Forklift mast control method and device

Abstract

A forklift mast control method and device. The control method comprises: detecting a forward / backward movement handle potentiometer output signal C1 and a fork lifting height signal C2, wherein H=Hmax×C2 / 5, H represents the fork lifting height, and Hmax represents the maximum fork lifting height of a high-altitude operation forklift; comparing C1 with a voltage threshold to obtain a comparison result, determining whether C1 changes from small to large or from large to small to obtain a first determination result, and determining whether H is smaller than or equal to a height threshold or not to obtain a second determination result; and on the basis of the comparison result, the first determination result and the second determination result, correspondingly controlling an oil pump motor, a forward / backward movement proportional valve electromagnet m1, a forward / backward movement proportional valve electromagnet m2, a forward movement proportional valve closing speed and a backward movement proportional valve closing speed. The forklift mast control method makes stop impact of mast forward / backward movement small, the whole vehicle shaking small, and ensures safety during high-altitude operation.

Description

Forklift mast control method and device Technical Field

[0001] The present invention relates to the technical field of forklift lifting systems, and in particular to a forklift mast control method and device. Background Art

[0002] The stopping deceleration of the mast of existing high-lift forklifts when moving forward and backward is not related to the lifting height of the forks. When the forks are at a high position, the mast moves forward and backward at a high speed, the stopping deceleration of the mast moving forward and backward is large, and the stopping impact of the mast moving forward and backward is large, causing the entire vehicle to shake greatly, affecting the safety of high-position operations.

[0003] Summary of the Invention

[0004] The present invention proposes a forklift mast control method and device to solve the above technical problems.

[0005] According to a first aspect of the present invention, a forklift mast control method is provided, comprising: detecting a forward and backward movement handle potentiometer output signal C1 and a fork lifting height signal C2, wherein H=Hmax*C2 / 5, H represents the fork lifting height, and Hmax represents the maximum lifting height of a forklift for high-position operation; comparing C1 with a voltage threshold to obtain a comparison result, and judging whether C1 changes from small to large or from large to small to obtain a first judgment result, and judging whether H is less than or equal to a height threshold to obtain a second judgment result; based on the comparison result, the first judgment result, and the second judgment result, correspondingly controlling an oil pump motor, a forward and backward movement proportional valve electromagnet m1, a forward and backward movement proportional valve electromagnet m2, a forward proportional valve closing speed, and a backward proportional valve closing speed, so as to minimize the impact when the mast stops moving forward and backward, thereby ensuring safety of high-position operation.

[0006] In some embodiments, the comparison result is 0≤C1<2, the first judgment result is that C1 changes from small to large, and the second judgment result is that H is greater than 7; when the fork is in a high position, the mast moves forward quickly and then stops the forward movement request, and the oil pump motor is controlled to decelerate, and the oil pump motor deceleration rate a6=a*K4 / K7, wherein K4 represents the influence coefficient of the forward and backward movement handle position, K4=1, K7 represents the influence coefficient of the fork high position, K7=1, a6 represents the oil pump motor deceleration rate, and a represents the average deceleration of the oil pump motor; the forward and backward movement proportional valve solenoid m1 is controlled to lose power, and the forward proportional valve closing speed V6=Xmax*K5 / (t0*K7), wherein V6 represents the forward proportional valve closing speed, Xmax represents the maximum opening of the forward and backward movement proportional valve, K5 represents the proportional valve closing speed coefficient related to the forward and backward movement handle position, K5=0.9, and t0 represents the standard closing time of the forward proportional valve.

[0007] In some embodiments, the comparison result is 0≤C1<2, the first judgment result is that C1 changes from small to large, and the second judgment result is that H is less than or equal to 7; when the fork is in a low position, the mast moves forward quickly and then stops the forward movement request, and the oil pump motor is controlled to decelerate, and the oil pump motor deceleration rate a2=a*K4 / K2, wherein a2 represents the oil pump motor deceleration rate, a represents the average deceleration of the oil pump motor, K4 represents the influence coefficient of the forward and backward movement handle position, K4=1, K2 represents the influence coefficient of the low position of the fork, K2=0.5; the forward and backward movement proportional valve solenoid m1 is controlled to lose power, and the forward proportional valve closing speed V2=Xmax*K5 / (t0*K2), wherein V2 represents the forward proportional valve closing speed, Xmax represents the maximum opening of the forward and backward movement proportional valve, K5 represents the proportional valve closing speed coefficient related to the forward and backward movement handle position, K5=0.9, and t0 represents the standard closing time of the forward proportional valve.

