CN112062056A - Forklift dynamic metering weighing method and equipment - Google Patents
Forklift dynamic metering weighing method and equipment Download PDFInfo
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- CN112062056A CN112062056A CN202010910794.0A CN202010910794A CN112062056A CN 112062056 A CN112062056 A CN 112062056A CN 202010910794 A CN202010910794 A CN 202010910794A CN 112062056 A CN112062056 A CN 112062056A
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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
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/52—Weighing apparatus combined with other objects, e.g. furniture
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Abstract
The invention relates to a method and a device for weighing a forklift by dynamic metering, wherein the method comprises the following steps: acquiring real-time speed and real-time output; the real-time speed is the real-time speed of the moving goods measured when the forklift forks the moving goods at the preset height under the preset gear; the real-time output is the real-time output on a preset sensor of the forklift when the forklift forks the goods at a preset height under a preset gear; determining the real-time speed of the goods and the target weight of the real-time output of the goods under a preset gear based on a preset mapping relation; the mapping relation is a corresponding relation of the speed, the output, the gear and the quality which are measured in advance; determining a target weight of the cargo as an actual weight of the cargo; therefore, the accurate weight of the goods without the influence of the accelerator is obtained by presetting the mapping relation, the real-time speed and the real-time output of the goods with the preset height measurement, and the defect that in the prior art, the weight of the goods can be measured only after the goods are moved at a constant speed by controlling the accelerator through a worker according to experience is overcome.
Description
Technical Field
The invention belongs to the technical field of weighing, and particularly relates to a dynamic metering weighing method and device for a forklift.
Background
When the commodity circulation trade loading, need cross the weighbridge earlier and weigh, then the reloading, it is lower efficiency like this, consuming time and wasting force, still need special personnel to record data, just can know after adding how much that a car loaded to prevent to overload, the process is loaded down with trivial details, and in the workshop of mill, some bulk cargos or major possession thing are inconvenient to be used the weighbridge and weigh, just at this moment can utilize fork truck to fork the goods and weigh, simple swift.
However, in the prior art, the forklift weighing starts when the goods are forked and the gear lever is pulled up, but due to the intervention of the accelerator, the goods do not rise at a constant speed in the rising process, particularly in the starting stage, the measured weight and the actual weight of the goods have a large error, and the larger the accelerator is, the larger the error is, so in the prior art, the forklift must be used for weighing, the preset time must be lifted at a constant speed by a small accelerator after the goods are forked, the maximum data in the period is automatically obtained, in the actual application, the workload is often very large, and a driver has difficulty in keeping the small accelerator lifting the goods at a constant speed for a period of time due to the efficiency problem, and the operation has high requirements and proficiency on the working skill of the driver and is difficult to realize.
Disclosure of Invention
In order to at least solve the problems in the prior art, the invention provides a dynamic metering and weighing method for a forklift.
The technical scheme provided by the invention is as follows:
in one aspect, the application provides a method for weighing a forklift by dynamic metering, which comprises the following steps:
acquiring real-time speed and real-time output; the real-time speed is measured when the forklift forks the moving goods at a preset height under a preset gear; the real-time output is the real-time output of the forklift when the forklift forks the goods at the preset height under the preset gear;
determining the real-time speed of the goods and the corresponding target weight of the real-time output of the goods under a preset gear based on a preset mapping relation; the mapping relation is a corresponding relation of the speed, the output, the gear and the quality which are measured in advance;
determining the target weight of the cargo as an actual weight of the cargo.
Optionally, the mapping relationship is specifically:
under a fixed gear, when the forklift forks an object with certain mass to a preset height, the corresponding relation between the speed measured by a measuring device arranged on the forklift and the output force is obtained;
under the mapping relation, when the gear, the speed and the output force are determined, one mass and only one mass correspond to the gear, the speed and the output force.
Optionally, the output force is:
the pressure applied to the preset weighing sensor by the goods detected by the preset weighing sensor in the moving process is preset.
Optionally, before measuring the output, zeroing is performed;
the zeroing comprises:
measuring the output force of the empty fork passing through a preset height under a fixed gear;
and determining the measured real-time output of the empty fork as an output zero point.
Optionally, the preset height is adjustable.
