CN103253142A - Electric pallet truck braking system and control method - Google Patents
Electric pallet truck braking system and control method Download PDFInfo
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- CN103253142A CN103253142A CN2013101706031A CN201310170603A CN103253142A CN 103253142 A CN103253142 A CN 103253142A CN 2013101706031 A CN2013101706031 A CN 2013101706031A CN 201310170603 A CN201310170603 A CN 201310170603A CN 103253142 A CN103253142 A CN 103253142A
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Abstract
The invention discloses an electric pallet truck braking system and a control method. The electric pallet truck braking system comprises a battery set, a permanent magnet brushless hub motor, a hub driving motor controller, a hand shank assembly, an oil tank, a hydraulic unit, a hydraulic braking assembly and an energy storing device module. An accelerator, a direction switch, a tiller switch in the hand shank assembly are connected to the hub driving motor controller through a cable wiring harness, and an operating signal is provided for the hub driving motor controller. The energy storing device module comprises an energy storage device, a multitandem valve block and a magnetic valve, wherein the magnetic valve is connected with the hub driving motor controller through the cable wiring harness to control hydraulic braking. A hydraulic brake of the hydraulic braking assembly acts on a brake disc which is fixed on the side face of a driving wheel of the permanent magnet brushless hub motor, and the brake disc rotates with the permanent magnet brushless hub motor. According to the electric pallet truck braking system, redundant oil left when a hydraulic station lifts is stored to be provided for the hydraulic brake, vehicle resources are further saved, and the electric pallet truck has unparalleled superiority.
Description
Technical field
The present invention relates to a kind of electronic tray carriage brake system and control method, and relate in particular to wheel hub motor directly brake system and the control method of the electrocar of driving, belong to electric automobiles.
Background technology
Electronic tray carriage is a kind of novel storage facilities, uses battery to provide power source, all-electric drive pattern.Mainly be used in logistics, each link of storing in a warehouse, born the transportation carrying function of goods.
In the prior art, the brake system of electric pallet truck generally adopts the dead electricity magnet stopper to finish.Do can exist usually making electronic tray carriage complex structure like this, easy care or safeguard more complicated does not need the service personnel of specialty, has promoted cost; And adopt the electromagnetism electricity loss brake to cause energy consumption higher, and lock torque is less can not satisfy some special occasions, and the not good reaction of braking effect is insensitive simultaneously.
Summary of the invention
One of technical matters to be solved by this invention is at the deficiency in the present technology, the electronic tray carriage brake system that provides a kind of wheel hub motor directly to drive, the energy storage when hydraulic pump works of the fairly simple employing hydraulic energy storage device of this brake system structure, after finishing, driving service brake action begins braking during standstill, good braking effect, fault rate is lower, does not need the professional to safeguard, has promoted work efficiency.The braking method that the present invention relates to possesses good programmability, good energy conversion efficiency; Especially can satisfy the performance of parking brake of all occasions.
Two of technical matters to be solved by this invention is to provide the control method of above-mentioned electronic tray carriage brake system.
A kind of electrocar brake system as first aspect present invention comprises battery pack, pm brushless in-wheel motor, drive hub electric machine controller, handle assembly, fuel tank, hydraulic pressure unit, hydraulic braking assembly, closed-center system module;
Described battery pack, drive hub electric machine controller, pm brushless in-wheel motor connect by cable, and the drive hub electric machine controller sends the battery pack electric energy to pm brushless in-wheel motor;
Described handle assembly comprises accelerator, direction switch, tiller switch, switch hoists; It is characterized in that,
Accelerator in the described handle assembly, direction switch, tiller switch use core of a cable to be connected to the wheel hub drive motor controller, provide operation signal to the wheel hub drive motor controller;
Described hydraulic pressure unit comprises oil pump, pump motor, contactless switch, lift oil tank, and described oil pump and pump motor integrate, and is connected by fuel tank between described oil pump, lift oil tank and the fuel tank, with oil transmission in the fuel tank; Be connected by core of a cable between described pump motor, contactless switch, battery pack and the battery pack, the switch that hoists in the described handle assembly connects contactless switch by core of a cable, and described contactless switch is according to on-off signal adhesive and shutoff, opens and turn-offs pump motor;
Described closed-center system module comprises accumulator, multiway valve piece, electromagnetic valve, described accumulator interface connected with multiple valve piece, be connected by oil pipe between described multiway valve piece and fuel tank, the oil pump, the multiway valve piece is installed electromagnetic valve, and described electromagnetic valve is connected by core of a cable with the drive hub electric machine controller and is used for control hydraulic braking assembly; Described multiway valve piece is connected by oil pipe with the hydraulic braking assembly;
Described hydraulic braking assembly comprises hydraulic brake, brake disc, and hydraulic brake acts on the brake disc, and brake disc is fixed on the side of the drive wheel of pm brushless in-wheel motor, rotates with pm brushless in-wheel motor.
