Counting type speed control sensing device and forklift

Abstract

The utility model provides a counting-type speed control sensing device and a forklift, and the device comprises a moving part which is installed on a track and reciprocates along the track; the photoelectric sensing structure is arranged on one side of the track and located on the moving path of the moving component, a plurality of light-transmitting areas and light-sensitive areas are formed in the photoelectric sensing structure, and the light-transmitting areas and the light-sensitive areas are evenly and alternately arranged; the sensing unit is arranged on the moving part, and the sensing unit sequentially passes through the light-transmitting area and the light-sensitive area of the photoelectric sensing structure along with the reciprocating motion of the moving part. The sensing unit on the moving part sequentially passes through the light-transmitting area and the light-sensitive area of the photoelectric sensing structure, the position and the speed of the moving part can be accurately monitored, and therefore accurate control over the speed is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of forklifts, in particular to a counting type speed control induction device and a forklift. Background Art

[0002] In the technical field of forklifts, accurately controlling the moving speed of the forklift carriage is crucial for improving operation efficiency and safety. Traditional forklift control systems often rely on the operator's experience, which to a certain extent limits the development of forklift automation and precise control. With the progress of industrial automation technology, the demand for precise control of the moving speed of the forklift carriage is increasing day by day, especially in environments where frequent precise positioning and loading / unloading operations are required. In the prior art, by integrating advanced sensors and control systems on the forklift carriage, the position and movement state of the carriage can be monitored in real time. However, the existing sensors and control systems often only provide simple switch signals and cannot accurately reflect the subtle changes during the movement of the forklift carriage, which limits the accuracy and flexibility of forklift speed control. Content of the Utility Model

[0003] In order to solve all or part of the above prior art problems, the utility model provides a counting type speed control induction device and a forklift. By the induction unit passing through the light-transmitting area and the light-sensitive area of the photoelectric induction structure in sequence, the speed of the moving component can be accurately detected, so as to achieve precise speed control.

[0004] To achieve the above object, the utility model provides the following technical solutions:

[0005] A counting type speed control induction device includes: a moving component installed on a track and reciprocating along the track; a photoelectric induction structure arranged on one side of the track and located on the movement path of the moving component, with a plurality of light-transmitting areas and light-sensitive areas opened on the photoelectric induction structure, and the light-transmitting areas and the light-sensitive areas are evenly arranged alternately; an induction unit arranged on the moving component, and as the moving component reciprocates, the induction unit passes through the light-transmitting area and the light-sensitive area of the photoelectric induction structure in sequence. By the induction unit on the moving component passing through the light-transmitting area and the light-sensitive area of the photoelectric induction structure in sequence, the position and speed of the moving component can be accurately monitored, so as to achieve precise control of the speed.

[0006] The induction unit is a first induction switch and a second induction switch that can emit signal light arranged in sequence. When the induction surfaces of the first induction switch and the second induction switch pass through the light-transmitting area or the light-sensitive area, the vertical distance between the two is 0-5 mm. During the movement of the moving component, the control strategy, such as acceleration and deceleration, is quickly adjusted according to the signals output by the induction switches to achieve smooth start, uniform operation and stable stop.

[0007] The size of the light-transmitting area is larger than that of the sensing surface. When the first sensing switch or the second sensing switch is located directly above the light-transmitting area, all the signal light emitted passes through; the size of the photosensitive area is smaller than that of the sensing surface. When the first sensing switch or the second sensing switch is located above the photosensitive area, the signal light emitted is reflected back by the photosensitive area. Due to the matching design of the sizes of the light-transmitting area and the photosensitive area with the sensing surface size, it can be ensured that all the signal light passes through when in the light-transmitting area, while the signal light is reflected when in the photosensitive area. Such signal changes are easy to identify and process.

[0008] The distance between the centers of two adjacent light-transmitting areas and the distance between the centers of two adjacent photosensitive areas are equal to the distance between the centers of the first sensing switch and the second sensing switch. Since the corresponding relationship between the sensing switch and the light-transmitting area and the photosensitive area is fixed, the number of times the sensing switch passes through the light-transmitting area and the photosensitive area can be accurately counted. In long-term or long-distance monitoring, the error accumulation is reduced, thereby improving the counting accuracy of the position and speed changes of the moving component.

