阅读说明：本技术 半自动叉车系统 (Semi-automatic forklift system ) 是由 潘小军 于 2020-05-19 设计创作，主要内容包括：本发明公开了一种半自动叉车系统,包括,人机交互界面,被配置为在自动模式下设定货叉的目标层；主机控制器,连接人机交互界面,其被配置为根据人机交互界面的目标层指令控制货叉的驱动部件以实现货叉自动升降目标层。本发明申请的半自动叉车系统,通过人机交互界面输入货叉的目标层,主机控制器根据人机交互界面输出的目标层指令控制货叉的驱动部件以实现货叉自动升降至目标层。本发明申请的货叉自动定层定高升降至目标位置可以省去人工操作时定位货叉的时间,尤其是取放高层物料时人工操作由于视线的遮挡需要多次定位并调整货叉,基于此本发明申请取放高层物料的效率优势更明显。另外,人机配合的半自动方式相较于AGV叉车成本低,而速度更快。(The invention discloses a semi-automatic forklift system, which comprises a human-computer interaction interface, a control module and a control module, wherein the human-computer interaction interface is configured to set a target layer of a fork in an automatic mode; and the host controller is connected with the human-computer interaction interface and is configured to control the driving part of the pallet fork according to the target layer instruction of the human-computer interaction interface so as to realize the automatic lifting of the pallet fork to the target layer. According to the semi-automatic forklift system, the target layer of the fork is input through the human-computer interaction interface, and the host controller controls the driving part of the fork according to the target layer instruction output by the human-computer interaction interface so as to realize that the fork is automatically lifted to the target layer. The automatic layer-fixing and high-lifting fork disclosed by the invention can save the time for positioning the fork in manual operation, especially the fork needs to be positioned and adjusted for many times due to the shielding of sight in manual operation when high-rise materials are taken and placed, and the efficiency advantage for taking and placing the high-rise materials based on the automatic layer-fixing and high-rise material lifting device is more obvious. In addition, compared with an AGV forklift, the semi-automatic mode of man-machine cooperation is low in cost and high in speed.)

1. A semi-automatic fork truck system which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

a human-computer interaction interface configured to set a target level of the pallet fork in an automatic mode;

and the host controller is connected with the human-computer interaction interface and is configured to control the driving part of the fork according to a target layer instruction of the human-computer interaction interface so as to realize that the fork automatically lifts the target layer.

2. The semi-automatic forklift system of claim 1, wherein: the human-computer interaction interface supports switching between a manual mode and an automatic mode.

3. The semi-automatic forklift system of claim 2, wherein: the automatic mode is initiated at a lower priority than the manual mode.

4. The semi-automatic forklift system of claim 2, wherein: the host controller is provided with a host computer and a host computer,

a storage unit configured to store a layer ordinal-height list;

a comparison unit configured to obtain a target height of the pallet fork by searching the layer ordinal-height list, and output a lifting instruction by comparing a current height of the pallet fork with the target height;

and the control unit is configured to control the driving component of the pallet fork according to the lifting instruction so as to realize that the pallet fork automatically lifts the target layer.

5. The semi-automatic forklift system of claim 4, wherein: the host controller further comprises a protection unit configured to urgently stop the fork action when a brake pedal of the forklift is depressed or a manual switch is touched, and automatically enter the manual mode.

6. The semi-automatic forklift system of claim 4, wherein: the layer ordinal-height list in the storage unit supports custom updates.

7. The semi-automatic forklift system according to any one of claims 1 to 6, wherein: the system further comprises a pull rope encoder, the pull rope encoder is communicated with the host controller through a Canbus, and the host controller calculates the real-time height of the pallet fork according to data fed back by the pull rope encoder.

8. The semi-automatic forklift system according to any one of claims 1 to 6, wherein: the driving part comprises a motor controller, a motor and a motor encoder, the motor controller is communicated with the host controller through a Canbus, the motor controller controls the motor to drive the fork to automatically lift to the target layer according to an output instruction of the host controller, and the motor encoder is used for acquiring the rotating angle and the rotating speed of the motor.

9. The semi-automatic forklift system of claim 8, wherein: the host controller is provided with a speed limiting mode, the speed limiting mode is configured to reduce the speed of the fork when the fork enters a speed limiting interval, the speed limiting interval is an area with a certain distance away from the target height, and the speed limiting interval supports user-defined updating.

10. The semi-automatic forklift system of claim 9, wherein: and the speed of the fork in the speed limit interval supports self-defined updating.

Technical Field

The invention relates to the technical field of forklifts, in particular to a semi-automatic forklift system.

Background

The forklift is one of main devices in the logistics industry, the traditional method for taking and placing goods by the forklift is that a driver observes through eyes, the height of the forklift is adjusted by manual control to take and place the goods in an aligned mode, the mode has advantages when the goods with lower height are taken and placed, when the goods are higher in position (for example, more than 5 meters), the sight of the driver can be shielded by the position of a goods shelf, and the efficiency of taking the goods by aligning a pallet or placing the goods in the aligned mode by manually controlling and adjusting the height of the forklift is extremely low. In addition, full-automatic material taking and placing is realized by an AGV forklift, and the AGV forklift is high in price; in addition, all instructions and actions of the AGV fork truck are controlled and executed by the controller and limited by the processing capacity and the processing speed of the current processor, and the AGV fork truck also has the fatal defects of low speed and low efficiency of taking and placing materials.

