Anti-overturning counterweight system of forklift

Abstract

The invention discloses an overturn-preventing counterweight system for a forklift. The overturn-preventing counterweight system comprises a load and inclination state detection subsystem, a control subsystem and a counterweight subsystem. The load and inclination state detection subsystem collects load state and inclination state data of a forklift in real time through a pressure sensor arranged on a fork of the forklift and an inclination angle sensor arranged on a chassis of the forklift and sends the data to the control subsystem. The control subsystem calculates the mass center target position of the balancing weight according to the received data and generates a mass center target position instruction; and the balancing weight subsystem is driven by a motor according to the instruction, so that the actual mass center of the balancing weight is moved to the mass center target position. By dynamically adjusting the position of the mass center of the balancing weight, the problem that the anti-overturning capacity is insufficient due to the fact that the mass center of a traditional forklift balancing weight is fixed is solved, and the operation stability and safety of the forklift are effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of forklift safety, and particularly relates to an anti-overturning counterweight system for forklifts. Background Art

[0002] The counterweight is an important component of a forklift. It is usually installed above the rear part of the forklift chassis to ensure that when the forklift lifts or transports heavy objects, the rear wheels have sufficient adhesion to the ground, thereby ensuring the stability and safety of the forklift.

[0003] For traditional forklift counterweights, bolts are generally used for installation. Since their spatial positions are fixed, their centroid positions cannot be changed. For counterweights with fixed centroid positions, in addition to the problems that the moment compensation ability does not match the working conditions requirements and the dynamic balance between the load and the counterweight cannot be achieved, there are also problems such as insufficient safety margin under non-standard working conditions such as uneven load distribution on the forklift forks, overweight load, excessive road surface inclination, and too fast forklift turning, which may lead to serious consequences such as forklift overturning.

[0004] Therefore, it is very important to flexibly adjust the centroid of the counterweight according to the load state and inclination state of the forklift to improve the stability and safety of the forklift. Summary of the Invention

[0005] The present invention provides an anti-overturning counterweight system for forklifts to solve the problems in the prior art that affect the stability and safety of forklifts due to the fixed centroid position of the counterweight. For this purpose, the present application adopts a scheme of two movable counterweights. The drive motor controller controls the drive motor, and then through the meshing of the drive gear with the internal gear ring fixed to the chassis, the counterweight rotates around the central axis on the circular guide rail, so as to realize the movement of the combined centroid of the two counterweights. In addition, since the single-chip microcomputer is used to collect the load state and inclination state of the forklift in real time through the pressure sensor and the inclination sensor respectively, and the drive controller is used to control the drive motor to realize the movement of the counterweight, the anti-overturning counterweight system for forklifts has the characteristics of intelligent control, and has good real-time performance and high-precision technical features.

[0006] The present application provides an anti-overturning counterweight system for forklifts, including a load and inclination state detection subsystem 100, a control subsystem 200, and a counterweight subsystem 300;

[0007] The load and inclination state detection subsystem 100 includes a pressure sensor 101 disposed on the forklift forks and an inclination sensor 102 disposed on the forklift chassis. The pressure sensor 101 is used to detect the load state of the forklift in real time and output the load state data detected in real time to the control subsystem 200. The inclination sensor 102 is used to detect the inclination state of the forklift in real time and output the inclination state data detected in real time to the control subsystem 200;

[0008] The control subsystem 200 is configured to receive the load status data and the tilt status data output by the tilt status detection subsystem 100, calculate the centroid target positions of the first counterweight block 306 and the second counterweight block 310 in the counterweight subsystem 300 based on the received load status data and tilt status data, and send the calculated centroid target position A of the first counterweight block to the first drive motor controller 303 in the counterweight subsystem 300, and send the calculated centroid target position B of the second counterweight block 310 to the second drive motor controller 307 in the counterweight subsystem 300;

[0009] The counterweight subsystem 300 includes an internal gear ring disc 301, a circular guide rail 302, a first drive motor controller 303, a first drive motor 304, a first drive gear 305, a first counterweight block 306, a second drive motor controller 307, a second drive motor 308, a second drive gear 309, and a second counterweight block 310;

[0010] The first drive motor controller 303 is configured to control the first drive motor 304 to operate so that the first counterweight block 306 moves until the actual centroid of the first counterweight block 306 coincides with the centroid target position A;