Control method based on above-mentioned a kind of electronic transportation tray car brake system comprises following step:
Step 1: in car load, the wheel hub drive motor controller drives the pm brushless in-wheel motor operation according to the signal of handle assembly, the current state that drives operation that is in of vehicle;
Step 3: when the braking mode end was reclaimed in regeneration, car speed was tending towards 0, when the wheel hub drive motor controller judges that the speed of a motor vehicle is 0 and carries out braking during standstill;
Step 4: after Parking stopped, whether the wheel hub drive motor controller needed to detect to exist constantly to re-power action;
Under the braking during standstill situation, there is the driven driving conditions in step 7, then removes braking during standstill;
In a preferred embodiment of the invention, in described step 2, described braking condition includes that accelerator signal makes zero and direction switch do not have advance, backing signal, the tiller on-off signal is in effectively, in the walking of wheel hub drive motor controller major failure takes place, the wheel hub drive motor controller is carried out braking maneuver.
In a preferred embodiment of the invention, in described step 2, described regeneration is reclaimed braking and is given the pm brushless in-wheel motor lock torque opposite with respect to the drive torque direction by the wheel hub drive motor controller, energy unnecessary in travelling is stored in the battery pack by the pm brushless in-wheel motor generating, for using next time.
In a preferred embodiment of the invention, in described step 3, described braking during standstill is by the oil circuit between solenoid valve conduction accumulator, multiway valve piece and the hydraulic brake in the drive hub motor controller controls closed-center system module, oil pressure flows into hydraulic brake, is finally acted on the drive wheel of pm brushless in-wheel motor by brake disc and finishes.
In a preferred embodiment of the invention, in described step 7, it is not 0 that the driven driving conditions has accelerator, and the direction switch existence is advanced or backing signal, and the tiller switch is invalid; Remove braking during standstill and open or turn-off by the electromagnetic valve in the wheel hub drive motor controller control closed-center system module, energy in the hydraulic brake assembly is discharged, thereby the brake disc on the drive wheel that is pressed in wheel hub motor is unclamped.
Electronic tray carriage of the present invention uses pm brushless in-wheel motor directly to drive vehicle operating, has saved general reducing gear or speed reduction gearing, has saved R﹠D costs.Aspect brake system, the present invention adopts automatically controlled control service brake, whether the drive hub electric machine controller carries out regenerative brake by detection accelerator, the identification of direction switch signal, make stopping distance to carry out the software coupling according to different vehicles, existing good braking effect, reclaim unnecessary electric energy again, improved the car load flying power; After service brake is finished, then carry out hydraulic parking braking, hydraulic braking possesses highly sensitive, lock torque is big, satisfy the demand of the big Parking moment of needs when tray carriage is fully loaded climbs maximum grade, simultaneously, accumulator stores the oil mass that it is unnecessary that Hydraulic Station is carried out the action that hoists and uses for hydraulic brake, further save the car load resource, possessed incomparable preceence.
Description of drawings
Fig. 1 is electronic tray carriage brake system scheme drawing of the present invention.
Fig. 2 is the structured flowchart of electronic tray carriage brake system of the present invention.
Fig. 3 is electronic tray carriage brake control method schematic flow sheet of the present invention.
Wherein,
The 1-battery pack; The 2-pm brushless in-wheel motor; 3-hub motor control device; The 4-handle assembly; The 5-fuel tank; The 6-hydraulic pressure unit; 7-hydraulic braking assembly; 8-closed-center system module; 41-promotes switch; The 42-accelerator; The 43-direction switch; 44-tiller switch; The 61-gear type pump; The 62-pump motor; The 63-contactless switch; The 64-lift oil tank; The 71-hydraulic brake; The 72-brake disc; The 81-accumulator; The 82-electromagnetic valve; 83-multiway valve piece.
The specific embodiment
The invention will be further described according to the drawings and specific embodiments below:
The invention provides a kind of electronic transportation tray car brake system, as shown in Figure 1, battery pack 1, pm brushless in-wheel motor 2, drive hub electric machine controller 3, handle assembly 4, fuel tank 5, hydraulic pressure unit 6, hydraulic braking assembly 7, closed-center system module 8 have been comprised.
4 of battery pack 1, pm brushless in-wheel motor 2, drive hub electric machine controller 3, handle assembly connect by core of a cable, and the signal of wheel hub drive motor controller 3 by detecting handle assembly 4 is transferred to driving and the braking that pm brushless in-wheel motor 2 is finished car load with the electric energy of battery pack 1.
