Vehicle-mounted forklift control method

Abstract

The invention discloses a truck-mounted forklift control method which comprises the following steps that S1, control signals are sent out through an emitter, and the control signals comprise a truck running potential signal C1, a truck lifting and descending potential signal C2, a truck steering signal C3 and a bearing wheel driving signal; s2, the receiver receives the control signal and transmits the control signal to the truck-mounted forklift controller; s3, the truck-mounted forklift controller processes the received control signal and controls the truck-mounted forklift, the receiver and the transmitter are arranged on the truck-mounted forklift, the transmitter can be in wireless communication with the receiver, the control signal can be remotely sent to the receiver through the transmitter, and the truck-mounted forklift is controlled. And the controller controls the action of the truck-mounted forklift through the received control signal, so that a driver does not need to frequently get on and off the truck, the operation difficulty is reduced, and the operation convenience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of forklift control, and specifically to a control method for a truck-mounted forklift. Background Art

[0002] A truck-mounted forklift can follow a freight truck and can unstack the goods on a pallet from the truck carriage and transport them to a fixed position on the ground, or transport and stack the goods on a pallet on the ground onto the truck carriage. The truck-mounted forklift itself can climb onto the truck carriage. Existing truck-mounted forklifts are directly controlled by an operating handle. In order to unstack goods from the truck carriage or stack and transport ground goods to different positions on the carriage, the driver needs to get on and off the truck frequently, which is inconvenient to operate. When the existing truck-mounted forklift climbs onto the truck carriage by itself, the driver needs to manually move the movable chassis of the truck-mounted forklift, which is laborious to operate. Summary of the Invention

[0003] The purpose of the present invention is to provide a control method for a truck-mounted forklift to solve the problems raised in the above background art.

[0004] To achieve the above purpose, the present invention provides the following technical solutions:

[0005] A control method for a truck-mounted forklift includes a receiver arranged on the truck-mounted forklift and a transmitter that is in signal communication with the receiver, and the receiver is in signal communication with the truck-mounted forklift controller;

[0006] The control method comprises the following steps:

[0007] S1. Send a control signal through the transmitter, and the control signal includes a vehicle driving potential signal C1, a vehicle lifting and lowering potential signal C2, a vehicle steering signal C3, and a carrier wheel driving signal;

[0008] S2. The receiver receives the control signal and transmits the control signal to the truck-mounted forklift controller;

[0009] S3. The truck-mounted forklift controller processes the received control signal and controls the truck-mounted forklift. When receiving the vehicle driving potential signal, it controls the traction motor to drive the drive wheels to act; when receiving the vehicle lifting and lowering signal, it controls the lifting cylinder to act; when receiving the steering signal, it controls the steering motor to drive the steering wheels to act; when receiving the carrier wheel driving signal, it drives the carrier wheels to act.

[0010] As a further scheme of the present invention: The transmitter is arranged on the truck-mounted forklift by a magnetic attraction method, and the transmitter is in signal communication with the receiver by a wireless communication method.

[0011] As a further scheme of the present invention: The receiver is connected to the truck-mounted forklift controller through a CAN bus.

[0012] As a further solution of the present invention: in the step S3, the value range of C1 is 0 - 5V. When it changes from 2.5V to 5V, it represents a forward driving request of the vehicle; when it changes from 2.5V to 0V, it represents a reverse driving request of the vehicle.

[0013] When 2.5 < C1 ≤ 5 and C1 increases, the controller controls the traction motor to rotate clockwise. The traction motor drives the driving wheel to rotate through the speed reducer, realizing the forward driving of the vehicle. The target speed n of the traction motor 牵引1 = ((C1 - 2.5) / 2.5) * n max ;

[0014] When 0 < C1 < 2.5 and C1 decreases; the controller controls the traction motor to rotate counterclockwise. The traction motor drives the driving wheel to rotate through the speed reducer, realizing the reverse driving of the vehicle. The target speed n of the traction motor 牵引2 = ((2.5 - C1) / 2.5) * n max

[0015] Wherein:

[0016] n 牵引1 , the target speed of the traction motor during the forward driving of the vehicle, r / min;

[0017] n 牵引2 , the target speed of the traction motor during the reverse driving of the vehicle, r / min;

[0018] n max , the speed of the traction motor corresponding to the maximum driving speed of the vehicle, r / min.

