CN107244640A - A kind of heavy forklift dump ram buffer control system and its control method - Google Patents
A kind of heavy forklift dump ram buffer control system and its control method Download PDFInfo
- Publication number
- CN107244640A CN107244640A CN201710405166.5A CN201710405166A CN107244640A CN 107244640 A CN107244640 A CN 107244640A CN 201710405166 A CN201710405166 A CN 201710405166A CN 107244640 A CN107244640 A CN 107244640A
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- China
- Prior art keywords
- door frame
- ecu
- forklift
- oil cylinder
- angle
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Analytical Chemistry (AREA)
- Vehicle Body Suspensions (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The present invention relates to a kind of heavy forklift dump ram buffer control system and its control method, including forklift door frame, operation handle, banked direction control valves, the obliquity sensor on forklift door frame and the ECU being connected with obliquity sensor signal, the forklift door frame is provided with the left bank oil cylinder and right bank oil cylinder for rotating and being connected with it, the left bank oil cylinder and right bank oil cylinder are connected by pipeline with banked direction control valves, and the operation handle is connected by connecting line with ECU signal.The present invention utilizes the electric proportion magnetic valve of ECU output signal control, during door frame is moved, the angle of monitoring door frame, goes to control door frame movement velocity using angle signal in real time, according to angle Linear Control speed, being precisely controlled for oil cylinder end buffering can be achieved.And greatly reduce the risk of hydraulic system fault without increase Hydraulic Elements in control system of the present invention.
Description
Technical field
The present invention relates to forklift door frame control technology field, and in particular to a kind of heavy forklift dump ram cushioning control system
System and its control method.
Background technology
Fork truck is that station terminal short-haul operation goods is used, and its operation principle is to promote oil cylinder piston using hydraulic oil
Bar, so as to realize the motion of door frame and goods shelf.When cylinder piston rod reaches stroke end, because the inertia of movement parts is made
With hydraulic shock can be produced.And heavy forklift tonnage is big, operating mode rather harsh, inertia more large impact is also bigger.Therefore, oil cylinder
End buffering be particularly important for heavy forklift.
Existing cylinder buffer technology buffers substantially two kinds, and one is that oil cylinder two ends use floating bush and floating buffer set
Deng another is exactly external type hydraulic cylinder buffer unit, periphery increase check valve, the Hydraulic Elements such as choke valve, realizes buffering.
Both implementations are required to change cylinder structure or extra increase hydraulic system component, system or complicated, failure
Point is more, and can not realize being precisely controlled for cylinder buffer.
The content of the invention
It is an object of the invention to provide a kind of heavy forklift dump ram buffer control system and its control method, utilize
Electronic control technology is combined with hydraulic pressure, and realization is precisely controlled to door frame dump ram end buffering.
To achieve the above object, present invention employs following technical scheme：
A kind of heavy forklift dump ram buffer control system, including forklift door frame, operation handle, banked direction control valves, located at fork truck door
Obliquity sensor on frame and the ECU being connected with obliquity sensor signal, the forklift door frame are provided with and its company of rotation
The left bank oil cylinder and right bank oil cylinder connect, the left bank oil cylinder and right bank oil cylinder are connected by pipeline with banked direction control valves, institute
Operation handle is stated to be connected with ECU signal by connecting line.
In such scheme, the pipeline includes being respectively arranged on before the front portion of left bank oil cylinder and right bank oil cylinder, rear portion
Incline pipeline, hypsokinesis pipeline.
In such scheme, the ECU is connected by connecting line with the proportion magnetic valve of banked direction control valves.
A kind of control method of heavy forklift dump ram buffer control system, comprises the following steps：
（1）Manipulation handle, electric signal is exported to ECU by control crank；
（2）ECU according to the output signal of control crank control banked direction control valves proportion magnetic valve, driving left bank oil cylinder and
The piston rod of right bank oil cylinder so that forklift door frame leans forward or hypsokinesis；
（3）Inclination sensor detects the angle of inclination of forklift door frame in real time, and angle signal is transferred into ECU；
（4）When ECU, which detects door frame forward leaning angle, reaches preset value, forklift door frame is controlled by the aperture of banked direction control valves
Pitch velocity.
