Automatic calibration system and method for smart equipment

Abstract

An automatic calibration system (1) for smart equipment configured for load handling. The automatic calibration system comprises a clamp (2) in turn comprising a hydraulic actuator (3) for load movement and at least one pair of movable jaws (4), by means of the hydraulic actuator (3), between a first operating configuration in which the jaws (4) are spaced apart from each other and a second operating configuration in which the jaws (4) are brought closer together. The clamp (2) is configured to generate a first signal (s1) representative of at least a first operating parameter (P1) identifying a pressure exerted by the hydraulic actuator (3) in an operating condition. The calibration unit (5) is provided with a sensitive element (6) and configured to detect at least a second operating parameter (P2), identifying a force exerted by the clamp (2), with the sensitive element (6) interposed between the jaws (4) and with the hydraulic actuator (3) in the operating condition. The calibration unit (5) receives the first signal (S1) from the clamp (2) and associates at least one value of at least a second operating parameter (P2) with a corresponding value of at least a first operating parameter (P1). The calibration unit (5) generates a second signal (S2) having a first informative content representative of the association between the value of the first operating parameter (P1) and the second operating parameter (P2) and sends the second signal (S2) to the clamp (2). The clamp (2) is configured to drive the hydraulic actuator (3) as a function of the first informative content.

Description

[0001] AUTOMATIC CALIBRATION SYSTEM AND METHOD FOR SMART EQUIPMENT

[0002] The present invention relates to an automatic calibration system and method for smart equipment configured for load handling.

[0003] The present invention finds its main application in the field of operating machines, in logistics and whenever heavy loads have to be lifted, moved and stored efficiently.

[0004] Smart equipment is mounted on forklift trucks that are designed to lift, move and store heavy loads efficiently.

[0005] It is known the need to move loads by using forklift trucks since some loads, if moved with different equipment, could be unstable due to their conformation and therefore could be damaged.

[0006] For this reason, the clamps for the forklift trucks include drum clamps therefore suitable for movement of heavy circular loads, bale clamps suitable for lifting packaged products, recycling clamps and multipurpose clamps that offer versatile uses.

[0007] The use of clamps on the forklift trucks reduces load movement times and improves the manoeuvrability thereof by offering greater precision during transport in addition to the fact that it allows these loads to be moved in confined spaces.

[0008] Usually, such equipment has a hydraulic actuation system in which the controlled variable is only the pressure within the circuit.

[0009] The Applicant, however, has noted that to date there are no systems that allow a precise and automatic calibration of the force generated by the jaws of the clamp, leading to reliability problems if the pressure levels detected in the circuit do not correspond to the expected tightening force levels.

[0010] The technical task of the present invention is therefore to make available an automatic calibration system and method for smart equipment configured for load handling that are capable of overcoming the drawbacks of the prior art.

[0011] The object of the present invention is to make available an automatic calibration system and method for smart equipment configured to handle loads effectively, being able to set the force necessary for the movement thereof so as not to cause damage to it.

[0012] The specified technical task and purpose are substantially achieved by an automatic calibration system and method for forklift trucks comprising the technical features set forth in one or more of the preceding claims.

[0013] The dependent claims, incorporated herein by reference, correspond to different embodiments of the invention.

[0014] In particular, the automatic calibration system for smart equipment configured for load handling, subject-matter of the present invention comprises a clamp in turn comprising a hydraulic actuator for movement and at least one pair of movable jaws. In a first operating configuration of the clamp the jaws are spaced apart from each other while in a second operating configuration the jaws are brought closer together. Preferably, the clamp is configured to generate a first signal representative of at least a first operating parameter identifying a pressure exerted by the hydraulic actuator in an operating condition. Preferably, the system comprises a calibration unit provided with a sensitive element and configured for detecting at least a second operating parameter, identifying a force exerted by the clamp, receiving the first signal from the clamp, associating at least one value of at least a second parameter with a corresponding value of at least a first parameter and generating a second signal having a first informative content representative of the association between the value of the first and the second operating parameter and sending the second signal to the clamp.

[0015] Preferably, the clamp is configured to drive the hydraulic actuator as a function of the first informative content.

[0016] An automatic calibration method for forklift trucks comprising smart equipment configured for load handling is also an object of the present invention.