[0008] In some embodiments, the comparison result is 2≤C1<2.5, the first judgment result is that C1 changes from small to large, and the second judgment result is that H is less than or equal to 7; when the fork is in a low position, the mast moves forward slowly and then stops the forward movement request, and the oil pump motor is controlled to decelerate, the oil pump motor deceleration rate a1=a*K1 / K2, a1 represents the oil pump motor deceleration rate, a represents the average deceleration of the oil pump motor, K1 represents the influence coefficient of the forward and backward movement handle position, K1=0.7, K2 represents the influence coefficient of the low position of the fork, K2=0.5; the forward and backward movement proportional valve solenoid m1 is controlled to lose power, and the forward proportional valve closing speed V1=Xmax*K3 / (t0*K2), V1 represents the forward proportional valve closing speed, Xmax represents the maximum opening of the forward and backward movement proportional valve, K3 represents the proportional valve closing speed coefficient related to the forward and backward movement handle position, K3=0.6, and t0 represents the standard closing time of the forward proportional valve.

[0009] In some embodiments, the comparison result is 2≤C1<2.5, the first judgment result is that C1 changes from small to large, and the second judgment result is that H is greater than 7; when the fork is in a high position, the mast moves forward slowly and then stops the forward movement request, and the oil pump motor is controlled to decelerate, and the oil pump motor deceleration rate a5=a*K1 / K7, wherein a5 represents the oil pump motor deceleration rate, a represents the average deceleration of the oil pump motor, K1 represents the influence coefficient of the forward and backward movement handle position, K1=0.7, K7 represents the influence coefficient of the fork high position, K7=1; the forward and backward movement proportional valve solenoid m1 is controlled to lose power, and the forward proportional valve closing speed V5=Xmax*K3 / (t0*K7), wherein V5 represents the forward proportional valve closing speed, Xmax represents the maximum opening of the forward and backward movement proportional valve, K3 represents the proportional valve closing speed coefficient related to the forward and backward movement handle position, K3=0.6, t0 represents the standard closing time of the forward proportional valve, K7 represents the influence coefficient of the fork high position, K7=1.

[0010] In some embodiments, the comparison result is 2.5<C1≤3, the first judgment result is that C1 is changing from large to small, and the second judgment result is that H is less than or equal to 7; when the fork is in a low position, the mast moves backward slowly and then stops the backward movement request, and the oil pump motor is controlled to decelerate, and the oil pump motor deceleration rate a3=a*K1*K6 / K2, wherein a3 represents the oil pump motor deceleration rate, a represents the average deceleration of the oil pump motor, K1 represents the influence coefficient of the forward and backward movement handle position, K4=1, and K6 represents the influence coefficient of the forward and backward movement cylinder area. , K6=Arod / Arodless, Arod represents the rod cavity area of ​​the forward cylinder, Arodless represents the rodless cavity area of ​​the forward cylinder, K2 represents the low position influence coefficient of the fork, K2=0.5; the solenoid m2 of the forward and backward movement proportional valve controls the power failure, and the closing speed of the backward movement proportional valve is controlled by V3=Xmax*K3*K6 / (t0*K2), V3 represents the closing speed of the backward movement proportional valve, Xmax represents the maximum opening of the forward and backward movement proportional valve, K3 represents the closing speed coefficient of the proportional valve related to the forward and backward movement handle position, K3=0.6.

[0011] In some embodiments, the comparison result is 2.5<C1≤3, the first judgment result is that C1 is changing from large to small, and the second judgment result is that H is greater than 7; when the fork is in a high position, the mast moves backward slowly and then stops the backward movement request, and the oil pump motor is controlled to decelerate, and the oil pump motor deceleration rate a7=a*K1*K6 / K7, wherein a7 represents the oil pump motor deceleration rate, a represents the average deceleration of the oil pump motor, K1 represents the influence coefficient of the forward and backward movement handle position, K6 represents the influence coefficient of the forward and backward movement cylinder area, K6=A with rod / A without rod, A with rod represents the area of ​​the rod cavity of the forward cylinder, A without rod represents the area of ​​the rodless cavity of the forward cylinder, K7 represents the influence coefficient of the high position of the fork, K7=1; the solenoid m2 of the forward and backward movement proportional valve controls the power failure, and the closing speed of the backward movement proportional valve is controlled by V7=Xmax*K3*K6 / (t0*K7), V7 represents the closing speed of the backward movement proportional valve, Xmax represents the maximum opening of the forward and backward movement proportional valve, K3 represents the closing speed coefficient of the proportional valve related to the forward and backward movement handle position, K3=0.6, and t0 represents the standard closing time of the forward movement proportional valve.