[0009] When the moving component is at the starting or ending position of the photoelectric sensing structure, the level signals output by the first sensing switch and the second sensing switch are different; when the moving component is at the middle position of the photoelectric sensing structure, the level signals output by the first sensing switch and the second sensing switch are the same. Different level signals can be recognized by the control system, so as to accurately judge whether the moving component reaches the starting or ending position.

[0010] The first sensing switch and the second sensing switch output high-level signals when located above the photosensitive area and output low-level signals when located above the light-transmitting area. Through the clear distinction between high-level and low-level signals, it can be accurately identified whether the sensing switch has passed through the light-transmitting area or the photosensitive area, thus realizing the precise monitoring of the position of the moving component.

[0011] Both the first sensing switch and the second sensing switch are photoelectric sensors; the photoelectric sensing structure is a linear metal grid. The photoelectric sensor has the characteristics of fast response and high sensitivity. The linear metal grid structure is simple, easy to manufacture and maintain, and at the same time provides a stable photoelectric sensing environment.

[0012] A through hole is provided at the position where the moving component installs the sensing unit, and the sensing unit interacts with the photoelectric sensing structure through the through hole. Reduce the influence of the external environment on the performance of the sensing unit.

[0013] A drive unit capable of triggering the movement of the moving part along the preset track is provided on the moving part. The drive unit adjusts the movement state of the moving part in a timely manner according to the sensed signal change.

[0014] The present utility model also provides a forklift truck with counting-based speed control, which adopts the above-described sensing device. The moving part is a forklift carriage, and the forklift carriage reciprocates along a track on the vehicle body; at least one of the photoinductive structures is fixedly installed on the vehicle body and arranged parallel to the track; the sensing unit is arranged at one end of the forklift carriage. As the forklift carriage reciprocates, the sensing unit sequentially passes through the light-transmitting area and the photosensitive area, and outputs a level signal. The precise control of the movement of the forklift carriage is realized, and the operation efficiency and safety of the forklift truck are improved.

[0015] The present utility model has at least the following beneficial effects:

[0016] 1) By the sensing unit on the moving part sequentially passing through the light-transmitting area and the photosensitive area of the photoinductive structure, the precise monitoring of the position and speed of the moving part is realized. The uniform alternating arrangement of the light-transmitting area and the photosensitive area, as well as the precise design of the first sensing switch and the second sensing switch in the sensing unit, enable the counting mechanism to be triggered each time, so as to accurately record the number of light-transmitting areas passed by the moving part, and then calculate the actual speed. This precise monitoring mechanism provides reliable data support for the precise control of the speed of the moving part.

[0017] 2) Through the signal output by the sensing unit, the control system can quickly adjust the acceleration and deceleration of the moving part to achieve smooth start, uniform motion and smooth stop. At the initial position, the intermediate position and the end position of the moving part, the sensing switch outputs different level signals, which are recognized by the control system to judge the current position of the moving part, and the motion strategy is adjusted accordingly. For example, a lower initial acceleration is given at the initial position, and the speed is gradually reduced to stop when approaching the end position. Such a control logic ensures that even when the moving part has a large weight, the inertial impact can be effectively reduced and precise control can be achieved.

[0018] 3) By installing the sensing unit on the forklift carriage and enabling it to sequentially pass through the light-transmitting area and the photosensitive area of the photoinductive structure when reciprocating along the track on the vehicle body, the position and speed of the forklift carriage can be monitored in real time. This precise monitoring enables the control system to timely adjust the running state of the forklift carriage, such as acceleration and deceleration, so as to achieve smooth start, uniform motion and smooth stop, and significantly improve the safety and operation precision of the forklift truck during operation. Description of the Drawings

[0019] To more clearly illustrate the technical solutions in the specific embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following-described drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 It is a schematic diagram when the moving part in the induction device of the embodiment of the present utility model is in the initial state.

[0021] Figure 2 It is a schematic diagram when the moving part in the induction device of the embodiment of the present utility model is in the intermediate state 1.

[0022] Figure 3 It is a schematic diagram when the moving part in the induction device of the embodiment of the present utility model is in the intermediate state 2.

