阅读说明：本技术 叉车电动叉头控制系统 (Electric fork head control system of forklift ) 是由 潘小军 于 2020-05-19 设计创作，主要内容包括：本发明公开了一种叉车电动叉头控制系统,包括,双轴霍尔手柄,被配置为操纵以输入第一模拟量或者第二模拟量,所述第一模拟量与电动叉头的目标侧移速度关联,所述第二模拟量与电动叉头的目标旋转速度关联；上位机,连接所述双轴霍尔手柄,其被配置为将所述第一模拟量转换成侧移指令、将所述第二模拟量转换成旋转指令；叉头控制器,连接所述上位机,其被配置为根据所述侧移指令控制所述电动叉头的驱动部件实现所述电动叉头以所述目标侧移速度侧移；或者根据所述旋转指令控制所述电动叉头的驱动部件实现所述电动叉头以所述目标旋转速度旋转。本发明的叉车电动叉头控制系统,集成度高,操控简单,操作效率高,性价比高。(The invention discloses a forklift electric fork head control system, which comprises a double-shaft Hall handle, a control unit and a control unit, wherein the double-shaft Hall handle is configured to be manipulated to input a first analog quantity or a second analog quantity, the first analog quantity is related to a target lateral shifting speed of an electric fork head, and the second analog quantity is related to a target rotating speed of the electric fork head; the upper computer is connected with the double-shaft Hall handle and is configured to convert the first analog quantity into a side shift instruction and convert the second analog quantity into a rotation instruction; the fork head controller is connected with the upper computer and is configured to control a driving component of the electric fork head to realize the side shifting of the electric fork head at the target side shifting speed according to the side shifting command; or controlling a driving part of the electric fork head according to the rotation instruction to realize that the electric fork head rotates at the target rotation speed. The electric fork head control system of the forklift is high in integration level, simple to operate and control, high in operation efficiency and high in cost performance.)

1. The utility model provides a fork truck electric fork head control system which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

a dual-axis hall handle configured to be manipulated to input a first analog quantity associated with a target side-shift speed of the electric fork or a second analog quantity associated with a target rotational speed of the electric fork;

the upper computer is connected with the double-shaft Hall handle and is configured to convert the first analog quantity into a side shift instruction and convert the second analog quantity into a rotation instruction;

the fork head controller is connected with the upper computer and is configured to control a driving component of the electric fork head to realize the side shifting of the electric fork head at the target side shifting speed according to the side shifting command; or controlling a driving part of the electric fork head according to the rotation instruction to realize that the electric fork head rotates at the target rotation speed.

2. The forklift electric-powered jaw control system of claim 1, characterized by: the upper computer supports a linkage mode configured to control the drive component to effect simultaneous lateral movement and rotation of the electric prong.

3. The forklift electric-powered jaw control system of claim 2, characterized by: in the linkage mode, the double-shaft Hall handle is only configured to be operated to input a first analog quantity, and the upper computer determines a second analog quantity according to the first analog quantity and the linkage function.

4. The forklift electric-powered jaw control system of claim 3, characterized by: the linkage function is related to a current position of the electric fork.

5. The forklift electric-powered jaw control system of claim 1, characterized by: the driving part is a direct current motor driving part.

6. The forklift electric-powered jaw control system of claim 1, characterized by: the fork controller comprises a side shift controller and a rotary controller, and the side shift controller and the rotary controller are respectively connected and communicated with the upper computer through a Canbus;

the side shift controller controls the side shift driving component of the electric fork head to realize the side shift of the electric fork head at the target side shift speed according to the side shift command, and the rotation controller controls the rotation driving component of the electric fork head to realize the side shift of the electric fork head at the target rotation speed according to the rotation command.

7. The forklift electric-powered jaw control system of claim 6, characterized by: the side shift controller includes a side shift speed limit mode configured to reduce a movement acceleration of the electric fork when the electric fork side shift is started or stopped.