[0012] In some embodiments, the comparison result is 3<C1≤5, the first judgment result is that C1 changes from large to small, and the second judgment result is that H is less than or equal to 7; when the fork is in a low position, the mast moves backward quickly and then stops the backward movement request, and the oil pump motor is controlled to decelerate, and the oil pump motor deceleration rate a4=a*K4*K6 / K2, wherein a4 represents the oil pump motor deceleration rate, a represents the average deceleration of the oil pump motor, K4 represents the influence coefficient of the forward and backward movement handle position, K4=1, K6 represents the influence coefficient of the forward and backward movement cylinder area, K6=A with rod / A without rod , A rod represents the rod cavity area of ​​the forward cylinder, A rodless represents the rodless cavity area of ​​the forward cylinder, K2 represents the low position influence coefficient of the fork, K2=0.5; the electromagnet m2 of the forward and backward proportional valve is de-energized, and the closing speed of the backward proportional valve is controlled by V4=Xmax*K5*K6 / (t0*K2), wherein V4 represents the closing speed of the backward proportional valve, Xmax represents the maximum opening of the forward and backward proportional valve, K5 represents the closing speed coefficient of the proportional valve related to the forward and backward handle position, K5=0.9, and t0 represents the standard closing time of the forward proportional valve.

[0013] In some embodiments, the comparison result is 3<C1≤5, the first judgment result is that C1 is changing from large to small, and the second judgment result is that H is greater than 7; when the fork is in a high position, the mast moves backward quickly and then stops the backward movement request, and the oil pump motor is controlled to decelerate, and the oil pump motor deceleration rate a8=a*K4*K6 / K7, wherein a8 represents the oil pump motor deceleration rate, a represents the average deceleration of the oil pump motor, K4 represents the influence coefficient of the forward and backward movement handle position, K4=1, K6 represents the influence coefficient of the forward and backward movement cylinder area, K6=A with rod / A without rod, A with rod represents the area of ​​the rod cavity of the forward cylinder, A without rod represents the area of ​​the rodless cavity of the forward cylinder, K7 represents the influence coefficient of the high position of the fork, K7=1; the solenoid m2 of the forward and backward movement proportional valve controls the power failure, and the closing speed of the backward movement proportional valve is controlled by V8=Xmax*K5*K6 / (t0*K7), wherein V8 represents the closing speed of the backward movement proportional valve, Xmax represents the maximum opening of the forward and backward movement proportional valve, K5 represents the proportional valve closing speed coefficient related to the forward and backward movement handle position, K5=0.9, and t0 represents the standard closing time of the forward movement proportional valve.

[0014] According to a second aspect of the present invention, a forklift mast control device is further provided, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the forklift mast control method as described above based on instructions stored in the memory.

[0015] The advantages of the present invention are as follows: the present invention reduces the stopping impact of the gantry moving forward and backward, reduces the shaking of the entire vehicle, and ensures the safety of high-position operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0017] FIG1 is a flow chart illustrating a forklift mast control method according to some embodiments of the present invention.

[0018] FIG. 2 is a block diagram illustrating a forklift mast control device according to some embodiments of the present invention. DETAILED DESCRIPTION

[0019] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0020] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0021] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0022] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0023] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0024] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0025] At present, the stopping deceleration of the mast of existing high-lift forklifts when moving forward and backward is not related to the lifting height of the forks. When the forks are at a high position, the mast moves forward and backward at a high speed, the stopping deceleration of the mast moving forward and backward is large, and the stopping impact of the mast moving forward and backward is large, causing the entire vehicle to shake greatly, affecting the safety of high-position operations.

[0026] In view of this, the present invention proposes a forklift mast control method and device, which reduces the impact when the mast stops moving forward or backward, and reduces the shaking of the entire vehicle, thereby ensuring the safety of high-position operations.

