KR20120070647A - A system controlling height of fork automatically and method for it - Google Patents

A system controlling height of fork automatically and method for it Download PDF

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Publication number
KR20120070647A
KR20120070647A KR1020100132055A KR20100132055A KR20120070647A KR 20120070647 A KR20120070647 A KR 20120070647A KR 1020100132055 A KR1020100132055 A KR 1020100132055A KR 20100132055 A KR20100132055 A KR 20100132055A KR 20120070647 A KR20120070647 A KR 20120070647A
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South Korea
Prior art keywords
height
fork
package
forklift
driver
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KR1020100132055A
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Korean (ko)
Inventor
장계봉
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두산산업차량 주식회사
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Priority to KR1020100132055A priority Critical patent/KR20120070647A/en
Publication of KR20120070647A publication Critical patent/KR20120070647A/en

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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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

PURPOSE: A system and a method for automatically controlling the elevation of forks are provided to maintain the sight of drivers regardless of the conditions of loaded objects and work stability by automatically controlling the position of a forklift. CONSTITUTION: A system for automatically controlling the elevation of forks comprises an input unit, a control unit, and an output unit. The input unit detects data about loaded conditions of objects(40), the weight of the objects, the elevation of a driver's sight, and whether or not a forklift starts a driving mode. If the control unit determines that the forklift starts the driving mode after the objects are loaded on forks(50) by the data detecting in the input unit, the control unit calculates the proper elevation of the forks from the data about the height and the weight of the objects and the elevation of the driver's sight. The control unit generates control signals for the forks. The output unit controls the elevation of the forks according to the control signals received from the control unit.

Description

A System Controlling Height of Fork Automatically and Method for it}

The present invention relates to a system and method for automatically controlling the fork height of a forklift, and more particularly, to a system and method for controlling the most suitable fork height according to the height, weight, and height of the driver's field of view.

The forklift is a mechanical equipment for loading and unloading the package to the fork 500 and moving the fork 500 up and down according to the height of the position to be transported to lower the package to the desired point (FIG. 1).

At this time, since the fork 500 can move up and down by the hydraulic action of the lift cylinder 700 on the mast 600, the driver can position the fork at a desired point in the vertical direction.

However, when the package 400 is actually loaded on the fork 500, depending on the height of the package 400, the field of view of the driver 800 of the driver's seat is obstructed (FIG. 2A), or the weight of the package 400 is increased. There is a problem that it is difficult to properly secure the operation balance of the forklift according to the distribution or the like (FIG. 2B).

Conventionally, there has been a technique of securing a driver's field of view by placing a fork on the floor according to the weight of the package, or by rotating or changing the position of the driver's seat. However, these techniques have been difficult to adopt without changing the design of the forklift itself.

As described above, depending on the loading state (loading height, weight, etc.) of the package loaded on the fork of the forklift, it may cause difficulty in securing the driver's view and stable transportation of the package. To solve this, instead of manually adjusting the fork height of the forklift truck depending on the driver's intuition, the fork height appropriate for securing the driver's sight and carrying the package stably is not loaded. It is an object of the present invention to provide a system and method capable of automatically controlling the height of a fork according to a situation.

In order to solve the above problems, the automatic fork height control system of the present invention including an input unit, a control unit and an output unit includes a loading state of a package, a height of the package, a weight of the package, whether the forklift has entered the driving mode, and a driver's vision. An input unit for sensing data on height; and, when it is determined by the data sensed by the input unit that the package is loaded in the fork and the forklift enters the driving mode, data about the height and weight of the package, and the height of the driver's field of view. And a control unit for outputting a control signal for the fork by calculating an appropriate height of the fork, and an output unit for adjusting the height of the fork according to the control signal output from the control unit.

At this time, the controller can calculate the appropriate height of the fork based on the front and rear stability and the left and right stability of the forklift.