[0023] Figure 4 It is a schematic diagram when the moving part in the induction device of the embodiment of the present utility model is in the end state.

[0024] Reference numerals: 1 - moving part; 2 - photoelectric induction structure; 201 - light-transmitting area; 202 - photosensitive area; 3 - first induction switch; 4 - second induction switch. Specific embodiments

[0025] The following will clearly and completely describe the technical solutions in the specific embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, rather than all embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

[0026] The following describes the implementation of the present utility model in detail with specific embodiments.

[0027] Embodiment 1

[0028] In the embodiment of the present utility model, with reference to Figures 1 - 4As shown, a counting-type speed control induction device is provided. This device mainly includes three core components: a moving part 1, a photoelectric induction structure 2, and an induction unit. The moving part 1 is installed on the track and reciprocates along the track. To achieve precise monitoring of the motion state of the moving part 1, the photoelectric induction structure 2 is installed on one side of the track. This structure is located on the motion trajectory of the moving part 1 and is designed with a series of light-transmitting areas 201 and photosensitive areas 202, which are arranged in a uniform and alternating manner. The induction unit is installed on the moving part 1. As the moving part 1 reciprocates on the track, the induction unit sequentially passes through the light-transmitting area 201 and the photosensitive area 202 in the photoelectric induction structure 2. Whenever the induction unit passes through the light-transmitting area 201, the photoelectric induction structure 2 can detect the change in light, thereby triggering the corresponding counting mechanism. This counting mechanism can accurately record the number of light-transmitting areas 201 passed by the moving part 1, and then calculate the actual speed of the moving part 1.

[0029] The induction unit is assembled on the moving part 1 and includes a first induction switch 3 and a second induction switch 4. When the induction surfaces of these two induction switches pass through the light-transmitting area 201 or the photosensitive area 202, the vertical distance between them is controlled within the range of 0 - 5 mm. When the induction switch is directly above the light-transmitting area 201, the signal light emitted can pass through completely, and no signal is received at this time; while when the induction switch is above the photosensitive area 202, the signal light is reflected back to the induction switch, and a signal is received at this time. The size of the light-transmitting area 201 is slightly larger than the size of the induction surface to ensure that the signal light can pass through unobstructed when the induction switch is above the light-transmitting area 201. Relatively, the size of the photosensitive area 202 is smaller than or close to the size of the induction surface, so that when the induction switch is above it, the signal light can be effectively reflected. In this embodiment, the induction surface of the induction switch is designed to be circular.

[0030] To ensure the accuracy and reliability of the sensing unit, the distance between the centers of two adjacent light-transmitting regions 201 and the distance between the centers of two adjacent photosensitive regions 202 are both kept consistent with the distance between the centers of the first sensing switch 3 and the second sensing switch 4. Additionally, a driving unit for triggering the movement of the moving part 1 along a preset track is provided on the moving part 1, and a through hole is provided at the position of the sensing unit. The sensing unit interacts with the optoelectronic sensing structure 2 through the through hole. Such a design allows for precise alignment and interaction between the sensing unit and the optoelectronic sensing structure 2. When the moving part 1 is at the starting or ending position of the optoelectronic sensing structure 2, the first sensing switch 3 and the second sensing switch 4 output different level signals; when the moving part 1 is at the middle position of the optoelectronic sensing structure 2, these two sensing switches output the same level signal. Specifically, when the first sensing switch 3 and the second sensing switch 4 are above the photosensitive region 202, they output high-level signals; when they are above the light-transmitting region 201, they output low-level signals. In this embodiment, both of these sensing switches are optoelectronic sensors, and the optoelectronic sensing structure 2 is designed as a linear metal grid to ensure the stability and durability of the device.

