阅读说明：本技术 一种叉车自动收车方法以及收车装置 (Automatic forklift collecting method and device ) 是由 宋强 杨雪松 许涛 王法录 薛振见 刘敏 于 2019-10-08 设计创作，主要内容包括：本发明公开了一种叉车自动收车方法,包括以下步骤：启动自动收车功能；判断叉车是否满足自动收车的安全性能要求；检测叉车门架以及叉车货叉参数；判断叉车门架以及叉车货叉参数是否处于目标参数范围内；所述叉车门架参数包括叉车门架倾斜角度,所述叉车货叉参数包括货叉高度、货叉位置以及货叉间距,本申请的方法即可对叉车门架角度、叉车货叉高度、叉车货叉位置以及间距等参数进行检测,并与目的参数进行比对,然后自动对叉车门架角度、叉车货叉高度、叉车货叉位置以及间距等参数进调整,而且在调整的过程中,实时检测被调整的参数的变化并进行反馈调节,因而提高了本申请的调整方法的精度,增加收车速度,降低工人劳动强度。(The invention discloses an automatic forklift collecting method, which comprises the following steps: starting an automatic vehicle collecting function; judging whether the forklift meets the safety performance requirement of automatic collection; detecting parameters of a forklift portal frame and a forklift fork; judging whether the parameters of the forklift mast and the forklift fork are in a target parameter range; the fork truck portal parameter includes fork truck portal inclination, fork truck fork parameter includes the fork height, fork position and fork interval, the method of this application can be to fork truck portal angle, fork truck fork height, fork truck fork position and interval isoparametric detect, and compare with the purpose parameter, then automatically to fork truck portal angle, fork truck fork height, fork truck fork position and interval isoparametric advance the adjustment, and at the in-process of adjustment, the change of the parameter of real-time detection adjusted carries out feedback control, therefore the precision of the adjustment method of this application has been improved, increase the speed of receiving, reduce workman intensity of labour.)

1. An automatic forklift collecting method is characterized by comprising the following steps

Step 1, starting an automatic vehicle collection function;

step 2, judging whether the forklift meets the safety performance requirement of automatic collection, if so, executing step 3, and if not, executing step 1;

step 3, detecting parameters of the forklift gantry and the forklift fork;

step 4, judging whether the parameters of the forklift mast and the forklift fork are in the target parameter range, if so, completing automatic collection, and if not, adjusting the forklift mast and the forklift fork and executing the step 3;

wherein: the forklift mast parameters comprise a forklift mast inclination angle, and the forklift fork parameters comprise a fork height, a fork position and a fork interval.

2. The automatic forklift truck collection method according to claim 1, wherein whether the automatic collection function is activated is detected after the automatic collection function is started in step 1, if the automatic collection function is activated, step 2 is executed, and if the automatic collection function is not activated, step 1 is executed.

3. The method of claim 1, wherein the safety performance of the forklift comprises forklift truck carriage load and forklift truck speed.

4. The automatic retracting method of the forklift as claimed in claim 1, wherein the tilt angle of the forklift mast is measured directly by an angle sensor or indirectly by measuring the telescopic amount of a tilt cylinder of the forklift mast by a position sensor.

5. The automatic retracting method of the forklift as claimed in claim 1, wherein the height of the pallet fork is the height of the pallet fork from the ground or the telescopic amount of a lifting cylinder of the pallet fork is controlled.

6. The automatic retracting method of the forklift as claimed in claim 1, wherein in the step 3, the inclination angle of the forklift gantry, the height of the forklift, the position of the forklift and the distance between the forklift are sequentially adjusted.

7. The utility model provides an automatic device of receiving of fork truck which characterized in that includes:

the signal acquisition element is used for acquiring a gantry inclination angle signal, a fork height signal, a fork position and a fork spacing signal;

the action executing element comprises a gantry electromagnetic valve for controlling a forklift gantry tilting oil cylinder, a gantry lifting electromagnetic valve and a gantry falling electromagnetic valve for controlling the longitudinal movement of a forklift fork, and a fork side shifting distance adjusting electromagnetic valve for controlling the position and the distance of the fork;

the controller is used for receiving the forklift portal frame parameters and the forklift fork parameters acquired by the signal acquisition element, comparing the forklift portal frame parameters and the forklift fork parameters with set receiving parameters, and outputting control parameters to the action execution element;

the signal acquisition element is connected with the controller and transmits the acquired signal to the controller, and the controller is connected with the action execution element and outputs control parameters to the action execution element.

8. The automatic retracting device of a forklift as claimed in claim 7, wherein said signal acquisition element comprises an angle sensor connected to the forklift mast or a position sensor connected to the tilting cylinder of the forklift mast, a position sensor connected to the lifting cylinder of the fork, and a position sensor connected to the fork.

9. The automatic retracting device of a forklift truck according to claim 7, wherein the controller is connected with an automatic retracting trigger switch, and the automatic retracting trigger switch comprises a trigger switch or a trigger button connected with the controller.

10. The automatic forklift collecting device according to claim 7, wherein the controller is connected with a display for displaying forklift collecting parameters and providing a human-computer interaction interface for setting the forklift collecting parameters.

Technical Field

The invention relates to the technical field of forklift collection, in particular to an automatic forklift collection method and an automatic forklift collection device.

