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CN-122010022-A - Yacht forklift and forklift control method

CN122010022ACN 122010022 ACN122010022 ACN 122010022ACN-122010022-A

Abstract

The application provides a yacht forklift and a forklift control method, and belongs to the technical field of engineering vehicles. The fork frame assembly comprises a fork capable of swinging, a plurality of cushion block units which are independently controlled are arranged on the fork, and an electromagnet buffer assembly is arranged in each cushion block unit. The controller recognizes the outline of the bottom of the boat through the camera, and self-adaptively adjusts the fork angle and the jacking height of each cushion block unit to form a multi-point supporting surface conformal with the bottom of the boat. When loading, the electromagnetic repulsion force is utilized to form a rebound buffering space to absorb impact, and when launching, each cushion block unit is controlled to be pushed away actively according to the change trend of the supporting force, so that progressive stable launching is realized. The application realizes the whole process self-adaption and active buffering of the yacht loading and unloading, and is safe and reliable and has a simplified structure.

Inventors

  • GUO JUNFENG
  • GUO HAIBO
  • Luo Jiatang
  • YANG CANBIN
  • WAN YUPING
  • GUO JUNYANG

Assignees

  • 福建华南重工机械制造有限公司

Dates

Publication Date
20260512
Application Date
20260408

Claims (8)

