CN106744515A - The automatic leveling device for fork and leveling method of electri forklift - Google Patents
The automatic leveling device for fork and leveling method of electri forklift Download PDFInfo
- Publication number
- CN106744515A CN106744515A CN201611166441.4A CN201611166441A CN106744515A CN 106744515 A CN106744515 A CN 106744515A CN 201611166441 A CN201611166441 A CN 201611166441A CN 106744515 A CN106744515 A CN 106744515A
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- Prior art keywords
- pallet fork
- processing unit
- central processing
- leveling
- oil circuit
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/16—Platforms; Forks; Other load supporting or gripping members inclinable relative to mast
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The present invention discloses the automatic leveling device for fork and leveling method of electri forklift,Including oil circuit valve group,Oil pump electrical machinery,Leveling module and central processing unit for measuring pallet fork gradient,The pallet fork tilting value that central processing unit read level measurement module is detected is processed and sending signal oil circuit control valve group carries out oil circuit switching,The opening and closing of Oil pump electrical machinery,Central processing unit carries out the opening and closing of oil circuit switching and Oil pump electrical machinery to control the stroke of leveling cyclinder by oil circuit control valve group,So as to reach the adjustment of pallet fork gradient,The stroke of described leveling cyclinder and pallet fork gradient positive correlation,Tilting value residing for pallet fork is detected by leveling module,Pallet fork tilting value is read using central processing unit,Central processing unit oil circuit is switched over come oil circuit control valve group after treatment and by sending pulse signal and Oil pump electrical machinery keying,Oil pump electrical machinery controls the stroke of leveling cyclinder,So as to reach the purpose of leveling pallet fork.
Description
Technical field
The present invention relates to the pallet fork control device and control method of a kind of electri forklift, more particularly to electri forklift pallet fork
Self-level(l)ing device and leveling method.
Background technology
Door frame component includes inner upright mounting, middle door frame, outer mast, goods shelf, pallet fork etc..Pallet fork is arranged on goods shelf,
The device being adjusted to the gradient of pallet fork, also referred to as pallet fork levelling device are installed on goods shelf.Electri forklift is in fork goods
Or in goods putting opertions engineering, can all use pallet fork levelling function.
The operating process for pitching goods is as follows：Pallet fork is first increased to the pallet fork on a certain certain height, i.e. pallet fork and shelf
Hole is highly consistent, and pallet fork now is adjusted into the horizontality consistent with entry, and then pallet fork extend into pallet entry and will
Pallet fork is adjusted to being inclined upwardly, and pallet falls on pallet fork together with the weight of goods, and subsequent pallet is moved rearwards by together with pallet fork,
Complete fork goods operation.The operating process of goods putting is as follows：Pallet fork first rises some shelf being down on shelf together with pallet (goods)
Height, pallet fork forward extends out together with pallet, pallet is placed on some shelf, then gradually by pallet fork leveling as support
Disk entry parastate, then pallet fork translated from shelf disk and exited, complete goods putting operation.
Traditional pallet fork levelling device includes leveling cyclinder, and the leveling cyclinder is directly or indirectly acted on pallet fork, works as tune
When the expansion link of flat oil cylinder stretches out, pallet fork is integrally inclined upwardly.When the expansion link of leveling cyclinder is inwardly indented, pallet fork it is overall to
Lower inclination.Therefore leveling cyclinder control pallet fork is adjusted in certain magnitude of inclination.
Leveling cyclinder is controlled by oil circuit valve group and Oil pump electrical machinery, and traditional oil circuit valve group switches and Oil pump electrical machinery
Throttle signal is controlled by artificial.The switching of oil circuit valve group makes working connection now only for controlling the loop of whole oil circuit
It is connected with leveling cyclinder.After UNICOM, Oil pump electrical machinery is opened, it is possible to control the stroke of the expansion link of leveling cyclinder, from
And control pallet fork to be inclined upwardly or downward-sloping；Here, Oil pump electrical machinery be used for control leveling cyclinder oil mass pass in and out how much,
So as to control the magnitude of inclination of pallet fork.