Background

The fork truck should be adjusted fork and portal to safe state after using and accomplishing: the fork is dropped to a low position, the inclination angle of the portal frame is adjusted to a proper position (different products are slightly different), and the position and the distance of the fork are adjusted to a proper position.

The operator need control the fork respectively and rise or descend, the portal leans forward or the action of heeling back, the fork side is moved, roll adjustment etc. and to the operation unskilled operator carry out above operation need spend the certain time and not can reach the ideal state of receiving a car certainly, and along with the continuous development of fork truck trade, portal part function can be more and more, operates through manual type alone this moment again, loaded down with trivial details and inaccurate, manual operation, consuming time power.

Disclosure of Invention

The invention aims to provide an automatic forklift collecting method to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

an automatic forklift collecting method comprises the following steps

Step 1, starting an automatic vehicle collection function;

step 2, judging whether the forklift meets the safety performance requirement of automatic collection, if so, executing step 3, and if not, executing step 1;

step 3, detecting parameters of the forklift gantry and the forklift fork;

step 4, judging whether the parameters of the forklift gantry and the forklift fork are in the target parameter range, if so, completing automatic collection, and if not, adjusting the forklift gantry and the forklift fork to execute step 3;

wherein: the forklift mast parameters comprise a forklift mast inclination angle, and the forklift fork parameters comprise a fork height, a fork position and a fork interval.

As a further scheme of the invention: and (3) detecting whether the automatic car receiving function is activated or not after the automatic car receiving function is started in the step (1), if so, executing the step (2), and if not, executing the step (1).

As a further scheme of the invention: the safety performance of the forklift comprises the load of a fork frame of the forklift and the speed of the forklift.

As a further scheme of the invention: the inclination angle of the forklift mast is directly measured by an angle sensor or indirectly measured by measuring the telescopic quantity of the forklift mast inclination oil cylinder by a position sensor.

As a further scheme of the invention: the height of the fork is the height above the ground of the fork or the telescopic amount of a lifting oil cylinder of the fork.

As a further scheme of the invention: and 3, sequentially adjusting the inclination angle of the forklift gantry, the height of the fork, the position of the fork and the distance between the forks.

An automatic vehicle collecting device of a forklift comprises:

the signal acquisition element is used for acquiring a gantry inclination angle signal, a fork height signal, a fork position and a fork spacing signal;

the action executing element comprises a gantry electromagnetic valve for controlling a forklift gantry tilting oil cylinder, a gantry lifting electromagnetic valve and a gantry falling electromagnetic valve for controlling the longitudinal action of the fork, and a fork side shifting distance adjusting electromagnetic valve for controlling the position and the distance of the fork;

the controller is used for receiving the forklift gantry parameters and the forklift fork numbers acquired by the signal acquisition element, comparing the forklift gantry parameters and the forklift fork numbers with set receiving parameters, and outputting control parameters to the action execution element;

the signal acquisition element is connected with the controller and transmits the acquired signal to the controller, and the controller is connected with the action execution element and outputs control parameters to the action execution element.

As a further scheme of the invention: the signal acquisition element comprises an angle sensor connected with the forklift mast or a position sensor connected with the forklift mast inclined oil cylinder, a position sensor connected with the fork lifting oil cylinder and a position sensor connected with the fork.

As a further scheme of the invention: the controller is connected with an automatic car receiving trigger switch, and the automatic car receiving trigger switch comprises a trigger switch or a trigger button connected with the controller.

As a further scheme of the invention: the controller is connected with a display used for displaying forklift receiving parameters and providing a man-machine interaction interface to set the forklift receiving parameters.

Compared with the prior art, the invention has the beneficial effects that:

1. the method can detect parameters such as the angle of a forklift portal frame, the height of a forklift fork, the position and the distance of the forklift fork and the like, compares the parameters with target parameters, automatically adjusts the parameters such as the angle of the forklift portal frame, the height of the forklift fork, the position and the distance of the forklift fork and the like, and detects the change of the adjusted parameters in real time and performs feedback adjustment in the adjusting process, so that the accuracy of the adjusting method is improved, the function of automatic vehicle receiving is increased, and the labor intensity of workers is reduced;

2. the safety performance of the forklift can be checked after the automatic collection function is started, the speed of the forklift and whether heavy objects are on the forklift fork or not can be checked in time, and automatic collection cannot be carried out when the speed of the forklift is not reduced to a target range or the heavy objects are on the forklift fork, so that the safety of the forklift and workers is ensured;

3. according to the forklift receiving control system, the display communicated with the controller is arranged, so that the forklift state can be displayed in real time through the display when the forklift is automatically received, and meanwhile, forklift receiving parameters can be set through a human-computer interaction interface of the display;

4. this application detects fork truck's portal parameter, fork parameter through setting up the sensor, carries out cylinder control through the control solenoid valve that sets up on portal hydro-cylinder, fork hydro-cylinder, therefore the simple structure of this application, and is less to the influence of fork truck existing equipment structure, can effectually adapt to the fork truck of isostructure, has improved the suitable ability of this application.

Drawings

FIG. 1 is a flow chart of an automatic vehicle pickup control system of the present application;

FIG. 2 is a graphical illustration of the present application of the fork position already spacing parameters of the forklift;

fig. 3 is a schematic view of the automatic forklift receiving control system of the application.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.