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公开(公告)号：US4517645A
公开(公告)日：1985-05-14
申请号：US364402
申请日：1982-03-31
CPC分类号： B66F9/24 , B66F9/0755 , G05B19/23 , G05B19/4142 , G05B2219/34215 , G05B2219/41309
摘要： A control device for loading and unloading mechanism adapted to be incorporated in a fork lift truck comprises a sensor unit 100 including a lifting height sensor 102 and a load sensor 106, a control unit 200 comprising a control command producing circuit 240 constituted by a microcomputer 230 producing a control command on the basis of comparing calculation between the output of the sensor unit 100 and the concerned data stored in the microcomputer 230, a servomotor driving circuit 322' responsive to the control command indicative of a valve opening angle, and a hydraulic pressure driving circuit 340 for actuating a lift cylinder in accordance with the output of the servomotor driving circuit 322'. The control device is constituted so that, when the work for piling or unloading a load on a shelf is effected based on the stored lifting height data, the two positions required for piling and unloading can be stored in the same address allotted to the corresponding shelf can be stored. The control device is constituted so that, when lifting height data is stored in the microcomputer, an indication for confirming data storage is added to the stored lifting height data, thereby enabling to prevent an automatic lifting height control from being erroneously effected.
摘要翻译： 用于装载在叉式起重车中的装卸机构的控制装置包括：传感器单元100，包括升降高度传感器102和负载传感器106;控制单元200，包括由微计算机230构成的控制指令产生电路240 根据比较传感器单元100的输出和存储在微计算机230中的有关数据之间的计算，产生控制命令，响应于指示阀打开角度的控制命令的伺服电动机驱动电路322'和液压 驱动电路340，用于根据伺服电机驱动电路322'的输出致动提升缸。 控制装置构成为：当基于所存储的升降高度数据实现堆放或卸载货架上的载荷的工作时，堆放所需的两个位置可以存储在分配给相应货架的相同地址中 可以存储。 控制装置构成为：当提升高度数据被存储在微型计算机中时，向所存储的提升高度数据添加用于确认数据存储的指示，从而能够防止自动提升高度控制被错误地实现。
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公开(公告)号：US4509127A
公开(公告)日：1985-04-02
申请号：US364403
申请日：1982-03-31
CPC分类号： B66F9/24 , B66F9/0755
摘要： A control device for loading and unloading mechanism adapted to be incorporated in a fork lift truck comprises a sensor unit 100 including a lifting height sensor 102, a control unit 200 comprising a control command producing circuit 240 constituted by a microcomputer 230 producing a control command on the basis of comparing calculation between the output of the sensor unit 100 and the concerned data stored in the microcomputer 230, and a driving unit 300 producing a driving output signal so as to the lifting height of the fork 18 in accordance with the control command fed from the control unit 200. The control device includes a component operable for inhibiting storage of sampled lifting height data when the actual lifting height data are not within an allowed range, thereby to prevent erroneous operation based on erroneous data and to effect smooth follow-up speed control to the target height when automatic lifting height control is effected. The control device further comprises structure for slowly stopping the fork at the time of the automatic lifting height control. Prior to the automatic lifting height control, when lifting height data is stored in the microcomputer 230, the control device is designed so that lifting height data within a predetermined range can be sampled. Furthermore, the valve opening angle of the control valve for actuating a lift cylinder 346 is limited to a predetermined range, thereby stabilizing a lifting height speed.
摘要翻译： 用于装载在叉式起重车中的装卸机构的控制装置包括：传感器单元100，包括提升高度传感器102;控制单元200，包括由微型计算机230构成的控制指令产生电路240，该控制指令产生电路240产生控制命令 比较传感器单元100的输出与存储在微计算机230中的有关数据之间的计算的基础，以及驱动单元300，该驱动单元300根据控制命令进行驱动输出信号以提升叉18的提升高度 控制装置包括：当实际提升高度数据不在允许范围内时可操作用于禁止采样提升高度数据的存储，从而防止基于错误数据的错误操作并实现平稳跟踪 实现自动提升高度控制时的速度控制到目标高度。 控制装置还包括在自动提升高度控制时缓慢停止叉的结构。 在自动提升高度控制之前，当提升高度数据存储在微型计算机230中时，控制装置被设计成可以对预定范围内的提升高度数据进行采样。 此外，用于致动提升缸346的控制阀的开阀角限制在预定范围内，从而稳定提升高度。
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公开(公告)号：US4499541A
公开(公告)日：1985-02-12
申请号：US364401
申请日：1982-03-31
CPC分类号： G05B19/23 , B66F9/0755 , B66F9/24 , G05B2219/34053 , G05B2219/34215 , G05B2219/34466 , G05B2219/37462
摘要： An improved fork lift truck control system using a microcomputer, which comprises a sensing unit including a first sensor for detecting a lift height of a fork above its lowest position and a second sensor for detecting a tilting angle of an upright with respect to a neutral position of the upright including an input interface circuit for interfacing the sensing unit and control unit which has: (a) a lifting height counting circuit which counts the number of pulses produced on a basis of two photo-converted electrical signals fed from two photocouplers constituting the first sensor, the signals having a phase difference of 90.degree. from each other, so that an accurate measurement of the lifting height of the fork can be made; (b) an analog-to-digital converter which produces a bit string according to an output signal from the second sensor; and (c) an abnormal detection facility which detects a defective analog-to-digital converter and second sensor by comparing the bit string presently outputted from the analog-to-digital converter with each of predetermined bit strings that would be produced if the analog-to-digital converter operates normally.
