A control method of a diagonal bracing mechanism of a telescopic arm forklift

Abstract

The application discloses a control method of a diagonal bracing mechanism of a telescopic arm forklift, and the diagonal bracing mechanism comprises a support frame hinged to a vehicle frame, an oil cylinder, a vibration mechanism installed on the back of the support frame, a control module, an inclination sensor for acquiring the inclination of the forklift, and a pressure sensor for detecting the ground pressure of the support frame in real time; the telescopic end of the oil cylinder is hinged to the support frame and drives the support frame to move on the vehicle frame; the application defines a vibration mode to meet the heavy load operation requirements of various fields such as farmland and sandy land for soft ground; and in the operation scene of the inclined soft slope, the differentiated control of the downward movement of the low-side motor for compaction and the upward movement of the high-side motor for assistance is combined with a certain vibration ratio to reduce the risk of rollover.

Description

A control method for the diagonal bracing mechanism of a telescopic boom forklift Technical Field

[0001] This invention relates to a control method for the diagonal bracing mechanism of a telescopic boom forklift, belonging to the field of forklifts. Background Technology

[0002] Existing telescopic boom forklifts mostly use a single rigid support structure, which can only achieve basic support by driving the support frame to unfold through a hydraulic cylinder.

[0003] When facing soft ground, the weight of the support frame alone is insufficient to achieve effective compaction, which can easily cause the outriggers to sink. When facing sloping ground, the strength of the supports on both sides is consistent, which cannot balance the tilt of the vehicle body and poses a risk of rollover. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a control method for the diagonal bracing mechanism of a telescopic boom forklift to solve the problem.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: a control method for the diagonal support mechanism of a telescopic boom forklift, wherein the diagonal support mechanism includes a support frame hinged to the frame, a hydraulic cylinder, a vibration mechanism mounted on the back of the support frame, a control module, an inclination sensor for acquiring the tilt angle of the forklift, and a pressure sensor for real-time detection of the ground pressure of the support frame; the telescopic end of the hydraulic cylinder is hinged to the support frame, thereby driving the support frame to move on the frame;

[0006] The vibration mechanism includes a slide rail, a vibration motor, a spherical chain, and a winding assembly. The slide rail is arranged along the length of the support frame, and the winding assembly drives the spherical chain to wind up. One end of the spherical chain is connected to the vibration motor to drive the vibration motor to slide on the slide rail, thereby changing the position of the vibration motor in the length of the support frame.

[0007] The hydraulic cylinder, the vibration motor, and the winding assembly are all controlled by the control module.

[0008] The control method includes the following steps:

[0009] Step 1: The driver operates the hydraulic cylinder to extend, pushing the support frame to rotate downwards around the hinge point of the vehicle frame until the support plate at the lower end of the support frame contacts the ground;

[0010] Step Two: When the outrigger plate contacts the soft ground, the hydraulic cylinder on the frame is controlled to continue extending the outrigger plate at maximum power, and the vibration mechanism is simultaneously controlled to vibrate to compact the soft ground; the vibration stops when the pressure of the pressure sensor exceeds the set value; further, the vibration mode is defined according to the position of the vibration motor on the slide rail; the vibration mode is divided into soft ground mode and sloping slope operation mode; the driver selects the corresponding mode according to the working area; wherein, in the soft ground mode, the vibration motor slides along the slide rail to one-third of the distance from the frame hinge point, and the vibration motor vibrates at high frequency; in the sloping slope operation mode, according to the slope direction, the vibration motor on the lower side moves down, and the vibration motor on the higher side moves up, the vibration motor on the lower side vibrates at high frequency, and the vibration motor on the higher side vibrates at low frequency;

[0011] Step 3: The control module starts the winding assembly to wind up and unwind the spherical chain, and then starts the vibration motor according to the vibration mode requirements after the vibration motor slides along the slide rail.

[0012] Step 4: After use, reset the rewind assembly and vibratory motor.

[0013] Preferably, a number of metal balls are connected in series to form the spherical chain, and the spherical chain is covered with a pleated tube.

[0014] Preferably, the winding assembly includes a servo motor and a winding wheel; the servo motor drives the winding wheel to rotate; one end of the spherical chain is fixed on the winding wheel; the winding wheel is provided with a plurality of hemispherical grooves corresponding to the diameter of the metal ball in a ring.

[0015] Preferably, in the soft ground mode, the high-frequency vibration frequency of the vibration motor is 120Hz-150Hz; the control module detects the grounding pressure of the support frame in real time, and automatically shuts down the vibration motor when the pressure value is ≥1.2MPa.