[0031] This device monitors the reciprocating movement of the moving part 1 on the linear metal grid through two optoelectronic sensing switches (the first sensing switch 3 and the second sensing switch 4). These sensing switches can sense the position of the moving part 1 and control the acceleration and deceleration of the moving part 1 according to the sensed signals to achieve smooth start, uniform motion, and smooth stop. In this embodiment, binary codes are used to represent the working states of the two sensing switches: recorded as "1" when a signal is sensed, and recorded as "0" when no signal is sensed. Taking the lighting of the sensing switch as an example, that is, the lit state is represented as "1", and the unlit state is represented as "0". The two sensing switches can generate four basic signal combinations: 10 (the first sensing switch 3 has a signal, and the second sensing switch 4 has no signal), 11 (both sensing switches have signals), 00 (both sensing switches have no signals), 01 (the first sensing switch 3 has no signal, and the second sensing switch 4 has a signal). These state combinations provide detailed information about the interaction between the moving part 1 and the optoelectronic sensing structure 2. Additionally, this device also integrates a trigger switch for the moving part 1, which can distinguish the forward and backward movements of the moving part 1. By combining the states of the sensing switches with the movements of the moving part 1, richer state combinations are obtained, such as: forward 10, forward 11, forward 00, forward 01, backward 01, backward 11, backward 00, backward 10 (here, the first number represents the state of the first sensing switch 3, and the second number represents the state of the second sensing switch 4).

[0032] In the initial state, the moving part 1 is located at the starting position of the photoelectric induction structure 2. At this time, the signal output by the induction switch is "forward 10". According to this signal, the control system can give the moving part 1 a relatively low initial acceleration, so that the moving part 1 starts to move smoothly from the stationary state. As the moving part 1 gradually moves away from the initial position and enters the middle position, the signal of the induction switch will become "00" or "11", indicating that the moving part 1 has entered the middle section. In the middle section, since the induction surface of the induction switch is circular, and the width of the light-transmitting area 201 of the photoelectric induction structure 2 is significantly larger than the diameter of the induction surface, and the width of the photosensitive area 202 is slightly smaller than or close to the diameter of the induction surface, there are only two states of "00" and "11" for the signal of the induction switch. In the middle state, the control system records and accumulates the number of times of "forward 00" and "forward 11" to calculate the distance that the moving part 1 moves forward. By dividing the distance in the middle state into multiple distance segments and setting different acceleration and deceleration values for each distance segment, the moving part 1 can stop at a very stable speed when it reaches the end position, thus reducing the impact caused by inertial shock. When the moving part 1 approaches the end position, the signal becomes "forward 01", and at this time the control system will stop the forward movement of the moving part 1. On the contrary, if the moving part 1 moves backward from the end position, the signal will be recorded as "backward 01", and by repeating the above process, the moving part 1 will smoothly return to the initial position.

[0033] The key of this device lies in being able to accurately distinguish the initial position, middle position and end position of the moving part 1, as well as the smooth transition between these positions. By precisely controlling the acceleration and deceleration, even when the moving part 1 has a large weight, the inertial shock can be effectively reduced to achieve precise control. In addition, if the working conditions are not strict, it is also possible to choose not to distinguish the initial position and the middle position, but to uniformly calculate the distance based on the number of times of "00" and "11" accumulated in the middle position, and control the moving speed through multiple distance segments to achieve the purpose of simplifying the control logic.

[0034] Embodiment 2

[0035] The present utility model also provides a forklift with counting-based speed control. This forklift adopts the counting-based speed control induction device described in Embodiment 1 to achieve precise control of the movement of the forklift carriage. In this embodiment, the moving part 1 is the forklift carriage, which reciprocates along the track on the forklift body. In order to monitor the position of the carriage and control its speed, at least one photoelectric induction structure 2 is fixedly installed on the vehicle body, and these structures are arranged parallel to the track. The induction unit includes two photoelectric induction switches, which are arranged at one end of the forklift carriage. As the forklift carriage reciprocates, the induction unit sequentially passes through the light-transmitting area 201 and the photosensitive area 202 in the photoelectric induction structure 2 and outputs corresponding level signals.

[0036] For ease of description and control, the sensed signal is defined as "1" (the lighted state), and the unsensed signal is defined as "0" (the unlighted state). At the initial and end positions of the forklift carriage, due to the change in the relative position between the inductive switch and the photoelectric induction structure 2, different signal combinations will be generated, such as "10", "01", "11", and "00". These signal combinations not only reflect the position of the carriage but can also be used to control the acceleration and deceleration of the forklift carriage. When the forklift carriage starts to move from the initial position, a relatively low initial acceleration is set according to the signal "advance 10" in the initial state to enable the forklift carriage to start smoothly. As the carriage enters the middle position, the signals of the inductive switch will mainly be "00" or "11". At this time, the distance traveled by the carriage is calculated by recording the occurrence times of these two states, and the acceleration and deceleration are adjusted according to the preset distance segments to achieve smooth deceleration and stop at the end position. In addition, the control system of the forklift can identify the forward and backward movements of the carriage and output corresponding electrical signals respectively. This enables the forklift to also achieve a smooth backward movement through a similar control logic when returning from the end position to the initial position.