摘要翻译： 一种改进的使用微型计算机的叉车控制系统，其包括检测单元，该传感单元包括用于检测在其最低位置之上的叉的提升高度的第一传感器和用于检测竖直件相对于中立位置的倾斜角度的第二传感器 包括用于接口感测单元和控制单元的输入接口电路，该输入接口电路具有：（a）升高高度计数电路，其对基于构成两个光耦合器的两个光电耦合器馈送的两个光转换电信号产生的脉冲数进行计数 第一传感器，信号彼此具有90°的相位差，从而可以精确地测量叉子的提升高度; （b）根据来自第二传感器的输出信号产生位串的模数转换器; 以及（c）异常检测设备，其通过将当前从模数转换器输出的位串与将被产生的预定位串中的每一个进行比较来检测有缺陷的模拟 - 数字转换器和第二传感器， 数模转换器正常工作。
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公开(公告)号：US4520443A
公开(公告)日：1985-05-28
申请号：US364404
申请日：1982-03-31
CPC分类号： B66F9/0755 , B66F9/24
摘要： A control device for loading and unloading mechanism adapted to be incorporated in a fork lift truck comprises a sensor unit 100 including a lifting height sensor 102, a tilting angle sensor 104, and a load sensor 106, a control unit 200 comprising a control command producing circuit 240 constituted by a microcomputer 230 producing a control command on the basis of comparing calculation between the output of the sensor unit 100 and the concerned data stored in the microcomputer 230. The control device further comprises actuators 322, 324 including servomotor driving circuit therein responsive to the control command fed from the control unit 200, and a hydraulic pressure driving circuit 340 for hydraulically controlling a lift cylinder 346 and a tilt cylinder 348 in accordance with the corresponding output of each actuator, respectively. The control device is capable of effecting a automatic running attitude control due to the data stored in the microcomputer 230. The control device further makes it possible to automatically effect a series of sequential loading and unloading work including a lifting height operation and a tilting angle control. Preferably, the control device comprises a means for manually adjusting an attitude angle of the fork during loading and unloading work. Further, in view of safety, the control device is constituted so that an adjustable running attitude angle of the fork is limited to a predetermined region.
摘要翻译： 用于装载在叉式起重车中的装卸机构的控制装置包括：传感器单元100，包括提升高度传感器102，倾斜角度传感器104和负载传感器106;控制单元200，包括产生 电路240由微型计算机230构成，其基于比较传感器单元100的输出和存储在微型计算机230中的有关数据之间的计算产生控制命令。控制装置还包括致动器322,324，其包括响应于伺服电动机驱动电路 到控制单元200输入的控制指令，以及液压驱动电路340，用于分别根据每个致动器的相应输出液压控制提升缸346和倾斜缸348。 控制装置由于存储在微型计算机230中的数据而能够实现自动运行姿态控制。控制装置还可以自动执行一系列的顺序加载和卸载工作，包括提升高度操作和倾斜角度控制 。 优选地，控制装置包括用于在装载和卸载工作期间手动调节叉的姿态角的装置。 此外，为了安全起见，控制装置构成为使叉的可调节行驶姿势角被限制在规定的区域。
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5.发明授权
公开(公告)号：US4491918A
公开(公告)日：1985-01-01
申请号：US364400
申请日：1982-03-31
CPC分类号： G05B19/23 , B66F9/24 , G05B2219/34215 , G05B2219/41309 , G05B2219/49169
摘要： A method and system for horizontally controlling a fork for a fork lift truck to be positioned at a position parallel with respect to the ground, according to the loads mounted on the fork. The target backward tilting angle of the upright is previously determined as a function of the load on the fork and stored in a memory of a microcomputer. Therefore, the microcomputer outputs an upright forward/backward tilting operation command signals to a tilt servo mechanism on the basis of signals outputted from a load sensor and a potentiometer to detect upright tilt angles. The tilt servo mechanism according to the present invention can adjust and stop the upright at a target backward tilting angle at a low speed without applying a shock to the load.
摘要翻译： 根据安装在叉上的负载，水平地控制用于叉车的叉子的方法和系统被定位在相对于地面平行的位置。 预先确定立柱的目标向后倾斜角度作为叉上的载荷并存储在微型计算机的存储器中的函数。 因此，微型计算机基于从负载传感器和电位计输出的信号，向倾斜伺服机构输出立式前后倾斜操作指令信号，以检测直立倾斜角度。 根据本发明的倾斜伺服机构可以以低速度以目标后倾角度调节和停止直立，而不对负载施加冲击。
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