Control method for adjusting position of cab of double-arm forklift

Abstract

The invention discloses a control method for adjusting the position of a cab of a double-arm forklift, and belongs to the field of forklifts. The forklift comprises a forklift body, a cab arranged in the middle of the forklift body and forklift arm assemblies arranged on the two sides of the cab in parallel. The forklift arm assembly comprises a telescopic arm, a hydraulic push rod and a pallet fork, one end of the telescopic arm is hinged to the forklift body, and the pallet fork is arranged at the other end of the telescopic arm; the two ends of the hydraulic push rod are hinged to the telescopic arm and the vehicle body correspondingly, and the hydraulic push rod is used for pushing the telescopic arm to be lifted; the forklift further comprises an executing mechanism connected between the cab and the forklift body. The forklift is provided with a control module. The position of the forklift is obtained in real time, and the posture of a cab is automatically adjusted, so that an operator can always obtain the optimal visual field and operation environment; the control module can quickly respond to the requirements of different operation areas through the steps of area matching, parameter query, dynamic correction and the like, and adjusts the posture of the cab in real time.

Description

Technical Field

[0001] The present invention is a control method for adjusting the position of the cab of a double-arm forklift, belonging to the field of forklifts. Background Art

[0002] In the operation of traditional double-arm forklifts, the position of the cab is usually fixed. In the face of complex and changeable working environments, this design often fails to provide the operator with the best vision and operating environment. For example, in different working areas, due to differences in the stacking height of goods, the height of the passage, and the operation process, the operator needs different cab postures to ensure the safety and efficiency of the operation. However, traditional forklifts are difficult to automatically adjust the cab posture according to changes in the working area, which increases the workload of the operator, reduces the operation efficiency, and may even cause potential safety hazards.

[0003] Therefore, developing a system that can adjust the position of the cab of a double-arm forklift in real time and accurately to meet the needs of different working areas and improve the work efficiency and operation safety of the operator has become an urgent problem to be solved in the current forklift technology field. Summary of the Invention

[0004] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide a control method for adjusting the position of the cab of a double-arm forklift to solve the problems.

[0005] To achieve the above purpose, the present invention is realized through the following technical solutions: A control method for adjusting the position of the cab of a double-arm forklift, the forklift includes a vehicle body, a cab provided in the middle of the vehicle body, and forklift arm assemblies arranged in parallel on both sides of the cab; the forklift arm assemblies include telescopic arms, hydraulic push rods, and forks, one end of the telescopic arm is hinged to the vehicle body, and the other end is provided with the fork; both ends of the hydraulic push rod are respectively hinged to the telescopic arm and the vehicle body for pushing the telescopic arm to lift; the forklift also includes an actuator connected between the cab and the vehicle body, and the forklift is provided with a control module; The control method includes the following steps: According to different working scenarios, the control module is used to control the forklift to enter different working modes, and the working modes include a heavy load handling mode, a high-level stacking / picking mode, and a general mode; wherein, in the heavy load handling mode, the cab is controlled to move to the rear end of the vehicle body by relying on the actuator to move the center of gravity of the vehicle body backward to prevent tipping; in the high-level stacking / picking mode, the actuator is controlled to lift the cab to the top limit position; in the general mode, the actuator is controlled to lift the cab to a position where the vision is higher than the telescopic arm.

[0006] Preferably, a positioning module is provided on the forklift for obtaining the position coordinates of the vehicle body in real time; the control module interacts with a database in the cloud, and the database stores the adjustment parameters of the cab corresponding to the operation area of the working mode.

[0007] Preferably, the actuator receives a control instruction for adjusting the cab to a target posture; the control module generates a control instruction through the following steps: Step 1: Area matching, comparing the position of the vehicle body with the database to determine the current operation area where the vehicle body is located; Step 2: Parameter query, extracting the adjustment parameters of the cab corresponding to the operation area where the vehicle body is located from the database; Step 3: Dynamic correction, sending a control instruction to the actuator according to the adjustment parameters.

[0008] Preferably, the vehicle body includes an operator operation panel, allowing the operator to manually adjust the posture of the cab or override the control instruction.

[0009] Preferably, the vehicle body includes an emergency stop module, which immediately stops the cab adjustment action when an abnormal situation is detected.

[0010] Preferably, the actuator includes a sliding track module provided on the vehicle body and a hydraulic lifting module acting on the cab; the cab is slidably installed on the sliding track module, and the sliding track module is arranged in parallel with the telescopic arm.

[0011] Preferably, in the heavy load handling mode, the cab is controlled to move to the tail end of the vehicle body relying on the sliding track module to shift the center of gravity of the vehicle body backward to prevent tipping; in the high-rise stacking / picking mode, the hydraulic lifting module is controlled to lift the cab to the top limit position; in the general mode, the hydraulic lifting module is controlled to lift the cab to a position where the line of sight is higher than the telescopic arm.