[0027] FIG1 is a flow chart illustrating a forklift mast control method according to some embodiments of the present invention. As shown in FIG1 , the forklift mast control method includes steps 110 to 130 .

[0028] In step 110, the output signal C1 of the forward and backward movement handle potentiometer and the fork lifting height signal C2 are detected, wherein H=Hmax*C2 / 5, H represents the fork lifting height, and Hmax represents the maximum lifting height of the fork of the high-position operation forklift.

[0029] In step 120 , C1 is compared with a voltage threshold to obtain a comparison result, and it is determined whether C1 changes from small to large or from large to small to obtain a first judgment result. It is also determined whether H is less than or equal to a height threshold to obtain a second judgment result.

[0030] In step 130, based on the comparison result, the first judgment result, and the second judgment result, the oil pump motor, the forward and backward moving proportional valve electromagnet m1, the forward and backward moving proportional valve electromagnet m2, the forward proportional valve closing speed, and the backward proportional valve closing speed are controlled accordingly to reduce the impact when the gantry stops moving forward and backward, thereby ensuring the safety of high-position operations.

[0031] In some embodiments, the gantry forward and backward movement control system includes a forward and backward movement handle, a gantry forward movement direction switch, a gantry backward movement direction switch, an oil pump motor controller, an oil pump motor, a hydraulic oil pump, a forward and backward movement proportional valve, a forward movement cylinder and other components; when the forward and backward movement proportional valve electromagnet m1 loses power, the rodless chamber of the forward movement cylinder stops supplying oil, and the gantry stops moving forward; when the forward and backward movement proportional valve electromagnet m2 loses power, the rod chamber of the forward movement cylinder stops supplying oil, and the gantry stops moving backward.

[0032] In some embodiments, in the first step, the output signal C1 of the potentiometer of the forward and backward movement handle and the fork lifting height signal C2 are monitored.

[0033] When 2≤C1<2.5 and C1 changes from small to large, H≤7, execute the second step; when 0≤C1<2 and C1 changes from small to large, H≤7, execute the third step; when 2.5<C1≤3 and C1 changes from large to small, H≤7, execute the fourth step; when 3<C1≤5 and C1 changes from large to small, H≤7, execute the fifth step; when 2≤C1<2.5 and C1 changes from small to large, H>7, execute the sixth step; when 0≤C1<2 and C1 changes from small to large, H>7, execute the seventh step; when 2.5<C1≤3 and C1 changes from large to small, H>7, execute the eighth step; when 3<C1≤5 and C1 changes from large to small, H>7, execute the ninth step. Where: C1 is the output signal of the mast forward and backward movement handle potentiometer, and its range is 0-5V. When the forklift handle is in the neutral position, C1 = 2.5V. When the forklift handle is pushed forward, C1 changes from 2.5V to 0V, indicating forward mast movement. When the forklift handle is pulled backward, C1 changes from 2.5V to 5V, indicating rearward mast movement. C2 is the forklift lift height signal, which varies from 0-5V. The forklift lift height H is positively correlated with C2, with 5V corresponding to the forklift's maximum lift height Hmax, where H = Hmax * C2 / 5. H is the forklift lift height, measured in meters. Hmax is the maximum lift height of the forklift for high-rise operations, measured in meters.

[0034] In the second step, when the fork is in the low position, gently push the forward and backward movement handle and then release it: when the fork is in the low position, the gantry moves forward slowly and then stops the forward movement request. In order to reduce the stopping impact of the gantry's forward and backward movement while ensuring the stopping response speed of the gantry's forward and backward movement, set the forward and backward movement handle position influence coefficient and the proportional valve closing speed coefficient related to the forward and backward movement handle position. The controller controls the oil pump motor to decelerate, and the oil pump motor deceleration rate a1=a*K1 / K2; controls the forward and backward movement proportional valve solenoid m1 to lose power, and controls the forward movement proportional valve closing speed V1=Xmax*K3 / (t0*K2). Among them, a1 is the oil pump motor deceleration rate, and the unit is r / s 2 A is the average deceleration of the oil pump motor, in r / s 2 , set a=10r / s 2 K1 is the influence coefficient of the forward and backward movement handle position. Set K1 = 0.7. K2 is the influence coefficient of the fork low position. Set K2 = 0.5. V1 is the closing speed of the forward proportional valve, unit is mm / s. Xmax is the maximum opening of the forward and backward proportional valve, unit is mm. K3 is the closing speed coefficient of the proportional valve related to the forward and backward movement handle position. Set K3 = 0.6. t0 is the standard closing time of the forward proportional valve, unit is s.