[0016] Preferably, in the inclined slope operation mode, the vibration motor located on the lower side moves down to one-third of the distance from the support plate, and the vibration motor located on the higher side moves up to one-third of the distance from the frame hinge point; the high-frequency vibration frequency is 100Hz-120Hz, the low-frequency vibration frequency is 50Hz-70Hz, and the vibration motor is automatically turned off when the pressure value is ≥1.4MPa.

[0017] Preferably, in the inclined slope operation mode, the vibration time of the vibrating motor on the low side and the high side follows a dynamic ratio. When the slope is 3°-5°, the vibration time of the vibrating motor on the low side is 1.5 times that on the high side; when the slope is 5°-8°, the vibration time on the low side is twice that on the high side.

[0018] Preferably, in step two, the driver triggers the corresponding vibration mode through the mode selection button on the forklift's control panel, and the control panel displays the current position, vibration frequency, and vibration time of the vibration motor in real time.

[0019] Preferably, the vibration mode further includes an alternating vibration mode, in which the vibration motor moves along the slide rail from top to bottom at a speed of 0.1 m / s, while vibrating at a frequency of 100 Hz-120 Hz.

[0020] Preferably, the high-frequency vibrations in both the soft ground mode and the sloping slope operation mode are configured with an intermittent vibration mechanism, that is, after every 10 seconds of continuous vibration, there is a 2-second pause. During the pause, the control module detects the grounding pressure of the support frame through the pressure sensor.

[0021] Beneficial effects

[0022] This invention targets soft ground and defines vibration modes to meet the heavy-load operation needs of various sites such as farmland and sandy land. Furthermore, in sloping soft slope operation scenarios, it reduces the risk of rollover by using differentiated control through the downward compaction of the low-side motor and the upward assistance of the high-side motor, combined with a certain vibration ratio. Attached Figure Description

[0023] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0024] Figure 1 is a bottom view of the structure of a telescopic boom forklift according to the present invention;

[0025] Figure 2 is a front view schematic diagram of the diagonal bracing mechanism of a telescopic boom forklift according to the present invention;

[0026] Figure 3 is a schematic diagram of the diagonal bracing mechanism of the present invention;

[0027] Figure 4 is a front view schematic diagram of the winding reel of the present invention;

[0028] Figure 5 is a side view of the winding reel of the present invention. Detailed Implementation

[0029] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0030] Please refer to Figures 1-5. This invention provides a control method for the diagonal bracing mechanism of a telescopic forklift: The diagonal bracing mechanism is installed on both sides of the forklift frame 1. The diagonal bracing mechanism includes a support frame 21 hinged to the frame 1, a hydraulic cylinder 22, a vibration mechanism 23 installed on the back of the support frame 21, a control module (not shown in the figures), a tilt sensor (not shown in the figures) for acquiring the forklift's tilt angle, and a pressure sensor (not shown in the figures) for real-time detection of the ground pressure of the support frame 21. The telescopic end of the hydraulic cylinder 22 is hinged to the support frame 21, driving the support frame 21 to move on the frame 1. In one embodiment, the support frame 21 is made of high-strength alloy material, and its length is designed according to the forklift's rated load. The slide rail 231 on the back can be welded on, but it must be ensured that the slide rail 231 is parallel to the length direction of the support frame 21. In one embodiment, the tilt sensor is installed on the frame 1. When the diagonal bracing mechanism is activated, the tilt sensor acquires the current levelness of the frame 1, thereby obtaining the levelness of the ground. In one embodiment, the detection end of the pressure sensor is located on the grounded side of the support frame 21.

[0031] The vibration mechanism 23 includes a slide rail 231, a vibration motor 232, a spherical chain 233, and a winding assembly. The slide rail 231 is arranged along the length of the support frame 21. The winding assembly drives the spherical chain 233 to wind up. One end of the spherical chain 233 is connected to the vibration motor 232 to drive the vibration motor 232 to slide on the slide rail 231, thereby changing the position of the vibration motor 232 in the length of the support frame 21. In one embodiment, the spherical chain 233 is composed of several metal balls (made of stainless steel) connected in series. Interlocking rings are set on adjacent metal balls to form a flexible yet rigid connection. This allows the spherical chain 233 to pull or, to some extent, push the vibrating motor 232, while also allowing for the design of the frame 1 and the proper placement of the winding assembly. Furthermore, the spherical chain 233 is covered with a pleated tube 234, which is also present inside the support frame 21 and on the winding assembly (which has a corresponding outer shell). Thus, when the winding wheel 236 releases the spherical chain 233, the metal balls are inserted one after another into the pleated tube 234. It is worth noting that the support frame 21 has a back cover, with the slide rail 231 and the vibrating motor 232 located in the cavity formed by the back cover and the support frame 21. The back cover also has pre-drilled holes for periodically adding lubricating oil to the slide rail 231. The spherical chain 233 is both rigid and flexible. The groove of the winding wheel 236 can control the sliding position of the vibrating motor 232. The pleated tube 234 can protect the spherical chain 233 from impurities and also limit the movement of the spherical chain 233. The slide rail 231 is set along the length of the support frame 21, thereby realizing the position adjustment of the vibrating motor 232 within the range of the support frame 21.