[0012] Advantageous Effects By obtaining the position of the forklift in real time and automatically adjusting the posture of the cab, the present invention enables the operator to always obtain the best line of sight and operating environment; through steps such as area matching, parameter query, and dynamic correction, the control module can quickly respond to the requirements of different operation areas and adjust the posture of the cab in real time; this dynamic correction mechanism ensures the flexibility and adaptability of the cab posture to cope with the changes in the working state of the forklift. Description of the Drawings

[0013] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes, and advantages of the present invention will become more obvious: Figure 1 Schematic structural diagram of a control method for adjusting the position of the cab of a double-arm forklift according to the present invention; Specific embodiments In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0014] Please refer to Figure 1 , the present invention provides a technical solution for a control method for adjusting the position of the cab of a double-arm forklift: the forklift includes a vehicle body 1, a cab 2 provided in the middle of the vehicle body 1, and forklift arm assemblies 3 arranged in parallel on both sides of the cab 2; the forklift arm assemblies 3 include telescopic arms 31, hydraulic push rods 32 and forks 33. One end of the telescopic arm 31 is hinged to the vehicle body 1, and the other end is provided with the fork 33. Both ends of the hydraulic push rod 32 are respectively hinged to the telescopic arm 31 and the vehicle body 1 for pushing the telescopic arm 31 to lift; the forklift further includes an actuator 4 connected between the cab 2 and the vehicle body 1, and the forklift is provided with a control module.

[0015] The control method includes the following steps: According to different working scenarios, the forklift is controlled by the control module to enter different working modes through the control module. The working modes include a heavy object handling mode, a high-rise stacking / picking mode, and a general mode; wherein, in the heavy object handling mode, the cab 2 is controlled to move to the tail end of the vehicle body 1 relying on the actuator 4 to move the center of gravity of the vehicle body 1 backward to prevent tipping; in the high-rise stacking / picking mode, the actuator 4 is controlled to lift the cab 2 to the top limit position; in the general mode, the actuator 4 is controlled to lift the cab 2 to a position where the line of sight is higher than the telescopic arm 31.

[0016] A positioning module is provided on the forklift for real-time obtaining the position coordinates of the vehicle body 1; the control module interacts with a database in the cloud, and the database stores the adjustment parameters of the cab 2 for the operation area corresponding to the working mode. In one embodiment, the positioning module uses an existing high-precision GPS.

[0017] The positioning module accurately captures the real-time position coordinates of the vehicle body 1, providing an accurate data basis for subsequent operation area matching and cab 2 adjustment.

[0018] The database stores the adjustment parameters of the cab 2 for the operation area corresponding to the working mode, where the operation area refers to several handling workshops or different cargo stacking areas in the same workshop to correspond to the working mode.

[0019] The database provides a decision-making basis for the control module; through preset adjustment parameters, the control module can quickly respond to the requirements of different working areas and achieve automatic adjustment of the attitude of the cab 2.

[0020] The control module, based on the current position of the forklift, generates a control instruction for adjusting the attitude of the cab 2 through steps such as area matching, parameter query, and dynamic correction.

[0021] The control module is responsible for processing the data transmitted by the positioning module and generating a control instruction for the actuator 4 in combination with the information in the database. Through the dynamic correction mechanism, it can adjust the attitude of the cab 2 in real time to adapt to the changes in the working state of the forklift.

[0022] The control module generates a control instruction through the following steps: Step 1: Area matching, comparing the position of the forklift with the database to determine the current working area where the vehicle body 1 is located; Step 2: Parameter query, extracting the adjustment parameters of the cab 2 corresponding to the working area where the vehicle body 1 is located from the database; Step 3: Dynamic correction, sending a control instruction to the actuator 4 according to the adjustment parameters.

[0023] The actuator 4 includes a sliding track module arranged on the vehicle body 1 and a hydraulic lifting module acting on the cab; the cab 2 is slidably installed on the sliding track module, the sliding track module is arranged in parallel with the telescopic arm 31, and the hydraulic lifting module follows the cab to slide on the sliding track module. Among them, the sliding track module and the hydraulic lifting module both belong to existing conventional technologies and can be selected and installed according to the vehicle type, so the structural features will not be described in detail in this specification.

[0024] The actuator 4 is responsible for converting the control instruction of the control module into an actual adjustment action of the cab 2. Its diverse adjustment methods ensure the flexibility and adaptability of the attitude of the cab 2 to achieve rapid and accurate adjustment of the attitude of the cab 2 and provide the best vision and operating environment for the operator.

[0025] The vehicle body 1 includes an operator operation panel that allows the operator to manually adjust the attitude of the cab 2 or override the control instruction.

[0026] The emergency stop module immediately stops the adjustment action of the cab 2 when detecting an abnormal situation (such as a failure of the actuator 4 or an emergency instruction from the operator) to ensure the safety of the operator.

[0027] Embodiment 1 In a large warehouse, forklifts are used to handle heavy goods; due to the large weight of the goods, special attention needs to be paid to the stability of the forklift during handling to prevent tipping over.

[0028] The positioning module on the forklift obtains the position coordinates of the forklift in the warehouse in real time and determines that the current working area where the forklift is located is the heavy load handling area; The control module switches the forklift to the heavy load handling mode according to the positioning information; The actuator 4 receives the instruction from the control module and moves the cab 2 to the rear end of the vehicle body 1 through the sliding track module to shift the center of gravity of the vehicle body 1 backward, increasing stability and preventing tipping; The operator safely performs heavy load handling operations inside the adjusted cab 2.