Disclosure of Invention

The invention aims to provide a semi-automatic forklift system, which realizes automatic control of a forklift with lower cost, improves the efficiency of taking and placing materials of the forklift, and has more obvious advantage particularly on the efficiency of taking and placing high-rise materials.

In order to solve the above technical problems, the present invention provides a semi-automatic forklift system, comprising,

a human-computer interaction interface configured to set a target level of the pallet fork in an automatic mode;

and the host controller is connected with the human-computer interaction interface and is configured to control the driving part of the fork according to a target layer instruction of the human-computer interaction interface so as to realize that the fork automatically lifts the target layer.

In a preferred embodiment of the present invention, the human-computer interface further supports manual mode and automatic mode switching.

In a preferred embodiment of the present invention, it is further included that the automatic mode is lower in activation priority than the manual mode.

In a preferred embodiment of the present invention, further comprising the host controller comprises,

a storage unit configured to store a layer ordinal-height list;

a comparison unit configured to obtain a target height of the pallet fork by searching the layer ordinal-height list, and output a lifting instruction by comparing a current height of the pallet fork with the target height;

and the control unit is configured to control the driving component of the pallet fork according to the lifting instruction so as to realize that the pallet fork automatically lifts the target layer.

In a preferred embodiment of the present invention, the host controller further comprises a protection unit, wherein the protection unit is configured to emergency stop the fork action when a brake pedal of the forklift is pressed or a manual switch is touched, and automatically enter the manual mode.

In a preferred embodiment of the present invention, the storage unit further comprises a layer ordinal-height list in the storage unit for supporting custom updating.

In a preferred embodiment of the present invention, the system further comprises a pull rope encoder, the pull rope encoder is in communication with the host controller through a CanBus, and the host controller calculates the real-time height of the pallet fork according to data fed back by the pull rope encoder.

In a preferred embodiment of the present invention, the driving component further includes a motor controller, a motor, and a motor encoder, the motor controller communicates with the host controller through a CanBus, the motor controller controls the motor according to an output command of the host controller to drive the fork to automatically lift to the target floor, and the motor encoder is configured to obtain a rotation angle and a rotation speed of the motor.

In a preferred embodiment of the present invention, the motor controller is further provided with a speed limit mode, the speed limit mode is configured to reduce the speed of the fork when the fork enters a speed limit zone, the speed limit zone is a zone spaced at a certain distance from the target height, and the speed limit zone supports custom update.

In a preferred embodiment of the present invention, the method further comprises the step of self-defining updating of the speed of the pallet fork in the speed limit interval.

The invention has the beneficial effects that:

according to the semi-automatic forklift system, the target layer of the fork is input through the human-computer interaction interface, and the host controller controls the driving part of the fork according to the target layer instruction output by the human-computer interaction interface so as to realize that the fork is automatically lifted to the target layer. The automatic layer-fixing and high-lifting fork disclosed by the invention can save the time for positioning the fork in manual operation, especially the fork needs to be positioned and adjusted for many times due to the shielding of sight in manual operation when high-rise materials are taken and placed, and the efficiency advantage for taking and placing the high-rise materials based on the automatic layer-fixing and high-rise material lifting device is more obvious. In addition, compared with an AGV forklift, the semi-automatic mode of man-machine cooperation is low in cost and high in speed.

Drawings

FIG. 1 is a block diagram of a semi-automatic forklift system in a preferred embodiment of the present invention;

FIG. 2 is a block diagram of the internal structure of a host controller according to the preferred embodiment of the present invention;

FIG. 3 is a schematic interface diagram of a human-computer interface according to a preferred embodiment of the present invention.

The reference numbers in the figures illustrate:

10-human-computer interaction interface;

20-a host controller, 21-a storage unit, 22-a comparison unit, 23-a control unit, 24-a protection unit;

30-a pull cord encoder;

40-a motor controller;

50-a motor;

60-motor encoder.

Detailed Description

The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.

Examples

The embodiment of the invention discloses a semi-automatic forklift system, which comprises a human-computer interaction interface 10 and a host controller 20, wherein a display screen of the human-computer interaction interface 10 is a touch liquid crystal high-definition color display screen, the display effect is clear, the touch setting of parameters can be carried out, and the operation of a driver is greatly facilitated. The human-computer interaction interface 10 integrates layer touch keys and setting keys, as shown in fig. 3, the human-computer interaction interface 10 displays 8 layers of touch keys "1" to "8", an operator inputs a target layer of the fork through the layer touch keys, and state information of the forklift is correspondingly displayed on a display screen of the human-computer interaction interface 10, including a lifting speed, a current height of the fork, the target layer and a current layer. And the operator updates the system parameters by setting the keys in a user-defined manner. The human-computer interaction interface 10 supports switching between a manual mode and an automatic mode, integrates mode switching touch keys, and an operator switches between the automatic mode and the manual mode through the mode switching touch keys, wherein the host controller 20 controls a driving part of the pallet fork to realize automatic lifting of the pallet fork to a target layer in the automatic mode, and the manual operation controls the pallet fork to lift in the manual mode.