In addition, the control unit can adjust the degree of inclination of the mast according to the height of the fork, it is possible to stably maintain the left and right balance of the vehicle body.

And, the fork height automatic control method of the present invention to automatically control the height of the fork, so that the fork of the forklift has an optimal height according to the loading situation of the package, measuring the loading load of the forklift; And, the forklift is in the operation mode Determining a height and weight of the package; and calculating an optimal fork height based on the measured height and weight data of the package; And adjusting the height of the fork to have the calculated optimal fork height.

At this time, the step of calculating the optimum fork height, the step of calculating the fork height to enable the driver's visibility based on the measured height of the package; And calculating a fork height that can improve working stability based on the measured weight of the package.

In addition, the automatic fork height control method of the present invention may further include the step of measuring the height of the driver's field of view, wherein the step of calculating the height of the fork to enable the driver's field of view based on the height of the package And comparing the height data of the driver with the height data of the package.

According to the present invention automatic fork height control system and automatic fork height control method, when unloading by forklift, the driver's view is secured regardless of the loading state of the package, and the position of the forklift is automatically adjusted in terms of the center of gravity. Can be adjusted to maintain work stability, thereby improving operator convenience, improving worker safety and work efficiency, and reducing work time.

1 is a side view of a conventional forklift.
Fig. 2 is a side view of a forklift truck showing the problems of the prior art.
3 is a flow chart of the operational flow of the present invention.
4 is a flowchart illustrating a determination algorithm of the controller of the present invention.
Fig. 5 is a side view of a forklift truck showing the effects of the present invention.
6 is a side conceptual view of a forklift truck showing a relationship between a fork and a mast of the present invention.

Hereinafter, a specific configuration example for implementing the present invention automatic fork height control system and fork height automatic control method will be described with reference to FIGS. 3 to 6.

As can be seen from FIG. 3, the automatic fork height control system of the present invention includes an input unit 10, a control unit 20, and an output unit 30.

The input unit 10 first checks the loading load of the package in the fork. The magnitude | size of a load load can be measured by the normal means which can measure the load load of a forklift truck, such as a load cell. If the measured data indicates that the fork is loading the load, the input section confirms that the forklift is in operation mode. Whether the forklift truck enters the driving mode can be determined as data based on the shift state of the traveling gear of the driver's seat. Alternatively, it may be by other means for detecting that the forklift is in operation.

When the package is loaded on the fork of the forklift and it is confirmed that the forklift is operating, the input unit 10 measures the height and weight of the package by an automatic sensor or the like mounted on the mast 60. The height and weight data of the package thus obtained may be transmitted to the control unit 20 to be basic data for calculating an appropriate fork height.

The control unit 20 converts data on the height and weight of the package delivered from the input unit 10 by, for example, an A / D converter, and based on this, secures the driver's field of view and works stability. Calculate the optimal fork height that can achieve (decision logic algorithm), and control it so that it can be reflected in the fork operation (fork adjustment control algorithm).

When the optimum fork height is calculated by the control unit 20, the output unit 30 controls the electro-hydraulic valve so that the fork 50 can reach the calculated optimum fork height so that the lift cylinder ( 70).

The automatic fork height control system of the present invention functions by a series of actions performed by the input unit 10, the control unit 20, and the output unit 30.

At this time, in order to calculate the height of the fork to secure the driver's field of view from the height data of the package delivered from the input unit, a process of comparing with the driver's field of view height is necessary. Any configuration that measures the driver's field of view height can be applied to the forklift driver's seat such as a position sensor.

When the fork 50 is included in a range within a certain range of the driver's field of view according to the height data of the package, for example, the difference between the height of the driver's sitting position and the measured height data of the package is calculated and the value is determined by the driver's field of view. When included in the range of ± 10%, the control unit calculates an appropriate fork height value. Here, the height value of a suitable fork is, for example, when the package is higher than the height of the driver, the height value of the fork may be a value controlled to a range higher than the height of the driver's field of view.