[0035] Step 3: When the fork is in the low position, push the forward and backward movement handle again and then release it: When the fork is in the low position, the mast moves forward quickly and then stops the forward movement request; the controller controls the oil pump motor to decelerate, and the oil pump motor deceleration rate a2=a*K4 / K2; the electromagnetic magnet m1 of the forward and backward movement proportional valve is de-energized, and the forward movement proportional valve closing speed V2=Xmax*K5 / (t0*K2). Where a2 is the oil pump motor deceleration rate, unit is r / s 2 K4 is the influence coefficient of the forward and backward movement handle position. Set K4 = 1. V2 is the closing speed of the forward proportional valve, in mm / s. K5 is the proportional valve closing speed coefficient related to the forward and backward movement handle position. Set K5 = 0.9.

[0036] The fourth step, when the fork is in the low position, gently pull the forward and backward movement handle and then release it: when the fork is in the low position, the gantry moves backward slowly and then stops the backward movement request. In order to reduce the stopping impact of the gantry moving backward and at the same time improve the stopping response speed of the gantry moving backward, considering the influence of the forward and backward movement cylinder area under the same forward and backward movement speed, the forward and backward movement cylinder area influence coefficient is set. The controller controls the oil pump motor to decelerate, and the oil pump motor deceleration rate a3=a*K1*K6 / K2; controls the forward and backward movement proportional valve solenoid m2 to lose power, and controls the backward movement proportional valve closing speed V3=Xmax*K3*K6 / (t0*K2). Among them, a3 is the oil pump motor deceleration rate, and the unit is r / s 2 K6 is the coefficient of influence of forward and backward movement on the cylinder area, K6 = A rod / A rodless. A rod is the area of ​​the rod cavity of the forward movement cylinder, unit is mm 2 A rodless is the rodless cavity area of ​​the forward oil cylinder, unit is mm 2 V3 is the closing speed of the rearward proportional valve, in mm / s.

[0037] Step 5: When the fork is in the low position, pull the handle back and forth and then release it: When the fork is in the low position, the mast moves back quickly and then stops the back movement request; the controller controls the oil pump motor to decelerate, and the oil pump motor deceleration rate a4=a*K4*K6 / K2; the solenoid m2 of the forward and backward movement proportional valve is de-energized, and the closing speed of the backward movement proportional valve is V4=Xmax*K5*K6 / (t0*K2). Where a4 is the oil pump motor deceleration rate, unit is r / s 2 V4 is the closing speed of the rearward proportional valve, in mm / s.

[0038] Step 6. When the fork is in high position, gently push the forward and backward movement handle and then release it: when the fork is in high position, the mast moves forward slowly and then stops the forward movement request. In order to reduce the vehicle shaking caused by the impact of the mast moving forward and backward when the fork is in high position, the fork high position influence coefficient is set to reduce the oil pump motor deceleration rate and the forward and backward movement proportional valve closing speed. The controller controls the oil pump motor to decelerate, and the oil pump motor deceleration rate a5 = a*K1 / K7; controls the forward and backward movement proportional valve solenoid m1 to lose power, and controls the forward movement proportional valve closing speed V5 = Xmax*K3 / (t0*K7). Among them, a5 is the oil pump motor deceleration rate, and the unit is r / s 2 K7 is the fork high position influence coefficient, set K7 = 1. V5 is the closing speed of the forward proportional valve, the unit is mm / s.

[0039] Step 7: When the fork is in the high position, push the forward and backward movement handle again and then release it: When the fork is in the high position, the mast moves forward quickly and then stops the forward movement request; the controller controls the oil pump motor to decelerate, and the oil pump motor deceleration rate a6=a*K4 / K7; the electromagnetic magnet m1 of the forward and backward movement proportional valve is de-energized, and the forward movement proportional valve closing speed V6=Xmax*K5 / (t0*K7). Where a6 is the oil pump motor deceleration rate, unit is r / s 2 V6 is the closing speed of the forward proportional valve, in mm / s.