[0032] The winding assembly includes the existing servo motor 235 and winding wheel 236; the winding wheel 236 has several hemispherical grooves 237 arranged in a ring (the diameter of the grooves 237 matches the diameter of the metal balls) to ensure that the spherical chain 233 is not deviated when winding. Furthermore, a certain space is reserved between the grooves 237 for the placement of the connectors (nylon ropes or rings) between the metal balls.

[0033] The hydraulic cylinder 22, the vibration motor 232, and the winding assembly are all controlled by the control module.

[0034] The control method includes the following steps:

[0035] Step 1: The driver operates the hydraulic cylinder 22 to extend, pushing the support frame 21 to rotate downward around the hinge point of the vehicle frame 1 until the support plate at the lower end of the support frame 21 contacts the ground, and the hydraulic cylinder 22 maintains the current extension length; In one embodiment, the control module receives the extension command from the driver and drives the hydraulic cylinder 22 to extend, causing the support frame 21 to rotate downward around the hinge point of the vehicle frame 1 until the support frame 21 contacts the ground.

[0036] Step 2: When the outrigger plate contacts the soft ground, the hydraulic cylinder on the frame is controlled to continue extending the outrigger plate at maximum power, and the vibration mechanism is simultaneously controlled to vibrate to compact the soft ground. When the pressure of the pressure sensor exceeds the set value, the vibration stops. The vibration mode is defined according to the position of the vibration motor 232 on the slide rail 231. The vibration mode is divided into a soft ground mode and a slope operation mode. The driver selects the corresponding mode according to the working area. In the soft ground mode, the vibration motor 232 slides along the slide rail 231 to one-third of the distance from the hinge point of the frame 1, and the vibration motor 232 vibrates at a high frequency. In the slope operation mode, according to the slope direction of the ground, the vibration motor 232 on the lower side moves down, while the vibration motor 232 on the higher side moves up. The vibration motor 232 on the lower side vibrates at a high frequency, and the vibration motor 232 on the higher side vibrates at a low frequency.

[0037] Step 3: The control module activates the winding assembly to wind up and unwind the spherical chain 233, causing the vibrating motor 232 to slide along the slide rail 231 and then activate the vibrating motor 232 according to the vibration mode requirements. When the winding assembly unwinds the spherical chain 233, under the action of the vibrating motor 232's own gravity and a certain driving force of the winding assembly, the vibrating motor 232 can move stably along the slide rail 231.

[0038] Step 4: After use, the winding assembly resets the vibration motor 232. In one embodiment, the initial position of the reset vibration motor 232 is located 10 cm from the hinge node.

[0039] In the soft ground mode, the high-frequency vibration frequency of the vibration motor 232 is 120Hz-150Hz; the control module detects the grounding pressure of the support frame 21 in real time, and automatically shuts down the vibration motor 232 when the pressure value is ≥1.2MPa.

[0040] In the slope easing operation mode, the vibration motor 232 located on the lower side moves down to one-third of the distance from the support plate, and the vibration motor 232 located on the higher side moves up to one-third of the distance from the hinge point of the frame 1; the high-frequency vibration frequency is 100Hz-120Hz, the low-frequency vibration frequency is 50Hz-70Hz, and the vibration motor 232 is automatically turned off when the pressure value is ≥1.4MPa.

[0041] In the slope compaction operation mode, the vibration time of the vibrating motor 232 on the lower and higher sides follows a dynamic ratio. When the slope is 3°-5°, the vibration time of the vibrating motor 232 on the lower side is 1.5 times that on the higher side; when the slope is 5°-8°, the vibration time on the lower side is twice that on the higher side. The vibration duration on both sides is dynamically adjusted according to the slope difference, so that the lower side (the side prone to sinking) obtains a more sufficient vibration compaction effect, balances the support force on the high and low sides, and improves the stability of the slope operation.

[0042] In step two, the driver triggers the corresponding vibration mode through the mode selection button on the forklift's control panel. The control panel displays the current position, vibration frequency, and vibration time of the vibration motor 232 in real time.