8. The forklift electric-powered jaw control system of claim 6, characterized by: the rotation controller includes a rotation speed limit mode configured to reduce a rotational acceleration of the electric prong when the electric prong is rotationally started or rotationally stopped.

9. The forklift electric-powered jaw control system of claim 6, characterized by: the side shift controller is also connected with a side shift potentiometer, and the side shift controller acquires the side shift position of the electric fork head through the side shift potentiometer; the rotary controller is connected with the rotary potentiometer, and the rotary controller obtains the rotation angle of the electric fork head through the rotary potentiometer.

10. The forklift electric fork control system according to any one of claims 1 to 9, wherein: the control system further comprises a human-computer interaction interface, the human-computer interaction interface is connected and communicated with the upper computer through a serial port and is configured to display the running state and the running parameters of the electric fork head; touch control is carried out to start a linkage mode; and touch control is performed to self-define the set parameters.

Technical Field

The invention relates to the technical field of three-way stacking forklifts, in particular to a forklift electric fork head control system.

Background

Nowadays, warehouse logistics are developed rapidly, logistics warehouses are required more and more, and a forklift serving as logistics equipment for storing and transferring goods is a main using device for modern logistics, along with the fact that land resources are more and more scarce and the price is higher and higher, the forklift capable of storing goods in a limited space to the maximum extent without influencing goods stacking is pursued by customers, and the forklift is also the direction of intensive research of various forklift host plants. Under this kind of applied background, narrow lane fork truck takes place at the same time of fortune, and the use of narrow lane fork truck can realize intensive storage, realizes the maximize of storage area.

The narrow roadway forklift consists of a forklift body, a gantry and a fork head, and the fork head completes lateral movement and rotation actions under the control of a control system. At present, the fork head control of a narrow roadway forklift has two types, one is hydraulic control, the other is electric control, and the hydraulic control has a plurality of technical problems:

(1) the hydraulic fork head has large working current and high energy consumption, the current is about 170A when the hydraulic fork head works, and the heating is large;

(2) the control precision is low: because the hydraulic fork head is controlled by a multi-way valve and closed-loop control cannot be performed without a feedback sensor, the control precision is low;

(3) the operation speed is slow: the time for completing one circle of lateral movement and rotation of the hydraulic fork head is more than 10 s;

(4) the safety protection function is not comprehensive: the hydraulic fork head is not provided with a main controller and a feedback sensor, and an active protection function control program cannot be added.

The electric control can solve some technical problems existing in the hydraulic control, for example, the operation speed can be improved, the control precision can be improved after the sensor is assisted, and the safety protection function is supported. The electric control fork heads are divided into two types, one type is a full-automatic electric control fork head, such as an AGV fork truck; one is a manual electrically controlled fork. The full-automatic electric control fork head is expensive, the manual electric control fork head is complex to operate, a plurality of buttons need to be operated in a matched mode in the implementation of one action, the technical requirement on operators is high, and meanwhile the operation efficiency cannot be guaranteed.

Disclosure of Invention

The invention aims to provide a forklift electric fork head control system which is high in integration level, simple to operate and control, high in operation efficiency and high in cost performance.

In order to solve the above technical problem, the present invention provides a control system for an electric fork of a forklift, comprising,

a dual-axis hall handle configured to be manipulated to input a first analog quantity associated with a target side-shift speed of the electric fork or a second analog quantity associated with a target rotational speed of the electric fork;

the upper computer is connected with the double-shaft Hall handle and is configured to convert the first analog quantity into a side shift instruction and convert the second analog quantity into a rotation instruction;

the fork head controller is connected with the upper computer and is configured to control a driving component of the electric fork head to realize the side shifting of the electric fork head at the target side shifting speed according to the side shifting command; or controlling a driving part of the electric fork head according to the rotation instruction to realize that the electric fork head rotates at the target rotation speed.

In a preferred embodiment of the present invention, the upper computer further supports a linkage mode configured to control the driving part to realize simultaneous lateral movement and rotation of the electric fork.