Above by manual observation and carry out artificial manual manipulation mode and have the disadvantage that adjusting the gradient of pallet fork：
Many times, because the problem in the human body visual field, cause the not observable of pallet fork object or observe highly difficult, then now cannot be accurate
Really judge whether pallet fork has been in horizontality.On the other hand, when pallet fork is in a high position, because without reference to thing
Whether reason, human eye is difficult intuitively to judge pallet fork in horizontality.For example, when human body station on the ground, observe 10 meters high
One block of plate, when 10 ° of its tilted upward, human eye judges and level is almost not different.
Just because of this, traditional mode of operation, is just actuator, it is also difficult to is competent at this completely and operated
Journey, while operating efficiency is lower.If pallet fork Levelling operation is improper, electri forklift easily causes security incident.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of automatic leveling device for fork of electri forklift, by centre
Reason device to leveling module Real-time Collection to pallet fork tilting value processed and sending signal oil circuit control valve group is carried out
Oil circuit switches the keying with Oil pump electrical machinery, and central processing unit carries out oil circuit and switches and Oil pump electrical machinery by oil circuit control valve group
Open and close to control the stroke of leveling cyclinder, by the flexible adjustment to reach pallet fork gradient of leveling cyclinder, accomplish pallet fork
The maximization of leveling efficiency.The present invention is using central processing unit digitlization come oil circuit control valve group and Oil pump electrical machinery, oil path valve
Door group and Oil pump electrical machinery control leveling cyclinder to realize the automatic flat-adjustable function of pallet fork, reach that pallet fork leveling is not only quick but also safety can
Lean on.
The present invention solve the technical scheme that is used of above-mentioned technical problem for：The automatic leveling device for fork of electri forklift,
The Oil pump electrical machinery that is connected with leveling cyclinder including the oil circuit valve group connected with leveling cyclinder, for measuring pallet fork gradient
Leveling module and central processing unit, the pallet fork tilting value that central processing unit read level measurement module is detected are processed
And sending signal oil circuit control valve group carries out oil circuit switching and the keying of Oil pump electrical machinery, central processing unit passes through oil circuit control valve
Door group carries out the keying of oil circuit switching and Oil pump electrical machinery to control the stroke of leveling cyclinder, so as to reach the tune of pallet fork gradient
It is whole, stroke and the pallet fork gradient positive correlation of described leveling cyclinder.
Further preferred scheme is the present invention：Central processing unit is compared to pallet fork tilting value with pallet fork desired value,
Oil circuit is switched to central processing unit the state or goods of pallet fork updip action according to result after comparing come oil circuit control valve group
Pitch the state of the action that has a down dip.
Further preferred scheme is the present invention：Described leveling module is angle position encoder, and described angle position is compiled
The reading value of code device is corresponded with the stroke of leveling cyclinder.
Further preferred scheme is the present invention：User-machine interface is connected with described central processing unit.
Further preferred scheme is the present invention：Described user-machine interface is leveling button, and leveling button realizes goods
One key levelling function of fork.
Further preferred scheme is the present invention：User-machine interface is touch-screen.
The pallet fork method for automatically leveling of electri forklift, it is characterised in that comprise the following steps：
1) the pallet fork tilting value that central processing unit Real-time Collection leveling module is measured；
2) the pallet fork tilting value measured according to present level measurement module, central processing unit judges that pallet fork is in updip still
Declined state, if pallet fork is in updip state, central processing unit oil circuit control valve group makes oil circuit be adjusted to pallet fork to have a down dip action
State；If pallet fork is in declined state, central processing unit oil circuit control valve group makes oil circuit be adjusted to the action of pallet fork updip
State；
3) central processing unit starts Oil pump electrical machinery, and Oil pump electrical machinery controls the stroke of leveling cyclinder, and central processing unit
Real-time monitoring pallet fork tilting value, until pallet fork is in horizontality, central processing unit stops Oil pump electrical machinery；
4) central processing unit oil circuit control valve group is recovered to acquiescence loop state.