As shown in Figure 1 and Figure 2, handle assembly 4 comprises the switch 41 that hoists, accelerator 42, direction switch 43, tiller switch 44; Accelerator 42, direction switch 43, tiller switch 44 use core of a cable to be connected to wheel hub drive motor controller 3; Hydraulic pressure unit 6 comprises oil pump 61, pump motor 62, contactless switch 63, lift oil tank 64, oil pump 61 and pump motor 62 integrate, contactless switch 63, the switch 41 that hoists are connected with battery pack 1 by core of a cable, open and turn-off adhesive, turn-off contactless switch 63 according to the switch 41 that hoists and send battery pack 1 electric energy 61 operations of to pump drive motor 62 drive oil pumps;
Closed-center system module 8, fuel tank 5, hydraulic braking assembly 7 connect by oil pipe as shown in Figure 1 and Figure 2, and hydraulic braking assembly 7 comprises hydraulic brake 71, brake disc 72, and brake disc 72 is installed on the drive wheel of permanent magnetism wheel hub motor 2; Closed-center system module 8 comprises accumulator 81, electromagnetic valve 82, multiway valve piece 83, the interface of accumulator 81 is installed on the multiway valve piece 83, multiway valve piece 83 is connected by oil pipe by between oil pipe and oil pump 61, the fuel tank 5, electromagnetic valve 82 is installed on the multiway valve piece 83, and electromagnetic valve 82 and wheel hub drive motor controller 3 are connected by core of a cable; Energy in the accumulator 81 is provided by oil pump 61, and when carry out promoting action, when oil pump 61 is gone into lift oil tank 63 with oil pressure, a part of oil will enter accumulator 81 storages; Detect when satisfying the braking during standstill condition in wheel hub drive motor controller 3,82 actions of control electromagnetic valve, oil pressure in the accumulator 81 is gone in the hydraulic brake 71, and hydraulic brake 71 acts on the drive wheel of pm brushless in-wheel motor 2 by brake disc 72, forces drive wheel to be stopped fully extremely;
Referring to Fig. 3, the control method of above-mentioned a kind of electronic tray carriage brake system, it comprises following step:
After step S1, operator began to operate vehicle, wheel hub drive motor controller 3 drove pm brushless in-wheel motor 2 operations according to the signal of handle assembly 4, and vehicle is in normal driving mode;
Step S2, under normal driving mode, wheel hub drive motor controller 3 constantly according to accelerator 42 signals in the handle assembly 4 whether be 0, whether whether direction switch 43 exist the signal, tiller switch 44 signals that advance or retreat invalid, simultaneously, need to judge that whether unusually or fault self, execution in step S5 when satisfying, otherwise continue the current driving drive pattern;
Step S3, carry out regeneration and reclaim braking mode, regeneration is reclaimed braking and is given pm brushless in-wheel motor 2 lock torque opposite with respect to the drive torque direction by wheel hub drive motor controller 3, energy unnecessary in travelling is stored in the battery pack 1 by pm brushless in-wheel motor 2 generatings, for using next time.
Step S4, when end of braking was reclaimed in regeneration, car speed was tending towards 0, judged that when wheel hub drive motor controller 3 speed of a motor vehicle are 0, was not then to continue current regeneration at 0 o'clock to reclaim braking mode, otherwise carried out S5;
Step S5, braking during standstill is by the electromagnetic valve 82 in the wheel hub drive motor controller 3 control closed-center system modules 8, with the oil circuit between conducting accumulator 81 and the hydraulic brake 71, oil pressure flows into hydraulic brake 71, is finally acted on the drive wheel of pm brushless in-wheel motor 2 by brake disc 72 and finishes.
Step S6: after Parking stopped, whether the wheel hub drive motor controller needed to detect to exist constantly to re-power action;
Step S7 re-powers if exist, and then carries out self-checking function, self check judge whether by, exist abnormal failure then to carry out alarm mode;
Step S8, do not cut off the power supply or re-powering whether satisfy the driven driving conditions under the self check normal circumstances, then keep current state when not satisfying, drive condition and braking condition are opposite: comprise that accelerator 42 signals are not 0, direction switch 43 exists and advance or backing signal, tiller switch 44 invalidating signals, wheel hub drive motor controller 3 self do not have abnormal failure.