[0017] Preferably, the method comprises the steps of arranging an automatic calibration system, with the clamp in a first operating condition, and detecting at least a first operating parameter identifying a pressure exerted by the hydraulic actuator of the clamp. Subsequently, at least a second operating parameter identifying a force exerted by the clamp is detected by means of the calibration unit and a first signal representative of at least one value of a first operating parameter is sent from the clamp to the calibration unit. A value of at least a second operating parameter is associated with at least one value of the first operating parameter and finally a second signal, having a first informative content representative of said association between the value of the first and the second operating parameter, is sent from the calibration unit to the clamp.

[0018] Further features and advantages of the present invention will become clearer from the indicative, and therefore non-limiting, description of a preferred but not exclusive embodiment of an automatic calibration system and method for forklift trucks comprising smart equipment, as illustrated in the accompanying drawings, provided solely for illustrative and thus nonlimiting purposes, in which:

[0019] - Figure 1 schematically illustrates an automatic calibration system according to the present invention.

[0020] With reference to the attached figure, an automatic calibration system in accordance with the present invention has been indicated overall with 1 , which for simplicity of description will be referred to below as system 1 .

[0021] In the preferred embodiment, the system 1 comprises a clamp 2 and a calibration unit 5.

[0022] The clamp 2 preferably comprises a hydraulic actuator 3 for load movement and at least one pair of movable jaws 4, by means of the hydraulic actuator 3.

[0023] In other words, the system 1 preferably comprises a clamp 2 and at least one pair of jaws 4. The at least one pair of jaws 4 is moved by means of a hydraulic actuator 3 which is part of the clamp 2.

[0024] The jaws 4 are movable between a first operating configuration in which they are spaced apart from each other and a second operating configuration in which they are closer to each other to grasp at least one load.

[0025] The term “load” is intended in this text to define a single loading unit, i.e. a distinct packaging / package unit.

[0026] The clamp 2 is configured to generate a first signal “S1 ” representative of at least a first operating parameter “P1” identifying a pressure exerted by the hydraulic actuator 3 in an operating condition.

[0027] Preferably, the clamp 2 comprises a control unit 7 configured to drive the hydraulic actuator 3 and to generate said first signal “S1 ”.

[0028] Note that the control unit 7 could be configured to send the first signal “S1 ” continuously (or at predetermined sampling intervals) or only following an explicit query.

[0029] The calibration unit 5 is preferably provided with a sensitive element 6.

[0030] Preferably, the sensitive element 6 of the calibration unit 5 comprises one or more load cells applicable to the jaws 4.

[0031] In the preferred embodiment, the calibration unit 5 comprises a plurality of cross bars 9 provided with one or more load cells.

[0032] Preferably, the load cells are mounted / installed in a central zone of each bar.

[0033] These cross bars 9 have a variable length to adapt to a plurality of operating conditions of the clamp 2.

[0034] The calibration unit 5 is configured to detect at least a second operating parameter “P2” by means of the sensitive element 6, with the sensitive element 6 interposed between the jaws 4 and with the hydraulic actuator 3 in the operating condition.

[0035] The second operating parameter “P2” detected identifies a force exerted by the clamp 2. The cross bars 9 can in fact be placed orthogonally to a contact plane 4a defined by each jaw 4 in order to be interposed between the jaws 4 during tightening and detect, by means of the sensitive element 6, the relative tightening force.

[0036] Preferably, the cross bars 9 are removably associated with a carriage to be moved between a rest position, in which they are longitudinally placed (resting) on the carriage, and a measuring position, in which they are positioned with transverse orientation in order to detect the second operating parameter “P2”.

[0037] In the preferred embodiment, the cross bars 9 are four in order to detect the force generated in each of the four quadrants of the jaws 4 (low-front, low-rear, high-front, high-rear).

[0038] The calibration unit 5 is also configured to receive the first signal “S1 ” from the clamp 2 (in particular from the control unit 7) and associate at least one value of at least a second operating parameter “P2” with a corresponding value of at least a first operating parameter “P1”.

[0039] In this regard, it should be noted that the calibration unit 5 could be configured to continuously receive (or at predetermined sampling intervals) the first signal “S1”, by associating the first operating parameter “P1” with the second operating parameter “P2” at one or more predefined instants or when one or more predetermined conditions are met.