Compared with prior art, it is an advantage of the invention that automatic leveling device for fork detects pallet fork by leveling module
Residing tilting value, pallet fork tilting value is read using digitized central processing unit, and central processing unit after treatment and passes through
Send pulse signal come oil circuit control valve group oil circuit is switched over and Oil pump electrical machinery keying, Oil pump electrical machinery control leveling oil
The stroke of cylinder, so as to reach the purpose of leveling pallet fork.
The present invention can realize one-touch levelling function with leveling button, and digital automatic control is become by manual manipulation,
The pallet fork Levelling operation of fork truck is more convenient and safe and hommization.
Brief description of the drawings
Fig. 1 is structural representation of the pallet fork of the invention in declined state；
Fig. 2 is structural representation of the pallet fork of the invention in horizontality；
Fig. 3 is structural representation of the pallet fork of the invention in updip state；
Fig. 4 is the structure chart of automatic leveling device for fork of the invention；
Fig. 5 is the FB(flow block) of pallet fork method for automatically leveling of the invention；
Fig. 6 is the particular flow sheet of pallet fork method for automatically leveling of the invention；
Fig. 7 is the flow chart of the embodiment of the present invention one；
Fig. 8 is the flow chart of the embodiment of the present invention two.
Specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing embodiment.
6 points of goods shelf is side arm 61 and after-frame 62；The upper shaft of side arm 61 of goods shelf 6 is connected on after-frame 62, and shaft contact is
63, the pallet fork 7 of electri forklift is fixedly mounted on the side arm 61 of goods shelf 6, and traditional pallet fork 7 is of an L-shaped structure, and pallet fork 7 includes
Lateral part 71 for supporting articles (pallet) and with the longitudinal component 72 being resisted against on goods shelf side arm 61, pallet fork 7 it is vertical
It is fixed on the side arm 61 of goods shelf 6 to the upper end of part 72, leveling cyclinder 8 is arranged on the after-frame 62 of goods shelf, leveling oil
The expansion link 81 of cylinder 8 acts on the lower end of side arm 61 of goods shelf 6 by fixed block 82.Leveling cyclinder indirectly-acting of the invention in
The automatic flat-adjustable function of pallet fork is realized on pallet fork.
When the expansion link 81 of leveling cyclinder 8 extends, the horizontal tilt degree of the lateral part 71 of pallet fork 7 can change, goods
Fork 7 can substantially be divided into declined state, horizontality or updip state, such as Fig. 1-Fig. 3, during declined state, the transverse direction of pallet fork
Part 71 is in a degree angles with horizontal line, and angular range is 2 degree~4 degree；During updip state, the lateral part 71 of pallet fork and level
Line is in b degree angles, and angular range is 2 degree~4 degree；Electri forklift is used in bulk storage plant or outdoor stacking, bulk storage plant or
The ground of outdoor stacking is tried one's best level, and two pallet fork holes being deposited in shelf top tray also require that level, are in pallet fork
During level, pallet fork can be inserted into the pallet fork hole on pallet well.
For convenience, and readily appreciate, the pallet fork state being below previously mentioned refers both to the lateral part 71 of pallet fork 7, i.e.,
For the lateral part of supporting articles weight.
As shown in figure 4, the automatic leveling device for fork of electri forklift, including connected with leveling cyclinder oil circuit valve group 4,
The Oil pump electrical machinery 5 connected with leveling cyclinder, leveling module 1 and central processing unit 3 for measuring pallet fork gradient, center
The pallet fork tilting value that the read level measurement module 1 of processor 3 is detected is processed and sending signal oil circuit control valve group 4 is entered
Row oil circuit switches the keying with Oil pump electrical machinery 5, and central processing unit 3 carries out oil circuit switching and oil pump by oil circuit control valve group 4
The keying of motor controls the stroke of leveling cyclinder, and so as to reach the adjustment of pallet fork gradient, described leveling cyclinder is stretched
Contracting amount and pallet fork gradient positive correlation.
