Hydraulic control device, method and system for lateral shifting distance adjustment of pallet fork

Abstract

The invention provides a hydraulic control device, method and system for lateral shifting distance adjustment of a pallet fork. The hydraulic control device is provided with a hydraulic pump, a first multi-way valve, a second multi-way valve, a first fork knife oil cylinder and a second fork knife oil cylinder. A valve element of the first multi-way valve is connected with a first proportional electromagnetic valve set, and a valve element of the second multi-way valve is connected with a second proportional electromagnetic valve set. An oil outlet of the hydraulic pump is respectively communicated with oil inlets of the first multi-way valve and the second multi-way valve; a working oil port of the first multi-way valve is connected with the first fork knife oil cylinder, and a working oil port of the second multi-way valve is connected with the second fork knife oil cylinder. Through combined control of the two multi-way valves and the four proportional electromagnetic valves, various independent actions of the pallet fork are achieved, and the technical problem that in a traditional hydraulic control device, the distance adjusting action combination mode of the pallet fork is single is solved; through current adjustment of the proportional electromagnetic valve, an operator can dynamically control the moving speed of the pallet fork, and the working efficiency and safety of the forklift are improved.

Description

Technical Field

[0001] This application relates to the field of hydraulic systems for forks, and in particular to a hydraulic control device, method and hydraulic control system for adjusting the lateral movement of forks. Background Technology

[0002] Forklifts, as core equipment in the logistics and handling field, are widely used in warehousing, manufacturing, ports, and construction sites. To adapt to different working conditions, operators need to frequently adjust the distance between the left and right forks to ensure that the forks can accurately embed into the bottom of the goods or match the width of the goods.

[0003] Existing hydraulic adjustable forklift systems typically employ a combination control method using a multi-way valve and multiple solenoid valves. The multi-way valve switches the hydraulic circuit, while multiple solenoid valves control the hydraulic fluid flow to the forklift cylinders to achieve the forklift adjustment action.

[0004] However, existing systems rely on a combination of multi-way valves and multiple solenoid valves to control the switching of oil circuits, which makes operation complex and cumbersome and reduces the operating efficiency of the forks. Summary of the Invention

[0005] This application provides a hydraulic control device, method, and hydraulic control system for adjusting the side shift distance of the forks. By designing the valve core function of a multi-way valve and using a coordinated control strategy with a proportional solenoid valve, the flexibility and operational accuracy of the side shift distance adjustment of the forks are improved, thereby increasing the operating efficiency of the forks.

[0006] In a first aspect, this application provides a hydraulic control device for adjusting the lateral movement of forks, comprising:

[0007] Hydraulic pump, first multi-way valve, second multi-way valve, first fork cylinder and second fork cylinder;

[0008] The valve core of the first multi-way valve is connected to a first proportional solenoid valve group, and the valve core of the second multi-way valve is connected to a second proportional solenoid valve group.

[0009] The oil outlet of the hydraulic pump is connected to the oil inlet of the first multi-way valve and the second multi-way valve, respectively.

[0010] The working port of the first multi-way valve is connected to the first fork cylinder, and the working port of the second multi-way valve is connected to the second fork cylinder.

[0011] Furthermore, the first proportional solenoid valve group includes a first proportional solenoid valve and a second proportional solenoid valve.

[0012] The second proportional solenoid valve group includes a third proportional solenoid valve and a fourth proportional solenoid valve;

[0013] The first proportional solenoid valve and the second proportional solenoid valve are used to control the valve core opening and displacement of the first multi-way valve.

[0014] The third and fourth proportional solenoid valves are used to control the valve core opening and displacement of the second multi-way valve.

[0015] Furthermore, the working ports of the first multi-way valve include a first rod-side port and a first rodless port;

[0016] The first rod chamber oil port is connected to the rod chamber of the first fork cylinder;

[0017] The first rodless chamber port is connected to the rodless chamber of the first fork cylinder.

[0018] Furthermore, the working ports of the second multi-way valve include a second rod-side port and a second rodless port;

[0019] The second rod chamber oil port is connected to the rod chamber of the second fork cylinder;

[0020] The second rodless chamber port is connected to the rodless chamber of the second fork cylinder.

[0021] Furthermore, the hydraulic pump is a constant pressure variable displacement piston pump.

[0022] Secondly, this application provides a hydraulic control method for adjusting the side displacement of forks, including:

[0023] Obtain proportional control instructions;

[0024] The operating current of the first proportional solenoid valve group and the operating current of the second proportional solenoid valve group are determined according to the proportional control command.

[0025] Based on the operating current of the first proportional solenoid valve group, the second proportional solenoid valve group, and the preset operating current range, the valve core operating mode of the first multi-way valve and the valve core operating mode of the second multi-way valve are determined.