Step S9, under the braking during standstill situation, there is the driven driving conditions, then remove braking during standstill, removing braking during standstill is opened or is turn-offed by wheel hub drive motor controller 3 control electromagnetic valves 82, energy in the hydraulic brake 71 is discharged, thereby the brake disc 72 on the drive wheel that is pressed in pm brushless in-wheel motor 2 is unclamped.Enter normal driving mode, wheel hub drive motor controller 3 drives pm brushless in-wheel motor 2 operations according to the signal of handle assembly 4.
Brake system provided by the invention and control method use wheel hub motor to drive, if use conventional electromagnetic braking then to have the lock torque deficiency, can not meet the demands.Simultaneously, use hydraulic brake, provide energy by accumulator, can't help pump motor to carry out function separately, only when pump motor is carried out for the elevating ram fuel feeding to promote action, give stored energy in the accumulator.Braking maneuver is divided into service brake (regenerated energy reclaims braking) and braking during standstill (stopping brake) fully by the control of wheel hub drive motor controller, and service brake is finished by wheel hub motor fully, and lock torque, car load stopping distance can mate flexibly; Braking during standstill is finished by hydraulic brake, gives its fuel feeding separately without pump, possesses incomparable preceence.
Though here describe by certain or some peculiar setups and illustrate the present invention, its purpose does not also lie in described details, and those skilled in the art may carry out various modifications and structure modify in the patent claimed range, still belong to protection scope of the present invention.
It is all same as the prior art or adopt prior art to be realized to the present invention relates to part.
Claims (6)
1. an electrocar brake system comprises battery pack, pm brushless in-wheel motor, drive hub electric machine controller, handle assembly, fuel tank, hydraulic pressure unit, hydraulic braking assembly, closed-center system module;
Described battery pack, drive hub electric machine controller, pm brushless in-wheel motor connect by cable, and the drive hub electric machine controller sends the battery pack electric energy to pm brushless in-wheel motor;
Described handle assembly comprises accelerator, direction switch, tiller switch, switch hoists; It is characterized in that,
Accelerator in the described handle assembly, direction switch, tiller switch use core of a cable to be connected to the wheel hub drive motor controller, provide operation signal to the wheel hub drive motor controller;
Described hydraulic pressure unit comprises oil pump, pump motor, contactless switch, lift oil tank, and described oil pump and pump motor integrate, and is connected by fuel tank between described oil pump, lift oil tank and the fuel tank, with oil transmission in the fuel tank; Be connected by core of a cable between described pump motor, contactless switch, battery pack and the battery pack, the switch that hoists in the described handle assembly connects contactless switch by core of a cable, and described contactless switch is according to on-off signal adhesive and shutoff, opens and turn-offs pump motor;
Described closed-center system module comprises accumulator, multiway valve piece, electromagnetic valve, described accumulator interface connected with multiple valve piece, be connected by oil pipe between described multiway valve piece and fuel tank, the oil pump, the multiway valve piece is installed electromagnetic valve, and described electromagnetic valve is connected by core of a cable with the drive hub electric machine controller and is used for control hydraulic braking assembly; Described multiway valve piece is connected by oil pipe with the hydraulic braking assembly;
Described hydraulic braking assembly comprises hydraulic brake, brake disc, and hydraulic brake acts on the brake disc, and brake disc is fixed on the side of the drive wheel of pm brushless in-wheel motor, rotates with pm brushless in-wheel motor.
2. the control method of the described a kind of electronic transportation tray car brake system of claim 1 is characterized in that, comprises following step:
Step 1): in car load, the wheel hub drive motor controller drives the pm brushless in-wheel motor operation according to the signal of handle assembly, the current state that drives operation that is in of vehicle;
Step 2), in driven is travelled, satisfy braking condition and be 0, then enter regeneration when direction switch does not have the backing signal of advancing and reclaim braking mode as: accelerator signal;
Step 3): when the braking mode end was reclaimed in regeneration, car speed was tending towards 0, when the wheel hub drive motor controller judges that the speed of a motor vehicle is 0 and carries out braking during standstill;
Step 4): after Parking stopped, whether the wheel hub drive motor controller needed to detect to exist constantly to re-power action;
Step 5) re-powers if exist, and then carries out self-checking function, self check judge whether by, exist abnormal failure then to carry out alarm mode; Otherwise execution in step 6;
Step 6) not cutting off the power supply or re-power whether satisfy the driven driving conditions under the self check normal circumstances, then keeps current state when not satisfying;
Under the braking during standstill situation, there is the driven driving conditions in step 7), then removes braking during standstill;
Step 8) enters normal driving mode, and the wheel hub drive motor controller drives the pm brushless in-wheel motor operation according to the signal of handle assembly.
