A control method for anti-rollover of counterbalanced forklift

A control method and anti-rollover technology, applied in lifting equipment safety devices, hoisting devices, etc., can solve the problems of hidden dangers of operators and goods, large lateral acceleration, easy instability of forklifts, etc., and achieve low risk of rollover , reduce the roll angle and yaw rate, the effect of accurate and real-time judgment

Active Publication Date: 2022-05-10
HEFEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the unique structure of the rear axle swing is also the main reason why the forklift is prone to instability during manipulation.
During the rollover process of the forklift, due to the excessive lateral acceleration caused by the violent steering behavior, the forklift lifts from the inner front drive wheel, and gradually deteriorates to the front and rear unilateral wheels leaving the ground, until finally causing rollover, resulting in injuries to operators and goods. Security risks

Method used

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  • A control method for anti-rollover of counterbalanced forklift
  • A control method for anti-rollover of counterbalanced forklift
  • A control method for anti-rollover of counterbalanced forklift

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Embodiment

[0110] Embodiment: the anti-rollover control method of forklift trucks of the present invention is applied to a certain type of 3-ton counterbalanced forklift. s =4300kg, moment of inertia I of the whole vehicle around the Z axis z =6129kg·m 2 , the moment of inertia of the frame around the X axis I x =3100kg·m 2 , height h of body center of mass s =0.75m, the height of the center of mass of the rear axle is equal to the height of the hinge point of the rear axle h r = h u0 =0.265m, the distance between the front axle and the center of mass a=1m, the distance between the rear axle and the center of mass b=0.7m, the wheelbase B=1m, the maximum swing angle of the body relative to the rear axle The locked state of the hydraulic support oil cylinder refers to the PWM duty cycle signal with the control signal of the solenoid valve of the oil cylinder being 0%, the semi-free state refers to the PWM duty cycle signal with the control signal of the solenoid valve of the oil cyli...

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Abstract

The invention discloses a control method for anti-rollover of a counterbalanced forklift. The forklift dynamic motion data collected by a forklift body posture sensor is used to judge the rollover state of the forklift at this time; The energy classification index can realize the accurate identification of the anti-rollover stability of the forklift under different rollover states, and provide a basis for the anti-rollover control; the counterbalanced forklift anti-rollover control system involved in the present invention, according to the Anti-rollover support cylinders and full hydraulic active steering are used for different rollover states of the forklift, and accurate and real-time anti-rollover control is performed according to the forklift’s anti-rollover stability identified by real-time rollover energy to improve the forklift’s anti-rollover performance Stability and active safety.

Description

technical field [0001] The invention relates to the field of stability control of a counterweight forklift, in particular to a control method for anti-rollover of a forklift. Background technique [0002] As counterbalanced forklifts are widely used in factories, ports, stations, warehouses and other major transportation and logistics industries, their working environment is becoming more and more complex. Since the forklift is an engineering vehicle with a high center of gravity, and if the turning radius is too small and the vehicle speed is too fast during its work, the forklift body will roll seriously. If it is not controlled, it is prone to forklift rollover accidents. Therefore, it is of great significance to improve the anti-rollover stability of the forklift during work. [0003] The front wheel of the counterbalanced forklift is the driving wheel, and the rear wheel is the steering wheel. Due to the hinge point between the rear steering axle and the body, the bo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66F9/075B66F17/00
CPCB66F9/075B66F17/003
Inventor 夏光李嘉诚夏岩张华磊陈建杉于星海张洋汪韶杰孙保群
Owner HEFEI UNIV OF TECH
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