abnormal, thereby preventing abnormal movement of the boom and improving the smoothness, accuracy and safety of the boom during actual operation.

[0122] In some specific embodiments, the forklift truck further includes a human-computer interaction unit, a network connection module 12, and further includes:

[0123] The first sending unit is used to send CAN network fault bus information to the human-computer interaction unit so as to trigger a corresponding alarm through the human-computer interaction unit.

[0124] In some specific implementations, the network connection module 12 further includes:

[0125] A first judging unit, used to judge whether the multi-way valve control unit is online;

[0126] a first opening unit, configured to open the hydraulic enabling valve if the multi-way valve control unit is online;

[0127] A second sending unit is used to send a restart command to the multi-way valve control unit if the multi-way valve control unit is not online, so that the multi-way valve control unit restarts;

[0128] a first return unit, configured to open the hydraulic enable valve and return to the multi-way valve control unit that sends the digital flow control request signal to the target digital bus multi-way valve through the network connection if the multi-way valve control unit restarts successfully;

[0129] The second returning unit is used to return to sending a restart command to the multi-way valve control unit if the multi-way valve control unit fails to restart.

[0130] In some specific embodiments, the second return unit further includes:

[0131] A second judgment unit is used to count the number of restarts plus one, and judge whether the new number of restarts is greater than a preset number;

[0132] a first closing unit, configured to close the hydraulic enabling valve if the new restart number is greater than a preset number;

[0133] The third sending unit is used to send the multi-way valve control unit offline bus information to the human-computer interaction unit, so as to trigger a corresponding alarm through the human-computer interaction unit.

[0134] In some specific embodiments, the digital bus multi-way valve further includes a detection unit, a network connection module 12, and further includes:

[0135] A third judgment unit, used for judging whether the vehicle control unit is online through the multi-way valve control unit;

[0136] a fourth sending unit, configured to read the position of the valve core of the target digital bus multi-way valve through the detection unit and send the position to the corresponding multi-way valve control unit if the multi-way valve control unit determines that the vehicle control unit is online;

[0137] A first control unit, configured to control the movement of a corresponding coil based on the digital flow control request signal and the position of the valve core of the target digital bus multi-way valve through the multi-way valve control unit to control the opening of the valve core of the target digital bus multi-way valve;

[0138] a second closing unit, configured to close the target digital bus multi-way valve through the multi-way valve control unit if it is determined by the multi-way valve control unit that the vehicle control unit is not online;

[0139] The fifth sending unit is used to send the vehicle control unit offline bus information to the human-machine interaction unit through the multi-way valve control unit, so as to trigger a corresponding alarm through the human-machine interaction unit.

[0140] In some specific implementations, the fourth sending unit further includes:

[0141] a fourth judgment unit, configured to judge whether the valve core of the target digital bus multi-way valve is stuck by the multi-way valve control unit when the control signal is not received;

[0142] a third closing unit, configured to close the target digital bus multi-way valve through the multi-way valve control unit if the multi-way valve control unit determines that the valve core of the target digital bus multi-way valve is stuck;

[0143] a sixth sending unit, configured to send valve core stuck bus information to the human-machine interaction unit through the multi-way valve control unit, so as to trigger a corresponding alarm through the human-machine interaction unit;

[0144] The second control unit is used to control the movement of the corresponding coil based on the digital flow control request signal and the position of the valve core of the target digital bus multi-way valve through the multi-way valve control unit to control the opening of the valve core of the target digital bus multi-way valve if it is determined by the multi-way valve control unit that the valve core of the target digital bus multi-way valve is not stuck.

[0145] In some specific implementations, the fourth determination unit includes:

[0146] Determining, by the multi-way valve control unit, whether the position of the valve core of the target digital bus multi-way valve is within a preset range;

[0147] If the position of the valve core of the target digital bus multi-way valve is determined to be within a preset range by the multi-way valve control unit, it indicates that the valve core of the target digital bus multi-way valve is not stuck;

[0148] If the multi-way valve control unit determines that the position of the valve core of the target digital bus multi-way valve is not within a preset range, it indicates that the valve core of the target digital bus multi-way valve is stuck.