3. control method as claimed in claim 2, it is characterized in that, in described step 2) in, described braking condition includes that accelerator signal makes zero and direction switch do not have advance, backing signal, the tiller on-off signal is in effectively, in the walking of wheel hub drive motor controller major failure takes place, the wheel hub drive motor controller is carried out braking maneuver.
4. control method as claimed in claim 2, it is characterized in that, in described step 2) in, described regeneration is reclaimed braking and is given the pm brushless in-wheel motor lock torque opposite with respect to the drive torque direction by the wheel hub drive motor controller, energy unnecessary in travelling is stored in the battery pack by the pm brushless in-wheel motor generating, for using next time.
5. control method as claimed in claim 2, it is characterized in that, in described step 3), described braking during standstill is by the oil circuit between solenoid valve conduction accumulator, multiway valve piece and the hydraulic brake in the drive hub motor controller controls closed-center system module, oil pressure flows into hydraulic brake, is finally acted on the drive wheel of pm brushless in-wheel motor by brake disc and finishes.
6. control method as claimed in claim 2 is characterized in that, in described step 7), it is not 0 that the driven driving conditions has accelerator, and the direction switch existence is advanced or backing signal, and the tiller switch is invalid; Remove braking during standstill and open or turn-off by the electromagnetic valve in the wheel hub drive motor controller control closed-center system module, energy in the hydraulic brake assembly is discharged, thereby the brake disc on the drive wheel that is pressed in wheel hub motor is unclamped.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310170603.1A CN103253142B (en) | 2013-05-09 | 2013-05-09 | A kind of electric pallet truck brake system and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310170603.1A CN103253142B (en) | 2013-05-09 | 2013-05-09 | A kind of electric pallet truck brake system and control method |
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| CN103253142A true CN103253142A (en) | 2013-08-21 |
| CN103253142B CN103253142B (en) | 2015-10-21 |
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| CN201310170603.1A Expired - Fee Related CN103253142B (en) | 2013-05-09 | 2013-05-09 | A kind of electric pallet truck brake system and control method |
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Citations (8)
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| KR20050100141A (en) * | 2004-04-13 | 2005-10-18 | 현대모비스 주식회사 | Brake system for electric vehicle |
| CN2892814Y (en) * | 2006-04-27 | 2007-04-25 | 中国国际海运集装箱(集团)股份有限公司 | Stacker hydraulic system |
| CN201769879U (en) * | 2010-06-23 | 2011-03-23 | 浙江杭叉工程机械集团股份有限公司 | Large-tonnage forklift independent braking hydraulic system |
| JP2012076901A (en) * | 2010-10-05 | 2012-04-19 | Nippon Yusoki Co Ltd | Reach type forklift and control system thereof |
| CN202542779U (en) * | 2012-05-11 | 2012-11-21 | 上海易特电动科技股份有限公司 | All-electric handling |
| CN202727962U (en) * | 2012-08-27 | 2013-02-13 | 杭州卫国机械有限公司 | All-electric carrier |
| CN202743041U (en) * | 2012-08-27 | 2013-02-20 | 杭州卫国机械有限公司 | Counterbalanced forklift truck with storage battery |
| CN203344751U (en) * | 2013-05-09 | 2013-12-18 | 上海易特电动科技股份有限公司 | Electric tray carriage braking system |
-
2013
- 2013-05-09 CN CN201310170603.1A patent/CN103253142B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20050100141A (en) * | 2004-04-13 | 2005-10-18 | 현대모비스 주식회사 | Brake system for electric vehicle |
| CN2892814Y (en) * | 2006-04-27 | 2007-04-25 | 中国国际海运集装箱(集团)股份有限公司 | Stacker hydraulic system |
| CN201769879U (en) * | 2010-06-23 | 2011-03-23 | 浙江杭叉工程机械集团股份有限公司 | Large-tonnage forklift independent braking hydraulic system |
| JP2012076901A (en) * | 2010-10-05 | 2012-04-19 | Nippon Yusoki Co Ltd | Reach type forklift and control system thereof |
| CN202542779U (en) * | 2012-05-11 | 2012-11-21 | 上海易特电动科技股份有限公司 | All-electric handling |
| CN202727962U (en) * | 2012-08-27 | 2013-02-13 | 杭州卫国机械有限公司 | All-electric carrier |
| CN202743041U (en) * | 2012-08-27 | 2013-02-20 | 杭州卫国机械有限公司 | Counterbalanced forklift truck with storage battery |
| CN203344751U (en) * | 2013-05-09 | 2013-12-18 | 上海易特电动科技股份有限公司 | Electric tray carriage braking system |
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| CN103253142B (en) | 2015-10-21 |
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Granted publication date: 20151021 Termination date: 20160509 |