Optionally, measuring the real-time speed and real-time output of the cargo at the preset height includes:
measuring the real-time speed and real-time output of the lifted goods when the lifted goods move from a preset low position to a preset height under a preset gear; wherein the preset height is higher than the preset low level;
or measuring the real-time speed and real-time output of the falling goods when the falling goods moves from the preset high position to the preset height under the preset gear; wherein the preset height is lower than the preset high position.
Optionally, the method further includes:
and transmitting the actual weight data to a cloud end for a user to remotely refer.
In a second aspect, the application provides a forklift dynamic metering weighing device, which is characterized by comprising a position sensor, a weighing sensor, an operating instrument and an induction sliding block;
the position sensor is connected with the operating instrument;
the position sensor comprises an upper sensing point and a lower sensing point, and the distance between the upper sensing point and the lower sensing point is 50-100 MM;
the position sensor is used for measuring and recording the time of the induction sliding block passing through the upper induction point and the lower induction point to obtain the speed of the induction sliding block passing through the position sensor;
the induction sliding block is arranged on a front frame of the pallet fork, ascends and descends along with the pallet fork, and triggers the position sensor when passing through the horizontal positions of the upper induction point and the lower induction point;
the weighing sensor is arranged at the tail end of a forklift chain and used for detecting the tension of fork plate goods on the chain;
the operation instrument is used for receiving data measured by the position sensor and the weighing sensor and obtaining the actual weight of the goods based on the mapping relation of the preset forklift speed, the preset output and the preset accelerator gear;
and the operation instrument also controls the weighing sensor to measure real-time output when receiving the position sensor data.
Optionally, the load cell is of U-shaped design.
Optionally, the device further comprises a printer connected with the operation instrument.
The forklift dynamic metering weighing method provided by the invention has the beneficial effects that:
the embodiment of the invention provides a dynamic metering weighing method for a forklift, which comprises the following steps: acquiring real-time speed and real-time output; the real-time speed is measured when the forklift forks the moving goods at a preset height under a preset gear; the real-time output is the real-time output of the forklift when the forklift forks the goods at the preset height under the preset gear; determining the corresponding target weight of the real-time speed of the goods and the real-time output of the goods under a preset gear based on a preset mapping relation; the mapping relation is a corresponding relation of the speed, the output, the gear and the quality which are measured in advance; determining the target weight of the cargo as an actual weight of the cargo; therefore, the actual accurate weight of the goods without the influence of the accelerator is calculated by measuring the real-time speed of the goods at the preset height, the output force measured by the detection device and the preset mapping relation, so that when the driver forks the goods, the driver does not need to control the accelerator to reach a constant speed, the weight of the goods is accurately measured, and the working efficiency is improved; and can control and predetermine the height to control the position of measuring, application range is wider.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a dynamic metering weighing method for a forklift truck according to an embodiment of the present invention;
FIG. 2 is a graph showing the relationship between real-time output, real-time speed and measured height in the dynamic weighing method for forklifts according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a dynamic weighing device for a forklift truck according to an embodiment of the invention.
1-position sensor, 2-weighing sensor and 3-operation instrument.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
In order to at least solve the technical problem provided by the invention, the embodiment of the invention provides a dynamic metering and weighing method for a forklift.
Fig. 1 is a schematic flow chart of a dynamic weighing method for a forklift truck according to an embodiment of the present invention, and referring to fig. 1, the dynamic weighing method for a forklift truck according to the embodiment of the present invention may include the following steps:
s11, acquiring real-time speed and real-time output; the real-time speed is measured when the forklift forks the moving goods at a preset height under a preset gear; the real-time output is the real-time output of the forklift when the forklift forks the goods at the preset height under the preset gear.
Specifically, a position sensor is arranged at a preset fixed height of the forklift, wherein the position sensor comprises two sensing points, the distance between the two sensing points is fixed, for example, 80mm, a sensing slide block is arranged on the forklift for forking the goods, when the sensing slide block passes through the horizontal position of a first sensing point, the sensing point is triggered, the position sensor records time, when the sensing slide block triggers a second sensing point, the time recording is finished, and the distance between the two sensing slide blocks is divided by the recorded passing time, so that the speed of the forklift passing through the position sensor, namely the real-time speed of the goods can be obtained; set up weighing sensor at fork truck's chain end position, when the goods passes through position sensor, carry out the reading of weighing to the goods, obtain exerting oneself in real time, at this moment, because of the reason of throttle, the weight of the goods that weighing sensor measured is erroneous, measures real-time speed and exerts oneself in real time, supplies follow-up throttle compensation of carrying on, obtains the accurate actual weight of goods.