[0043] The vibration mode also includes an alternating vibration mode, in which the vibration motor 232 moves along the slide rail 231 from top to bottom at a speed of 0.1 m / s, while vibrating at a frequency of 100 Hz-120 Hz. This continuously changes the vibration point, ensuring that different positions of the support frame 21 are subjected to vibration, enhancing the overall grounding fit, and is especially suitable for scenarios with poor ground flatness.

[0044] Both the soft ground mode and the sloping slope operation mode are equipped with an intermittent vibration mechanism for high-frequency vibration, that is, every 10 seconds of continuous vibration is paused for 2 seconds. During the pause, the control module detects the ground pressure of the support frame 21 through the pressure sensor.

[0045] The control method employs differentiated modes for different ground types, including a soft ground mode (high-frequency vibration at a specific location of the motor) and a sloping soft slope mode (differentiated positions and frequencies of the high and low side motors). On soft ground, the high-frequency vibration enhances the grounding stability of the support frame 21, while on sloping soft slopes, the high and low side motors work together to balance the support forces on both sides, adapting to various operating scenarios.

[0046] It is worth mentioning that during the vibration process, since the spherical chain 233 is connected to the vibration motor 232, when the vibration motor 232 is in action, the metal ball also vibrates, so that the support frame 21 achieves a similar effect of multi-frequency vibration, further achieving the effect of compacting the ground.

[0047] Example 1

[0048] The work site is on soft farmland, and a telescopic forklift is needed to pick up the grain bins.

[0049] After the driver starts the forklift, they press the extend button for cylinder 22 on the control panel. The control module then drives cylinder 22 to extend, pushing support frame 21 to rotate downwards around the hinge point of frame 1, so that support frame 21 is fully in contact with the ground. At this time, the pressure sensor reports a ground pressure of 60N, and the control module triggers cylinder 22 to lock, maintaining the current extension length.

[0050] Based on the soft ground characteristics of the farmland, the driver selects "Soft Ground Mode" on the control panel. Upon receiving the command, the control module drives the servo motor 235 of the winding assembly to rotate. The winding wheel 236 releases the ball chain 233, causing the vibratory motor 232 to slide along the slide rail 231. When the vibratory motor 232 moves to one-third of the distance from the hinge point of the frame 1 (the total length of the support frame 21 is 1m), the servo motor 235 stops operating. The control module can calculate the current position of the vibratory motor 232 based on the length of the released ball chain 233. Where L is the length of the spherical chain 233 extending out. When the vibratory motor 232 is in its initial position, the radius of the spherical chain 233 wound in multiple layers on the take-up reel 236 is r, where r is the radius of the take-up reel 236. For error, The radius of the metal ball is approximately 12cm. When the radius of the winding wheel 236 is approximately 3cm, the radius of the metal ball is approximately 15cm, and the radius of the spherical chain 233 wound in multiple layers on the winding wheel 236 is approximately 15cm, then L is approximately 85cm. This means that after the winding wheel 236 rotates for one cycle, the spherical chain 233 can extend to approximately 85cm.

[0051] When the vibration motor 232 is in its initial position (10cm from the hinge node is the initial position of the reset vibration motor 232), that is The vibration motor 232 needs to be lowered by approximately 20cm, to about one-third of the length of the frame hinge point 1, requiring the winding wheel 236 to rotate approximately one-quarter of the cycle. This requires an error... The length is typically 3cm-8cm, depending on the programmer's adjustments.

[0052] Example 2

[0053] Unlike Example 1, the work site is a sloping road surface on a construction site (slope of 6°, lower on the left and higher on the right, with the ground being a mixture of gravel and soil).

[0054] The left-side diagonal bracing mechanism, which is located on the lower side, will move to one-third of the distance from the support plate, that is, move about 60cm from the initial position, which means that the winding wheel 236 needs to rotate nearly three-quarters of a cycle.

[0055] The right-side diagonal brace mechanism, which is on the higher side, will move to one-third of the distance from the hinge point of the frame 1, that is, move about 20cm from the initial position, which means that the winding wheel 236 needs to rotate nearly one-quarter of the cycle.