[0026] Hydraulic control of the fork cylinder is completed according to the valve core working mode of the first multi-way valve and the valve core working mode of the second multi-way valve.

[0027] The first proportional solenoid valve group and the second proportional solenoid valve group are respectively connected to the valve core of the first multi-way valve and the valve core of the second multi-way valve.

[0028] Furthermore, the preset operating current range includes a first current range and a second current range;

[0029] The valve core operating modes include a first operating mode and a second operating mode;

[0030] The current range of the first current range is 550~750mA, and the current range of the second current range is 350~550mA.

[0031] The first working mode indicates that the multi-way valve has both oil inlet and oil return functions, and the second working mode indicates that the multi-way valve has only oil inlet function or only oil return function.

[0032] When the operating current is within the first current range, the valve core operating mode is in the first operating mode;

[0033] When the operating current is within the second current range, the valve core is in the second operating mode.

[0034] Furthermore, based on the valve core operating modes of the first multi-way valve and the second multi-way valve, hydraulic control of the fork cylinder is achieved, including:

[0035] Identify the first fork cylinder connected to the working port of the first multi-way valve and the second fork cylinder connected to the working port of the second multi-way valve;

[0036] Based on the working mode of the valve core of the first multi-way valve, the fork of the first fork cylinder is controlled to perform lateral displacement adjustment, thereby completing the hydraulic control of the first fork cylinder.

[0037] According to the valve core working mode of the second multi-way valve, the fork of the second fork cylinder is controlled to perform lateral displacement adjustment, thereby completing the hydraulic control of the second fork cylinder in the fork cylinder.

[0038] Thirdly, this application provides a hydraulic control device for adjusting the side displacement of forks, comprising:

[0039] The control command acquisition module is used to acquire proportional control commands;

[0040] The operating current determination module is used to determine the operating current of the first proportional solenoid valve group and the second proportional solenoid valve group according to the proportional control command.

[0041] The valve core operating mode determination model is used to determine the valve core operating mode of the first multi-way valve and the valve core operating mode of the second multi-way valve based on the operating current of the first proportional solenoid valve group, the second proportional solenoid valve group and the preset operating current range.

[0042] The hydraulic control module is used to perform hydraulic control of the fork cylinder according to the valve core working mode of the first multi-way valve and the valve core working mode of the second multi-way valve.

[0043] Fourthly, this application provides a hydraulic control system, including: a memory, a processor, and a hydraulic control device for fork lateral movement adjustment as described in any one of the first aspects;

[0044] The memory stores computer-executed instructions;

[0045] The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any of the second aspects.

[0046] This application provides a hydraulic control device, method, and control system for adjusting the side displacement of forks. The system includes a hydraulic pump, a first multi-way valve, a second multi-way valve, a first fork cylinder, and a second fork cylinder. The valve core of the first multi-way valve is connected to a first proportional solenoid valve group, and the valve core of the second multi-way valve is connected to a second proportional solenoid valve group. The outlet of the hydraulic pump is connected to the inlet of both the first and second multi-way valves. The working port of the first multi-way valve is connected to the first fork cylinder, and the working port of the second multi-way valve is connected to the second fork cylinder. Through the combined control of two multi-way valves and four proportional solenoid valves, multiple independent fork movements are achieved, solving the technical problem of the single combination of fork displacement movements in traditional hydraulic control devices. By adjusting the current of the proportional solenoid valves, the operator can dynamically control the fork movement speed, improving the forklift's operating efficiency and safety. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0048] Figure 1 A schematic diagram of the hydraulic control device for fork side shift adjustment provided in this application;

[0049] Figure 2 A schematic flowchart of the hydraulic control method for fork side shift adjustment provided in this application;

[0050] Figure 3 Another schematic diagram of the hydraulic control device for fork side shift adjustment provided in this application.

[0051] Figure label:

[0052] 10-Hydraulic control device for adjusting the lateral movement of the forks; 101-Hydraulic pump; 102-First multi-way valve 102; 103-Second multi-way valve; 104-First fork cylinder; 105-Second fork cylinder; 106-First proportional solenoid valve; 107-Second proportional solenoid valve; 108-Third proportional solenoid valve; 109-Fourth proportional solenoid valve; 110-First rod-side port; 111-First rodless port; 112-Second rod-side port; 113-Second rodless port.

[0053] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0054] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0055] This application applies to fork spacing control systems for heavy-duty forklifts (such as counterbalance forklifts and stackers), especially for complex working conditions in warehousing, manufacturing, and ports where frequent adjustments to fork spacing are required. In actual operation, forklifts need to dynamically adjust the fork position according to the size, shape, and stacking environment of the goods. For example, when handling irregularly shaped goods in a confined space, operators need the forks to have a combination of actions such as single-sided fine adjustment, bilateral synchronous movement, and rapid opening and closing.