[0037] Through this advanced inductive device that controls speed by counting, the forklift of the present utility model can achieve precise control of the carriage movement, improve the operation efficiency, and ensure the safety of operation at the same time. This system is particularly suitable for logistics, warehousing, and manufacturing environments that require precise control of the speed and position of the forklift carriage.

[0038] It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present utility model, several improvements and modifications can still be made to the present utility model, and these improvements and modifications also fall within the scope of protection of the claims of the present utility model.

Claims

1. A counting type induction device for controlling speed, characterized in that, Including: A moving part (1), installed on a track and reciprocating along the track; An optoelectronic induction structure (2), arranged on one side of the track and located on the movement path of the moving part (1). A plurality of light-transmitting areas (201) and photosensitive areas (202) are provided on the optoelectronic induction structure (2), and the light-transmitting areas (201) and the photosensitive areas (202) are arranged alternately and evenly; An induction unit, arranged on the moving part (1). As the moving part (1) reciprocates, the induction unit sequentially passes through the light-transmitting areas (201) and the photosensitive areas (202) of the optoelectronic induction structure (2).

2. The induction device according to claim 1, wherein The induction unit is a first induction switch (3) and a second induction switch (4) that can emit signal light arranged in sequence. When the induction surfaces of the first induction switch (3) and the second induction switch (4) pass through the light-transmitting area (201) or the photosensitive area (202), the vertical distance between the two is 0 - 5 mm.

3. The induction device according to claim 2, wherein The size of the light-transmitting area (201) is larger than the size of the induction surface. When the first induction switch (3) or the second induction switch (4) is directly above the light-transmitting area (201), the emitted signal light all passes through; the size of the photosensitive area (202) is smaller than the size of the induction surface. When the first induction switch (3) or the second induction switch (4) is above the photosensitive area (202), the emitted signal light is reflected back by the photosensitive area (202).

4. The induction device according to claim 3, wherein, The distance between the centers of two adjacent light-transmitting areas (201) and the distance between the centers of two adjacent photosensitive areas (202) are equal to the distance between the centers of the first induction switch (3) and the second induction switch (4).

5. The induction device according to claim 4, wherein When the moving part (1) is at the starting or ending position of the optoelectronic induction structure (2), the level signals output by the first induction switch (3) and the second induction switch (4) are different; when the moving part (1) is at the middle position of the optoelectronic induction structure (2), the level signals output by the first induction switch (3) and the second induction switch (4) are the same.

6. The induction device according to claim 4, characterized in that The first induction switch (3) and the second induction switch (4) output a high-level signal when they are above the photosensitive area (202), and output a low-level signal when they are above the light-transmitting area (201).

7. The induction device according to claim 2, wherein Both the first induction switch (3) and the second induction switch (4) are optoelectronic sensors; the optoelectronic induction structure (2) is a linear metal grid.

8. The induction device according to claim 1, wherein A through hole is provided at the position where the moving part (1) installs the induction unit, and the induction unit interacts with the optoelectronic induction structure (2) through the through hole.

9. The induction device according to claim 1, characterized in that, A driving unit is provided on the moving part (1) that can trigger the moving part (1) to move along the track.

10. A forklift with counting-based speed control, characterized in that, Adopt the induction device described in any one of claims 1-9, wherein the moving part (1) is a forklift carriage, and the forklift carriage reciprocates along a track on the vehicle body; at least one of the photoelectric induction structures (2) is fixedly installed on the vehicle body and arranged parallel to the track; the induction unit is arranged at one end of the forklift carriage, and as the forklift carriage reciprocates, the induction unit sequentially passes through the light-transmitting area (201) and the photosensitive area (202), and outputs a level signal.

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