In this way, the most suitable fork height according to the loading height and the loading weight of the package can be calculated in consideration of the calculated fork height value for securing the driver's field of view and the stable fork height value for the work stability of the forklift as described below. have.

On the other hand, from the weight data of the package delivered from the input unit, it is preferable to use a judgment logic algorithm based on the front and rear stability and the left and right stability of the forklift to calculate the fork height to ensure the work stability of the forklift. The higher the front and rear stability of the forklift is, the more stable the slope is. For example, the fork height of the forklift can be calculated so that the front and rear stability of the forklift is 18% or more under the reference load. The fork height of the titration can be calculated to be 15 ± 1.1 * full speed in the condition. At this time, the gradient between the front and rear stability and the left and right stability of the forklift is based on the stability standards of the Ministry of Employment and Labor of Japan and Ministry of Health, Labor and Welfare of Japan. The calculation of the front and rear stability and the left and right stability of the forklift will be described below.

The front and rear stability I1 at the reference load state at the time of driving of the forklift is the horizontal distance L1` from the center of the front axle to the total weight center at the reference load state at the time of driving, and the height of the total center of gravity at the reference load state at the time of driving (H1). `), The difference between the pressing of the front tires (DF1), the amount of pressing of the rear tires (DR1) and the wheelbase (L) in the horizontal state when the total weight is applied to the front wheel and the horizontal state, The relationship is

Figure pat00001
to be.

At this time, the height (H1`) of the total center of gravity in the reference load state at the time of running is the tolerance weight (G), the center of gravity height (H1), the maximum load (W), It can be calculated from the relation between the height of the center of gravity (H1``) of the maximum load at the height of 300 mm and the mast diameter.

Figure pat00002
to be.

At this time, the horizontal distance L1` from the center of the front axle to the total center of gravity in the reference load state at the time of driving is the tolerance distance G and the horizontal distance L1 from the center of the axle to the center of the tolerance in the mast final diameter state. ), The maximum load (W), the fork maximum position, and the horizontal distance (L1``) from the center of the front axle to the center of maximum load at the foremost state.

Figure pat00003
to be.

In addition, the left and right stability I2 at the reference load state at the time of driving of the forklift is the horizontal distance (L2`) from the center of the front axle to the total weight center at the reference load state at the time of driving, and the height of the total weight center at the reference load state at the time of driving. (H2`), it can be calculated from the relationship between the front wheel tire depression (DF2), front wheel lubrication (B), and center pin height (HP) between the case where the total weight is applied to the front wheel and the horizontal state. silver

Figure pat00004
to be. However, at this time
Figure pat00005
The value given by

At this time, the height (H2`) of the total center of gravity in the reference load state at the time of running is the tolerance weight (G), the center of gravity height (H2), the maximum load (W), It can be calculated from the relation between the height of the center of gravity (H2``) of the maximum load at the height of 300 mm and the mast diameter.

Figure pat00006
to be.

At this time, the horizontal distance L2` from the center of the front axle to the total center of gravity in the reference load state at the time of travel is the horizontal distance L2 from the center of the axle to the center of the tolerance in the tolerance weight G and the mast final diameter state. ), The maximum load (W), the fork maximum position, and the horizontal distance (L2``) from the center of the front axle to the maximum load center at the foremost state.

Figure pat00007
to be.

In this way, if the proper height of the fork 50 is calculated from the height data of the package 40 based on a comparison with the field height data of the driver, it is possible to ensure the forward field of view of the driver 80 at the time of work. When the proper height of the fork 50 is calculated from the weight data of the package 40 based on the front and rear stability and the left and right stability of the forklift, as can be seen from FIG. 5, the height is adjusted in consideration of the load, and the work stability is improved. Can be significantly improved.