[0056] Based on the above scenarios, it is clear that existing hydraulic fork adjustment systems rely on a combination of multi-way valves and multiple solenoid valves for control, resulting in complex hydraulic circuits, cumbersome operation, and high maintenance costs. For example, in the case of simultaneous movement of the two blades, traditional systems require switching the states of two solenoid valves simultaneously. Furthermore, existing systems lack the ability to adjust the fork movement speed in real time, leading to insufficient operational precision during precision operations. For instance, when fine-tuning the fork position, traditional systems, due to the fixed speed of the fork cylinders, are prone to operational errors caused by excessively fast or slow speeds, reducing operational safety.

[0057] This application achieves flexible control of forklift fork offset movement through the design of the valve core function of a multi-way valve and the coordinated control strategy of proportional solenoid valves. Specifically, by designing the valve core function of the multi-way valve, it can operate in two modes under different current inputs: "oil inlet + oil return" or "oil inlet only / oil return only". Combined with the current regulation capability of the proportional solenoid valves, the combined control logic of two multi-way valves and four proportional solenoid valves is simplified into a combination of "single valve single action" or "dual valve linkage action", thereby realizing eight independent actions of the forks, reducing system complexity and expanding the combination of offset actions. At the same time, the current regulation of the proportional solenoid valves enables real-time control of the fork movement speed.

[0058] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0059] Figure 1 This is a schematic diagram of the hydraulic control device for adjusting the fork side displacement provided in this application. Figure 1 As shown in the embodiment of this application, the hydraulic control device 10 for fork side shift adjustment is based on the fact that it achieves precise and independent control of two fork cylinders through two sets of proportional solenoid valves, thereby completing the side shift and spacing adjustment of the fork, solving the problems of inflexible fork side shift adjustment action, poor control accuracy and low efficiency in the prior art.

[0060] Specifically, the hydraulic control device 10 for adjusting the fork side shift includes a hydraulic pump 101, a first multi-way valve 102, a second multi-way valve 103, a first fork cylinder 104, and a second fork cylinder 105.

[0061] The hydraulic pump 101, serving as the power source for the fork's lateral movement adjustment, can be mounted on the fork support along with the motor or gearbox. The outlet of the hydraulic pump 101 is connected via pipelines to the inlet of the first multi-way valve 102 and the inlet of the second multi-way valve 103, simultaneously supplying pressurized oil to both control circuits. By supplying oil to both control circuits simultaneously through a single hydraulic pump 101, the system boasts a compact structure, reducing manufacturing costs and complexity, while ensuring consistency of power sources for the two fork cylinders.

[0062] In this embodiment, the hydraulic pump 101 is a constant-pressure variable displacement piston pump. This type of pump can automatically adjust the output flow rate according to the load demand, while maintaining a constant flow rate at the set pressure, and the output flow rate is almost zero during non-operational periods. This greatly reduces energy consumption, reduces system heat generation, and effectively controls operating noise, making it particularly suitable for forklifts that require frequent start-stop and long-term standby conditions, achieving a balance between energy saving and reliability.

[0063] In addition, the valve core of the first multi-way valve 102 is connected to a first proportional solenoid valve group, and the valve core of the second multi-way valve 103 is connected to a second proportional solenoid valve group. Specifically, the first proportional solenoid valve group includes a first proportional solenoid valve 106 and a second proportional solenoid valve 107, and the second proportional solenoid valve group includes a third proportional solenoid valve 108 and a fourth proportional solenoid valve 109. The proportional solenoid valve is a solenoid valve that adjusts the valve core opening by means of a current value. It achieves continuous and precise electronic proportional adjustment of the valve core opening and displacement, replacing the traditional on / off control. This allows the flow rate to the hydraulic cylinder to be smoothly and steplessly controlled, thereby achieving precise adjustment of the fork's lateral movement speed, avoiding shock during start-up and shutdown, and improving operational stability and positioning accuracy.

[0064] On the other hand, the working port of the first multi-way valve 102 is connected to the first fork cylinder 104. More specifically, the working port of the first multi-way valve 102 includes a first rod-side port 110 and a first rodless-side port 111. The first rod-side port 110 is connected in series with the rod-side chamber of the first fork cylinder 104 via an oil pipe; the first rodless-side port 111 is connected in series with the rodless-side chamber of the first fork cylinder 104 via an oil pipe.