By the flexible value of leveling cyclinder and corresponding pallet fork tilting value, stored in advance in the form of electronic data sheet
In central processing unit, when central processing unit carries out data processing, the data form can be at any time transferred.When being worked with fork truck
Between increase, the factor such as door frame and pallet fork deformation, during the tilting value deviation of the actual tilt value of pallet fork and original start, Ke Yitong
The modes such as periodic detection, fine setting are crossed to be adjusted.
The switching of oil circuit valve group 4 makes working connection now only and leveling for controlling the loop of the whole oil circuit of electri forklift
Oil cylinder is connected.After UNICOM, direction, the keying of Oil pump electrical machinery 5 of oil circuit are adjusted, it is possible to control the flexible of leveling cyclinder
Amount, so as to control pallet fork to be in updip or have a down dip or leveling state；Oil pump electrical machinery 5 is used to control the oil mass of leveling cyclinder to pass in and out always
Amount, so as to control the magnitude of inclination of pallet fork.Because the tilt adjustments stroke of pallet fork is relatively small, the leveling speed phase of pallet fork
To not being very crucial, Oil pump electrical machinery can control the oil mass of leveling cyclinder to pass in and out speed to control the leveling speed of pallet fork.
Central processing unit 3 is compared to pallet fork tilting value with pallet fork desired value, and central processing unit 3 is according to result after comparing
Carry out oil circuit control valve group 4 state or pallet fork that oil circuit switches to the action of pallet fork updip have a down dip the state of action.If pallet fork
Updip state is in original state, dbjective state is horizontality, and central processing unit oil circuit control valve group switches oil circuit
Have a down dip the state of action to pallet fork；For the operation of Oil pump electrical machinery is ready；If pallet fork is in horizontality, mesh in original state
Preceding state is updip state, and oil circuit is switched to central processing unit oil circuit control valve group the state of pallet fork updip action, is oil
The operation of pump motor is ready.
Described leveling module 1 is angle position encoder, the reading value and leveling cyclinder of described angle position encoder
Stroke is corresponded.Pallet fork inclination movement, angle position encoder will accordingly send pulse, by the meter of number of pulses amount
Calculate, finally draw the stroke of leveling cyclinder, the stroke of leveling cyclinder is also one-to-one relationship with the gradient of pallet fork.
User-machine interface 2 is connected with described central processing unit 3.Described user-machine interface 2 is leveling button.
Or user-machine interface is touch-screen.When operating personnel wants Levelling operation, the control on user-machine interface is pressed
Button processed, central processing unit according to the instruction for receiving process the operation of simultaneously oil circuit control valve group and Oil pump electrical machinery.
As shown in Figure 5 and Figure 6, the pallet fork method for automatically leveling of electri forklift, it is characterised in that comprise the following steps：
1) the pallet fork tilting value that the Real-time Collection leveling module 1 of central processing unit 3 is measured；
2) the pallet fork tilting value measured according to present level measurement module 1, central processing unit 3 judges that pallet fork is in updip also
It is declined state, if pallet fork is in updip state, the oil circuit control valve group 4 of central processing unit 3 makes oil circuit be adjusted to pallet fork to have a down dip
The state of action；If pallet fork is in declined state, the oil circuit control valve group 4 of central processing unit 3 makes oil circuit be adjusted to pallet fork updip
The state of action；
3) central processing unit 3 starts Oil pump electrical machinery 5, and Oil pump electrical machinery 5 controls the stroke of leveling cyclinder, and center treatment
The real-time monitoring pallet fork tilting value of device 3, until pallet fork is in horizontality, central processing unit 3 stops Oil pump electrical machinery 5；
4) central processing unit oil circuit control valve group is recovered to acquiescence loop state.