[0149] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0150] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0151] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A boom electro-hydraulic control method, characterized in that: A vehicle control unit applied to a forklift, wherein the forklift is also provided with a vehicle control handle, and a multi-way valve group and a hydraulic enabling valve are provided on the boom of the forklift, wherein the vehicle control unit is respectively connected to the vehicle control handle, the hydraulic enabling valve and the multi-way valve group, wherein the hydraulic enabling valve is connected to the multi-way valve group, wherein the multi-way valve group includes a plurality of digital bus multi-way valves, wherein the digital bus multi-way valve includes a multi-way valve control unit and a coil, and wherein the boom electro-hydraulic control method includes: Monitor CAN network status; Controlling the opening and closing of the hydraulic enabling valve based on the CAN network status, and establishing a network connection with the multi-way valve control unit when the CAN network status is normal; wherein, if the CAN network status is normal, the hydraulic enabling valve is controlled to be opened, otherwise, the hydraulic enabling valve is controlled to be closed; receiving a control signal for a target digital bus multi-way valve sent by the vehicle control handle, and generating a digital flow control request signal based on the control signal; the target digital bus multi-way valve is any digital bus multi-way valve among the multiple digital bus multi-way valves; The digital flow control request signal is sent to the multi-way valve control unit of the target digital bus multi-way valve through the network connection, so that the multi-way valve control unit controls the movement of the corresponding coil based on the digital flow control request signal to control the opening of the valve core of the target digital bus multi-way valve; wherein the displacement of the coil is positively correlated with the opening of the valve core of the target digital bus multi-way valve.

2. The boom electro-hydraulic control method according to claim 1, characterized in that: The forklift truck further includes a human-machine interaction unit, which, after controlling the hydraulic enabling valve to be closed, further includes: Send CAN network fault bus information to the human-machine interaction unit so as to trigger a corresponding alarm through the human-machine interaction unit.

3. The boom electro-hydraulic control method according to claim 2, characterized in that: After establishing a network connection with the multi-way valve control unit when the CAN network state is normal, the method further includes: Determining whether the multi-way valve control unit is online; If yes, opening the hydraulic enabling valve; If not, sending a restart command to the multi-way valve control unit so that the multi-way valve control unit restarts; If the multi-way valve control unit restarts successfully, the hydraulic enabling valve is opened and returned to the multi-way valve control unit which sends the digital flow control request signal to the target digital bus multi-way valve via the network connection; If the multi-way valve control unit fails to restart, the method returns to sending a restart command to the multi-way valve control unit.

4. The boom electro-hydraulic control method according to claim 3, characterized in that: After the multi-way valve control unit fails to restart, the method further includes: Count the number of restarts plus one, and determine whether the new number of restarts is greater than the preset number; If yes, closing the hydraulic enabling valve; Send the multi-way valve control unit offline bus information to the human-machine interaction unit so as to trigger a corresponding alarm through the human-machine interaction unit.

5. The boom electro-hydraulic control method according to any one of claims 2 to 4, characterized in that: The digital bus multi-way valve further includes a detection unit, which, after establishing a network connection with the multi-way valve control unit when the CAN network is in a normal state, further includes: Determining whether the vehicle control unit is online by the multi-way valve control unit; If yes, the position of the valve core of the target digital bus multi-way valve is read by the detection unit and sent to the corresponding multi-way valve control unit; Controlling the corresponding coil movement based on the digital flow control request signal and the position of the valve core of the target digital bus multi-way valve by the multi-way valve control unit to control the opening of the valve core of the target digital bus multi-way valve; If not, closing the target digital bus multi-way valve through the multi-way valve control unit; The vehicle control unit offline bus information is sent to the human-machine interaction unit through the multi-way valve control unit, so as to trigger a corresponding alarm through the human-machine interaction unit.