[0065] Similarly, the working port of the second multi-way valve 103 is connected to the second fork cylinder 105. More specifically, the working ports of the second multi-way valve 103 include a second rod-side port 112 and a second rodless port 113. The second rod-side port 112 is connected in series with the rod-side chamber of the second fork cylinder 105 via an oil pipe; the second rodless port 113 is connected in series with the rodless chamber of the second fork cylinder 105 via an oil pipe. This independent connection method of "one valve, one cylinder" allows the first fork cylinder 104 and the second fork cylinder 105 to be controlled completely independently. The two forks can move synchronously (maintaining parallel lateral movement) or asynchronously (one extends, one retracts, or moves at different speeds), providing a fundamental hardware basis for flexibly and efficiently adjusting the fork spacing.

[0066] The hydraulic control device proposed in this application can achieve all the functions that traditional systems require 6-8 valves with only 4 proportional solenoid valves, reducing the number of valves by about 40% and greatly simplifying the hydraulic circuit structure; in addition, through intelligent current zone control, it supports 6 basic action modes, breaking through the limitation of traditional systems that can only achieve symmetrical extension and retraction.

[0067] On the other hand, the hydraulic control device for fork side shift adjustment proposed in this application introduces an innovative control logic that divides the valve core working mode by current range to solve the technical problem of how to achieve flexible switching between single action and compound action.

[0068] Specifically, the operator inputs a command through the proportional handle. After receiving the command, the controller outputs a specific amount of working current to the first proportional solenoid valve group 106 and the second proportional solenoid valve group 107, thereby driving the valve cores of the first multi-way valve 102 and the second multi-way valve 103 to move, controlling the direction and flow of the oil, and finally completing the control of the fork cylinder.

[0069] Furthermore, this invention cleverly defines two operating modes for the two multi-way valves by pre-setting the operating current range, which is key to achieving complex actions. The first operating mode refers to a mode where, when the operating current applied to a single proportional solenoid valve assembly is in the range of 550~750mA, the displacement of the multi-way valve spool is large, allowing the spool to simultaneously connect the pump's pressurized oil and the system's return oil path. This mode enables the fork cylinder connected to the multi-way valve to independently complete the entire extension or retraction action, as oil enters one chamber while smoothly returning oil to the other.

[0070] The second operating mode refers to the situation where, when the operating current applied to a single proportional solenoid valve assembly is in the range of 350~550mA, the displacement of the valve core driven by it is small, only connecting the valve core to one of the pressure oil circuit or the return oil circuit. This mode restricts the complete movement of the cylinder, making it only serve as an oil inlet source or return oil channel, thus creating conditions for achieving complex actions such as "cross-supply" between two cylinders, which will be described in detail later.

[0071] Specifically, for the first multi-way valve 102, when the first proportional solenoid valve 106 is energized, it drives the valve core to move in one direction; when the second proportional solenoid valve 107 is energized, it drives the valve core to move in the opposite direction. By controlling the magnitude of the current input to the proportional solenoid valves, the displacement of the valve core can be precisely and continuously controlled, thereby precisely adjusting the flow rate through the valve port. For example, for the extension and retraction control of the first fork cylinder 104, a specific magnitude of current can be output to the first proportional solenoid valve 106 and the second proportional solenoid valve 107 according to the proportional control command. This current drives the valve core of the first multi-way valve 102 to move to the corresponding opening degree. Pressurized oil from the hydraulic pump 101 through the first multi-way valve 102 enters the first rodless chamber (pushing the piston rod to extend) or the first rod chamber (pushing the piston rod to retract) of the first fork cylinder 104, thereby realizing the lateral movement drive of the first fork.

[0072] For example, when the first fork controlled by the first fork cylinder 104 extends alone, the first proportional solenoid valve 106 in the first proportional solenoid valve 106 group needs to operate in the 550~750mA current range (first working mode). At this time, the valve core of the first multi-way valve 102 has oil inlet and oil return functions. The power oil source of the hydraulic pump 101 is input to the first rodless chamber of the first fork cylinder 104 through the first rodless chamber oil port 111. Under the push of the high pressure oil, the first fork cylinder 104 extends, and the oil in the first rod chamber flows back to the oil tank through the first rod chamber oil port 110 of the first multi-way valve 102. Through this process, the smooth and controllable extension of a single fork is achieved, which is suitable for fine adjustment or unilateral operation.

[0073] When the first fork retracts, the second proportional solenoid valve 107 operates in the 550~750mA current range. At this time, the valve core of the first multi-way valve 102 has oil inlet and oil return functions. The hydraulic pump 101 power oil source is input to the first rod chamber of the first fork cylinder 104 through the A1 oil port of the first multi-way valve 102. Under the push of the high-pressure oil, the first fork cylinder 104 retracts, and the first rodless chamber returns oil through the B1 oil port of the first multi-way valve 102.