Specifically, referring to fig. 2, the host controller 20 includes a storage unit 21, a comparison unit 22, a control unit 23 and a protection unit 24, where the storage unit 21 stores a layer sequence number-height list, that is, a height value list corresponding to each layer, for example, a layer sequence number is 1 corresponding to a height of 100mm, and a layer sequence number is 2 corresponding to a height of 160 mm. The comparison unit is configured to obtain a target height of the pallet fork by searching the layer ordinal-height list, where the target layer of the obtained target height is input by an operator through the human-computer interaction interface 10; the comparison unit outputs a lifting instruction by comparing the current height and the target height of the pallet fork. Here, the current height of the fork may be manually input through the human-computer interface 10, and may also be obtained by the host controller 20 in real time, in the embodiment of the present invention, the current height is preferably obtained by the host controller 20 in real time, and the implementation process thereof is as follows: the forklift system further comprises a pull rope encoder 30, the pull rope encoder 30 is fixed on a forklift gantry base, the pull rope end of the pull rope encoder 30 is fixed on an inner sliding frame of the forklift, the pull rope ascends and descends along with the inner sliding frame, the pull rope encoder 30 is communicated with the host controller 20 through a Canbus, data can be sent to the host controller 20 every 20ms by the pull rope encoder 30, and the host controller 20 calculates the real-time height of the pallet fork according to the data fed back by the pull rope encoder 30. When the current height of the fork is lower than the target height, the comparing unit 22 outputs a rising command; on the contrary, when the current height of the fork is higher than the target height, the comparing unit 22 outputs a lowering command. In addition, the height of the pallet fork is detected through the stay cord encoder 30, compared with a bearing encoder, the installation is more convenient, the base can be directly welded and fixed beside the portal, meanwhile, the precision of the stay cord encoder is higher, and the repetition precision can be controlled within 1 mm; compared with a laser ranging sensor, the pull rope encoder is not influenced by light, and the anti-interference performance is strong.

The control unit 23 controls the driving part of the fork according to the lifting command of the comparing unit 22 to realize the automatic lifting of the fork to the target floor. And the control unit 23 also calculates the driving parameters of the fork driving part according to the height difference between the current height and the target height of the fork. Specifically, referring to fig. 1, the driving component includes a motor controller 40, a motor 50, and a motor encoder 60, the motor controller 40 communicates with the host controller 20 through a CanBus, the motor controller 40 controls the motor 50 according to an output command of the host controller 20 to drive the forks to automatically ascend and descend to the target level, and the motor encoder 60 is configured to obtain a rotation angle and a rotation speed of the motor 50. The motor controller 40 controls the rotation speed, rotation angle, and rotation time of the motor 50 according to the driving parameters calculated by the control unit 23. The motor 50 is a pump motor or an electric motor, and can be adjusted according to actual use requirements.

Further, in the technical solution of the embodiment of the present invention, the host controller 20 is provided with a speed limit mode, the speed limit mode is configured to reduce the speed of the fork when the fork enters a speed limit zone, and the speed limit zone is a zone spaced at a certain distance from the target height. For example, starting from 50mm from the target height until reaching the lifting area of the target height. The host controller 20 with the speed limit mode controls the fork lifting precision within +/-4 mm.

Furthermore, the forklift system in the technical scheme of the embodiment of the invention has extremely high safety, and is designed as follows:

(1) the automatic mode is activated at a lower priority than the manual mode.

(2) The host controller 20 includes a protection unit 24, and the protection unit 24 is configured to emergency stop the fork motion when a brake pedal of the forklift is pressed or a manual switch is touched, and automatically enter a manual mode.

(3) The host controller supports the function of detecting the broken wire of the stay cord encoder, and controls the fork to stop emergently to move when the broken wire of the stay cord encoder is detected in the automatic mode, and automatically enters the manual mode.

Furthermore, the forklift system in the technical scheme of the embodiment of the invention supports the user-defined updating of all parameters, and the user-defined updating can be realized through the setting keys of the human-computer interaction interface 10, wherein the user-defined updating parameters comprise the layer ordinal number-height list, the speed limit interval and the speed of the fork in the speed limit interval in the storage unit, and are compatible with the application requirements of various use scenes.

In addition, the forklift system in the technical scheme of the embodiment of the invention is compatible with a manual mode, the manual mode is matched with the integrated thumb key on the man-machine interaction interface 10, the host controller 20 acquires a voltage signal sent by the thumb key and converts the voltage signal (0-5V) into a numerical value of 0-1000, when the thumb key is in a middle position, the numerical value received by the host controller is 500, which is a middle voltage, and at the moment, the pallet fork does not act. Touching a thumb key, and controlling the fork to ascend when the numerical value received by the host controller is less than 500; and when the value received by the host controller is more than 500, controlling the fork to descend.

The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.