The invention belongs to the field of hoisting equipment, and discloses a scissor fork mechanism gravity center detection method and a gravity center adjustment method, comprising: mapping values of four sensors to a two-dimensional coordinate system, one axis representing a sensor value of a left side fork arm, the other axis representing a sensor value of a right side fork arm, and readings of the four sensors; the gravity center position of goods on the lifting platform can be reflected, and goods gravity center position data is formed by reading two groups of sensor data before and after lifting; a gravity center detection model is constructed, the gravity center detection model takes the cargo gravity center position data, the vertical displacement of the lifting platform and the angle between the lifting platform and the ground as input quantities, and the gravity center displacement of the lifting platform lifted from the lowest point to the highest point is output; and the gravity center position of goods on the lifting platform is detected through the gravity center detection model. According to the invention, the center of gravity of goods on the lifting platform can be accurately detected, and the phenomenon of fork arm rollover caused by center-of-gravity shift after lifting is effectively avoided.
本发明属于起重设备领域,公开了一种剪叉机构重心检测方法及重心调整方法,包括:将四个传感器的值映射到二维坐标系上,其中一个轴表示左侧叉臂的传感器值,另一个轴表示右侧叉臂的传感器值,四个传感器的读数,可以反映举升平台上货物的重心位置,通过读取举升前后的两组传感器数据,形成货物重心位置数据;构建重心检测模型,重心检测模型以货物重心位置数据、举升平台垂直位移、举升平台与地面的角度作为输入量,输出举升平台由最低点举升至最高点的重心位移;通过重心检测模型检测举升平台上货物的重心位置。采用本发明可实现对举升平台上货物重心的准确检测,有效规避举升后重心偏移导致叉臂侧翻的现象。
Scissor fork mechanism gravity center detection method and gravity center adjustment method
一种剪叉机构重心检测方法及重心调整方法
2024-05-07
Patent
Electronic Resource
Chinese
IPC: | G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen / 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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