[0074] Similarly, the working principle of the second multi-way valve 103 is exactly the same as that of the first proportional solenoid valve group 106, used to independently control the opening and displacement of the valve core of the second multi-way valve 103. The extension and retraction control of the second fork cylinder 105 is completely independent and similar to the extension and retraction control of the first fork cylinder 104. Specifically, by controlling the current of the third proportional solenoid valve 108 and the fourth proportional solenoid valve 109, the valve core of the second multi-way valve 103 is independently driven, thereby controlling the movement of the second fork cylinder 105.

[0075] For example, when the second fork is extended, the third proportional solenoid valve 108 operates in the current range of 550~750mA. At this time, the valve core of the second multi-way valve 103 has oil inlet and oil return functions. The power oil source of the hydraulic pump 101 is input to the second rodless chamber of the second fork cylinder 105 through the oil port 113 of the second rodless chamber of the second multi-way valve 103. Under the push of the high pressure oil, the second fork cylinder 105 extends, and the second rod chamber returns oil through the oil port 112 of the second rod chamber of the second multi-way valve 103.

[0076] When the second fork retracts, the fourth proportional solenoid valve 109 operates in the 550~750mA current range. At this time, the valve core of the second multi-way valve 103 has oil inlet and oil return functions. The hydraulic pump 101 power oil source is input to the second rod chamber of the second fork cylinder 105 through the second rod chamber oil port 112 of the second multi-way valve 103. Under the push of high pressure oil, the second fork cylinder 105 retracts, and the second rodless chamber returns oil through the second rodless chamber oil port 113 of the second multi-way valve 103.

[0077] The above two operating processes enable the smooth and controllable extension of a single fork, suitable for fine-tuning or unilateral operation, and the operation is simple and direct.

[0078] In another scenario of this application, when the first and second forks move laterally in the same direction, the first proportional solenoid valve 106 operates within the 350-550mA current range, and the fourth proportional solenoid valve 109 operates within the 350-550mA current range. At this time, the pressure oil from the hydraulic pump 101 enters the first rodless chamber of the first fork cylinder 104 only through port B2 of the first multi-way valve 102, pushing it to extend. Simultaneously, the second rodless chamber of the second fork cylinder 105 needs to return oil through port B3 of the second multi-way valve 103, but its inlet is cut off. At this point, the oil discharged from the first rod chamber of the first fork cylinder 104 is guided to the second rodless chamber of the second fork cylinder 105 through an external hydraulic line. Thus, the extension of the first fork cylinder 104 forces the retraction of the second fork cylinder 105, achieving the same-direction movement of the two forks. This compound motion mode enables the two forks to move in the same direction with oil supplied by only a single oil pump, which greatly improves the lateral movement efficiency and reduces the flow requirement and energy consumption of the hydraulic pump 101.

[0079] In another implementation of this application, the first and second forks can also open simultaneously. In this case, the first proportional solenoid valve 106 operates in the 550-750mA current range, and the second proportional solenoid valve 107 operates in the 550-750mA current range. The hydraulic pump 101 supplies power oil through the B1 port of the first multi-way valve 102 and the B2 port of the second multi-way valve 103, respectively, to the first rodless chamber of the first fork cylinder 104 and the second rodless chamber of the second fork cylinder 105. At this time, the first and second fork cylinders 104 and 105 extend, and the first and second rod chambers return oil through the first rod chamber port 110 of the first multi-way valve 102 and the first rodless chamber port 111 of the second multi-way valve 103, respectively. This step achieves synchronous and equal-speed extension of the two forks, rapidly increasing the fork spacing, and the control logic is simple and direct.

[0080] In another implementation of this application, when the first and second forks are in the closing position, the second proportional solenoid valve 107 and the fourth proportional solenoid valve 109 simultaneously operate in the 550~750mA current range. The hydraulic pump 101 supplies power oil to the first rod chamber of the first fork cylinder 104 and the second rod chamber of the second fork cylinder 105 through the first rod chamber port 110 of the first multi-way valve 102 and the first rodless chamber port 111 of the second multi-way valve 103, respectively. At this time, the first fork cylinder 104 and the second fork cylinder 105 retract simultaneously, and the first rod chamber and the second rod chamber return oil through the second rod chamber port 112 of the first multi-way valve 102 and the second rodless chamber port 113 of the second multi-way valve 103, respectively. This process achieves synchronous and equal-speed retraction of the two forks, rapidly reducing the fork spacing.

[0081] Furthermore, when millimeter-level fine-tuning is required, asynchronous precision control can be achieved by controlling the current values ​​of different proportional solenoid valves. For example, by operating the first proportional solenoid valve 106 at 600mA (corresponding to 50% speed) and the third proportional solenoid valve 108 at 300mA (cylinder locking), the second fork can extend independently at a medium speed while the first fork remains stationary. This precise asynchronous control capability simplifies complex pitch adjustments, allowing operators to achieve precise positioning—a feat that would require multiple operations in traditional systems—with a single handle.

