The invention discloses a carton clamp, a forklift control method and a controller, the carton clamp comprises a rear hanging assembly, a clamping arm driving assembly and a pair of clamping arms, the clamping arm driving assembly comprises a hydraulic cylinder and an oil pressure detection module, and the hydraulic cylinder is used for driving the clamping arms to clamp a carton; the oil pressure detection module is used for detecting the current clamping force of the hydraulic cylinder; one clamping arm is provided with an acceleration detection module, and the acceleration detection module is used for detecting the acceleration of a carton sliding down in the clamping arm; the oil pressure detection module and the acceleration detection module send detection values to the controller, so that the controller calculates the dynamic friction coefficient between the carton and the clamping arm, and the clamping arm driving assembly is controlled to output clamping force matched with the carton. The dynamic friction coefficient can be calculated according to the acceleration value and the clamping force, then the needed minimum clamping force is determined, the clamping force output by the clamping arm is corrected, and the situation that the clamping force is too large or too small is avoided.
本发明公开了一种纸箱夹、叉车控制方法及控制器,其纸箱夹中包括包括后挂组件、夹臂驱动组件及一对夹臂,所述夹臂驱动组件包括液压缸及油压检测模块,所述液压缸用于驱动所述夹臂夹持纸箱,所述油压检测模块用于检测当前所述液压缸的夹持力;一所述夹臂设有加速度检测模块,所述加速度检测模块用于检测纸箱在所述夹臂中下滑时的加速度;所述油压检测模块及所述加速度检测模块将其检测值发送给控制器,供所述控制器计算纸箱与夹臂间的动摩擦系数,以控制所述夹臂驱动组件输出适配于所述纸箱的夹持力。本发明可根据加速度值与夹持力计算出动摩擦系数,进而确定所需的最小夹持力,对夹臂输出的夹持力进行修正,避免夹持力度过大或过小。
Carton clamp, forklift control method and controller
纸箱夹、叉车控制方法及控制器
2023-05-23
Patent
Electronic Resource
Chinese
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
Forklift control method, controller, storage medium and forklift
European Patent Office | 2024
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