[0040] Alternatively, the calibration unit 5 could be configured to query the control unit of the clamp 2 at said one or more predefined instants or when said one or more predetermined conditions are met, receiving a first signal “S1 ” representative of a value of the first operating parameter “P1” at those instants.

[0041] The predefined instants or predetermined conditions are preferably defined by one or more predetermined threshold values “F” being reached by the second operating parameter “P2”, detected by the calibration unit 5. Subsequently, the calibration unit 5 generates a second signal “S2” having a first informative content representative of the association between the value of the first operating parameter “P1” and the second operating parameter “P2” at the one or more predefined instants or when said one or more predetermined conditions are met.

[0042] Preferably, therefore, the second signal “S2” contains one or more values of the first operating parameter “P1” detected at the one or more predefined instants or when said one or more predetermined conditions are met.

[0043] Alternatively, the second signal “S2” could comprise pairs of values, wherein the first is a second operating parameter value “P2” and the second is the corresponding value of the first operating parameter “P1”.

[0044] This second signal “S2”, containing the association between first operating parameters “P1” and second operating parameters “P2” is then sent from the calibration unit 5 to the clamp 2, i.e. to the control unit 7.

[0045] The first informative content is saved in a memory of the clamp 2, i.e. a memory associated with the control unit 7 of the clamp 2.

[0046] In this regard, preferably the calibration unit 5 comprises a processing unit 8 configured to receive the first signal “S1 ” from the control unit 7 of the clamp 2 and to send the second signal “S2” to the control unit 7 of the clamp 2.

[0047] Preferably, the system comprises a Can-bus communication channel 12 interposed between the clamp 2 and the calibration unit 5.

[0048] Preferably, the communication between the control unit 7 of the clamp 2 and the processing unit 8 of the calibration unit 5 is established via the Can-bus communication channel 12.

[0049] Preferably, the Can-bus communication channel 12 allows the transfer of the first operating signal “S1 ” and the second operating signal “S2”.

[0050] The Can-bus channel is known per se and will therefore not be described in detail in this text.

[0051] According to the present invention, the clamp 2 is configured to drive the hydraulic actuator 3 as a function of the first informative content obtained from the second signal “S2”. The clamp of the system 1 comprises a control unit 7 configured to drive the hydraulic actuator 3 and to send the first signal “S1 ” from the clamp 2 to the calibration unit 5, preferably to the processing unit 8.

[0052] In addition, the control unit 7 is configured to drive the hydraulic actuator 3 of the clamp 2 as a function of the first informative content of the second signal “S2”.

[0053] Preferably, the processing unit 8 of the calibration unit 5 is configured to send a third signal “S3”, for driving the hydraulic actuator 3 to the control unit 7 of the clamp 2.

[0054] In other words, the calibration unit 5 is configured to drive the clamp 2 in opening and closing.

[0055] Preferably, the processing unit 8 of the calibration unit 5 is configured to initiate a calibration procedure that provides for arranging at least one threshold value “F” for the second operating parameter “P2”, representative of a force exerted by the clamp 2 in a first opening and loading condition.

[0056] Subsequently, the third driving signal “S3” is sent to the control unit 7 of the clamp 2, so as to increase the hydraulic pressure level starting from a minimum value.

[0057] A value of at least a second operating parameter “P2” is detected as the hydraulic pressure exerted by the hydraulic actuator 3 of the clamp 2 increases.

[0058] The processing unit 8 is therefore configured for comparing the value of the second operating parameter “P2” with the corresponding threshold value “F”.

[0059] When the second operating parameter “P2” reaches the threshold value “F”, the value of the corresponding first operating parameter “P1” is acquired and therefore the first informative content is defined at least partly.

[0060] Preferably, the calibration procedure is carried out for a plurality of threshold values “F” representative of different and subsequent values of force that is exerted by the clamp 2 and detected by the calibration unit 5 (i.e. by the sensitive element 6).

[0061] Preferably, each threshold value is representative of a different loading condition of the clamp 2.

[0062] The term “loading condition” is intended in this text to define different contact surfaces (one, two, three or four quadrants) and different openings (one, two, three or four volumes) of the clamp 2.