[0056] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0057] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider 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 slant bracing mechanism of a telescopic boom forklift, wherein the slant bracing mechanism is mounted on the frame of the forklift; characterized in that: The inclined support mechanism includes a support frame hinged to the vehicle frame, a hydraulic cylinder, a vibration mechanism mounted on the back of the support frame, a control module, an inclination sensor for acquiring the tilt angle of the forklift, and a pressure sensor for real-time detection of the ground pressure of the support frame. The extension end of the hydraulic cylinder is hinged to the support frame, driving the support frame to move on the vehicle frame. The vibration mechanism includes a slide rail, a vibration motor, a ball chain, and a winding assembly. The slide rail is set along the length direction of the support frame, and the winding assembly drives the ball chain to wind up. One end of the ball chain is connected to the vibration motor to drive the vibration motor to slide on the slide rail, thereby changing the position of the vibration motor in the length direction of the support frame. The hydraulic cylinder, the vibration motor, and the winding assembly are all controlled by the control module. The control method includes the following steps: Step 1: The driver operates the hydraulic cylinder to extend, pushing the support frame to rotate downwards around the hinge point of the vehicle frame until the support plate at the lower end of the support frame contacts the ground; Step 2: When the support plate contacts the ground... When the ground is soft, the hydraulic cylinder on the frame is controlled to continue unfolding the support plate at maximum power, and the vibration mechanism is simultaneously controlled to vibrate to compact the soft ground. The vibration stops when the pressure sensor exceeds a set value. Further, a vibration mode is defined based on the position of the vibration motor on the slide rail. The vibration modes are divided into a soft ground mode and a slope operation mode. The driver selects the corresponding mode based on the operating area. In the soft ground mode, the vibration motor slides along the slide rail to one-third of the distance from the frame hinge point, and the vibration motor vibrates at a high frequency. In the slope operation mode, the vibration motor on the lower side moves downwards, while the vibration motor on the higher side moves upwards, based on the ground inclination direction. The vibration motor on the lower side vibrates at a high frequency, and the vibration motor on the higher side vibrates at a low frequency. Step three: The control module activates the winding assembly to wind up and unwind the spherical chain, causing the vibration motor to slide along the slide rail and then activate according to the vibration mode requirements. Step four: After use, the winding assembly resets the vibration motor.

2. The control method for the diagonal bracing mechanism of a telescopic boom forklift according to claim 1, characterized in that: Several metal balls are connected in series to form the spherical chain, and the spherical chain is covered with a pleated tube.

3. The control method for the diagonal bracing mechanism of a telescopic boom forklift according to claim 2, characterized in that: The winding assembly includes a servo motor and a winding wheel; the servo motor drives the winding wheel to rotate; one end of the spherical chain is fixed on the winding wheel; the winding wheel is provided with a plurality of hemispherical grooves corresponding to the diameter of the metal ball.

4. The control method for the diagonal bracing mechanism of a telescopic boom forklift according to claim 1, characterized in that: In the soft ground mode, the high-frequency vibration frequency of the vibration motor is 120Hz-150Hz; the control module detects the grounding pressure of the support frame in real time, and automatically shuts down the vibration motor when the pressure value is ≥1.2MPa.

5. The control method for the diagonal bracing mechanism of a telescopic boom forklift according to claim 1, characterized in that: In the slope easing operation mode, the vibration motor located on the lower side moves down to one-third of the distance from the support plate, and the vibration motor located on the higher side moves up to one-third of the distance from the frame hinge point; the high-frequency vibration frequency is 100Hz-120Hz, the low-frequency vibration frequency is 50Hz-70Hz, and the vibration motor is automatically turned off when the pressure value is ≥1.4MPa.

6. The control method for the diagonal bracing mechanism of a telescopic boom forklift according to claim 5, characterized in that: In the slope easing operation mode, the vibration time of the vibrating motors on the low side and the high side follows a dynamic ratio. When the slope is 3°-5°, the vibration time of the vibrating motor on the low side is 1.5 times that on the high side; when the slope is 5°-8°, the vibration time on the low side is twice that on the high side.

7. The control method for the diagonal bracing mechanism of a telescopic boom forklift according to claim 1, characterized in that: In step two, the driver triggers the corresponding vibration mode through the mode selection button on the forklift's control panel. The control panel displays the current position of the vibration motor, vibration frequency, and vibration time in real time.

8. The control method for the diagonal bracing mechanism of a telescopic boom forklift according to claim 1, characterized in that: The vibration mode also includes an alternating vibration mode, in which the vibration motor moves along the slide rail from top to bottom at a speed of 0.1 m / s, while vibrating at a frequency of 100 Hz-120 Hz.

9. The control method for the diagonal bracing mechanism of a telescopic boom forklift according to claim 1, characterized in that: Both the soft ground mode and the sloping slope operation mode are equipped with an intermittent vibration mechanism for high-frequency vibration, that is, every 10 seconds of continuous vibration is paused for 2 seconds. During the pause, the control module detects the ground pressure of the support frame through the pressure sensor.

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