It should be noted that the above-mentioned output refers to data detected by a preset detection device, such as a weighing sensor, for the weight of the goods, in practical applications, the weighing sensor may be arranged at the tail end of the forklift chain, the tensile force of the chain is detected by the weighing sensor, and the weight of the goods under the motion condition can be obtained by converting the output of the sensor; in addition, the working time of the weighing sensor is fixed, namely when the position sensor detects the induction slide block, the weighing sensor starts to work to measure the weight of the goods, and when the fork does not reach the position sensor, the weighing sensor does not measure the weight of the goods, so that the weighing position positioning function is realized.
S12, determining the corresponding target weight of the real-time cargo speed and the real-time cargo weight in a preset gear based on a preset mapping relation; the mapping relation is a corresponding relation of speed, output force, gear and quality which are measured in advance.
Specifically, the mapping relationship is a corresponding relationship among cargo speed, output force, gear and quality. The specific mapping relationship is obtained as follows: measuring the speed and the output force of the weighted goods or weights at each accelerator gear, wherein the speed, the output force and the actual weight are a group of data at each gear, and each group of data of the goods or weights with one weight at different gears is a group of data; after the measurement of the large group data of the goods with one weight is finished, the large group data of the goods or weights with different weights are measured again, the data are stored and a mapping relation is established, wherein the number of the sections of the accelerator gears can be large, and the more the accelerator sections are, the more accurate the obtained data are. In the actual detection, the actual weight of the goods is obtained through the known and recorded accelerator gear information and the measured speed and output data, and the measured weight data is subjected to accelerator compensation through a mapping relation to obtain the accurate weight of the goods.
It should be noted that the mapping relationship may be obtained by fitting the relationship between the actual weight of the cargo and the accelerator shift, speed, and output according to a large amount of data, so that the actual weight of the cargo is calculated according to the relationship and the accelerator shift, speed, and output in the actual weighing process; or measuring a large amount of data in the weighing and taking piece of the forklift, recording and maintaining, comparing the accelerator gear, the speed and the output data with the measured data in the actual measurement process to obtain a group of data which is the same as the accelerator gear, the speed and the output data in the actual measurement process, correspondingly obtaining the actual weight in the group of data, and determining the weight of the goods as the weight in the group of data.
In a specific implementation, for example, the cargo work weight range of a forklift is 0-3 tons; then, weights with equal gradient weight are taken in the interval of 0-3 tons, for example, three fixed weights with weight being divided into 1 ton, 2 ton and 3 ton, a first fixed weight with weight of 1 ton, a second fixed weight with weight of 2 ton and a third fixed weight with weight of 3 ton are taken. Recording the speed of the first weight passing through the position sensor and the output force of the weighing sensor under the first accelerator gear, namely recording the actual weight of the first weight, the speed of the first weight under the first gear of the first weight, the output force under the first gear of the first weight and gear information, namely the first accelerator gear; measuring data of the first weight in the second gear to obtain the speed of the first weight in the second gear and the output and gear data of the first weight in the second gear; and similarly, the speed and the output of the first constant weight at all accelerator gears, the speed and the output of the second constant weight at all accelerator gears and the speed and the output of the third constant weight at all accelerator gears are measured. Recording and storing the data, and establishing a table; when the weight of the goods at the actual measuring position is measured, the gear of the goods with unknown weight is recorded, the speed and the output force are measured, a group of data with the same three items of data is found in the originally stored table, and the recorded weight, namely the target weight, is obtained.
It should be noted that the first fixed weight, the second fixed weight and the third fixed weight mentioned above are only examples for explaining the embodiments of the present application, and in practical applications, the measured data are far more than three types, and a large number of fixed weights are taken by an equal gradient method for measurement, so as to obtain more practical and accurate data or establish more accurate relationships.
In addition, by the method of establishing the table by measuring the fixed weight, when the actually measured speed and the actually measured output are between two groups of data in the table, corresponding data can be found by a specified calculation method, such as a rounding method, a rounding method and the like, so as to obtain the target weight. At the moment, through the measurement of a large amount of data, in practical application, the error can be controlled within a one percent range, and the accuracy requirement of the state on the four-level scale is met.
In practical application, after all data are recorded, a driver can use various throttle gears to weigh during weighing, and an operation instrument can automatically call correction information under different throttles to automatically match accurate weight.