[0063] When the second operating parameter “P2” reaches all the preset threshold values, the corresponding values of the first operating parameter “P1” are acquired.

[0064] Advantageously, by doing so, the first informative content representative of the association between the value of the first operating parameter “P1” and the second operating parameter “P2” is obtained (in whole or in part). It should be noted that, preferably, the calibration unit 5 of the system 1 comprises a human-machine interface 10 associated with the processing unit 8.

[0065] Such a human-machine interface 10 is preferably defined by a screen, more preferably touch-screen, connected to the processing unit 8. Preferably, the human-machine interface 10 is configured to allow the operator to set the threshold value “F” or the plurality of threshold values

[0066] Alternatively, however, the threshold values “F” could be sent to the calibration unit 5 directly from the clamp 2.

[0067] In this regard, preferably, the processing unit 8 of the calibration unit 5 is configured to query the control unit 7 of the clamp 2 to receive a fourth signal “S4" representative of the threshold value or threshold values “F” for the second operating parameter “P2”.

[0068] In the preferred embodiment, during the calibration procedure, the processing unit 8 of the calibration unit 5 is configured to display to the operator, through the human-machine interface 10, both the possibility of querying the control unit 7 of the clamp 2 to receive the fourth signal “S4” and the possibility of directly entering the threshold values “F” through the same human-machine interface 10. Preferably, during or at the end of the calibration procedure, the human-machine interface 10 is configured to display an alarm signal to the operator.

[0069] In the preferred embodiment, the alarm signal is displayed at the end of the calibration procedure and only with reference to the threshold values not reached.

[0070] In particular, in the preferred embodiment, the alarm signal corresponds to an information message or to a different colouring (preferably red) of the threshold value “F” not reached by the second operating parameter “P2” or of the calibration requirement not met.

[0071] Alternatively, however, the human-machine interface 10 could display the alarm signal during the calibration procedure, when the threshold value “F” is not reached by the second operating parameter “P2”.

[0072] Preferably, furthermore, the system comprises a remote database 11 .

[0073] Preferably, the processing unit 8 of the calibration unit 5 is configured to send a fifth signal “S5” containing the first informative content to the remote database 11 .

[0074] In other words, the informative content of the signal “S5” is similar to that of the second signal “S2”.

[0075] The fifth signal “S5”, therefore, has an informative content representative of the association between the value of the first operating parameter “P1” and the second operating parameter “P2”.

[0076] Preferably, the remote database 11 is accessible through a web portal and is configured to allow an operator to modify the association between the first operating parameter “P1” and the second operating parameter “P2”, defining a first modified informative content.

[0077] Therefore, this signal representative of the first modified informative content is sent to the control unit 7 of the clamp 2 in the form of a further signal, here defined for linearity as the sixth signal “S6”.

[0078] In other words, the remote database 11 is configured to send a sixth signal “S6” representative of the first modified informative content to the control unit 7 of the clamp 2.

[0079] The present invention also allows to define an automatic calibration method for smart equipment configured for load handling, preferably but not necessarily implemented by means of the system 1 described so far.

[0080] It should be noted that, for simplicity of exposure, all the characteristics described so far with reference to the system 1 will be reintroduced with the same numbering also with reference to the method; the characteristics of the system 1 , where possible, will apply mutatis mutandis to the corresponding characteristics described in the context of the method.

[0081] The method comprises the step of arranging an automatic calibration system with the clamp 2 in a first operating condition.

[0082] At least a first operating parameter “P1” identifying a pressure exerted by the hydraulic actuator of the clamp 2 is therefore detected.

[0083] At least a second operating parameter “P2” identifying a force exerted by the clamp 2 is detected by means of the calibration unit 5.

[0084] A first signal “S1 ” representative of at least one value of the first operating parameter “P1” is sent from the clamp 2 to the calibration unit 5.

[0085] A value of at least a second operating parameter “P2” is associated with the value of the first operating parameter “P1”.

[0086] Note that the first signal “S1 ” could be sent continuously (or at a predetermined sampling time) as the first operating parameter “P1” increases, or sent only with reference to the value of the first operating parameter “P1” to be associated with the second operating parameter “P2”, in analogy to what was previously described for the system 1. A second signal “S2” is subsequently sent, having a first informative content representative of said association between the value of the first operating parameter “P1” and the second operating parameter “P2”, from the calibration unit 5 to the clamp 2.