6. The boom electro-hydraulic control method according to claim 5, characterized in that: After reading the position of the valve core of the target digital bus multi-way valve by the multi-way valve control unit, the method further includes: When the control signal is not received, determining by the multi-way valve control unit whether the valve core of the target digital bus multi-way valve is stuck; If yes, closing the target digital bus multi-way valve through the multi-way valve control unit; Sending valve core stuck bus information to the human-machine interaction unit through the multi-way valve control unit, so as to trigger a corresponding alarm through the human-machine interaction unit; If not, the multi-way valve control unit controls the movement of the corresponding coil based on the digital flow control request signal and the position of the valve core of the target digital bus multi-way valve to control the opening of the valve core of the target digital bus multi-way valve.

7. The boom electro-hydraulic control method according to claim 6, characterized in that: Determining whether the valve core of the target digital bus multi-way valve is stuck by the multi-way valve control unit includes: Determining, by the multi-way valve control unit, whether the position of the valve core of the target digital bus multi-way valve is within a preset range; If yes, it indicates that the valve core of the target digital bus multi-way valve is not stuck; If not, it indicates that the valve core of the target digital bus multi-way valve is stuck.

8. An electro-hydraulic control device for an arm, characterized in that: A vehicle control unit applied to a forklift, wherein the forklift is also provided with a vehicle control handle, and a multi-way valve group and a hydraulic enabling valve are provided on the boom of the forklift, wherein the vehicle control unit is respectively connected to the vehicle control handle, the hydraulic enabling valve and the multi-way valve group, wherein the hydraulic enabling valve is connected to the multi-way valve group, wherein the multi-way valve group includes a plurality of digital bus multi-way valves, wherein the digital bus multi-way valve includes a multi-way valve control unit and a coil, and wherein the boom electro-hydraulic control device includes: Monitoring module, used to monitor the CAN network status; A network connection module, used to control the opening and closing of the hydraulic enabling valve based on the CAN network status, and to establish a network connection with the multi-way valve control unit when the CAN network status is normal; wherein, if the CAN network status is normal, the hydraulic enabling valve is controlled to be opened, otherwise, the hydraulic enabling valve is controlled to be closed; A generating module, configured to receive a control signal for a target digital bus multi-way valve sent by the vehicle control handle, and then generate a digital flow control request signal based on the control signal; the target digital bus multi-way valve is any digital bus multi-way valve among the multiple digital bus multi-way valves; A sending module is used to send the digital flow control request signal to the multi-way valve control unit of the target digital bus multi-way valve through the network connection, so that the multi-way valve control unit controls the movement of the corresponding coil based on the digital flow control request signal to control the opening of the valve core of the target digital bus multi-way valve; wherein the displacement of the coil is positively correlated with the opening of the valve core of the target digital bus multi-way valve.

9. An electro-hydraulic control device for an arm, characterized in that: A vehicle control handle is included for triggering a control signal for any digital bus multi-way valve, and the boom electro-hydraulic control device also includes: Memory, used to store computer programs; A vehicle control unit connected to the vehicle control handle is used to execute the computer program to implement the steps of the boom electro-hydraulic control method as described in any one of claims 1 to 7.

10. A forklift, characterized in that: It includes a boom, on which a multi-way valve group and a hydraulic enabling valve are provided, and also includes the boom electro-hydraulic control device as described in claim 9, wherein a vehicle control unit of the boom electro-hydraulic control device is connected to the multi-way valve group and the hydraulic enabling valve; the multi-way valve group includes a plurality of digital bus multi-way valves, and the digital bus multi-way valve includes a multi-way valve control unit and a coil.

11. A computer-readable storage medium, characterized in that: Used to store a computer program, wherein when the computer program is executed by a processor, the steps of the boom electro-hydraulic control method according to any one of claims 1 to 7 are implemented.

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