  1. 1. The yacht forklift is characterized in that the yacht forklift (30) comprises: The portal frame (10) is rotatably arranged at the front end of the yacht forklift (30), a third connecting frame (13) is slidably arranged on the portal frame (10), and the third connecting frame (13) can ascend and descend in the height direction; the fork frame assembly (20) is arranged on the third connecting frame (13), the fork frame assembly (20) comprises a fork (221) capable of swinging, a cushion block (222) is arranged on the bearing surface of the fork (221) in a vertical sliding mode, and a buffer assembly is arranged between the cushion block (222) and the fork (221); The fork frame assembly (20) is provided with a first power assembly, and the first power assembly can drive the fork (221) to swing; A second power assembly is arranged in the portal (10), and the second power assembly can drive the third connecting frame (13) to move up and down; the yacht forklift (30) is provided with a third power assembly, and the third power assembly can drive the portal (10) to incline towards the front end and the rear end of the yacht forklift (30); the yacht forklift (30) further comprises a camera assembly, wherein the camera assembly is mounted on the third connecting frame (13) and captures yacht images in front of the yacht forklift (30); A controller mounted within the yacht lift truck (30), the controller being controllable to the first, second and third power components, the controller being configured to receive the yacht images, identify a profile of a yacht base, adjust the bearing surface angle of the forks (221) by controlling the first power component to telescope, adapt the bearing surface angle to the angle of the side edge of the yacht base; the cushioning assembly includes: a first electromagnet (2221) mounted at the bottom of the pad (222); A second electromagnet (2222) mounted between the fork (221) and the pad (222) and corresponding to the position of the first electromagnet (2221); The electromagnet controller is arranged in the yacht forklift (30), is connected with the first electromagnet (2221) and the second electromagnet (2222), and can control the magnetic poles and the magnetic force of the first electromagnet (2221) and the second electromagnet (2222); The first electromagnet (2221) and the second electromagnet (2222) are both connected with a power supply of the yacht forklift (30), and the controller is also connected with the electromagnet controller to control the magnetic poles and the magnetic force of the first electromagnet (2221) and the second electromagnet (2222).
  2. 2. The yacht forklift of claim 1, wherein: the cushion blocks (222) are arranged in a plurality along the length direction of the fork (221), the buffer assemblies are arranged below each cushion block (222), and the controllers can independently control the buffer assemblies.
  3. 3. The yacht forklift of claim 2, wherein: the fork carriage assembly (20) includes: The connecting bracket (21) is arranged on a third connecting frame (13) of the portal frame (10); The first end of the swinging bracket (22) is rotatably arranged at two sides of the connecting bracket (21), the second end of the swinging bracket is connected with the fork (221), and a vertical angle is formed between the axial direction of the swinging bracket (22) and the axial direction of the fork (221); A swing guide plate (23) mounted on the third link (13), wherein the swing guide plate (23) is located below the link bracket (21); An arc-shaped part (231) is arranged below the swing guide disc (23), and the radian of the arc-shaped part (231) is consistent with the swing radian of the swing bracket (22); the second end of the swing bracket (22) is also provided with a buckling disc (223), and the buckling disc (223) is slidably buckled on an arc-shaped part (231) of the swing guide disc (23); The first power assembly comprises a swing control hydraulic cylinder (24), a cylinder barrel end (242) of the swing control hydraulic cylinder (24) is rotatably mounted on the connecting support (21), and a telescopic end (241) is rotatably mounted on the swing support (22).
  4. 4. A yacht forklift as claimed in claim 3, wherein the mast (10) comprises: The first connecting frame (11) is connected with the front end of the yacht forklift (30); A second link (12) slidably mounted on the first link (11); The third connecting frame (13) is slidably arranged on the second connecting frame (12), and the connecting bracket (21) is arranged at the front end of the third connecting frame (13); The second power assembly comprises a first driving assembly (14) and a second driving assembly (15); The first driving assembly (14) is arranged between the first connecting frame (11) and the second connecting frame (12), and the first driving assembly (14) is used for enabling the second connecting frame (12) to slide up and down on the first connecting frame (11); the second driving assembly (15) is arranged between the second connecting frame (12) and the third connecting frame (13), and the second driving assembly (15) is used for enabling the third connecting frame (13) to slide up and down on the second connecting frame (12); wherein the first drive assembly (14) is configured to move the fork (221) downwardly from an initial height and the second drive assembly (15) is configured to move the fork (221) upwardly from the initial height; the first drive assembly (14) includes: the cylinder barrel end of the first hydraulic cylinder (141) is fixed on the first connecting frame (11), the telescopic end is upward, and a first sprocket (1411) is rotatably arranged on the telescopic end; The first chain (142), the first end of the first chain (142) is fixed on the second connecting frame (12), the second end is fixed on the first connecting frame (11), the middle part is erected on the first sprocket (1411), and the first chain (142) is matched with the first sprocket (1411); the second drive assembly (15) comprises: the cylinder barrel end of the second hydraulic cylinder (151) is fixed on the second connecting frame (12), the telescopic end is upward, and a second chain wheel (1511) is rotatably arranged on the telescopic end; The first end of the second chain (152) is fixed on the third connecting frame (13), the second end of the second chain (152) is fixed on the second connecting frame (12), the middle part of the second chain is erected on the second chain wheel (1511), and the second chain (152) is matched with the second chain wheel (1511); The second connecting frame (12) is provided with a first connecting plate (121) and a second connecting plate (122), and the height of the first connecting plate (121) on the second connecting frame (12) is larger than the height of the second connecting plate (122) on the second connecting frame (12); the first end of the first chain (142) is fixedly arranged on the first connecting plate (121) through a bolt assembly; the second end of the second chain (152) is fixedly arranged on the second connecting plate (122) through a bolt assembly; The initial height is the height of the fork (221) when the telescopic end of the first hydraulic cylinder (141) stretches out to the maximum stroke and the telescopic end of the second hydraulic cylinder (151) retracts to the minimum stroke.
  5. 5. The yacht forklift of claim 4, wherein: The third power assembly comprises a third hydraulic cylinder (31) arranged on the first connecting frame (11), a telescopic end of the third hydraulic cylinder (31) is rotatably arranged on the first connecting frame (11), and a cylinder barrel end is rotatably arranged at the front end of the yacht forklift (30); the bottom of first link (11) still installs engaging lug (111), the bottom of first link (11) is through engaging lug (111) with the front end of yacht fork truck (30) is rotationally connected.
  6. 6. The yacht forklift of claim 5, wherein: The fork (221) and the swing control hydraulic cylinder (24) are symmetrically arranged with the axial direction of the length direction of the yacht forklift (30) as a symmetrical axis, and the controller can independently control one of the fork (221) or control the pair of the fork (221) together; The yacht forklift (30) further comprises a first hydraulic sensor and a second hydraulic sensor, wherein the first hydraulic sensor is arranged at a pressure measuring port of the swing control hydraulic cylinder (24), and the second hydraulic sensor is arranged at a pressure measuring port of the third hydraulic cylinder (31); The first hydraulic sensor and the second hydraulic sensor are connected with the controller.
  7. 7. A forklift control method is based on the yacht forklift of claim 6 and is characterized by comprising a yacht loading method of the forklift, a yacht gravity center judging method of the forklift and a yacht launching method of the forklift; the method for loading the yacht by the forklift comprises the following steps: S11, the camera component shoots yacht images in front of the yacht forklift (30), the outline of the yacht bottom is identified, and the controller controls the fork (221) to swing through the first power component so that the angle of the bearing surface of the fork (221) is adapted to the angle of the side edge of the yacht bottom; S12, a controller adjusts magnetic poles of the first electromagnet (2221) and the second electromagnet (2222) through the electromagnet controller to enable the first electromagnet and the second electromagnet to be in homopolar opposite states, controls electromagnet current to generate repulsive force, and lifts up the cushion block (222) upwards to enable a rebound buffer space supported by electromagnetic repulsive force to be formed between the cushion block (222) and the fork (221); s13, a controller or a driver controls the yacht forklift (30) to move towards the yacht until two forks (221) are positioned on two sides of the yacht bottom, and controls the second power assembly to enable the fork frame assembly (20) to move upwards, when the cushion block (222) is contacted with the surface of the yacht bottom, the rebounding buffer space is compressed until the first electromagnets (2221) on the forks (221) on the two sides are attached to the second electromagnets (2222), and the forks (221) are judged to lift the yacht; s14, the controller or the driver controls the second power assembly to drive the connecting bracket (21) to move upwards, so that the fork (221) is lifted and the yacht is lifted, and the yacht loading is completed; The method for judging the center of gravity of the yacht by the forklift comprises the following steps: S21, during the process of loading the yacht by the yacht forklift (30), the controller obtains the oil pressure of a swing control hydraulic cylinder (24) for controlling the swing of the fork (221) through the first hydraulic sensor, wherein the oil pressure is respectively the left oil pressure corresponding to the left fork (221) and the right oil pressure corresponding to the right fork (221); S22, judging that the gravity center is deviated when the left oil pressure or the right oil pressure exceeds a threshold value, and giving a warning of the deviation of the gravity center to a cab; The method for launching the yacht by the forklift comprises the following steps: S31, loading the yacht to the side of the area to be launched by the yacht forklift (30), and enabling the controller to downwards move the connecting bracket (21) through the second power assembly so as to launch the yacht bottom into water; s32, the controller adjusts the magnetic poles of the first electromagnet (2221) and the second electromagnet (2222) through the electromagnet controller to enable the magnetic poles to be identical, and the controller increases the magnetic force intensity of the first electromagnet (2221) and the magnetic force intensity of the second electromagnet (2222) through the electromagnet controller in the process that the second power assembly moves the connecting support (21) downwards.
  8. 8. The forklift control method according to claim 7, wherein: The controller controlling the cushioning assembly to jack up a pad block (222) so that a cushioning space with rebound is generated between the pad block (222) and the fork (221) comprises: s111, the controller adjusts the magnetic poles of the first electromagnet (2221) and the second electromagnet (2222) through the electromagnet controller so that the magnetic poles are the same; s112, the controller enhances the magnetic field intensity of the first electromagnet (2221) and the second electromagnet (2222) through the electromagnet controller.