[0087] It should be noted that, preferably, said association between the first “P1” and the second parameter “P2” occurs when the second operating parameter “P2” reaches a predetermined threshold value “F”.

[0088] In this regard, the method preferably comprises the step of arranging at least one threshold value “F” for the second operating parameter “P2”, representative of a force exerted by the clamp 2 in a first opening and loading condition.

[0089] Subsequently, the hydraulic actuator 3 of the clamp 2 is driven by means of the calibration unit 5 so as to increase the hydraulic pressure level starting from a minimum value.

[0090] A value of at least a second operating parameter “P2” is detected as the hydraulic pressure increases and the value of the second operating parameter “P2” is compared with the threshold value “F” previously arranged.

[0091] Finally, a value of the first operating parameter “P1” is acquired when said threshold value “F” is reached by the second operating parameter “P2”, at least partly defining the first informative content.

[0092] In other words, the instant in which the value of the second operating parameter “P2” reaches the threshold value “F”, the corresponding value of the first operating parameter “P1” is acquired.

[0093] The association between the value of the first operating parameter “P1” and the second operating parameter “P2” represents the first informative content of the second signal “S2”.

[0094] Preferably, this sequence of steps is repeated for a plurality of threshold values “F” of the second operating parameter “P2”.

[0095] Preferably, moreover, the first informative content is saved in a memory of the clamp 2.

[0096] The association between the first operating parameter “P1” and the second operating parameter “P2”, defining the first informative content, is preferably modifiable by the operator by accessing a web portal connected to the remote database 11 .

[0097] When the change is made, the first modified informative content is sent to the control unit 7 of the clamp 2 in the form of a further signal “S6”. In other words, a sixth signal “S6” representative of the first modified informative content can be sent to the control unit 7 of the clamp 2.

[0098] The automatic calibration system 1 and method for smart equipment configured for load handling achieve the proposed purpose and achieve important advantages.

[0099] In fact, the calibration unit 5, by directly driving the control unit of the clamp 2, associates the value of the second operating parameter “P2” with the value of the first operating parameter “P1” exercised by the hydraulic actuator 3 of the clamp 2, guaranteeing maximum precision in driving. Advantageously, the direct communication between the processing unit 8 of the calibration unit 5 and the control unit 7 of the clamp 2 makes the calibration procedure automatic, minimising operator intervention and maximising the precision thereof.

Claims

CLAIMS1 . Automatic calibration system (1 ) for smart equipment configured for load handling, said automatic calibration system being characterised in that it comprises:- a clamp (2) comprising a hydraulic actuator (3) for movement and at least one pair of movable jaws (4), by means of said hydraulic actuator (3), between a first operating configuration in which the jaws (4) are spaced apart from each other and a second operating configuration in which the jaws (4) are brought closer together; said clamp (2) being configured to generate a first signal (S1) representative of at least a first operating parameter (P1) identifying a pressure exerted by said hydraulic actuator (3) in an operating condition;- a calibration unit (5) provided with a sensitive element (6) and configured for:- detecting at least a second operating parameter (P2), identifying a force exerted by said clamp (2), with the sensitive element (6) interposed between said jaws (4) and with the hydraulic actuator (3) in said operating condition;- receiving said first signal (S1) from said clamp (2);- associating at least one value of said at least a second operating parameter (P2) with a corresponding value of said at least a first operating parameter (P1 );- generating a second signal (S2) having a first informative content representative of said association between the value of the first operating parameter (P1) and the second operating parameter (P2) and sending said second signal (S2) to the clamp (2); wherein said clamp (2) is configured to drive the hydraulic jack (3) as a function of said first informative content.

2. System (1 ) according to claim 1 , wherein:- the clamp (2) comprises a control unit (7) configured to drive the hydraulic actuator (3) and to send said first signal (S1 );- the calibration unit (5) comprises a processing unit (8) configured to receive the first signal (S1) and to send the second signal to the control unit (S2) of the clamp (2).

3. System (1 ) according to the preceding claim, wherein the processing unit (8) of the calibration unit (5) is configured to send a third signal (S3) for driving the hydraulic actuator (3) to the control unit (7) of the clamp (2).