In a preferred embodiment of the invention, the linkage mode further comprises that the double-shaft hall handle is only configured to be operated to input a first analog quantity, and the upper computer determines a second analog quantity according to the first analog quantity and the linkage function.

In a preferred embodiment of the present invention, the linkage function is related to the current position of the power fork.

In a preferred embodiment of the present invention, the driving part is a dc motor driving part.

In a preferred embodiment of the present invention, the fork controller further comprises a side shift controller and a rotation controller, and the side shift controller and the rotation controller are respectively connected and communicated with the upper computer through a CanBus;

the side shift controller controls the side shift driving component of the electric fork head to realize the side shift of the electric fork head at the target side shift speed according to the side shift command, and the rotation controller controls the rotation driving component of the electric fork head to realize the side shift of the electric fork head at the target rotation speed according to the rotation command.

In a preferred embodiment of the present invention, the side shift controller further comprises a side shift speed limit mode configured to reduce a moving acceleration of the electric fork when the side shift of the electric fork is started or the side shift is stopped.

In a preferred embodiment of the present invention, the rotation controller further comprises a rotation speed limit mode configured to reduce a rotational acceleration of the electric prong when the rotation of the electric prong is started or stopped.

In a preferred embodiment of the present invention, the side shift controller is further connected to a side shift potentiometer, and the side shift controller obtains the side shift position of the electric fork through the side shift potentiometer; the rotary controller is connected with the rotary potentiometer, and the rotary controller obtains the rotation angle of the electric fork head through the rotary potentiometer.

In a preferred embodiment of the present invention, the control system further comprises a human-computer interface, the human-computer interface is connected to and communicates with the upper computer through a serial port, and is configured to display the operation state and the operation parameters of the electric fork; touch control is carried out to start a linkage mode; and touch control is performed to self-define the set parameters.

The invention has the beneficial effects that:

the electric fork head control system of the forklift can realize lateral movement and rotation of the fork head at a target speed only by manually operating the double-shaft Hall handle, and has the advantages of high integration level, simplicity in operation, high operation efficiency and high cost performance.

Drawings

Fig. 1 is a block diagram of a control system for an electric fork of a forklift in a preferred embodiment of the invention.

The reference numbers in the figures illustrate:

10-a dual-axis hall handle;

20-an upper computer;

30-side shift controller;

40-a rotary controller;

a 50-side shift drive member;

60-a rotary drive member;

a 70-side shift potentiometer;

80-a rotary potentiometer;

90-human-computer interaction interface;

100-electric fork head.

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 control system of an electric fork 100 of a forklift, which is shown in figure 1 and comprises a double-shaft Hall handle 10, an upper computer 20 and a fork controller,

the above-mentioned two-axis hall handle 10 is configured to be manipulated to input a first analog quantity associated with a target side-shift speed of the electric fork 100 or a second analog quantity associated with a target rotation speed of the electric fork 100;

the upper computer 20 is connected to the biaxial hall handle 10, and is configured to convert the first analog quantity into a lateral movement command and convert the second analog quantity into a rotation command;

the fork head controller is connected with the upper computer 20 and is configured to control a driving component of the electric fork head 100 to realize the side shift of the electric fork head 100 at the target side shift speed according to the side shift command; or controlling a driving means of the electric fork 100 according to the rotation command to rotate the electric fork 100 at the target rotation speed.

When the double-shaft Hall handle 10 is operated to be in the middle position, the electric fork 100 does not act; when the double-shaft Hall handle 10 is operated to move away from the neutral position in the X-axis or Y-axis direction, the moving distance of the double-shaft Hall handle is linearly related to a numerical value output by the upper computer 20, the upper computer 20 converts a target lateral moving speed and a target rotating speed according to the numerical value output by the double-shaft Hall handle 10, sends a lateral moving command containing the target lateral moving speed and a rotating command containing the target rotating speed to the fork controller, the fork controller controls a driving component of the electric fork 100 according to the lateral moving command and the rotating command, so that the electric fork 100 laterally moves at the target lateral moving speed or rotates at the target rotating speed, and the lateral moving and the rotating of the fork can be realized by operating a single handle in a manual mode.

