Method and device for testing shaking quantity of high portal frame

Abstract

The invention discloses a method and device for testing the shaking amount of a high portal frame, and relates to the technical field of forklift safety tests.The method comprises the steps that when a portal frame assembly is in a non-lifting state, a dynamic angle sensor is adsorbed to one side of a to-be-transported object; a laser sensor is arranged at the top of the guardrail assembly and used for measuring the lifting height of the portal frame assembly; the pallet fork is limited after being lifted to any position of the portal assembly, the portal assembly shakes, and a dynamic sensor is used for measuring the shaking angle of the pallet fork; the shaking amplitude of the portal assembly is calculated based on the lifting height of the portal assembly and the shaking angle of the pallet fork, and therefore a shaking curve of the shaking angle and the shaking amplitude is generated; calculating the shaking amplitude of the gantry assembly based on the maximum lifting height of the gantry assembly and the maximum shaking angle of the pallet fork; the testing method and device are used for accurately testing the shaking amount of the high portal frame.

Description

Technical Field

[0001] The present invention relates to the technical field of forklift safety testing, and in particular to a method and device for testing the sway of a high mast. Background Art

[0002] With the shortage of land resources and the increase in usage costs, many companies have built warehouses higher and higher. As forklifts used as handling tools, the lifting height of the gantry is also required to be higher and higher.

[0003] When a reach forklift is moving forward and backward, or lifting and lowering, the higher the mast's height, the greater the mast's sway at its peak. Excessive sway can pose a risk to handling operations, a problem that has plagued forklift manufacturers both domestically and internationally. Consequently, major forklift manufacturers are experimenting with various methods to reduce mast sway. Existing methods for visually measuring mast sway are highly subjective, necessitating an objective method for measuring mast sway. Summary of the Invention

[0004] Based on the technical problems existing in the background technology, the present invention proposes a method and device for testing the sway of a high mast, which are used to accurately test the sway of a high mast.

[0005] The present invention provides a method for testing the sway of a high mast, comprising:

[0006] During the fully loaded sway test, when the mast assembly is not raised, the dynamic angle sensor is attached to the side of the object to be transported; during the unloaded sway test, the dynamic angle sensor is set on the fork surface;

[0007] A laser sensor is installed on the top of the guardrail assembly to measure the lifting height of the gantry assembly. The guardrail assembly is installed on the periphery of the gantry assembly to ensure the safety of the test process;

[0008] After the fork is lifted to any position of the mast assembly and then limited, the mast assembly will shake, and the shaking angle of the fork will be measured using a dynamic sensor;

[0009] The sway amplitude of the mast assembly at any position is calculated based on the lifting height of the mast assembly and the sway angle of the fork, thereby generating a sway curve of the sway angle and sway amplitude.

[0010] Furthermore, during the gantry assembly shaking test, the control system collects the output signal of the dynamic angle sensor at a sampling frequency higher than 100 Hz.

[0011] Furthermore, the dynamic angle sensor is a magnetic dynamic angle sensor, which is easy to be adsorbed on the object to be transported.

[0012] A device for testing the sway of a high mast, characterized by comprising a mast assembly, a laser sensor, and a dynamic angle sensor;

[0013] The mast assembly is provided with a fork, and the mast assembly moves up and down, thereby moving the fork loaded with the items to be transported up and down;

[0014] During the fully loaded sway test, when the mast assembly is not raised, the dynamic angle sensor is attached to the side of the object to be transported; during the unloaded sway test, the dynamic angle sensor is set on the fork surface;

[0015] A laser sensor is provided at the top of the guardrail assembly to measure the lifting height of the gantry assembly. The guardrail assembly is provided on the periphery of the gantry assembly to ensure the safety of the test process.

[0016] After the fork is lifted to any position of the mast assembly and then limited, the mast assembly will shake, and the shaking angle of the fork will be measured using a dynamic sensor;

[0017] The sway amplitude of the mast assembly at any position is calculated based on the lifting height of the mast assembly and the sway angle of the fork, thereby generating a sway curve of the sway angle and sway amplitude.

[0018] Furthermore, the mast assembly includes an outer mast, a middle mast and an inner mast;

[0019] The outer mast, middle mast and inner mast are connected in sliding order. When the mast assembly reaches the maximum lifting height, the bottom of the middle mast is connected to the top of the outer mast, and the top is connected to the bottom of the inner mast. The fork is set on the top of the inner mast.