[0029] Embodiment 2 In another warehouse, the goods are stacked on relatively high shelves, and the forklift is required to perform high-level stacking or picking operations; The positioning module on the forklift obtains the position of the forklift in real time and determines that the current working area where the forklift is located is the high-level stacking / picking area; The control module automatically switches the forklift to the high-level stacking / picking mode according to the positioning information; The actuator 4 receives the control instruction and raises the cab 2 to the top limit position through the hydraulic lifting module, enabling the operator to clearly see the goods on the high-level shelves; The operator performs high-level stacking or picking operations inside the adjusted cab 2.

[0030] Embodiment 3 During the daily operations in the warehouse, double-arm forklifts often need to shuttle between different working areas for general goods handling and stacking operations; these working areas may include low shelf areas, spacious passage areas, etc., and have different requirements for the field of vision of the cab 2.

[0031] When the forklift moves inside the warehouse, the positioning module continuously obtains the position of the forklift and identifies that the current working area where the forklift is located is the general working area.

[0032] The control module automatically switches the forklift to the general mode according to the positioning information; When the forklift enters the low shelf area, the actuator 4 raises the cab 2 to a position where the field of vision is higher than the telescopic arm 31 through the hydraulic lifting module to ensure that the operator can clearly see the goods; When the forklift enters the spacious passage area, if the field of vision is sufficient, the cab 2 can remain in the current position or be fine-tuned through the operator's control panel to adapt to the operator's comfort.

[0033] The operator flexibly performs goods handling and stacking operations according to the adjustment of the cab 2.

[0034] The foregoing has shown and described the basic principles, main features and advantages of the present invention. For a person 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, in whatever aspect, 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, it is intended to embrace all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention. Any reference signs in the claims should not be construed as limiting the claims concerned. In addition, it should be understood that although this specification is described in terms of 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 adjusting the position of the cab of a double-arm forklift. The forklift includes a vehicle body, a cab disposed in the middle of the vehicle body, and forklift arm assemblies arranged in parallel on both sides of the cab. The forklift arm assemblies include telescopic arms, hydraulic push rods, and forks. One end of the telescopic arm is hinged to the vehicle body, and the other end is provided with the fork. Both ends of the hydraulic push rod are respectively hinged to the telescopic arm and the vehicle body and are used to push the telescopic arm to lift. It is characterized in that: The forklift further includes an actuator connected between the cab and the vehicle body, and the forklift is provided with a control module; The control method includes the following steps: According to different working scenarios, the control module is used to control the forklift to enter different working modes, and the working modes include a heavy load handling mode, a high-level stacking / picking mode, and a general mode; wherein, in the heavy load handling mode, the cab is controlled to move to the rear end of the vehicle body by relying on the actuator to shift the center of gravity of the vehicle body backward to prevent tipping; in the high-level stacking / picking mode, the actuator is controlled to lift the cab to the top limit position; in the general mode, the actuator is controlled to lift the cab to a position where the field of view is higher than the telescopic arm.

2. The control method for adjusting the position of the cab of a double-arm forklift according to claim 1, characterized in that: A positioning module is provided on the forklift for real-time acquisition of the vehicle body position coordinates; the control module interacts with a database in the cloud, and the database stores the adjustment parameters of the cab for the operation area corresponding to the working mode.

3. The control method for adjusting the cab position of a double-arm forklift according to claim 2, wherein: The actuator receives a control instruction for adjusting the cab to a target posture; the control module generates a control instruction through the following steps: Step 1: Area matching, comparing the vehicle body position with the database to determine the current operation area where the vehicle body is located; Step 2: Parameter query, extracting the adjustment parameters of the cab corresponding to the operation area where the vehicle body is located from the database; Step 3: Dynamic correction, sending a control instruction to the actuator according to the adjustment parameters.

4. A control method for adjusting the cab position of a double-arm forklift according to claim 3, characterized in that: The vehicle body includes an operator operation panel, which allows the operator to manually adjust the posture of the cab or override the control instruction.

5. A control method for adjusting the position of the cab of a double-arm forklift according to claim 1, characterized in that: The vehicle body includes an emergency stop module, which immediately stops the cab adjustment action when an abnormal situation is detected.

6. The control method for adjusting the position of the cab of a double-arm forklift according to claim 1, characterized in that: The actuator includes a sliding track module provided on the vehicle body and a hydraulic lifting module acting on the cab; the cab is slidably mounted on the sliding track module, and the sliding track module is arranged parallel to the telescopic arm.

7. A control method for adjusting the cab position of a double-arm forklift according to claim 6, characterized in that: In the heavy load handling mode, the cab is controlled to move to the rear end of the vehicle body by relying on the sliding track module to shift the center of gravity of the vehicle body backward to prevent tipping; in the high-level stacking / picking mode, the hydraulic lifting module is controlled to lift the cab to the top limit position; in the general mode, the hydraulic lifting module is controlled to lift the cab to a position where the field of view is higher than the telescopic arm.

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