In such scheme, step（4）In, it is described when ECU detects door frame forward leaning angle and reaches preset value, lead to
The aperture for crossing banked direction control valves controls the pitch velocity of forklift door frame, specifically includes following steps：
（41）When detect forklift door frame forward leaning angle for 5 degree when, ECU according to the forklift door frame angle signal collected,
Linear reduction output current, slowly reduces to control the speed that leans forward of forklift door frame slowly to drop by the aperture of electric proportion magnetic valve
It is low；When it is 6 degree to detect door frame forward leaning angle, ECU is output as zero, and electric proportion magnetic valve is closed, and door frame action stops
Only；
（42）When it is 9 degree to detect door frame hypsokinesis angle, interval into deceleration buffer, ECU is according to the door frame collected
Angle signal, linear reduction output current, the aperture of electric proportion magnetic valve is slowly smaller, and the hypsokinesis speed of door frame also slowly drops
It is low；When hypsokinesis is to 10 degree, ECU is output as zero, and electric proportion magnetic valve is closed, and door frame action stops.
As shown from the above technical solution, a kind of heavy forklift dump ram buffer control system of the present invention and its control
Method processed, controls electric proportion magnetic valve, during door frame is moved, door frame is monitored in real time using ECU output signal
Angle, goes to control door frame movement velocity using angle signal, and according to angle Linear Control speed, oil cylinder end buffering can be achieved
It is precisely controlled.And greatly reduce hydraulic system fault without increase Hydraulic Elements in control system of the present invention
Risk.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings：
As shown in figure 1, a kind of heavy forklift dump ram buffer control system, including forklift door frame 1, operation handle 3, banked direction control valves
5th, on forklift door frame 1 obliquity sensor 2 and the ECU 4 being connected with obliquity sensor 2 by connecting line 17, in fork
Car door frame 1, which is provided with the left bank oil cylinder 15 and right bank oil cylinder 16 for rotating and being connected with it, the banked direction control valves 5, has two electromagnetism
Proportioning valve 6,7, left bank oil cylinder 15 and right bank oil cylinder 16 pass through pipeline 11,12 and the hypsokinesis pipeline 13,14 and banked direction control valves 5 of leaning forward
On hydraulic valve be connected, operation handle 3 is connected by connecting line 8 with the signal of ECU 4, ECU 4 by connecting line 9,
10 are connected with the proportion magnetic valve 6 on banked direction control valves 7.
Door frame leans forward the course of work：
Operator's manipulation handle 3 first, control crank 3 exports electric signal to ECU 4, and ECU 4 is according to manipulation
The signal output signal control proportion magnetic valve 6 of handle 3, forklift door frame 1 leans forward the oil-feed of pipeline 11 and 12, so as to drive inclination oil
Cylinder piston rod 15 and 16 so that forklift door frame 1 leans forward.During the leaning forward of forklift door frame 1, on forklift door frame 1
Obliquity sensor 2 monitors the angle of door frame 1 in real time, and angle signal is transferred to ECU 4, due to the top rake of door frame 1
Degree is 6 degree, when detecting the forward leaning angle of door frame 1 to 5 degree, and interval into deceleration buffer, now ECU 4 is according to collection
The gantry angle signal arrived, linear reduction output current so that with constantly leaning forward for forklift door frame 1, electric proportion magnetic valve 6
Aperture is slowly smaller, and the speed that leans forward of forklift door frame 1 is also slowly reduced, when leaning forward to 6 degree, and ECU 4 is output as zero, electricity
Proportion magnetic valve 6 is completely closed, and the action of door frame 1 stops, it is achieved thereby that the end buffering of door frame forward swing, reduces oil cylinder
Impact.