[0019] As a further solution of the present invention: in the step S3, the value range of the vehicle lifting and lowering potentiometer signal C2 is 0 - 5V. When it changes from 2.5V to 5V, it represents a forklift lowering request; when it changes from 2.5V to 0V, it represents a forklift lifting request.

[0020] When 2.5 < C2 ≤ 5 and C2 increases, the controller controls the lowering solenoid valve m2 to open. The hydraulic oil in the lifting cylinder returns to the oil tank through the lowering solenoid valve, realizing the lowering of the forklift. The target opening X of the lowering solenoid valve = ((C1 - 2.5) / 2.5) * X max ;

[0021] When 0 < C2 < 2.5 and C2 decreases, the controller controls the lifting solenoid valve m1 to open (the lifting solenoid valve is a on-off valve), controls the oil pump motor to work. The oil pump motor drives the hydraulic oil pump to rotate, and the output hydraulic oil passes through the lifting solenoid valve m1 to the lifting cylinder, realizing the lifting of the forklift. The target speed n of the oil pump motor 油泵 = ((2.5 - C2) / 2.5) * n 油泵max ;

[0022] X, the target opening of the descending electromagnetic valve, mm;

[0023] X max , the maximum opening of the descending electromagnetic valve corresponding to the maximum descending speed;

[0024] n 油泵 , the target rotational speed of the oil pump motor, r / min;

[0025] n 油泵max , the target rotational speed corresponding to the maximum lifting speed of the forklift forks..

[0026] As a further solution of the present invention: in the step S3, the value range of the vehicle steering signal C3 is 0 - 5V. When the voltage increases, it indicates a left-turning request, and when the voltage decreases, it indicates a right-turning request;

[0027] When 0 < C3 < 5 and C3 increases, the vehicle turns left. The controller controls the steering motor to rotate counterclockwise. The steering motor drives the steering wheel to rotate through the steering gearbox. The target steering angle α1 of the steering motor = (C3 / 5) * αmax;

[0028] When 0 < C3 < 5 and C3 decreases, the vehicle turns right: The controller controls the steering motor to rotate clockwise. The steering motor drives the steering wheel to rotate through the steering gearbox. The target steering angle α2 of the steering motor = ((5 - C3) / 5) * αmax

[0029] α1, the target steering angle of the steering motor;

[0030] α2, the target steering angle of the steering motor;

[0031] αmax, the rotation angle of the steering motor corresponding to a 180-degree rotation of the steering wheel, αmax = i * 180;

[0032] i, the speed ratio of the steering gearbox.

[0033] As a further solution of the present invention: in the step S3, the carrier wheel control signal K includes:

[0034] K1, a switch signal, K1 = 1 indicates a request for the carrier wheel mechanism to retract; K2, a switch signal, K2 = 1, indicates a request for the carrier wheel mechanism to extend forward; K3, a switch signal, K3 = 1 indicates a request for the carrier wheel to drive the vehicle forward.

[0035] As a further solution of the present invention: when the carrier wheel mechanism retracts: the controller controls the electric push rod motor to rotate counterclockwise, driving the carrier wheel mechanism to retract along the vehicle body guide rail. The rotational speed of the push rod motor is the set rotational speed n 推杆 ;

[0036] The carrier wheel mechanism extends forward: The controller controls the electric push rod motor to rotate clockwise, driving the carrier wheel mechanism to extend forward along the vehicle body guide rail, and the rotational speed of the push rod motor is the set rotational speed n 推杆 ;

[0037] The carrier wheel drives the vehicle to move forward: The controller controls the carrier wheel motor to rotate clockwise, driving the vehicle to move forward, and dragging the driving wheel to climb from outside the freight car compartment onto the freight car compartment.