4. System (1 ) according to the preceding claim, wherein the processing unit (8) of the calibration unit (5) is configured to initiate a calibration procedure comprising:- arranging at least one threshold value (F) for the second operating parameter (P2), representative of a force exerted by said clamp (2) in a first opening and loading condition;- sending said third driving signal (S3) to the control unit (7) of the clamp (2) so as to increase the hydraulic pressure level starting from a minimum value;- detecting a value of said at least a second operating parameter (P2) as the hydraulic pressure exerted by the hydraulic actuator (3) of the clamp (2) increases;- comparing the value of the second operating parameter (P2) with said threshold value (F);- acquiring a value of the first operating parameter (P1 ) when said threshold value (F) is reached by the second operating parameter (P2) and at least partly defining the first informative content.

5. System (1 ) according to claim 4, comprising a human-machine interface (10) configured to allow the operator to set said threshold value (F).

6. System (1 ) according to claim 4 or 5, wherein, during or at the end of said calibration procedure, said man-machine interface (10) is configured to display an alarm signal to an operator if, during the calibration procedure, the value of the second operating parameter (P2) does not reach the threshold value (F).

7. System (1 ) according to any one of claims 4 to 6, wherein the humanmachine interface (10) is configured to allow the operator to set a plurality of threshold values (F) for a corresponding plurality of operating conditions of the gripper (2).

8. System (1 ) according to any one of claims 4 to 7, wherein the processing unit (8) of the calibration unit (5) is configured to query the control unit (7) of the clamp (2) to receive a fourth signal (S4) representative of said threshold value (F) for the second operating parameter (P2).

9. System (1 ) according to any one of the preceding claims, comprising a remote database (11 ) and wherein the processing unit (8) of the calibration unit (5) is configured to send a fifth signal (S5) containing the first informative content to the remote database (11 ).

10. System (1 ) according to any one of the preceding claims, wherein the remote database (11 ) is accessible by means of a web portal and is configured to:- allow an operator to modify the association between the first operating parameter (P1 ) and the second operating parameter (P2), defining a first modified informative content;- send a sixth signal (S6) representative of the first modified informative content to the control unit (7) of the clamp (2).11 . System (1 ) according to any one of the preceding claims, wherein said sensitive element (6) of the calibration unit (5) comprises one or more load cells applicable to said jaws (4).

12. System (1 ) according to claim 11 , comprising a plurality of cross bars (9) provided with said one or more load cells and having a variable length to adapt to a plurality of operating conditions of the clamp (2).

13. System (1 ) according to the preceding claim, comprising a Can-bus communication channel (12) interposed between said control unit (7) of the clamp (2) and said calibration unit (5) for a transfer of said first signal (S1 ) and second signal (S2).

14. Automatic calibration method for smart equipment configured for load handling, said method comprising the steps of:- arranging an automatic calibration system (1 ) according to one or more of the preceding claims, with the clamp (2) in a first operating condition;- detecting at least a first operating parameter (P1) identifying a pressure exerted by the hydraulic actuator (3) of said clamp (2);- detecting at least a second operating parameter (P2) identifying a force exerted by said clamp (2) by means of said calibration unit (5);- sending a first signal (S1) representative of at least one value of said at least a first operating parameter (P1) from said clamp (2) to said calibration unit (5);- associating a value of said at least a second operating parameter (P2) with said at least one value of the first operating parameter (P1 );- sending a second signal (S2), having a first informative content representative of said association between the value of the first operating parameter (P1) and the second operating parameter (P2), from said calibration unit (5) to said clamp (2).

15. Method according to claim 14, further comprising the steps of:- arranging at least one threshold value (F) for the second operating parameter (P2), representative of a force exerted by said clamp (2) in a first opening and loading condition; - driving, by means of said calibration unit (5), the hydraulic actuator (3) of the clamp (2) so as to increase the hydraulic pressure level starting from a minimum value;- detecting a value of said at least a second operating parameter (P2) as the hydraulic pressure increases; - comparing the value of the second operating parameter (P2) with said threshold value (F);- acquiring a value of the first operating parameter (P1) when said threshold value (F) is reached by the second operating parameter (P2), at least partly defining the first informative content.

16. Method according to claim 14 or 15, comprising a step of saving the first informative content in a memory of said clamp (2).

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