[0020] Furthermore, a guardrail assembly is arranged on the periphery of the gantry assembly, and the guardrail assembly includes a lower guardrail assembly, an upper guardrail assembly, a protective platform and a power mechanism for driving the protective platform to move on the upper guardrail assembly. The bottom of the upper guardrail assembly is arranged on the upper part of the lower guardrail assembly, the protective platform is slidably connected to the upper guardrail assembly, and the protective platform is arranged at the lower part of the cargo fork carrying the cargo.

[0021] A lower proximity switch assembly is provided at the bottom of the upper guardrail assembly to control the power mechanism to drive the upward movement of the protective platform.

[0022] During the gantry assembly shaking test, the control system collects the output signal of the dynamic angle sensor at a sampling frequency higher than 100 Hz.

[0023] The advantages of the method and device for testing the sway of a high mast provided by the present invention are: by setting a dynamic angle sensor to obtain the sway angle of the fork when it is limited at any position, thereby replacing the structural complexity of the existing use of a static sensor to calculate the sway amplitude of the mast; the three-axis dynamic tilt sensor can measure the front and rear, left and right sway; at the same time, a set of safety guardrail devices is provided, which can test the front and rear, left and right sway of the mast when it is empty or fully loaded. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention;

[0025] Figure 2 Schematic diagram of the structure of the mast assembly;

[0026] Figure 3 This is the front view of the guardrail of the mast assembly;

[0027] Figure 4 The top view of the guardrail of the mast assembly;

[0028] Figure 5 This is a schematic diagram of the mast assembly shaking;

[0029] Among them, 1-gantry assembly, 2-fork, 3-dynamic angle sensor, 4-laser sensor, 6-guardrail assembly, 11-outer gantry, 12-middle gantry, 13-inner gantry, 61-lower guardrail assembly, 62-upper guardrail assembly, 63-protective platform, 64-power mechanism, 65-lower proximity switch assembly, 66-upper proximity switch assembly, 641-motor assembly, 642-lower driven wheel assembly, 643-upper driven wheel assembly, 644-chain assembly. DETAILED DESCRIPTION

[0030] The technical solutions of the present invention are described in detail below through specific embodiments. Numerous specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0031] like Figures 1 to 5 As shown, the present invention proposes a method for testing the sway of a high mast, comprising the following steps 1 to 4:

[0032] Step 1: When testing the sway amount under full load, the mast assembly 1 is not raised, and the dynamic angle sensor 3 is adsorbed on the side of the object to be transported; when testing the sway amount under no load, the dynamic angle sensor 3 is set on the surface of the fork 2;

[0033] The dynamic angle sensor 3 uses a magnetic dynamic angle sensor 3, which is convenient for adsorption on the items to be transported. During the sway test of the mast assembly 1, the control system collects the output signal of the dynamic angle sensor 3 at a sampling frequency higher than 100 Hz, thereby calculating the sway angle of the mast assembly 1 when the fork 2 is at the limit.

[0034] Step 2: A laser sensor 4 is installed on the top of the guardrail assembly 6 to measure the lifting height of the gantry assembly 1. The guardrail assembly 6 is installed on the periphery of the gantry assembly 1 to ensure the safety of the test process.

[0035] The mast assembly 1 includes an outer mast 11, a middle mast 12 and an inner mast 13; the outer mast 11, the middle mast 12 and the inner mast 13 are slidably connected in sequence. When the mast assembly 1 reaches the maximum lifting height, the bottom of the middle mast 12 is connected to the top of the outer mast 11, and the top is connected to the bottom of the inner mast 13; the forks 2 are all set at the top of the inner mast 13.

[0036] Therefore, in this embodiment, the laser sensor 4 is arranged at the top of the guardrail assembly 6 to obtain the height value when the door frame is raised to any position.

[0037] Step 3: After the fork 2 is lifted to any position of the mast assembly 1 and then limited, the mast assembly 1 shakes, and the shaking angle of the fork 2 is measured using a dynamic sensor;

[0038] Step 4: Calculate the sway amplitude of the mast assembly 1 based on the lifting height of the mast assembly 1 and the sway angle of the fork 2, thereby finally generating a sway curve of the sway angle and sway amplitude.