And S13, determining the target weight of the goods as the actual weight of the goods.
Specifically, after the target weight is obtained, the target weight is determined as the actual weight of the goods to be measured, so that correction based on the measured weight is realized, and a more accurately determined weight of the goods is obtained.
In a specific implementation process, for example, the goods are forked at a gear, the speed of the goods on the fork detected by the position sensor when passing through a preset height is 3m/s, the weight output detected by the weighing sensor is 1.45t, a set of weight data which is the same as the gear, the speed and the output is found from the two data and the previously measured data, the set of weight data also comprises the actual weight of the weight, for example, 1.5t, the weight of the goods is determined to be 1.5t, throttle compensation is realized, and an accurate weight value is obtained, so that the defect that the weight of the goods can be accurately measured only when the goods move at a constant speed by accurately controlling the throttle in the prior art is overcome.
The dynamic metering weighing method for the forklift truck provided by the embodiment of the invention comprises the following steps of firstly, acquiring real-time speed and real-time output; the real-time speed is measured when the forklift forks the moving goods at a preset height under a preset gear; the real-time output is the real-time output of the forklift when the forklift forks the goods at the preset height under the preset gear; then, determining the corresponding target weight of the real-time speed of the goods and the real-time output of the goods under a preset gear based on a preset mapping relation; the mapping relation is a corresponding relation of the speed, the output, the gear and the quality which are measured in advance; finally, determining the target weight of the goods as the actual weight of the goods; therefore, through the dynamic metering weighing method for the forklift truck of the embodiment, a forklift truck driver can not need to precisely control the size of the accelerator, and does not need to pay attention to whether the accelerator is lifted at a constant speed or not, at a preset height, the speed and the output of the cargo are automatically measured through a preset sensor, the measured weight of the cargo is corrected through the corresponding relation of the speed, the output of the load, the gear and the quality, so that the accurate actual weight of the cargo is obtained, the weighing error is controlled within one percent range, the real-time accurate weighing is realized, the loading overload is prevented, the driver can accurately weigh and automatically accumulate while the loading efficiency is improved, and the driver can accurately grasp the loaded amount. The problem of among the prior art, fork truck driver need accurate control throttle make fork truck keep at the uniform velocity rising just can weigh is solved.
Further, the dynamic metering weighing method for the forklift truck provided by the embodiment further comprises the following steps: zeroing the measurement, the zeroing comprising: measuring the output force of the empty fork passing through a preset height under a fixed gear; and determining the measured real-time output of the empty fork as an output zero point.
Specifically, when the fork is empty, namely when the goods are not placed, the fork is lifted for multiple times from small to large by using different throttles, the time speed of the fork passing through two induction points of the position sensor under different throttles is recorded, the output force measured by the weighing sensor is determined as a zero point at the moment, and the speed measurement and weighing of the weight and the goods are carried out on the basis of the zero point, so that the weighing accuracy is improved.
Fig. 2 is a graph showing a relationship between real-time output and speed and a measured height in the dynamic weighing method for the forklift truck according to the embodiment of the present invention, where the abscissa in the graph is the measured output height, the ordinate is the measured output, and the relationship between the height and the output at different speeds is shown in the quadrant in the graph. The throttle position determines the speed of the load at the detection position, wherein the gear position corresponds to the speed, as shown in fig. 2, the forces exerted on the sensors measured at different heights are different for the same weight of the load and the same speed, because when the measuring device is installed on the forklift, the forces exerted on the chain are different due to the forks at different heights, and the forces exerted on the chain are larger and larger due to the fact that the external tension and the friction force are increased along with the increase of the height, but the weight transmitted to the instrument by the weighing sensor is basically the same at the same height, so that the determination of the height of the measuring device for measuring the speed and the weight also has a great influence on the detection. In the prior art, the weight detection is only carried out at the position where the fork just starts, so the small accelerator needs to be kept to be lifted at a constant speed when the fork just starts, which has high requirements on the operation of a driver and influences the operation efficiency.
Therefore, in the dynamic metering weighing method for the forklift truck, the speed and the weight of the goods are measured at a fixed height, and when the position sensor is triggered, the weighing sensor starts to carry out weighing operation; after the cargo speed and the output force are obtained, the corresponding relation of the speed, the output force and the weight of each accelerator gear of the weight is detected in advance, the cargo weight is corrected, the obtained cargo weight is more accurate, and a driver does not need to accurately control the size of an accelerator because the plurality of accelerator gears are measured, so that the cargo is kept at a constant speed, namely the cargo can be accurately measured at a non-constant speed.