The door frame hypsokinesis course of work：
Operator's manipulation handle 3 first, control crank 3 exports electric signal to ECU 4, and ECU 4 is according to manipulation
The signal output signal control proportion magnetic valve 7 of handle 3, the oil-feed of hypsokinesis pipeline 13 and 14 being connected with forklift door frame 1, so as to drive
Dynamic dump ram piston rod 15 and 16 so that the hypsokinesis of forklift door frame 1.During the hypsokinesis of forklift door frame 1, installed in fork truck door
Obliquity sensor 2 on frame 1 monitors the angle of door frame 1 in real time, and angle signal is transferred to ECU 4, due to fork truck door
The hypsokinesis angle of frame 1 is 10 degree, when detecting the hypsokinesis angle of forklift door frame 1 to 9 degree, interval into deceleration buffer, now
ECU 4 is according to the angle signal of the forklift door frame 1 collected, linear reduction output current so that with forklift door frame 1
Continuous hypsokinesis, the aperture of electric proportion magnetic valve 7 is slowly smaller, and the hypsokinesis speed of forklift door frame 1 is also slowly reduced, when hypsokinesis to 10
When spending, ECU 4 is output as zero, and solenoid-operated proportional magnetic valve 7 is completely closed, and the action of forklift door frame 1 stops.It is achieved thereby that fork
The end buffering of the hypsokinesis of car door frame 1 action, reduces the impact of oil cylinder.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
Enclose and be defined, on the premise of design spirit of the present invention is not departed from, technical side of the those of ordinary skill in the art to the present invention
In various modifications and improvement that case is made, the protection domain that claims of the present invention determination all should be fallen into.
Claims (5)
1. a kind of heavy forklift dump ram buffer control system, it is characterised in that：Including forklift door frame, operation handle, multichannel
On valve, the obliquity sensor on forklift door frame and the ECU being connected with obliquity sensor signal, the forklift door frame
Provided with rotating the left bank oil cylinder and right bank oil cylinder that are connected with it, the left bank oil cylinder and right bank oil cylinder by pipeline with
Banked direction control valves is connected, and the operation handle is connected by connecting line with ECU signal.
2. heavy forklift dump ram buffer control system according to claim 1 and its control method, it is characterised in that：
The pipeline includes being respectively arranged on the front portion of left bank oil cylinder and right bank oil cylinder, the pipeline that leans forward at rear portion, hypsokinesis pipeline.
3. heavy forklift dump ram buffer control system according to claim 1 and its control method, it is characterised in that：
The ECU is connected by connecting line with the proportion magnetic valve of banked direction control valves.
4. a kind of control method of heavy forklift dump ram buffer control system according to claim 1, its feature exists
In comprising the following steps：
（1）Manipulation handle, electric signal is exported to ECU by control crank；
（2）ECU according to the output signal of control crank control banked direction control valves proportion magnetic valve, driving left bank oil cylinder and
The piston rod of right bank oil cylinder so that forklift door frame leans forward or hypsokinesis；
（3）Inclination sensor detects the angle of inclination of forklift door frame in real time, and angle signal is transferred into ECU；
（4）When ECU, which detects door frame forward leaning angle, reaches preset value, forklift door frame is controlled by the aperture of banked direction control valves
Pitch velocity.