[0040] Step 8: When the fork is in the high position, gently pull the forward and backward movement handle and then release it: When the fork is in the high position, the mast moves backward slowly and then stops the backward movement request; the controller controls the oil pump motor to decelerate, and the oil pump motor deceleration rate a7=a*K1*K6 / K7; the electromagnetic magnet m2 of the forward and backward movement proportional valve is de-energized, and the closing speed of the backward movement proportional valve is controlled by V7=Xmax*K3*K6 / (t0*K7). Among them, a7 is the oil pump motor deceleration rate, unit is r / s 2 V7 is the closing speed of the rearward proportional valve, in mm / s.

[0041] Step 9: When the fork is in the high position, pull the handle back and forth and then release it: When the fork is in the high position, the mast moves back quickly and then stops the back movement request; the controller controls the oil pump motor to decelerate, and the oil pump motor deceleration rate a8=a*K4*K6 / K7; the solenoid m2 of the forward and backward movement proportional valve is de-energized, and the closing speed of the backward movement proportional valve is controlled by V8=Xmax*K5*K6 / (t0*K7). Where a8 is the oil pump motor deceleration rate, unit is r / s 2 V8 is the closing speed of the forward proportional valve, in mm / s.

[0042] Figure 2 is a block diagram illustrating a forklift mast control device according to some embodiments of the present invention. As shown in Figure 2 , the forklift mast control device 200 includes a memory 210 and a processor 220 coupled to the memory 210. The memory 210 is configured to store instructions for executing corresponding embodiments of a forklift mast control method. The processor 220 is configured to execute the forklift mast control method according to any embodiment of the present invention based on the instructions stored in the memory 210.

[0043] In order to avoid obscuring the concept of the present invention, some details well known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions of the present invention.

[0044] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should be understood by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A forklift mast control method, characterized in that, The method includes: Detecting the output signal C1 of the front and rear movement handle potentiometer and the fork lift height signal C2, where H = Hmax*C2 / 5, H represents the fork lift height, and Hmax represents the maximum fork lift height of the high-level operation forklift; Comparing the C1 with a voltage threshold to obtain a comparison result, and judging whether C1 changes from small to large or from large to small to obtain a first judgment result, and Judging whether the H is less than or equal to a height threshold to obtain a second judgment result; Based on the comparison result, the first judgment result, and the second judgment result, correspondingly controlling the oil pump motor, the front and rear movement proportional valve electromagnets m1, the front and rear movement proportional valve electromagnets m2, the forward movement proportional valve closing speed, and the backward movement proportional valve closing speed.

2. The forklift mast control method according to claim 1, characterized in that, The comparison result is 0≤C1<2, the first judgment result is that C1 changes from small to large, and The second judgment result is that H is greater than 7; When the fork is at a high position, after the mast moves forward quickly, the forward movement request is stopped, and the oil pump motor is controlled to decelerate. The deceleration rate a6 of the oil pump motor is a6 = a*K4 / K7, where K4 represents the influence coefficient of the front and rear movement handle position and K4 = 1, K7 represents the influence coefficient of the high fork position and K7 = 1, a6 represents the deceleration rate of the oil pump motor, and a represents the average deceleration of the oil pump motor; Controlling the front and rear movement proportional valve electromagnet m1 to lose power, and controlling the forward movement proportional valve closing speed V6 = Xmax*K5 / (t0*K7), where V6 represents the forward movement proportional valve closing speed, Xmax represents the maximum opening of the front and rear movement proportional valve, K5 represents the proportional valve closing speed coefficient related to the front and rear movement handle position and K5 = 0.9, and t0 represents the standard closing time of the forward movement proportional valve.

3. The forklift mast control method according to claim 1, wherein The comparison result is 0≤C1<2, the first judgment result is that C1 changes from small to large, and The second judgment result is that H is less than or equal to 7; When the fork is at a low position, after the mast moves forward quickly, the forward movement request is stopped, and the oil pump motor is controlled to decelerate. The deceleration rate a2 of the oil pump motor is a2 = a*K4 / K2, where a2 represents the deceleration rate of the oil pump motor, a represents the average deceleration of the oil pump motor, K4 represents the influence coefficient of the front and rear movement handle position and K4 = 1, and K2 represents the influence coefficient of the low fork position and K2 = 0.5; Controlling the front and rear movement proportional valve electromagnet m1 to lose power, and controlling the forward movement proportional valve closing speed V2 = Xmax*K5 / (t0*K2), where V2 represents the forward movement proportional valve closing speed, Xmax represents the maximum opening of the front and rear movement proportional valve, K5 represents the proportional valve closing speed coefficient related to the front and rear movement handle position and K5 = 0.9, and t0 represents the standard closing time of the forward movement proportional valve.