[0038] Compared with the prior art, the beneficial effects of the present invention are as follows: By providing a receiver and a transmitter on the forklift truck, and the transmitter can communicate wirelessly with the receiver, control signals can be remotely sent from the transmitter to the receiver, and the controller controls the actions of the forklift truck following the vehicle based on the received control signals. Therefore, the driver does not need to frequently get on and off the forklift forks, reducing the operation difficulty and improving the operation convenience. Specific embodiments

[0039] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Apparently, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0040] In an embodiment of the present invention, a control method for a forklift truck following a vehicle is provided. The control system of the forklift truck following the vehicle includes a transmitter, a receiver, a controller, a traction motor, a steering motor, an oil pump motor, an electric push rod motor, a carrier wheel motor, a lifting solenoid valve m1, a lowering solenoid valve m2, etc. The transmitter is placed on the forklift truck following the vehicle by means of magnetic attraction. When remote control is required, the driver can take it away from the forklift truck following the vehicle for remote control. The receiver is installed on the forklift truck following the vehicle, receives the signal sent by the driver through the transmitter in a wireless communication manner, and transmits the received signal to the controller through the CAN bus. The controller controls the motors and solenoid valves to work according to the received signal, realizing the actions of the forklift truck following the vehicle.

[0041] S1. Send a control signal through the transmitter. The control signal includes a vehicle driving potential signal C1, a vehicle lifting and lowering potential signal C2, a vehicle steering signal C3, and a carrier wheel driving signal;

[0042] S2. The receiver receives the control signal and transmits the control signal to the controller of the forklift truck following the vehicle;

[0043] S3. The on-vehicle forklift controller processes the received control signals and controls the on-vehicle forklift. When receiving the vehicle driving potential signal, it controls the traction motor to drive the driving wheels to act; when receiving the vehicle lifting and lowering signal, it controls the lifting cylinder to act; when receiving the steering signal, it controls the steering motor to drive the steering wheels to act; when receiving the carrier wheel drive signal, it drives the carrier wheels to act.

[0044] In the embodiment, C1, the vehicle driving potentiometer signal, 0 - 5V, changing from 2.5V to 5V represents the vehicle forward driving request, and changing from 2.5V to 0V represents the vehicle reverse driving request; C2, the vehicle lifting and lowering potentiometer signal, 0 - 5V, changing from 2.5V to 5V represents the fork lowering request, and changing from 2.5V to 0V represents the fork lifting request; C3, the vehicle steering signal, 0 - 5V, when the voltage increases, it represents the left steering request, and when the voltage decreases, it represents the right steering request; K1, the switch signal, K1 = 1 represents the retraction request of the carrier wheel mechanism; K2, the switch signal, K2 = 1 represents the extension request of the carrier wheel mechanism; K3, the switch signal, K3 = 1 represents the request for the carrier wheels to drive the vehicle forward.

[0045] When 2.5 < C1 ≤ 5 and C1 increases from a smaller value, the vehicle moves forward: The controller controls the traction motor to rotate clockwise. The traction motor drives the driving wheels to rotate through the speed reducer, realizing the forward movement of the vehicle. The target speed n of the traction motor 牵引1 = ((C1 - 2.5) / 2.5) * n max .

[0046] n 牵引1 , the vehicle moves forward, the target speed of the traction motor, r / min.

[0047] n max , the speed of the traction motor corresponding to the maximum driving speed of the vehicle, r / min.

[0048] When 0 < C1 < 2.5 and C1 decreases from a larger value, the vehicle moves backward: The controller controls the traction motor to rotate counterclockwise. The traction motor drives the driving wheels to rotate through the speed reducer, realizing the backward movement of the vehicle. The target speed n of the traction motor 牵引2 = ((2.5 - C1) / 2.5) * n max .

[0049] n 牵引2 , the vehicle moves backward, the target speed of the traction motor, r / min.

[0050] When 2.5 < C2 ≤ 5 and C2 increases from a smaller value, the forks lower: The controller controls the lowering solenoid valve m2 to open. The hydraulic oil in the lifting cylinder returns to the oil tank through the lowering solenoid valve, realizing the lowering of the forks. The target opening X of the lowering solenoid valve = ((C1 - 2.5) / 2.5) * Xmax .

[0051] X, the target opening of the lowering electromagnetic valve, mm.

[0052] X max , the maximum opening of the lowering electromagnetic valve corresponding to the maximum lowering speed.