[0082] Of course, this application also supports continuous compound actions, such as first performing simultaneous extension of both forks (550-750mA full-function mode), then switching to unidirectional movement (350-550mA limited mode), and finally performing single-fork fine-tuning. This continuous action sequence realizes an intelligent operation process of "gripping-positioning-translation", simplifying the complex operation that traditionally requires multiple independent operation steps into smooth continuous actions.

[0083] The hydraulic control device for fork lateral displacement adjustment proposed in this application uses two independent sets of proportional solenoid valve groups to control a multi-way valve, thereby achieving precise and independent control of the two fork cylinders. It can not only complete the smooth stepless speed regulation and precise positioning of the forks, but also flexibly realize composite actions such as single fork action, synchronous opening / closing of double forks, and efficient lateral displacement in the same direction. At the same time, the use of a constant pressure variable pump significantly reduces system energy consumption and noise. The overall structure is compact and the control is highly intelligent.

[0084] Figure 2 A flowchart illustrating the hydraulic control method for fork side-shift adjustment provided in this application. Figure 2 As shown, in this embodiment... Figure 1 Based on the embodiments, the hydraulic control method for fork side shift adjustment is described in detail, and the method includes:

[0085] S201, Obtain proportional control instructions.

[0086] Specifically, the proportional control command originates from the operation signal issued by the operator through input devices such as the proportional handle. This signal contains the desired action intention of the fork (such as extending alone, opening synchronously, or moving laterally in the same direction).

[0087] This step transforms the operator's intuitive intentions into electrical signals that can be recognized and processed by the control system, providing a basis for instruction input to achieve precise automated control.

[0088] S202. Determine the operating current of the first proportional solenoid valve group and the second proportional solenoid valve group according to the proportional control command.

[0089] In this step, the received proportional control command is parsed into the specific operating current value of each solenoid valve in the first and second proportional solenoid valve groups. This achieves a precise mapping from high-level action commands to low-level drive parameters, decomposing complex hydraulic action requirements into precise control signals for specific actuators. This is a crucial link connecting the preceding and following steps.

[0090] S203. Based on the operating current of the first proportional solenoid valve group and the second proportional solenoid valve group and the preset operating current range, determine the valve core operating mode of the first multi-way valve and the valve core operating mode of the second multi-way valve.

[0091] The preset operating current range includes a first current range (550~750mA) and a second current range (350~550mA). Correspondingly, the valve core operating modes include a first operating mode (indicating that the multi-way valve has both oil inlet and oil return functions) and a second operating mode (indicating that the multi-way valve has only oil inlet function or only oil return function).

[0092] When the operating current applied to a certain proportional solenoid valve is within the first current range, the operating mode of the multi-way valve spool driven by it is determined to be the first operating mode. When the operating current applied to a certain proportional solenoid valve is within the second current range, the operating mode of the multi-way valve spool driven by it is determined to be the second operating mode.

[0093] This step, through simple current range division, assigns two distinct functional states to the two multi-way valves, resolving the contradiction that a single valve core control logic cannot adapt to complex motion requirements. The first operating mode ensures that a single cylinder can independently complete its full stroke, while the second operating mode, by restricting the oil circuit, creates the necessary conditions for forming a "cross-circulation oil circuit" between the two cylinders, enabling efficient composite actions such as lateral movement in the same direction, thereby greatly enriching the system's functionality and flexibility.

[0094] S204. Based on the valve core working mode of the first multi-way valve and the valve core working mode of the second multi-way valve, complete the hydraulic control of the fork cylinder.

[0095] Specifically, in this step, the first fork cylinder connected to the working port of the first multi-way valve and the second fork cylinder connected to the working port of the second multi-way valve are first identified. Then, according to the valve core operating mode determined for the first multi-way valve, the fork of the first fork cylinder is controlled to perform the expected lateral displacement adjustment action. Simultaneously, according to the valve core operating mode determined for the second multi-way valve, the fork of the second fork cylinder is controlled to perform the lateral displacement adjustment action.

[0096] This step transforms the "working mode" determined in the preceding steps into actual "actions." By combining different working modes of two multi-way valves (e.g., both in the first mode for synchronous action; one in the first mode and the other in the second mode for specific composite actions), all predetermined functions, from simple single fork movement to complex double fork lateral movement, can be reliably and efficiently executed, ultimately achieving intelligent, diversified, and efficient hydraulic control of fork lateral movement adjustment.

[0097] This application embodiment intelligently divides the two working modes of the multi-way valve by preset different working current ranges, realizing the flexible configuration of multiple actions of the fork under a single control strategy. It not only ensures the integrity of the independent movement of a single fork, but also creates the conditions for realizing complex actions such as efficient lateral movement of the two forks. Thus, it solves the technical problem of complex action scheduling with simple control logic, significantly improving the operating efficiency and the level of system intelligence.