[0011] The second drive motor controller 307 is configured to control the second drive motor 308 to operate so that the second counterweight block 310 moves until the actual centroid of the second counterweight block 308 coincides with the centroid target position B;

[0012] The internal gear ring disc 301 is horizontally fixed to the forklift chassis, and the axis of the center of the bottom disc of the internal gear ring disc 301 passes through the centroid position of the forklift when it is unloaded;

[0013] The first drive motor controller 303 is fixed to the end face of the first drive motor 304, the first drive gear 305 is fixedly connected to the mechanical shaft of the first drive motor 304, and the first drive motor 304 is fixedly installed on the first counterweight block 306;

[0014] The circular guide rail 302 is fixed to the internal gear ring disc 301 and provides a sliding track for the first counterweight block 306 and the second counterweight block 310;

[0015] The first counterweight block 306 is rotatably mounted on the central axis of the internal gear ring disc 301. When the first drive motor 304 operates, it drives the first counterweight block 306 to rotate around the central axis of the internal gear ring disc 301 along the circular guide rail 302 through the meshing transmission between the first drive gear 305 and the internal gear ring of the internal gear ring disc 301;

[0016] The second drive motor controller 307 is fixed on the end face of the second drive motor 308. The second drive gear 309 is fixedly connected to the mechanical shaft of the second drive motor 308. The second drive motor 308 is fixedly installed on the second counterweight 310.

[0017] The second counterweight 310 is rotatably installed on the central axis of the internal gear ring disc 301. When the second drive motor 308 operates, through the meshing transmission between the second drive gear 309 and the internal gear ring of the internal gear ring disc 301, the second counterweight 310 is driven to rotate around the central axis of the internal gear ring disc 301 along the circular ring guide rail 302.

[0018] The method for the control subsystem 200 to calculate the centroid target positions of the first counterweight 306 and the second counterweight 310 in the counterweight subsystem 300 is as follows:

[0019] (1) Based on the load state data and tilt state data of the forklift, calculate and obtain the combined centroid target position.

[0020] (2) In the plane where the internal gear ring disc is located, establish a coordinate system with the center of the bottom disc of the internal gear ring disc as the origin.

[0021] (3) In the coordinate system established in step (2), connect the combined centroid target position obtained in step (1) and the center of the bottom disc of the internal gear ring disc.

[0022] (4) Determine the initial positions of the centroids of the first counterweight and the second counterweight, and calculate the distance R between the initial positions of the centroids of the first counterweight and the second counterweight and the center of the bottom disc of the internal gear ring disc.

[0023] (5) Draw a straight line passing through the combined centroid target position obtained in step (1) and perpendicular to the line segment in step (3).

[0024] (6) With the center of the bottom disc of the internal gear ring disc as the center and R as the radius, draw a circle. The two intersection points of this circle and the straight line are respectively the centroid target positions of the first counterweight and the second counterweight.

[0025] The advantages of the present application adopting the above structure and technical features are as follows: When the first counterweight and the second counterweight rotate around the central axis of the internal gear ring disc, the combined centroid of the two counterweights is located at the midpoint of the line connecting the centroid of the first counterweight and the centroid of the second counterweight. Therefore, the combined centroid basically covers a circular area with the center of the bottom disc of the internal gear ring disc as the center and the distance from the centroid of the first counterweight or the second counterweight to the central axis as the radius. Thus, it has the characteristic of a large moving range of the combined centroid. In addition, since the control subsystem and the drive motor controller adopt single-chip microcomputer digital control, the forklift anti-overturning counterweight system has the characteristic of intelligent control and has good real-time performance and high-precision technical features. Thus, it can solve the problems in the background technology that the moment compensation ability of the traditional counterweight with a fixed centroid does not match the working conditions requirements and the dynamic balance between the load and the counterweight cannot be achieved. At the same time, it solves the problems such as insufficient safety margin under non-standard working conditions, thereby improving the stability and safety of the forklift.

[0026] Additional aspects and advantages will be given in part in the following description, will become apparent in part from the following description, or will be learned through the practice of the present application.