In addition, in the dynamic metering weighing method for the forklift truck, the preset heights of the measuring speed and the output force can be changed, and dynamic adjustment can be performed according to actual needs; in practical application, a proper height is selected, the position sensor is installed, and when the position sensor detects the induction sliding block, the weighing sensor weighs, so that the weight of the goods is measured at different preset heights.
It should be noted that, when the setting position of the position sensor changes, the measurement data in the sensor changes, so that the corresponding relationship between speed, output force, gear position and quality needs to be modified synchronously, and some data needs to be measured again, for example, the output force speed needs to be re-measured, so as to establish a new corresponding relationship.
Further, the dynamic metering weighing method for the forklift truck provided by the application can measure the real-time speed and real-time output of the lifted goods when the real-time speed of the goods is measured, and the goods can move from a preset low position to a preset height under a preset gear; wherein the preset height is higher than the preset low level; or measuring the real-time speed and real-time output of the falling goods when the falling goods moves from the preset high position to the preset height under the preset gear; wherein the preset height is lower than the preset high position. Promptly, can carry out the weight to goods weight at the in-process that the goods rose, also can weigh to goods weight at the in-process that the goods descends, this is putting the goods to the warehouse eminence and is got the goods when, can realize measuring goods weight in advance, avoids goods weight to exceed goods shelves bearing capacity and causes the accident.
In addition, the dynamic metering weighing method for the forklift further comprises the steps of realizing data sorting and double-transmission functions through the preset operation instrument, and automatically accumulating the weighing data during weighing, so that manual recording and calculation of workers can be omitted, the workload of the workers can be reduced, the load capacity can be known in real time, the situation that the weight exceeds the bearing capacity of a goods shelf is prevented, the problems that in the prior art, special personnel are needed to record the data, the number of goods loaded in the truck can be known after the data are added, the operation capacity of the workers is large, and the efficiency is low are solved. Meanwhile, the dynamic metering weighing method for the forklift further comprises uploading the distance to a server in real time, so that relevant workers can check and process the distance.
Based on a general inventive concept, the embodiment of the invention also provides a forklift dynamic metering weighing device.
Fig. 3 is a schematic structural diagram of a dynamic weighing apparatus for a forklift truck according to an embodiment of the present invention, and referring to fig. 3, the dynamic weighing apparatus for a forklift truck according to the embodiment of the present invention includes the following structures: the device comprises a position sensor 1, a weighing sensor 2, an operation instrument 3 and an induction sliding block;
the position sensor 1 is fixed on a portal frame of the forklift and connected with the operation instrument 3; the position sensor 1 comprises an upper sensing point and a lower sensing point, and the distance between the upper sensing point and the lower sensing point is 60-100 MM; the position sensor is used for measuring and recording the time of the induction sliding block passing through the upper induction point and the lower induction point to obtain the speed of the induction sliding block passing through the position sensor;
for example, when the fork lift truck forks the goods to rise, a position sensor 1 is installed at a certain height of a portal frame, the distance between two sensing contacts in the sensor is 80mm, when the fork passes through the lower position of the position sensor, the instrument starts counting, at the moment, a weighing sensor 2 fixed at the tail end of a chain in an outer portal frame starts measuring the weight of the goods, and the time is ended when the goods reach the upper contact, the operation instrument 3 can obtain the time and the speed between the two sensing points and the weight information transmitted by the weighing sensor 2, and therefore the operation instrument 3 can obtain the number between the two sensing points during each weighing so as to achieve the purpose of accurate number taking.
The induction sliding block can be a magnet or metal, is arranged on a front frame of the pallet fork, ascends and descends along with the pallet fork, and triggers the position sensor 1 when passing through the horizontal positions of the upper induction point and the lower induction point;
the weighing sensor 2 is fixedly arranged at the tail end of a forklift chain and used for detecting the tension of fork plate goods on the chain. Wherein, weighing sensor adopts the design of U type, combines with fork truck chain, reaches the effect of saving space when the side weight.