[0039] like Figure 5 As shown, S1 is the front-back swing of the mast assembly 1, and S2 is the left-right swing of the mast assembly 1. In the same mast assembly 1, the lifting height is consistent, that is, H1=H2;

[0040]

[0041] Among them, α is the front-to-back shaking angle, and β is the left-to-right shaking angle.

[0042] Since a dynamic angle sensor is directly arranged on the fork 2 in this embodiment, the shaking angle of the gantry assembly when braking at any lifting position can be directly obtained. At the same time, combined with the laser sensor 4 on the top of the guardrail assembly 6 and the fork 2 on the top of the inner gantry, the laser sensor 4 can directly obtain the lifting height of the gantry assembly when braking at any lifting position, thereby using the lifting height and the shaking angle to calculate the shaking amplitude of the gantry assembly 1 at any position.

[0043] According to the shaking curve, the higher the lifting height of the mast assembly 1, the greater the shaking amount. In this embodiment, a dynamic angle sensor 3 is provided to obtain the shaking angle of the fork 2 when it is limited at any position, thereby replacing the existing structural complexity of calculating the mast shaking amplitude through a static sensor.

[0044] In addition, in order to improve safety during the test, a guardrail assembly 6 is set on the outside of the gantry assembly 1. The entire guardrail assembly 6 can be divided into an upper guardrail assembly 62 and a lower guardrail assembly 61 according to the upper and lower parts. The bottom of the upper guardrail assembly 62 is connected to the top of the lower guardrail assembly 61. The height of the lower guardrail assembly 61 is the lowest height of the lowest gantry, and a protective platform 63 is installed. The height of the upper guardrail assembly 62 is greater than the height of the highest gantry + the height of the items to be transported, and some electrical components are installed.

[0045] Specifically, the guardrail assembly 6 includes a lower guardrail assembly 61, an upper guardrail assembly 62, a protective platform 63, and a power mechanism 64 for driving the protective platform 63 to move on the upper guardrail assembly 62. The protective platform 63 is slidingly connected to the upper guardrail assembly 62, and the protective platform 63 is arranged at the lower part of the cargo fork 2 carrying the cargo.

[0046] Furthermore, the overall lateral dimensions of the cargo forks 2, typically loaded with cargo, are larger than those of the mast. To avoid interference with the vertical movement of the mast while providing a certain degree of protection for cargo on the cargo forks 2, the protective platform 63 of this embodiment comprises three fixed plates joined (e.g., welded) to form a U-shaped structure. The fixed plate at the bottom of the U-shaped structure is fixedly connected to the chain assembly 644. Because the lower guardrail assembly 61 and the upper guardrail assembly 62 form a three-sided enclosure, the U-shaped structure, in conjunction with the three-sided enclosure, can stably catch falling cargo. The laser sensor 4 is specifically disposed on the top of the upper guardrail assembly 62.

[0047] A lower proximity switch assembly 65 is provided at the bottom of the upper guardrail assembly 62 to control the power mechanism to drive the upward movement of the protective platform 63. An upper proximity switch assembly 66 is provided in the upper middle portion of the upper guardrail assembly 62 to provide safety protection when the inner mast 13 is raised to its highest position, with an audible and visual prompt when reaching this position.

[0048] Among them, the power mechanism 64 includes a motor assembly 641, a lower driven wheel assembly 642, an upper driven wheel assembly 643 and a chain assembly 644; the output end of the motor assembly 641 is sleeved with a driving wheel, which is engaged with the lower driven wheel in the lower driven wheel assembly 642, and the lower driven wheel assembly 642 and the upper driven wheel assembly 643 are respectively arranged at the lower and upper parts of the upper guardrail assembly 62. The chain assembly 644 is connected end to end and respectively engaged with the lower driven wheel assembly 642 and the upper driven wheel assembly 643 to form a chain conveying mechanism, and the protective platform 63 is fixedly connected to the chain assembly 644.

[0049] In order to achieve stable up and down movement of the protective platform 63, this embodiment provides two power mechanisms 64, which are respectively arranged on opposite sides of the upper guardrail assembly 62. The protective platform 63 is connected to two chain assemblies 644. In order to ensure the movement consistency of the two chain assemblies 644, the two lower driven wheel assemblies 642 are connected by axis one, and the two upper driven wheel assemblies 643 are connected by axis two. The two motor assemblies 641 are controlled by a unified control instruction, thereby achieving the movement stability of the protective platform 63.