These effects are then applied to a predetermined set of tasks in that the optimum fork height is automatically calculated and controlled by the calculated optimal fork height, depending on the load state (weight, height) of the package at that time. Compared with the related art, which can control only a limited height, the present invention has advantages in terms of securing driver's visibility and job stability of the forklift without changing the structural design of the forklift itself.

On the other hand, the control unit of the present invention automatic fork height control system, as shown in Figure 6, may be configured to adjust the degree of inclination of the mast (60) in accordance with the height of the controlled fork (50). Thereby, even if the fork 50 'rises, the left and right balance of the forklift body can be prevented from falling down by tilting the mast 60'.

On the other hand, what is described as an embodiment of the present invention in this specification means only one configuration example for implementing the technical idea of the present invention, other configuration examples of the equivalent range that can be encompassed or inferred from the contents described in the claims herein It is not intended to exclude this.

10 inputs 50 fork
20 controller 60 mast
30 Output 70 Lift Cylinder
40 packages

Claims (6)

An automatic fork height control system comprising an input unit, a control unit and an output unit,
An input unit for sensing data on a load state of the package, the height of the package, the weight of the package, whether the forklift has entered the driving mode, and a driver's field of view;
When it is determined that the package is loaded into the fork and the forklift enters the driving mode based on the data sensed by the input unit, the proper fork height is calculated from the data on the height and weight of the package and the height of the driver's field of view. A control unit outputting a control signal for the fork;
Automatic fork height control system comprising; an output unit for adjusting the height of the fork according to the control signal output from the control unit. The method of claim 1,
And the control unit calculates an appropriate fork height based on front and rear stability and left and right stability of the forklift. The method according to claim 1 or 2,
The control unit is automatic fork height control system that can adjust the degree of inclination of the mast according to the height of the fork. As a method of automatically controlling the height of the fork so that the fork of the forklift truck has an optimal height according to the loading situation of the package,
Measuring a load of the forklift;
Determining whether the forklift is in a driving mode;
Measuring the height and weight of the package;
Calculating an optimal fork height based on the measured height and weight data of the package; And
Adjusting the height of the fork, so as to have the calculated optimal fork height. The method of claim 4, wherein
The step of calculating the optimal fork height,
Calculating a fork height that enables a driver's visibility based on the measured height of the package; And
Calculating a fork height capable of improving working stability based on the measured weight of the package. The method of claim 5, wherein
Measuring the height of the driver's field of view,
Computing a fork height that enables the driver's field of view to be secured based on the measured height of the package includes comparing the measured height of the driver's field of view data with the height data of the package. Automatic control method.
KR1020100132055A 2010-12-22 2010-12-22 A system controlling height of fork automatically and method for it KR20120070647A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140147532A (en) 2013-06-20 2014-12-30 주식회사 두산 Control method for fork descent of the forklift
KR102063957B1 (en) * 2019-07-19 2020-01-08 주식회사 아이엔티코리아 Method and system for prevent working accident of fork lift
CN114355893A (en) * 2021-12-13 2022-04-15 河南嘉晨智能控制股份有限公司 System and method for automatically controlling industrial vehicle door frame based on environment perception
CN115027901A (en) * 2021-02-22 2022-09-09 丰田自动车株式会社 Transport system, transport method, and storage medium

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140147532A (en) 2013-06-20 2014-12-30 주식회사 두산 Control method for fork descent of the forklift
KR102063957B1 (en) * 2019-07-19 2020-01-08 주식회사 아이엔티코리아 Method and system for prevent working accident of fork lift
CN115027901A (en) * 2021-02-22 2022-09-09 丰田自动车株式会社 Transport system, transport method, and storage medium
CN114355893A (en) * 2021-12-13 2022-04-15 河南嘉晨智能控制股份有限公司 System and method for automatically controlling industrial vehicle door frame based on environment perception
CN114355893B (en) * 2021-12-13 2024-04-09 河南嘉晨智能控制股份有限公司 Automatic control system and method for industrial vehicle door frame based on environment awareness

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