5. the control method of heavy forklift dump ram buffer control system according to claim 4, it is characterised in that：Step
Suddenly（4）In, it is described when ECU detects door frame forward leaning angle and reaches preset value, fork truck is controlled by the aperture of banked direction control valves
The pitch velocity of door frame, specifically includes following steps：
（41）When detect forklift door frame forward leaning angle for 5 degree when, ECU according to the forklift door frame angle signal collected,
Linear reduction output current, slowly reduces to control the speed that leans forward of forklift door frame slowly to drop by the aperture of electric proportion magnetic valve
It is low；When it is 6 degree to detect door frame forward leaning angle, ECU is output as zero, and electric proportion magnetic valve is closed, and door frame action stops
Only；
（42）When it is 9 degree to detect door frame hypsokinesis angle, interval into deceleration buffer, ECU is according to the door frame collected
Angle signal, linear reduction output current, the aperture of electric proportion magnetic valve is slowly smaller, and the hypsokinesis speed of door frame also slowly drops
It is low；When hypsokinesis is to 10 degree, ECU is output as zero, and electric proportion magnetic valve is closed, and door frame action stops.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710405166.5A CN107244640A (en) | 2017-05-31 | 2017-05-31 | A kind of heavy forklift dump ram buffer control system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710405166.5A CN107244640A (en) | 2017-05-31 | 2017-05-31 | A kind of heavy forklift dump ram buffer control system and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107244640A true CN107244640A (en) | 2017-10-13 |
Family
ID=60018424
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710405166.5A Pending CN107244640A (en) | 2017-05-31 | 2017-05-31 | A kind of heavy forklift dump ram buffer control system and its control method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108706519A (en) * | 2018-07-11 | 2018-10-26 | 厦门理工学院 | Buffer structure, control system and fork truck using the buffer structure |
| CN109694020A (en) * | 2019-02-25 | 2019-04-30 | 合肥工业大学 | A kind of control system and its method for fork of forklift truck safety |
| CN110028022A (en) * | 2019-05-13 | 2019-07-19 | 浙江加力仓储设备股份有限公司 | A kind of hydraulic valve bank control system and the intelligent carrier-and-stacker with it |
| CN110307200A (en) * | 2018-05-29 | 2019-10-08 | 林德（中国）叉车有限公司 | A kind of fork truck roll control system and method |
| CN112249984A (en) * | 2020-10-13 | 2021-01-22 | 安徽合力股份有限公司 | Forklift tilt oil cylinder movement buffer control system and method based on angle compensation |
| CN113200482A (en) * | 2021-05-08 | 2021-08-03 | 杭叉集团股份有限公司 | Forklift auxiliary loading and unloading control method and system |
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| CN203763747U (en) * | 2013-11-07 | 2014-08-13 | 徐州重型机械有限公司 | Automatic leveling control system of fire engine working platform and fire engine |
| CN205740237U (en) * | 2016-06-28 | 2016-11-30 | 林德（中国）叉车有限公司 | A kind of fork of forklift truck angle of inclination self-checking device |
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Patent Citations (5)
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| CN203396232U (en) * | 2013-06-05 | 2014-01-15 | 陕西方园冶金设备有限公司 | Furnace body tilting control system of electric-arc furnace |
| CN103550893A (en) * | 2013-11-07 | 2014-02-05 | 徐州重型机械有限公司 | Automatic leveling control system of fire-fighting truck working platform, fire-fighting truck and leveling method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110307200A (en) * | 2018-05-29 | 2019-10-08 | 林德（中国）叉车有限公司 | A kind of fork truck roll control system and method |
| CN110307200B (en) * | 2018-05-29 | 2021-04-20 | 林德（中国）叉车有限公司 | Forklift tilt control system and method |
| CN108706519A (en) * | 2018-07-11 | 2018-10-26 | 厦门理工学院 | Buffer structure, control system and fork truck using the buffer structure |
| CN109694020A (en) * | 2019-02-25 | 2019-04-30 | 合肥工业大学 | A kind of control system and its method for fork of forklift truck safety |
| CN109694020B (en) * | 2019-02-25 | 2020-07-10 | 合肥工业大学 | Control system and method for safety of fork of forklift |
| CN110028022A (en) * | 2019-05-13 | 2019-07-19 | 浙江加力仓储设备股份有限公司 | A kind of hydraulic valve bank control system and the intelligent carrier-and-stacker with it |
| CN112249984A (en) * | 2020-10-13 | 2021-01-22 | 安徽合力股份有限公司 | Forklift tilt oil cylinder movement buffer control system and method based on angle compensation |
| CN113200482A (en) * | 2021-05-08 | 2021-08-03 | 杭叉集团股份有限公司 | Forklift auxiliary loading and unloading control method and system |
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Application publication date: 20171013 |