Specifically, the dual-axis hall handle 10 is connected to the upper computer 20, when the dual-axis hall handle 10 is in the middle position, the upper computer 20 receives that the middle position value is 500, and at this time, the fork does not move. When the dual-axis hall handle 10 is dialed to the left side (i.e. one side in the X-axis direction), the numerical value in the X-axis direction received by the upper computer 20 is less than 500, the upper computer 20 converts the numerical value at this time into a side-shifting target speed and sends the side-shifting target speed to the fork controller along with a side-shifting command, the fork controller controls the side-shifting driving component to rotate forward, and the fork moves leftward. When the dual-axis hall handle 10 is dialed upwards (i.e. at one side of the Y-axis direction), the upper computer 20 receives a value in the Y-axis direction greater than 500, the upper computer 20 converts the value at this time into a target rotation speed and sends the target rotation speed to the fork controller along with a rotation command, the fork controller controls the rotation driving part to rotate reversely, and the fork rotates clockwise. When the dual-axis hall handle 10 is turned downwards (i.e. the other side in the Y-axis direction), the numerical value in the Y-axis direction received by the upper computer 20 is less than 500, the upper computer 20 converts the numerical value at this time into a target rotation speed and sends the target rotation speed to the fork controller along with a rotation instruction, the fork controller controls the rotation driving part to rotate forwards, and the fork rotates anticlockwise.

Furthermore, the driving part is a direct current motor driving part, the direct current motor driving part can resist low-temperature environment temperature, can normally work in an environment of minus 25 ℃, and can meet requirements in a working environment with large dust and large humidity. And conventional servo motor drive part can only adapt to the operational environment more than 0 degree centigrade, because the converter motor all is 380V three-phase AC system for direct current power supply's electric fork truck does not support the converter motor.

Further, in order to provide the system operation speed, the fork controller includes a lateral shift controller 50 and a rotation controller 60, and the lateral shift controller 50 and the rotation controller 60 are respectively connected and communicated with the upper computer 20 through a CanBus; the side shift controller 50 controls the side shift driving member 50 of the electric fork 100 to shift the electric fork 100 to the target side shift speed side based on the side shift command, and the rotation controller 60 controls the rotation driving member 80 of the electric fork 100 to shift the electric fork 100 to the target rotation speed side based on the rotation command. The side shift controller 50 and the rotation controller 60 respectively and independently control the side shift driving component 70 and the rotation driving component 80 to act so as to drive the electric fork 100 to laterally shift and rotate.

Further, the side shift controller 50 includes a side shift speed limit mode configured to reduce a moving acceleration of the electric fork 100 when the side shift of the electric fork 100 is started or the side shift is stopped. Under the speed limit mode is moved to the side, the side moves controller 50 sets for the acceleration interval and the deceleration interval of side movement according to the current position of fork, and the process that can accomplish fork start and stop accomplishes level and smooth no impact like this, can accomplish under the full load state of goods, and the goods does not rock when starting and stopping, and control is more accurate.

In order to precisely control the side shift speed and the side shift position of the electric fork 100 for closed-loop control, the side shift controller 50 is further connected to a side shift potentiometer 70, the side shift controller 50 obtains the side shift position of the electric fork 100 through the side shift potentiometer 70, and the side shift controller 50 transmits the current voltage value of the side shift potentiometer 70 to the upper computer 20 through a CanBus.

Similarly, the rotation controller 60 includes a rotation speed limit mode configured to reduce the rotational acceleration of the electric fork 100 when the electric fork 100 is rotated to start or rotated to stop. Under the rotatory speed limit mode, rotation controller 60 sets for the rotatory interval with higher speed and the interval that slows down of fork according to the current angle value of fork, and the smooth nothing of process that can accomplish fork start and stop is strikeed like this, can accomplish under the full-load state of goods, and the goods does not have when starting and stopping and rocks, controls more accurately.