[0027] The present application discloses a forklift anti-overturning counterweight system, and the system includes: a load and tilt state detection subsystem, a control subsystem, and a counterweight subsystem. The load and tilt state detection subsystem collects the load state and tilt state data of the forklift in real time through a pressure sensor arranged on the forklift fork and an inclination sensor arranged on the forklift chassis, and sends the data to the control subsystem. The control subsystem calculates the target position of the counterweight centroid according to the received data and generates a target position instruction for the centroid. The counterweight subsystem drives the motor according to the instruction to move the actual centroid of the counterweight to the target position of the centroid. The present application solves the problem of insufficient anti-overturning ability caused by the fixed centroid of the traditional forklift counterweight by dynamically adjusting the position of the counterweight centroid, and effectively improves the operation stability and safety of the forklift. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] By describing the embodiments of the present application in more detail in conjunction with the drawings, the above-mentioned and / or additional aspects and advantages of the present application will become apparent and easy to understand, and constitute a part of the specification, and are used together with the embodiments of the present application to explain the present application, and do not constitute a limitation to the present application. In the drawings, the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. Among them:

[0029] Figure 1 is a schematic diagram of the composition of the forklift anti-overturning counterweight system provided according to an embodiment of the present application;

[0030] Figure 2 is a schematic diagram of the structure of the internal gear ring disc provided according to an embodiment of the present application;

[0031] Figure 3 It is the first structural schematic diagram of the counterweight subsystem provided according to the embodiments of the present application;

[0032] Figure 4 It is the second structural schematic diagram of the counterweight subsystem provided according to the embodiments of the present application;

[0033] Figure 5 It is the schematic diagram of the installation position of the counterweight subsystem on the forklift provided according to the embodiments of the present application;

[0034] Figure 6 It is the structural schematic diagram of the first drive motor control, the first drive motor, the first drive gear, and the first counterweight block provided according to the embodiments of the present application;

[0035] Figure 7 It is the structural schematic diagram of the second drive motor control, the second drive motor, the second drive gear, and the second counterweight block provided according to the embodiments of the present application.

[0036] Figure 8 It is the schematic diagram of the method for determining the target centroid of the first counterweight block and the second counterweight block. Detailed implementation manners

[0037] In order to make the objectives, technical solutions, and advantages of the present application more obvious, the embodiments of the present application will be described in detail below with reference to the accompanying drawings. The examples of the embodiments are shown in the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the present application.

[0038] Specifically, Figure 1 It is the schematic diagram of the composition of the forklift anti-tipping counterweight system 10 provided according to the embodiments of the present application.

[0039] As Figure 1 shown, the forklift anti-tipping counterweight system 10 includes a load and tilt state detection subsystem 100, a control subsystem 200, and a counterweight subsystem 300.

[0040] Among them, the load and tilt state detection subsystem 100 includes a pressure sensor 101 and an inclination sensor 102.

[0041] Among them, the control subsystem 200 includes a single-chip microcomputer 201 and a digital peripheral circuit 202.

[0042] Among them, the counterweight subsystem 300 includes an internal gear ring disc 301, a ring guide 302, a first drive motor control 303, a first drive motor 304, a first drive gear 305, a first counterweight block 306, a second drive motor controller 307, a second drive motor 308, a second drive gear 309, and a second counterweight block 310.

[0043] Specifically, the pressure sensor 101 is fixedly installed on the forklift fork and is electrically connected to the digital peripheral circuit 202. After the pressure signal output by the pressure sensor 101 is filtered and conditioned by the digital peripheral circuit 202, it is sent into the single-chip microcomputer 201. The single-chip microcomputer 201 detects the load state of the forklift in real time accordingly; the inclination sensor 102 is fixedly installed on the forklift chassis and is electrically connected to the digital peripheral circuit 202. After the inclination signal output by the inclination sensor 102 is filtered and conditioned by the digital peripheral circuit 202, it is sent into the single-chip microcomputer 201. The single-chip microcomputer 201 detects the inclination state of the forklift in real time accordingly.

[0044] Specifically, the single-chip microcomputer 201 and the digital peripheral circuit 202 are electrically connected. The digital peripheral circuit 202 provides power for the single-chip microcomputer 201. In addition, the digital peripheral circuit 202 filters and shapes the input signal of the single-chip microcomputer 201 for signal conditioning. The single-chip microcomputer 201 is electrically connected to the first drive motor control 303 and the second drive motor control 307 respectively. The single-chip microcomputer 201 provides the centroid target position command of the counterweight for the first drive motor control 303 and the second drive motor control 307.