[0098] Figure 3 This is a schematic diagram of the hydraulic control device for adjusting the fork side displacement provided in this application. Figure 3 As shown, the hydraulic control device 30 for fork side shift adjustment includes:

[0099] The control command acquisition module 301 is used to acquire proportional control commands;

[0100] The operating current determination module 302 is used to determine the operating current of the first proportional solenoid valve group and the second proportional solenoid valve group according to the proportional control command.

[0101] The valve core working mode determination model 303 is used to determine the valve core working mode of the first multi-way valve and the valve core working mode of the second multi-way valve based on the working current of the first proportional solenoid valve group, the second proportional solenoid valve group and the preset working current range.

[0102] The hydraulic control module 304 is used to perform hydraulic control of the fork cylinder according to the valve core working mode of the first multi-way valve and the valve core working mode of the second multi-way valve.

[0103] In one possible implementation, the preset operating current range includes a first current range and a second current range;

[0104] The valve core operating modes include a first operating mode and a second operating mode;

[0105] The current range of the first current range is 550~750mA, and the current range of the second current range is 350~550mA.

[0106] The first working mode indicates that the multi-way valve has both oil inlet and oil return functions, while the second working mode indicates that the multi-way valve only has oil inlet function or only has oil return function.

[0107] When the operating current is in the first current range, the valve core is in the first operating mode.

[0108] When the operating current is in the second current range, the valve core operates in the second operating mode.

[0109] Furthermore, the hydraulic control module 304 is also specifically used for:

[0110] Identify the first fork cylinder connected to the working port of the first multi-way valve and the second fork cylinder connected to the working port of the second multi-way valve;

[0111] Based on the working mode of the valve core of the first multi-way valve, the fork of the first fork cylinder is controlled to perform lateral displacement adjustment, thereby completing the hydraulic control of the first fork cylinder.

[0112] Based on the working mode of the valve core of the second multi-way valve, the fork of the second fork cylinder is controlled to perform lateral displacement adjustment, thereby completing the hydraulic control of the second fork cylinder in the fork cylinder.

[0113] In this embodiment, the control command acquisition module 301 serves as a "sensing entry point," receiving proportional control commands from the operator's handle and converting these commands (such as "rapid left shift" or "slow right shift") into processable initial electrical signals, thus laying the foundation for subsequent precise current control.

[0114] The operating current determination module 302 receives proportional control commands from the control command acquisition module 301 and precisely converts them into the operating current values ​​required to drive the first and second proportional solenoid valve groups. This module outputs a continuously adjustable proportional current, allowing for stepless adjustment of the solenoid valve opening, thus achieving precise control of hydraulic oil flow and direction. This is crucial for achieving smooth and precise lateral movement adjustment of the fork. Simultaneously, because it enables smooth flow changes, it avoids sudden opening or closing of the valve core, significantly reducing hydraulic shock and pipeline vibration, thereby improving equipment lifespan and operational comfort.

[0115] The valve core operating mode determination module 303 receives the operating current output from the operating current determination module 302 and compares it with a preset operating current range, performing logical judgments to determine the appropriate operating mode for the valve cores of the first and second multi-way valves. This module discretizes continuous electrical signals into explicit "operating mode" commands. Operators or higher-level controllers do not need to concern themselves with the complex correspondence between current and valve core position; they only need to issue macroscopic commands, and this module automatically completes the mode switching. This greatly simplifies the system control logic and reduces the complexity of software programming.

[0116] The hydraulic control module 304 receives valve core operating mode instructions from the valve core operating mode determination model 303 and converts the electrical control signals into specific hydraulic actions. By identifying the cylinders connected to each multi-way valve and applying the corresponding valve core mode, it directly controls the extension and retraction of the cylinders, thereby driving the fork knife to complete lateral movement and pitch adjustment.

[0117] The hydraulic control device for fork lateral movement adjustment provided in this embodiment achieves continuous, stepless adjustment of the fork lateral movement speed and position through the coordinated operation of the four modules mentioned above. The movement is smooth and precise, avoiding any jerking sensation. It automatically completes the entire chain of conversion from command to current to operating mode, reducing operational difficulty and minimizing the possibility of malfunctions due to misoperation. Clear module division of labor and preset logic enable faster system response and efficient coordination of the actions of multiple actuators, improving equipment efficiency.

[0118] The hydraulic control device for adjusting the fork side displacement provided in this embodiment can execute the method provided in the above-described method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0119] This application also provides a hydraulic control system, including a memory, a processor, and a hydraulic control device for fork side shift adjustment as described in any of the above.