[0053] When 0 < C2 < 2.5 and C2 decreases from large to small, the forklift forks lift: the controller controls the lifting electromagnetic valve m1 to open (the lifting electromagnetic valve is a on-off valve), controls the oil pump motor to work, the oil pump motor drives the hydraulic oil pump to rotate, and the output hydraulic oil passes through the lifting electromagnetic valve m1 to the lifting cylinder to realize the lifting of the forklift forks. The target speed n of the oil pump motor 油泵 = ((2.5 - C2) / 2.5)*n 油泵max .

[0054] n 油泵 , the target speed of the oil pump motor, r / min.

[0055] n 油泵max , the target speed corresponding to the maximum lifting speed of the forklift forks.

[0056] When 0 < C3 < 5 and C3 increases from small to large, the vehicle turns left: the controller controls the steering motor to rotate counterclockwise, and the steering motor drives the steering wheel to rotate through the steering gearbox. The target steering angle α1 of the steering motor = (C3 / 5)*αmax.

[0057] α1, the target steering angle of the steering motor, °.

[0058] αmax, the rotation angle of the steering motor corresponding to the steering wheel rotating 180 degrees. αmax = i*180.

[0059] i, the speed ratio of the steering gearbox.

[0060] When 0 < C3 < 5 and C3 decreases from large to small, the vehicle turns right: the controller controls the steering motor to rotate clockwise, and the steering motor drives the steering wheel to rotate through the steering gearbox. The target steering angle α2 of the steering motor = ((5 - C3) / 5)*αmax.

[0061] When K1 = 1, the carrier wheel mechanism retracts: the controller controls the electric push rod motor to rotate counterclockwise, driving the carrier wheel mechanism to retract along the vehicle body guide rail, and the speed of the push rod motor is the set speed n 推杆 .

[0062] When K2 = 1, the carrier wheel mechanism extends: the controller controls the electric push rod motor to rotate clockwise, driving the carrier wheel mechanism to extend along the vehicle body guide rail, and the speed of the push rod motor is the set speed n 推杆 .

[0063] When K3 = 1, the carrier wheels drive the vehicle to move forward: the controller controls the carrier wheel motor to rotate clockwise, driving the vehicle to move forward and dragging the drive wheels to climb from outside the truck carriage onto the truck carriage.

[0064] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present invention.

[0065] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A control method for a forklift on a vehicle, characterized in that, It includes a receiver installed on the forklift truck following the vehicle and a transmitter that is in signal communication with the receiver, and the receiver is in signal communication with the forklift truck controller following the vehicle; The control method includes the following steps: S1. Send a control signal through the transmitter. The control signal includes a vehicle driving potential signal C1, a vehicle lifting and lowering potential signal C2, a vehicle steering signal C3, and a carrier wheel drive signal; S2. The receiver receives the control signal and transmits the control signal to the forklift truck controller following the vehicle; S3. The forklift truck controller processes the received control signal and controls the forklift truck following the vehicle. When receiving the vehicle driving potential signal, it controls the traction motor to drive the drive wheel to act; when receiving the vehicle lifting and lowering signal, it controls the lifting cylinder to act; when receiving the steering signal, it controls the steering motor to drive the steering wheel to act; when receiving the carrier wheel drive signal, it drives the carrier wheel to act.

2. The control method of the forklift truck following a vehicle according to claim 1, characterized in that, The transmitter is arranged on the forklift truck following the vehicle by a magnetic attraction method, and the transmitter is in signal communication with the receiver by wireless communication.

3. The on-vehicle forklift control method according to claim 1, characterized in that The receiver and the forklift truck controller are connected through a CAN bus.

4. The control method of a forklift on vehicle according to claim 1, wherein In S3, the value range of C1 is 0 - 5V. Changing from 2.5V to 5V represents a vehicle forward driving request, and changing from 2.5V to 0V represents a vehicle reverse driving request; When 2.5 < C1 ≤ 5 and C1 increases from small to large, the controller controls the traction motor to rotate clockwise. The traction motor drives the drive wheel to rotate through the speed reducer, realizing the forward movement of the vehicle. The target speed n of the traction motor 牵引1 = ((C1 - 2.5) / 2.5) * n max ; When 0 < C1 < 2.5 and C1 decreases from a large value; the controller controls the traction motor to rotate counterclockwise, and the traction motor drives the drive wheel to rotate through the reduction gearbox to achieve the vehicle moving backward. The target speed n of the traction motor 牵引2 = ((2.5 - C1) / 2.5) * n max Where: n 牵引1 , the vehicle travels forward, and the target speed of the traction motor, r / min; n 牵引2 , the vehicle travels backward, and the target speed of the traction motor, r / min; n max , the rotational speed of the traction motor corresponding to the maximum driving speed of the vehicle, r / min.