4. The forklift mast control method according to claim 1, wherein The comparison result is 2≤C1<2.5, the first judgment result is that C1 changes from small to large, and The second judgment result is that H is less than or equal to 7; When the forklift forks are in the low position, after the mast moves forward slowly and then stops the forward movement request, the oil pump motor is controlled to decelerate. The deceleration rate a1 of the oil pump motor is a1 = a * K1 / K2, where a1 represents the deceleration rate of the oil pump motor, a represents the average deceleration of the oil pump motor, K1 represents the influence coefficient of the position of the forward and backward movement handle, and K1 = 0.7, K2 represents the influence coefficient of the low position of the forklift forks, and K2 = 0.5; Control the solenoid valve m1 of the forward and backward movement proportional valve to lose power. Control the closing speed V1 of the forward movement proportional valve as V1 = Xmax * K3 / (t0 * K2), where V1 represents the closing speed of the forward movement proportional valve, Xmax represents the maximum opening of the forward and backward movement proportional valve, K3 represents the proportional valve closing speed coefficient related to the position of the forward and backward movement handle, and K3 = 0.6, t0 represents the standard closing time of the forward movement proportional valve.

5. The forklift mast control method according to claim 1, characterized in that, The comparison result is 2 ≤ C1 < 2.5, the first judgment result is that C1 changes from small to large, and The second judgment result is that H is greater than 7; When the forklift forks are in the high position, after the mast moves forward slowly and then stops the forward movement request, the oil pump motor is controlled to decelerate. The deceleration rate a5 of the oil pump motor is a5 = a * K1 / K7, where a5 represents the deceleration rate of the oil pump motor, a represents the average deceleration of the oil pump motor, K1 represents the influence coefficient of the position of the forward and backward movement handle, and K1 = 0.7, K7 represents the influence coefficient of the high position of the forklift forks, and K7 = 1; Control the solenoid valve m1 of the forward and backward movement proportional valve to lose power. Control the closing speed V5 of the forward movement proportional valve as V5 = Xmax * K3 / (t0 * K7), where V5 represents the closing speed of the forward movement proportional valve, Xmax represents the maximum opening of the forward and backward movement proportional valve, K3 represents the proportional valve closing speed coefficient related to the position of the forward and backward movement handle, and K3 = 0.6, t0 represents the standard closing time of the forward movement proportional valve, K7 represents the influence coefficient of the high position of the forklift forks, and K7 = 1.

6. The forklift mast control method according to claim 1, characterized in that The comparison result is 2.5 < C1 ≤ 3, the first judgment result is that C1 changes from large to small, and The second judgment result is that H is less than or equal to 7; When the forklift forks are in the low position, after the mast moves backward slowly and then stops the backward movement request, the oil pump motor is controlled to decelerate. The deceleration rate a3 of the oil pump motor is a3 = a * K1 * K6 / K2, where a3 represents the deceleration rate of the oil pump motor, a represents the average deceleration of the oil pump motor, K1 represents the influence coefficient of the position of the forward and backward movement handle, and K4 = 1, K6 represents the influence coefficient of the area of the forward and backward movement cylinder, and K6 = A rod / A rodless, A rod represents the area of the rod chamber of the forward movement cylinder, A rodless represents the area of the rodless chamber of the forward movement cylinder, K2 represents the influence coefficient of the low position of the forklift forks, and K2 = 0.5; Control the solenoid valve m2 of the forward and backward movement proportional valve to lose power. Control the closing speed V3 of the backward movement proportional valve as V3 = Xmax * K3 * K6 / (t0 * K2), where V3 represents the closing speed of the backward movement proportional valve, Xmax represents the maximum opening of the forward and backward movement proportional valve, K3 represents the proportional valve closing speed coefficient related to the position of the forward and backward movement handle, and K3 = 0.

6.