[0120] The memory stores the instructions that the computer executes;

[0121] The processor executes computer execution instructions stored in memory, causing the processor to perform the above method.

[0122] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0123] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0124] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0125] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A hydraulic control device for adjusting the lateral movement distance of forks, characterized in that, include: Hydraulic pump, first multi-way valve, second multi-way valve, first fork cylinder and second fork cylinder; The valve core of the first multi-way valve is connected to a first proportional solenoid valve group, and the valve core of the second multi-way valve is connected to a second proportional solenoid valve group. The oil outlet of the hydraulic pump is connected to the oil inlet of the first multi-way valve and the second multi-way valve, respectively. The working port of the first multi-way valve is connected to the first fork cylinder, and the working port of the second multi-way valve is connected to the second fork cylinder.

2. The hydraulic control device according to claim 1, characterized in that, The first proportional solenoid valve group includes a first proportional solenoid valve and a second proportional solenoid valve. The second proportional solenoid valve group includes a third proportional solenoid valve and a fourth proportional solenoid valve; The first proportional solenoid valve and the second proportional solenoid valve are used to control the valve core opening and displacement of the first multi-way valve. The third and fourth proportional solenoid valves are used to control the valve core opening and displacement of the second multi-way valve.

3. The hydraulic control device according to claim 1, characterized in that, The working ports of the first multi-way valve include a first rod-side port and a first rodless port; The first rod chamber oil port is connected to the rod chamber of the first fork cylinder; The first rodless chamber port is connected to the rodless chamber of the first fork cylinder.

4. The hydraulic control device according to claim 1, characterized in that, The working ports of the second multi-way valve include a second rod-side port and a second rodless port. The second rod chamber oil port is connected to the rod chamber of the second fork cylinder; The second rodless chamber port is connected to the rodless chamber of the second fork cylinder.

5. The hydraulic control device according to any one of claims 1 to 4, characterized in that, The hydraulic pump is a constant pressure variable displacement piston pump.

6. A hydraulic control method for adjusting the lateral movement of forks, characterized in that, include: Obtain proportional control instructions; The operating current of the first proportional solenoid valve group and the operating current of the second proportional solenoid valve group are determined according to the proportional control command. Based on the operating current of the first proportional solenoid valve group, the second proportional solenoid valve group, and the preset operating current range, the valve core operating mode of the first multi-way valve and the valve core operating mode of the second multi-way valve are determined. Hydraulic control of the fork cylinder is completed according to the valve core working mode of the first multi-way valve and the valve core working mode of the second multi-way valve. The first proportional solenoid valve group and the second proportional solenoid valve group are respectively connected to the valve core of the first multi-way valve and the valve core of the second multi-way valve.

7. The hydraulic control method according to claim 6, characterized in that, The preset operating current range includes a first current range and a second current range; The valve core operating modes include a first operating mode and a second operating mode; The current range of the first current range is 550~750mA, and the current range of the second current range is 350~550mA. The first working mode indicates that the multi-way valve has both oil inlet and oil return functions, and the second working mode indicates that the multi-way valve has only oil inlet function or only oil return function. When the operating current is within the first current range, the valve core operating mode is in the first operating mode; When the operating current is within the second current range, the valve core is in the second operating mode.

8. The hydraulic control method according to claim 6 or 7, characterized in that, Based on the valve core operating modes of the first multi-way valve and the second multi-way valve, hydraulic control of the fork cylinder is achieved, including: Identify the first fork cylinder connected to the working port of the first multi-way valve and the second fork cylinder connected to the working port of the second multi-way valve; Based on the working mode of the valve core of the first multi-way valve, the fork of the first fork cylinder is controlled to perform lateral displacement adjustment, thereby completing the hydraulic control of the first fork cylinder. Based on the valve core working mode of the second multi-way valve, the fork of the second fork cylinder is controlled to perform lateral displacement adjustment, thereby completing the hydraulic control of the second fork cylinder.

9. A hydraulic control device for adjusting the lateral movement of forks, characterized in that, include: The control command acquisition module is used to acquire proportional control commands; The operating current determination module is used to determine the operating current of the first proportional solenoid valve group and the second proportional solenoid valve group according to the proportional control command. The valve core operating mode determination model is used to determine the valve core operating mode of the first multi-way valve and the valve core operating mode of the second multi-way valve based on the operating current of the first proportional solenoid valve group, the second proportional solenoid valve group and the preset operating current range. The hydraulic control module is used to perform hydraulic control of the fork cylinder according to the valve core working mode of the first multi-way valve and the valve core working mode of the second multi-way valve.

10. A hydraulic control system, characterized in that, include: The memory, the processor, and the hydraulic control device for adjusting the fork side shift as described in any one of claims 1-5; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 6-8.

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