高位拣选叉车液压式自主称重系统及其应用

Hydraulic auto scale system of high order-picking forklift and its application

针对高位拣选叉车的负载称重及安全作业问题,提出了一种基于液压回路压力测量的高位拣选叉车称重方法,并将其应用于叉车安全作业中。根据叉车举升工作原理,对比分析了几种叉车称重方式的优点和缺点;对叉车举升货物过程中的系统动力学模型进行了理论分析,得到了举升液压缸压力与货物重量的数学关系;给出了包含传感器、主控器、显示仪及通讯链路的叉车称重系统的系统硬件组成;利用最小二乘法拟合得到了叉车称重升系统压力重量曲线;将液压式叉车称重技术与拉线编码器货叉举升高度测量技术相结合,进行了叉车安全作业应用研究。研究结果表明:在大负载工况下,采用基于举升液压缸压力测量的叉车称重系统的称重误差限≤3%,在实现负载称重的同时可以保证叉车安全作业。

Aiming at the problem of load scale and safe operation of the high order-picking truck,an auto scale method based on hydraulic circuit pressure measurement was proposed and applied to safe operation of the forklift truck.According to the working principle of the forklift system,the advantages and disadvantages of several scale methods were analyzed comparatively.The mathematical relationship between pressure of the lifting hydraulic cylinder and the cargo weight was obtained by theoretical analysis of the system dynamic model in the process of cargo lifting.The hardware composition of the forklift scale system including the sensor,the main controller,the display and the communication link was provided.The least square method was utilized to obtain the pressure-weight curve by function fitting.The safe operation of the forklift truck was researched by combining the scale technology with the height measurement technology of the forklift system through the wire draw encoder.The scale test results show that the scale error limit of the forklift scale system under the high load condition based on the pressure measurement of the lifting hydraulic cylinder is≤3%.The load auto scale and safe operation of the order-picking truck are realized autonomously at the same time.