[0050] When the fork 2 loaded with goods moves upward, when the goods pass through the lower proximity switch assembly 65, the lower proximity switch assembly 65 will feedback the sensing signal to the control system, and the control system will send a working instruction to the motor assembly 641. The motor assembly 641 drives the active wheel, the lower driven wheel assembly 642, and the upper driven wheel assembly 643 to move the chain assembly 644, thereby driving the protective platform 63 to move upward together with the fork 2. The fork 2 moves to the highest position of the high mast, and the protective platform 63 stops at a set position lower than the highest position of the high mast.

[0051] When the fork loaded with goods moves downward, when the laser sensor 4 arranged on the top of the upper guardrail assembly 62 in the guardrail assembly 6 detects the downward movement of the fork, it will feedback the sensing signal to the control system, and the control system sends a work instruction to the motor assembly 641. The motor assembly 641 drives the active wheel, the lower driven wheel assembly 642, and the lower driven wheel assembly 642 to move the chain assembly 644, thereby driving the protective platform 63 to move downward together with the fork. The protective platform 63 drops to the lowest position, and the fork moves to the lowest position of the high mast.

[0052] In order to coordinate the up and down movement height of the cargo forks 2 and avoid the protective platform 63 being unable to stably catch the falling cargo due to the large distance between the cargo forks 2 and the protective platform 63, the protective platform 63 is set to move up and down to adjust the distance between the cargo forks 2 and the protective platform 63, thereby ensuring that the falling cargo can be stably caught and at the same time causing minimal damage to the falling cargo.

[0053] This embodiment is compared with Chinese patent CN118168822A as follows:

[0054] (a1) Patent CN118168822A can only detect the amount of shaking in one direction, front and back. In fact, the mast shakes in the left and right directions as well. The three-axis dynamic tilt sensor of this embodiment can measure the amount of shaking in both the front and back directions and the left and right directions.

[0055] (a2) The second installation point of patent CN118168822A cannot be realized. In this embodiment, the dynamic tilt sensor 3 is installed on the fork or the cargo when the mast assembly is in the low position, which is feasible.

[0056] (a3) Patent CN118168822A requires the mast to be lifted vertically. In practice, the mast tilts forward and backward, making it difficult to maintain vertical alignment. In this embodiment, the dynamic angle sensor 3 measures the tilt angle of the mast assembly at its initial position, and this initial angle is subtracted when calculating the amount of sway.

[0057] (a4) Patent CN118168822A has no protective device and can only test the front and rear sway of the mast when it is unloaded. This embodiment has a set of safety guardrail devices, which can test the front and rear, left and right sway of the mast when it is unloaded and fully loaded.

[0058] The working process of this embodiment: the test driver scoops up the heavy block (item to be transported) with a forklift and drives in from the front of the guardrail. Figure 1 The vehicle stops inside the high mast guardrail. The test driver attaches the magnetic dynamic angle sensor 3 to one side of the weight and confirms that the sensor is firmly attached. The test driver gets on the vehicle and begins to operate the vehicle's lifting valve stem, allowing the fork 2 to lift the weight together and lift it to any position of the mast assembly 1. When it reaches the set position, the inner mast 13 is forcibly limited by the middle mast 12, causing the movement of the weight and the inner mast 13 to be blocked. The weight and the inner mast 13 together produce violent forward and backward and left and right shaking. Due to the very high sensitivity of the dynamic angle sensor 3, the control system collects the output signal of the dynamic angle sensor 3 at a sampling frequency higher than 100Hz and measures the shaking angle of the weight, that is, the mast assembly 1. The laser sensor 4 is set at the top of the upper guardrail assembly 62 in the guardrail assembly 6. It can test the lifting height of the mast assembly 1. Adding the measured shaking angle value, the shaking amplitude of the high mast can be obtained through conversion through a formula. Finally, a curve of shaking angle and shaking amplitude is generated.