7. The forklift mast control method according to claim 1, characterized in that, The comparison result is 2.5 < C1 ≤ 3, the first judgment result is that C1 changes from large to small, and The second judgment result is that H is greater than 7; When the forklift forks are in the high position, after the mast moves backward slowly and stops the backward movement request, the oil pump motor is controlled to decelerate. The deceleration rate a7 of the oil pump motor is a7 = a * K1 * K6 / K7, where a7 represents the deceleration rate of the oil pump motor, a represents the average deceleration of the oil pump motor, K1 represents the influence coefficient of the forward and backward movement handle position, K6 represents the influence coefficient of the forward and backward movement cylinder area, and K6 = Arod / Anon - rod, Arod represents the area of the rod chamber of the forward movement cylinder, Anon - rod represents the area of the non - rod chamber of the forward movement cylinder, K7 represents the influence coefficient of the high position of the forklift forks, and K7 = 1; control the solenoid valve m2 of the forward and backward movement proportional valve to lose power, and control the closing speed V7 of the backward movement proportional valve as V7 = Xmax * K3 * K6 / (t0 * K7), where V7 represents the closing speed of the backward movement proportional valve, Xmax represents the maximum opening of the forward and backward movement proportional valve, K3 represents the proportional valve closing speed coefficient related to the forward and backward movement handle position, and K3 = 0.6, t0 represents the standard closing time of the forward movement proportional valve.

8. The forklift mast control method according to claim 1, characterized in that, The comparison result is 3 < C1 ≤ 5, the first judgment result is that C1 changes from large to small, and The second judgment result is that H is less than or equal to 7; When the forklift forks are in the low position, after the mast moves backward quickly and stops the backward movement request, the oil pump motor is controlled to decelerate. The deceleration rate a4 of the oil pump motor is a4 = a * K4 * K6 / K2, where a4 represents the deceleration rate of the oil pump motor, a represents the average deceleration of the oil pump motor, K4 represents the influence coefficient of the forward and backward movement handle position, and K4 = 1, K6 represents the influence coefficient of the forward and backward movement cylinder area, and K6 = Arod / Anon - rod, Arod represents the area of the rod chamber of the forward movement cylinder Arod represents the area of the rod chamber of the forward movement cylinder, Anon - rod represents the area of the non - rod chamber of the forward movement cylinder, K2 represents the influence coefficient of the low position of the forklift forks, and K2 = 0.5; control the solenoid valve m2 of the forward and backward movement proportional valve to lose power, and control the closing speed V4 of the backward movement proportional valve as V4 = Xmax * K5 * K6 / (t * K2), where V4 represents the closing speed of the backward movement proportional valve, Xmax represents the maximum opening of the forward and backward movement proportional valve, K5 represents the proportional valve closing speed coefficient related to the forward and backward movement handle position, and K5 = 0.9, t0 represents the standard closing time of the forward movement proportional valve.

9. The forklift mast control method according to claim 1, characterized in that The comparison result is 3 < C1 ≤ 5, the first judgment result is that C1 changes from large to small, and The second judgment result is that H is greater than 7; When the forklift forks are in the high position, after the mast quickly moves backward and stops the backward movement request, the oil pump motor is controlled to decelerate. The deceleration rate a8 of the oil pump motor is a8 = a * K4 * K6 / K7, where a8 represents the deceleration rate of the oil pump motor, a represents the average deceleration of the oil pump motor, K4 represents the influence coefficient of the position of the forward and backward movement handle, and K4 = 1. K6 represents the influence coefficient of the area of the forward and backward movement cylinder, and K6 = Arod / Anon - rod, where Arod represents the area of the rod chamber of the forward movement cylinder, Anon - rod represents the area of the non - rod chamber of the forward movement cylinder, K7 represents the influence coefficient of the high position of the forklift forks, and K7 = 1; control the electromagnetic valve m2 of the forward and backward movement proportional valve to lose power, and control the closing speed V8 of the backward movement proportional valve to be V8 = Xmax * K5 * K6 / (t0 * K7), where V8 represents the closing speed of the backward movement proportional valve, Xmax represents the maximum opening of the forward and backward movement proportional valve, K5 represents the proportional valve closing speed coefficient related to the position of the forward and backward movement handle, and K5 = 0.9, and t0 represents the standard closing time of the forward movement proportional valve.

10. A forklift mast control device, characterized in that, Comprising: A memory; And A processor coupled to the memory, the processor being configured to execute the forklift mast control method according to any one of claims 1 to 9 based on instructions stored in the memory.

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