As shown in fig. 7, embodiment one：After be placed to goods on shelf by pallet fork, pallet fork current state is used to have a down dip 10 °
Family input instruction carries out leveling；Then pallet fork is translated out from pallet reclaimed water, completes goods putting process.
Specific steps 1) operative employee presses automatic leveling button；
2) the oil circuit control valve group 4 of central processing unit 3 makes oil circuit be adjusted to the state of pallet fork updip action；
3) central processing unit 3 starts Oil pump electrical machinery 5, while the pallet fork tilting value that real-time detection leveling module 1 is measured；
Until pallet fork is in horizontality；
4) central processing unit 3 stops Oil pump electrical machinery, and oil circuit control valve group 4 makes oil circuit return to original state.
As shown in figure 8, embodiment two：Pallet fork current state is 5 ° of updip, and user input instruction carries out leveling；To complete goods
Pitch the charge and discharge operations to goods.
Specific steps 1) operative employee presses automatic leveling button 2；
2) the oil circuit control valve group 4 of central processing unit 3 makes oil circuit be adjusted to pallet fork to have a down dip the state of action；
3) central processing unit 3 starts Oil pump electrical machinery 5, while the pallet fork tilting value that real-time detection leveling module 1 is measured；
Until pallet fork is in horizontality；
4) central processing unit 3 stops Oil pump electrical machinery 5, and oil circuit control valve group 4 makes oil circuit return to original state.
The pallet fork levelling device and pallet fork leveling method to electri forklift provided by the present invention have carried out detailed Jie above
Continue, specific case used herein is set forth to principle of the invention and implementation method, the explanation of above example is only
It is to be used to help understand the present invention and core concept.It should be pointed out that for those skilled in the art, not
On the premise of departing from the principle of the invention, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into
In the protection domain of the claims in the present invention.
Claims (7)
1. the automatic leveling device for fork of electri forklift, it is characterised in that including the oil circuit valve group that is connected with leveling cyclinder and
Oil pump electrical machinery, the leveling module and central processing unit for measuring pallet fork gradient of leveling cyclinder connection, center treatment
The pallet fork tilting value that device read level measurement module is detected is processed and sending signal oil circuit control valve group carries out oil circuit
Switching and the keying of Oil pump electrical machinery, central processing unit carry out oil circuit switching and the keying of Oil pump electrical machinery by oil circuit control valve group
Come the adjustment for controlling the stroke of leveling cyclinder so as to reach pallet fork gradient, the stroke of described leveling cyclinder inclines with pallet fork
Gradient positive correlation.
2. the automatic leveling device for fork of electri forklift according to claim 1, it is characterised in that central processing unit is to goods
Fork tilting value is compared with pallet fork desired value, and central processing unit cuts oil circuit come oil circuit control valve group according to result after comparing
The state or pallet fork for shifting to the action of pallet fork updip have a down dip the state of action.
3. the automatic leveling device for fork of electri forklift according to claim 1, it is characterised in that described horizontal survey
Module is angle position encoder, and the reading value of described angle position encoder is corresponded with the stroke of leveling cyclinder.
4. the automatic leveling device for fork of electri forklift according to claim 1, it is characterised in that user-machine interface with
Described central processing unit connection.
5. the automatic leveling device for fork of electri forklift according to claim 4, it is characterised in that described man-machine interface
Interface is leveling button.
6. the automatic leveling device for fork of electri forklift according to claim 4, it is characterised in that user-machine interface is
Touch-screen.