[0059] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A method for testing the sway of a high mast, characterized in that: include: During the full-load sway test, when the mast assembly (1) is not raised, the dynamic angle sensor (3) is adsorbed on one side of the object to be transported; During the no-load sway test, a dynamic angle sensor (3) is provided on the surface of the fork (2); A laser sensor (4) is provided on the top of the guardrail assembly (6) for measuring the lifting height of the gantry assembly (1); the guardrail assembly (6) is provided on the periphery of the gantry assembly (1) for ensuring the safety of the test process; After the fork (2) is lifted to any position of the mast assembly (1), the mast assembly (1) is limited, and the mast assembly (1) shakes, and the shaking angle of the fork (2) is measured using a dynamic sensor; The sway amplitude of the mast assembly (1) at any position is calculated based on the lifting height of the mast assembly (1) and the sway angle of the fork (2), thereby generating a sway curve of the sway angle and the sway amplitude.

2. The method for testing the sway of a high mast according to claim 1, characterized in that: When performing a shake test on the gantry assembly (1), the control system collects the output signal of the dynamic angle sensor (3) at a sampling frequency higher than 100 Hz.

3. The method for testing the sway of a high mast according to claim 1, characterized in that: The dynamic angle sensor (3) is a magnetic dynamic angle sensor, which is convenient for adsorbing on the object to be transported.

4. A device for testing the sway of a high mast, characterized in that: It includes a door frame assembly (1), a laser sensor (4), a dynamic angle sensor (3) and a guardrail assembly (6); A cargo fork (2) is provided on the gantry assembly (1), and the cargo fork (2) loaded with the items to be transported moves up and down through the upward and downward telescopic movement of the gantry assembly (1); During the full-load sway test, when the mast assembly (1) is not raised, the dynamic angle sensor (3) is adsorbed on one side of the item to be transported; during the no-load sway test, the dynamic angle sensor (3) is set on the surface of the fork (2); A laser sensor (4) is arranged at the top of the guardrail assembly (6) for measuring the lifting height of the gantry assembly (1); the guardrail assembly (6) is arranged on the periphery of the gantry assembly (1) for ensuring the safety of the test process; After the fork (2) is lifted to any position of the mast assembly (1), the mast assembly (1) is limited, and the mast assembly (1) shakes, and the shaking angle of the fork (2) is measured using a dynamic sensor; The sway amplitude of the mast assembly (1) at any position is calculated based on the lifting height of the mast assembly (1) and the sway angle of the fork (2), thereby generating a sway curve of the sway angle and the sway amplitude.

5. The device for testing the sway of a high mast according to claim 4, characterized in that: The mast assembly (1) comprises an outer mast (11), a middle mast (12) and an inner mast (13); The outer mast (11), the middle mast (12) and the inner mast (13) are slidably connected in sequence. When the mast assembly (1) reaches the maximum lifting height, the bottom of the middle mast (12) is connected to the top of the outer mast (11), and the top is connected to the bottom of the inner mast (13); the fork (2) is arranged on the top of the inner mast (13).

6. The device for testing the sway of a high mast according to claim 4, characterized in that: A guardrail assembly (6) is arranged on the periphery of the gantry assembly (1), the guardrail assembly (6) comprising a lower guardrail assembly (61), an upper guardrail assembly (62), a protective platform (63), and a power mechanism (64) for driving the protective platform (63) to move on the upper guardrail assembly (62), the bottom of the upper guardrail assembly (62) being arranged on the upper part of the lower guardrail assembly (61), the protective platform (63) being slidably connected to the upper guardrail assembly (62), and the protective platform (63) being arranged on the lower part of the cargo fork (2) carrying the cargo.

7. The device for testing the sway of a high mast according to claim 6, characterized in that: A lower proximity switch assembly (65) is provided at the bottom of the upper guardrail assembly (62) for controlling the power mechanism to drive the upward movement of the protection platform (63).

8. The device for testing the sway of a high mast according to claim 6, characterized in that: An upper proximity switch assembly (66) is provided at the middle upper portion of the upper guardrail assembly (62) for detecting whether the fork (2) has been raised to the highest safety position of the upper guardrail assembly (62).

9. The device for testing the sway of a high mast according to claim 4, characterized in that: When performing a shake test on the gantry assembly (1), the control system collects the output signal of the dynamic angle sensor (3) at a sampling frequency higher than 100 Hz.

10. The device for testing the sway of a high mast according to claim 4, characterized in that: The dynamic angle sensor (3) is a magnetic dynamic angle sensor, which is convenient for adsorbing on the object to be transported.

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