5. A control method for a forklift truck on a vehicle according to claim 1, characterized in that, In S3, the value range of the vehicle lifting and lowering potentiometer signal C2 is 0 - 5V. Changing from 2.5V to 5V represents a fork lowering request, and changing from 2.5V to 0V represents a fork lifting request; When 2.5 < C2 ≤ 5 and C2 increases from small to large, the controller controls the lowering solenoid valve m2 to open, and the hydraulic oil in the lifting cylinder returns to the oil tank through the lowering solenoid valve, realizing the lowering of the forklift forks. The target opening X of the lowering solenoid valve is X = ((C1 - 2.5) / 2.5) * X max ; When 0 < C2 < 2.5 and C2 decreases from a large value, the controller controls the lifting solenoid valve m1 to open (the lifting solenoid valve is a on-off valve), controls the oil pump motor to work, the oil pump motor drives the hydraulic oil pump to rotate, and the output hydraulic oil passes through the lifting solenoid valve m1 to the lifting cylinder, realizing the lifting of the forklift forks. The target speed n of the oil pump motor 油泵 = ((2.5 - C2) / 2.5) * n 油泵max ; X, the target opening of the down solenoid valve, mm; X max , the maximum opening degree of the down solenoid valve corresponding to the maximum descent speed; n 油泵 , the target speed of the oil pump motor, r / min; n 油泵max , the target rotational speed corresponding to the maximum lifting speed of the fork.

6. The control method of the forklift truck on vehicle according to claim 1, wherein In S3, the value range of the vehicle steering signal C3 is 0 - 5V. When the voltage increases, it represents a left turn request, and when the voltage decreases, it represents a right turn request; When 0 < C3 < 5 and C3 increases from small to large, the vehicle turns left. The controller controls the steering motor to rotate counterclockwise, and the steering motor drives the steering wheel to rotate through the steering gearbox. The target steering angle of the steering motor α1 = (C3 / 5) * αmax; When 0 < C3 < 5 and C3 decreases from large to small, the vehicle turns right: The controller controls the steering motor to rotate clockwise, and the steering motor drives the steering wheel to rotate through the steering gearbox. The target steering angle of the steering motor α2 = ((5 - C3) / 5) * αmax α1, the target steering angle of the steering motor; α2, the target steering angle of the steering motor; αmax, the rotation angle of the steering motor corresponding to the steering wheel rotating 180 degrees, αmax = i * 180; i, the speed ratio of the steering gearbox.

7. A method for controlling a forklift truck on a vehicle according to claim 1, characterized in that, In S3, the carrier wheel control signal K includes: K1, a switch signal, K1 = 1 represents a request for the carrier wheel mechanism to retract; K2, a switch signal, K2 = 1 represents a request for the carrier wheel mechanism to extend; K3, a switch signal, K3 = 1 represents a request for the carrier wheel to drive the vehicle forward.

8. A control method for a forklift on a vehicle according to claim 7, characterized in that, The Retraction of the load wheel mechanism: The controller controls the electric push rod motor to rotate counterclockwise, driving the load wheel mechanism to retract along the vehicle body guide rail. The rotational speed of the push rod motor is the set rotational speed n 推杆 ; Forward extension of the load wheel mechanism: The controller controls the electric push rod motor to rotate clockwise, driving the load wheel mechanism to extend forward along the vehicle body guide rail. The rotational speed of the push rod motor is the set rotational speed n 推杆 ; The carrier wheel drives the vehicle to move forward: The controller controls the carrier wheel motor to rotate clockwise, drives the vehicle to move forward, and drags the drive wheel to climb from outside the freight car compartment onto the freight car compartment.