7. the pallet fork method for automatically leveling of electri forklift, it is characterised in that comprise the following steps：
1) the pallet fork tilting value that central processing unit Real-time Collection leveling module is measured；
2) the pallet fork tilting value measured according to present level measurement module, central processing unit judges that pallet fork still has a down dip in updip
State, if pallet fork is in updip state, central processing unit oil circuit control valve group makes oil circuit be adjusted to pallet fork to have a down dip the shape of action
State；If pallet fork is in declined state, central processing unit oil circuit control valve group makes oil circuit be adjusted to the state of pallet fork updip action；
3) central processing unit starts Oil pump electrical machinery, and Oil pump electrical machinery controls the stroke of leveling cyclinder, and central processing unit is real-time
Monitoring pallet fork tilting value, until pallet fork is in horizontality, central processing unit stops Oil pump electrical machinery；
4) central processing unit oil circuit control valve group is recovered to acquiescence loop state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611166441.4A CN106744515A (en) | 2016-12-16 | 2016-12-16 | The automatic leveling device for fork and leveling method of electri forklift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611166441.4A CN106744515A (en) | 2016-12-16 | 2016-12-16 | The automatic leveling device for fork and leveling method of electri forklift |
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| Publication Number | Publication Date |
|---|---|
| CN106744515A true CN106744515A (en) | 2017-05-31 |
Family
ID=58891791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611166441.4A Pending CN106744515A (en) | 2016-12-16 | 2016-12-16 | The automatic leveling device for fork and leveling method of electri forklift |
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| CN (1) | CN106744515A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108298481A (en) * | 2018-03-07 | 2018-07-20 | 安徽合力股份有限公司 | A kind of control system and method preventing fork of forklift truck high position maloperation |
| CN109437058A (en) * | 2018-12-18 | 2019-03-08 | 云南昆船智能装备有限公司 | One kind being applied to high lifting V shape AGV pallet fork leveling device |
| CN109437060A (en) * | 2018-12-25 | 2019-03-08 | 安徽合力股份有限公司 | A kind of control device of electri forklift pallet fork Automatic Levelling |
| CN113060678A (en) * | 2020-01-02 | 2021-07-02 | 浙江知嘛网络科技有限公司 | Forklift foot sleeve with high applicability |
| CN114890342A (en) * | 2022-07-15 | 2022-08-12 | 杭叉集团股份有限公司 | Three-dimensional accessory stacking vehicle accessory control system and control method |
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| CN104925707A (en) * | 2015-06-19 | 2015-09-23 | 林德（中国）叉车有限公司 | Automatic control forklift fork inclination angle device |
| CN105217533A (en) * | 2015-10-15 | 2016-01-06 | 浙江诺力机械股份有限公司 | A kind of automatic leveling device being applicable to industrial vehicle |
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| JPH11147696A (en) * | 1997-11-20 | 1999-06-02 | Aichi Corp | Work base leveling device |
| CN2793040Y (en) * | 2005-05-31 | 2006-07-05 | 四川长江工程起重机有限责任公司 | Automatic cargo adjuster of cargo fork for fork loading with telescopie arm |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108298481A (en) * | 2018-03-07 | 2018-07-20 | 安徽合力股份有限公司 | A kind of control system and method preventing fork of forklift truck high position maloperation |
| CN108298481B (en) * | 2018-03-07 | 2024-01-05 | 安徽合力股份有限公司 | Control system and method for preventing high-order misoperation of forklift fork |
| CN109437058A (en) * | 2018-12-18 | 2019-03-08 | 云南昆船智能装备有限公司 | One kind being applied to high lifting V shape AGV pallet fork leveling device |
| CN109437060A (en) * | 2018-12-25 | 2019-03-08 | 安徽合力股份有限公司 | A kind of control device of electri forklift pallet fork Automatic Levelling |
| CN113060678A (en) * | 2020-01-02 | 2021-07-02 | 浙江知嘛网络科技有限公司 | Forklift foot sleeve with high applicability |
| CN114890342A (en) * | 2022-07-15 | 2022-08-12 | 杭叉集团股份有限公司 | Three-dimensional accessory stacking vehicle accessory control system and control method |
| CN114890342B (en) * | 2022-07-15 | 2022-10-21 | 杭叉集团股份有限公司 | Three-dimensional accessory stacking vehicle accessory control system and control method |
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Application publication date: 20170531 |
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