The operation instrument 3 is used for receiving data measured by the position sensor 1 and the weighing sensor 2 and obtaining the actual weight of the goods based on the mapping relation between the preset forklift speed output and the accelerator gear; the operating instrument 3 also controls the weighing sensor 2 to measure real-time output when receiving the data of the position sensor 1, and performs accelerator compensation when the fork passes through the position sensor; and automatically displaying and accumulating the weight after weighing for multiple times; and, the inside communication module that is provided with of operation instrument 3 can send the transmission with the weighing data, realizes passing with remote server data is two.
Further, fork truck dynamic measurement weighing-appliance that this application provided still includes the printer for print the data of record, make things convenient for the staff to look over. The storage and printing storage functions of data are not considered by workers, and the weighing data at each time are not printed and stored manually, so that the working efficiency is improved.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present invention, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A dynamic metering weighing method for a forklift is characterized by comprising the following steps:
acquiring real-time speed and real-time output; the real-time speed is measured when the forklift forks the moving goods at a preset height under a preset gear; the real-time output is the real-time output of the forklift when the forklift forks the goods at the preset height under the preset gear;
determining the real-time speed of the goods and the corresponding target weight of the real-time output of the goods under a preset gear based on a preset mapping relation; the mapping relation is a corresponding relation of the speed, the output, the gear and the quality which are measured in advance;
determining the target weight of the cargo as an actual weight of the cargo.
2. The dynamic metering weighing method for the forklift truck according to claim 1, wherein the mapping relation is specifically as follows:
under a fixed gear, when the forklift forks an object with certain mass to a preset height, the corresponding relation between the speed measured by a measuring device arranged on the forklift and the output force is obtained;
under the mapping relation, when the gear, the speed and the output force are determined, one mass and only one mass correspond to the gear, the speed and the output force.
3. The dynamic weighing method for the forklift truck according to claim 1, wherein the output force is as follows:
the pressure applied to the preset weighing sensor by the goods detected by the preset weighing sensor in the moving process is preset.
4. The method of claim 1, wherein the zeroing is performed before the measuring of the output force, and the zeroing comprises:
measuring the output force of the empty fork passing through a preset height under a fixed gear;
and determining the measured real-time output of the empty fork as an output zero point.
5. The dynamic weighing method for forklift trucks according to claim 1, wherein said preset height is adjustable.
6. The method of claim 1, wherein measuring the real-time speed and real-time force of the load at the preset height comprises:
measuring the real-time speed and real-time output of the lifted goods when the lifted goods move from a preset low position to a preset height under a preset gear; wherein the preset height is higher than the preset low level;
or measuring the real-time speed and real-time output of the falling goods when the falling goods moves from the preset high position to the preset height under the preset gear; wherein the preset height is lower than the preset high position.
7. The dynamic metering weighing method for the forklift truck according to claim 1, characterized by further comprising:
and transmitting the actual weight data to a cloud end for a user to remotely refer.
8. A forklift dynamic metering weighing device is characterized by comprising a position sensor, a weighing sensor, an operating instrument and an induction sliding block;
the position sensor is connected with the operating instrument;
the position sensor comprises an upper sensing point and a lower sensing point, and the distance between the upper sensing point and the lower sensing point is 50-100 MM;
the position sensor is used for measuring and recording the time of the induction sliding block passing through the upper induction point and the lower induction point to obtain the speed of the induction sliding block passing through the position sensor;
the induction sliding block is arranged on a front frame of the pallet fork, ascends and descends along with the pallet fork, and triggers the position sensor when passing through the horizontal positions of the upper induction point and the lower induction point;
the weighing sensor is arranged at the tail end of a forklift chain and used for detecting the tension of fork plate goods on the chain;
the operation instrument is used for receiving data measured by the position sensor and the weighing sensor and obtaining the actual weight of the goods based on the mapping relation of the preset forklift speed, the preset output and the preset accelerator gear;
and the operation instrument also controls the weighing sensor to measure real-time output when receiving the position sensor data.
9. The dynamic weighing apparatus of claim 8, wherein the load cell is of U-shaped design.
10. The dynamic weighing apparatus of claim 8, further comprising a printer connected to the operation meter.
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| CN202010910794.0A CN112062056A (en) | 2020-09-02 | 2020-09-02 | Forklift dynamic metering weighing method and equipment |
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| CN202010910794.0A CN112062056A (en) | 2020-09-02 | 2020-09-02 | Forklift dynamic metering weighing method and equipment |
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| CN114408806A (en) * | 2021-12-25 | 2022-04-29 | 上海浦东发展银行股份有限公司 | Goods weighing method and weight detection equipment for storage forklift |
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