[0045] More specifically, Figure 2 FIG. is a schematic structural diagram of the internal gear ring disc 301 according to an embodiment of the present application, Figure 3 FIG. is a first schematic structural diagram of the counterweight subsystem 300 according to an embodiment of the present application, Figure 4 FIG. is a second schematic structural diagram of the counterweight subsystem 300 according to an embodiment of the present application, Figure 5 FIG. is a schematic diagram of the installation position of the counterweight subsystem 300 on the forklift according to an embodiment of the present application, Figure 6 FIG. is a schematic structural diagram of the first drive motor control 303, the first drive motor 304, the first drive gear 305, and the first counterweight 306 according to an embodiment of the present application, Figure 7 FIG. is a schematic structural diagram of the second drive motor control 307, the second drive motor 308, the second drive gear 309, and the second counterweight 310 according to an embodiment of the present application.

[0046] As Figure 2 , Figure 3 , Figure 4 and Figure 5 shown, the internal gear ring disc is horizontally fixed on the forklift chassis, and the axis of the center of the bottom disc thereof passes through the centroid position of the forklift when it is unloaded; the circular ring guide rail 302 is installed on the bottom disc of the internal gear ring disc 301, and the center of the circular ring guide rail 302 coincides with the axis of the center of the internal gear ring disc 301. The circular ring guide rail 302 provides a sliding track for the first counterweight 306 and the second counterweight 310.

[0047] As shown Figure 6 in the figure, the first drive motor controller 303 is fixed on the end face of the first drive motor 304, the first drive gear 305 is fixedly connected to the mechanical shaft of the first drive motor 304, and the first drive motor 304 is fixedly installed on the first counterweight 306; the first counterweight 306 is rotatably installed on the central axis of the internal gear ring disc 301; at the same time, the groove under the first counterweight 306 forms a sliding contact with the circular ring guide rail 302, and the first drive gear 305 meshes with the internal gear ring of the internal gear ring disc 301; based on the above structure, when the first drive motor 304 works, through the meshing transmission of the first drive gear 305 and the internal gear ring of the internal gear ring disc 301, the first counterweight 306 is driven to rotate around the central axis of the internal gear ring disc 301 along the circular ring guide rail 302;

[0048] As shown Figure 7 in the figure, the second drive motor controller 307 is fixed on the end face of the second drive motor 308, the second drive gear 309 is fixedly connected to the mechanical shaft of the second drive motor 308, and the second drive motor 308 is fixedly installed on the second counterweight 310; the second counterweight 310 is rotatably installed on the central axis of the internal gear ring disc 301; at the same time, the groove under the second counterweight 310 forms a sliding contact with the circular ring guide rail 302, and the second drive gear 309 meshes with the internal gear ring of the internal gear ring disc 301; based on the above structure, when the second drive motor 308 works, through the meshing transmission of the second drive gear 309 and the internal gear ring of the internal gear ring disc 301, the second counterweight 310 is driven to rotate around the central axis of the internal gear ring disc 301 along the circular ring guide rail 302.

[0049] Figure 8 It is a schematic diagram of the method for determining the target centroid of the first counterweight 306 and the second counterweight 310.

[0050] Specifically, the control subsystem 200 is configured to execute the following steps to determine the target position of the centroid of the first counterweight 306 and the second counterweight 310:

[0051] (1) Based on the load state and tilt state of the forklift, calculate and obtain the combined target centroid position of the counterweights;

[0052] (2) In the plane where the internal gear ring disc 301 is located, establish a coordinate system with the center of the bottom disc of the internal gear ring 301 as the origin;

[0053] (3) Connect the line between the combined target centroid position and the center of the bottom disc of the internal gear ring 301;

[0054] (4) Determine the initial positions of the centroids of the first counterweight 304 and the second counterweight 310, and calculate the distance R between them and the center of the bottom disc of the internal gear ring 301;

[0055] (5) Draw a straight line passing through the synthesized centroid target position and perpendicular to the connecting line described in (3).

[0056] (6) With the center of the bottom surface disk of the internal gear ring 301 as the center and R as the radius, draw a circle. The two intersection points of this circle and the straight line are respectively the centroid target positions of the first counterweight 304 and the second counterweight 310.

[0057] According to the forklift anti-overturning counterweight system of the embodiment of the present application, when two independent counterweights are used and can rotate around the central axis, the synthesized centroid of the two counterweights is located at the midpoint of the connecting line of the centroids of the two counterweights. The synthesized centroid of the two counterweights basically covers the circular area with the center of the internal gear ring disk as the center and the distance from the centroids of the two independent counterweights to the center as the radius. Therefore, it has the characteristic of a large moving range of the synthesized centroid. In addition, since the control subsystem and the drive motor controller adopt single-chip microcomputer digital control, the forklift anti-overturning counterweight system has the characteristic of intelligent control, with good real-time performance and high-precision technical features. Thus, it can solve the problems in the background technology such as the mismatch between the torque compensation ability of the traditional fixed centroid counterweight and the working condition requirements, the inability to achieve the dynamic balance of the load and the counterweight, and the insufficient safety margin under non-standard working conditions, improving the stability and safety of the forklift.