Description

Yacht forklift and forklift control method Technical Field The application relates to the technical field of engineering vehicles, in particular to a yacht forklift and a forklift control method. Background Land transfer and launching operations of yachts are typically accomplished with dedicated forklifts. The existing yacht forklift is generally provided with a liftable portal and a fork, and the yacht is lifted and carried by inserting the fork into two sides of the bottom of the yacht. However, the prior art has disadvantages in that: First, yacht soles generally have complex curved profiles with large differences in the side angles of the soles of different types of yachts. The fork of traditional yacht fork truck is fixed angle generally or can only simply pitch, is difficult to realize good laminating with the hull bottom side, leads to being line contact or point contact between fork and the hull bottom, causes local stress concentration to the hull bottom easily, damages the hull, especially to the combined material hull, and damage risk is more outstanding. Second, there is a lack of effective buffer protection between the forks and the bottom of the boat during loading. The traditional forklift generally adopts a passive buffer element such as a rubber pad, and the buffer characteristic of the passive buffer element is fixed and cannot be adjusted according to actual load and contact state. When the fork lifts up in the twinkling of an eye, easily produce rigid impact between ship bottom and the fork, there is the damage risk. Meanwhile, due to the complex shape of the bottom, a single buffer element is difficult to adapt to curvature changes of different areas of the bottom, and uniform support cannot be realized. Third, existing yacht forklifts lack real-time perceptibility of hull attitude and stress state during operation. The operator mainly relies on experience to judge whether the fork is in place or not, whether the gravity center of the yacht is offset or not, and accurate control is difficult to realize. Especially in the process of launching, buoyancy is generated gradually after the hull enters water, and if the fork fails to separate from the bottom of the hull timely and stably, the hull can deviate or scratch with the fork, so that the launching safety is affected. Fourth, existing buffering and control schemes typically rely on a variety of external sensors (e.g., displacement sensors, force sensors, hall sensors, etc.) to achieve state monitoring. However, yacht forklifts operate in humid, salt mist-containing environments for long periods of time, the tightness, corrosion resistance and reliability of external sensors pose serious challenges, sensor failure rates are high, maintenance costs are high, and complexity and cost of the system are increased. Disclosure of Invention The invention aims to solve the problems and provide a yacht forklift and a forklift control method. The technical scheme of the application is realized as follows: in a first aspect, the present application provides a yacht forklift comprising: The portal is rotatably arranged at the front end of the yacht forklift, a third connecting frame is slidably arranged on the portal, and the third connecting frame can ascend and descend in the height direction; the fork frame assembly is arranged on the third connecting frame and comprises a fork capable of swinging, a cushion block is arranged on the bearing surface of the fork in a vertically sliding manner, and a buffer assembly is arranged between the cushion block and the fork; The fork frame assembly is provided with a first power assembly, and the first power assembly can drive the fork to swing; a second power assembly is arranged in the portal frame and can drive the third connecting frame to move up and down; The yacht forklift is provided with a third power assembly, and the third power assembly can drive the portal to incline towards the front end and the rear end of the yacht forklift; The yacht forklift further comprises a camera assembly, wherein the camera assembly is mounted on the third connecting frame and captures yacht images in front of the yacht forklift; The controller is arranged in the yacht forklift and can control the first power component, the second power component and the third power component, and is configured to receive the yacht image, identify the outline of the yacht bottom and adjust the angle of the bearing surface of the fork by controlling the first power component to stretch and retract so that the angle of the bearing surface is adapted to the angle of the side edge of the yacht bottom; the cushioning assembly includes: The first electromagnet is arranged at the bottom of the cushion block; the second electromagnet is arranged between the fork and the cushion block and corresponds to the position of the first electromagnet; The electromagnet controller is arranged in the yacht forklift and is connected with the first elec