In order to precisely control the rotation speed and the rotation angle of the electric fork 100 to achieve closed-loop control, the rotation controller 40 is connected to the rotation potentiometer 80, the rotation controller 40 obtains the rotation angle of the electric fork 100 through the rotation potentiometer 80, and the rotation controller 40 can transmit the current voltage value of the rotation potentiometer 80 to the upper computer 20 through a CanBus.

Further, the upper computer 20 supports a linkage mode, the linkage mode is configured to control the driving part to simultaneously shift and rotate the electric fork 100, and one-key reversing can be realized in the linkage mode to complete a quick reversing action, so that the work is further improved. Specifically, in the linkage mode, the two-axis hall handle 10 is only configured to be manipulated to input a first analog quantity, the upper computer 20 determines a second analog quantity according to the first analog quantity and a linkage function, the linkage function includes a functional relationship between the first analog quantity and the second analog quantity, and when the first analog quantity is determined, the second analog quantity can be uniquely determined according to the linkage function, so that one-key lateral shift rotation, that is, one-key reversing, of the electric fork 100 is realized.

Further, the linkage function is related to the current position of the electric fork 100. Specifically, when the electric fork 100 is at the two ends in the lateral moving direction, the linkage coefficient of the linkage function is smaller than the middle position of the electric fork 100 in the lateral moving direction, and the linkage coefficient of the linkage function is adaptively adjusted according to the position of the electric fork 100 in the lateral moving direction, so as to prevent the electric forklift from touching the goods shelf and goods in a narrow roadway.

Further, the control system further includes a human-machine interface 90, the human-machine interface 90 is connected to and communicates with the upper computer 20 through a serial port, and is configured to display an operation state and operation parameters of the electric fork 100, where the state parameters include: electric quantity, work timing, fault codes, text display, wheel position display, speed display and the like, wherein the operation parameters comprise side shifting speed, rotation speed, side shifting position, rotation angle and the like; the human-computer interaction interface is provided with a linkage function key, a safety mode key and a parameter setting key, and the linkage function key is touched to start a linkage mode; the touch control safety mode key starts a safety mode, in the safety mode, the forklift is unlocked to walk only when the electric fork 100 moves to the target position, and otherwise, the forklift is positioned at the current position on the ground and is not moved. The operating parameters of the system are set by self-defining through the parameter setting keys so as to be suitable for different working condition environments.

Compared with a hydraulic fork head control system, the electric control system provided by the invention also has the following technical advantages:

1. the working current is small: the current of the electric fork of the electric control system is less than 20A when the electric fork works at the full-load side and the full-load rotation, and the current of the hydraulic fork control system is more than 170A when the electric fork works at the full-load side and the full-load rotation.

2. The control precision is high: the electric control system controls the starting and stopping of the motor through the motor controller, the side shift and the rotation of the electric fork head have analog quantity numerical value feedback, closed-loop control can be achieved, and the side shift and the rotation position of the electric fork head can be accurately controlled by combining with an internal program algorithm of the side shift controller and the rotation controller. The hydraulic fork head control system controls the lateral movement and rotation of the fork head through the multi-way valve and the hydraulic motor, and because the hydraulic response has lag and closed-loop control cannot be realized without a feedback structure, the control precision and the electric fork head have larger difference.

3. The operation speed is fast: the running time of the electric fork head rotating for one circle under the control of the electric control system is 5.6s, while the running time of the hydraulic fork head is about 10 s.

4. The safety protection function is more comprehensive: the safety mode, the linkage mode and other safety protection functions are added in the upper computer control program, so that the forklift can run more safely in a roadway, and the condition that the forklift collides with a goods shelf can be effectively prevented.

5. The operation is more stable: when the electric fork head is started and stopped under the control of the electric control system, the controller has an optimization algorithm, so that the starting and the stopping are stable, and the shaking of the pallet fork can be effectively reduced. When the hydraulic fork is started and stopped, no optimization algorithm is adopted, and the hydraulic fork shakes greatly when the running speed is high.

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.