[0058] In the description of this specification, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include at least one of such features.

[0059] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

[0060] In summary, the above is only the preferred embodiment of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A forklift anti-tipping counterweight system, characterized in that: The forklift anti-tipping counterweight system includes a load and tilt state detection subsystem, a control subsystem, and a counterweight subsystem; The load and tilt state detection subsystem includes a pressure sensor disposed on the forklift forks and an inclination sensor disposed on the forklift chassis. The pressure sensor is used to detect the load state of the forklift in real time and output the detected load state data to the control subsystem. The inclination sensor is used to detect the tilt state of the forklift in real time and output the detected tilt state data to the control subsystem; The control subsystem is used to receive the load state data and tilt state data output by the tilt state detection subsystem, calculate the centroid target positions of the first counterweight block and the second counterweight block in the counterweight subsystem according to the received load state data and tilt state data, and send the calculated centroid target position A of the first counterweight block to the first drive motor controller in the counterweight subsystem, and send the calculated centroid target position B of the second counterweight block to the second drive motor controller in the counterweight subsystem; The counterweight subsystem includes an internal gear ring disc, a circular ring guide rail, a first drive motor controller, a first drive motor, a first drive gear, a first counterweight block, a second drive motor controller, a second drive motor, a second drive gear, and a second counterweight block; The first drive motor controller is used to control the first drive motor to work so that the first counterweight block moves until the actual centroid of the first counterweight block coincides with the centroid target position A; The second drive motor controller is used to control the second drive motor to work so that the second counterweight block moves until the actual centroid of the second counterweight block coincides with the centroid target position B; The internal gear ring disc is horizontally fixed on the forklift chassis, and the axis of the bottom disc center of the internal gear ring disc passes through the centroid position of the forklift when it is unloaded; The first drive motor controller is fixed on the end face of the first drive motor, the first drive gear is fixedly connected to the mechanical shaft of the first drive motor, and the first drive motor is fixedly installed on the first counterweight block; The circular ring guide rail is fixed on the internal gear ring disc and provides a sliding track for the first counterweight block and the second counterweight block; The first counterweight block is rotatably installed on the central axis of the internal gear ring disc. When the first drive motor works, it drives the first counterweight block to rotate around the central axis of the internal gear ring disc along the circular ring guide rail through the meshing transmission of the first drive gear and the internal gear ring of the internal gear ring disc; The second drive motor controller is fixed on the end face of the second drive motor, the second drive gear is fixedly connected to the mechanical shaft of the second drive motor, and the second drive motor is fixedly installed on the second counterweight block; The second counterweight block is rotatably installed on the central axis of the internal gear ring disc. When the second drive motor works, it drives the second counterweight block to rotate around the central axis of the internal gear ring disc along the circular ring guide rail through the meshing transmission of the second drive gear and the internal gear ring of the internal gear ring disc.

2. The forklift anti-tipping counterweight system according to claim 1, characterized in that: The method for the control subsystem to calculate the centroid target positions of the first counterweight block and the second counterweight block in the counterweight subsystem is as follows: (1) Calculate the combined centroid target position based on the load state data and tilt state data of the forklift; (2) Establish a coordinate system with the center of the bottom disc of the internal gear ring disc as the origin within the plane where the internal gear ring disc is located; (3) In the coordinate system established in step (2), connect the combined centroid target position obtained in step (1) and the center of the bottom disc of the internal gear ring disc; (4) Determine the initial positions of the centroids of the first counterweight block and the second counterweight block, and calculate the distance R between the initial positions of the centroids of the first counterweight block and the second counterweight block and the center of the bottom disc of the internal gear ring disc; (5) Draw a straight line passing through the combined centroid target position obtained in step (1) and perpendicular to the line in step (3); (6) Draw a circle with the center of the bottom disc of the internal gear ring disc as the center and R as the radius. The two intersection points of this circle and the straight line are respectively the centroid target positions of the first counterweight block and the second counterweight block.

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