Forklift Fork Tilting Control for Insertion Surface Release
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Solution Overview
Problem
Forks of a forklift often catch on the surface defining an insertion opening when attempting to remove them, making it difficult to properly extract the forks from the opening.
Innovation Solution
A forklift system equipped with a detection sensor to detect contact with the insertion opening surface, controlling the lift and tilt devices to stop lowering, tilt forward until a limit angle is reached, and then tilt rearward to ensure the forks are separated from the surface before removal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the forks are lowered to remove the pallet, then the pallet can be placed on the placement surface, but the forks may catch on the first facing surface making it difficult to remove
Solution Approach 1:
The system performs preliminary actions by detecting contact between the insertion portion and the first facing surface during the placing operation, then executes a sequence of stopping lowering, forward tilting to limit angle, and returning rearward before fork removal. This preliminary preparation prevents the harmful catching effect during subsequent fork removal
Solution Approach 2:
The detection sensor provides real-time feedback on whether the insertion portion is in contact with the first facing surface. The processing circuitry uses this feedback to automatically control the lift device and tilt device, creating a closed-loop control system that prevents fork catching by adjusting operations based on actual contact conditions
2Ease of operation
If a detection sensor is added to detect contact with the insertion opening surface, then fork removal becomes easier, but device complexity and cost increase
Solution Approach 1:
The detection sensor serves multiple functions: it detects contact between the insertion portion and the first facing surface during placing operations, and also detects contact during fork removal operations. This multi-functionality justifies the added complexity by providing dual-purpose monitoring without requiring separate sensor systems
Solution Approach 2:
The system uses its own existing tilt sensor and processing circuitry to detect contact conditions and automatically control the fork removal process. The forklift monitors and adjusts its own operations without requiring external intervention or additional complex control systems
Data Source
AI summary
A controlling device of a forklift executes a stopping process of stopping lowering of a fork by a lift device when a detection sensor is separated from a first facing surface while the fork is being lowered by the lift device in a placing operation, a forward tilting process executed after execution of the stopping process, the forward tilting process controlling the tilt device to tilt the fork forward until the tilt angle reaches a limit value, and a returning process of sequentially obtaining values of the tilt angle during execution of the forward tilting process and tilting the fork rearward when the value of the tilt angle stops changing before the tilt angle reaches the limit value. The returning process is not executed in a case in which the tilt angle reaches the limit value.