CN103419673B - Driverless operation electri forklift - Google Patents

Driverless operation electri forklift Download PDF

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Publication number
CN103419673B
CN103419673B CN201310371105.3A CN201310371105A CN103419673B CN 103419673 B CN103419673 B CN 103419673B CN 201310371105 A CN201310371105 A CN 201310371105A CN 103419673 B CN103419673 B CN 103419673B
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car
fork truck
vehicle
control
drive
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CN103419673A (en
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杨鹏波
王大鹏
贾军明
刘天举
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杨鹏波
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries

Abstract

A kind of driverless operation electri forklift is provided, there is car body and be located at the storage battery on car body, described car body is provided with equipment, described Vehicular body front lower end is provided with left driving wheel and right drive wheel, described left driving wheel controls to drive by left drive motor and left change speed gear box, described right drive wheel controls to drive by right drive motor and right change speed gear box, described rear vehicle lower end is provided with can 180 ° of steeraxle devices turned to, car body is provided with and controls gross vehicle control setup that separate unit fork truck runs or control the gross vehicle control setup that multiple stage fork truck runs simultaneously, in the operator's compartment of car body, be also provided with the mode conversion device of automatic operation mode/manual operation patten transformation simultaneously.The present invention adopts storage battery to be power, and control mode is vehicle automatic driverless operation mode and the double mode manipulation of pilot steering, realizes two kinds of mode safeties and immediately changes; Save human resources, reduction people is probability of makeing mistakes; Vehicle is provided with failure-free safety protective alarming device, avoids the accident of meeting accident.

Description

Driverless operation electri forklift
Technical field
The invention belongs to electri forklift technical field, be specifically related to a kind of driverless operation electri forklift.
Background technology
Existing fork truck, the steering angle of steeraxle is 172 ° to the maximum, and the steeraxle of this kind of structure turns to flexibly heavy, and resistance is large, weight capacity is poor, and the general transverse hydro-cylinder structure hydraulic that adopts drives, cause the precision that turns to of steeraxle accurately to control, fork truck can only adopt pilot steering to operate, automatic driverless operation pattern can not be adopted, along with industrialized development, the demand of unmanned automatic driving fork truck is got more and more, be therefore necessary to improve.
Summary of the invention
The technical matters that the present invention solves: provide one can pilot steering, also can driverless operation and steeraxle device can the driverless operation electri forklifts of left rotation and right rotation 180 ° automatically.
The technical solution used in the present invention: driverless operation electri forklift, there is car body and be located at the storage battery on car body, described car body is provided with equipment, described Vehicular body front lower end is provided with left driving wheel and right drive wheel, described left driving wheel controls to drive by left drive motor and left change speed gear box, described right drive wheel controls to drive by right drive motor and right change speed gear box, described rear vehicle lower end is provided with can 180 ° of steeraxle devices turned to, car body is provided with and controls gross vehicle control setup that separate unit fork truck runs or control the gross vehicle control setup that multiple stage fork truck runs simultaneously, in the operator's compartment of car body, be also provided with the mode conversion device of automatic operation mode/manual operation patten transformation simultaneously.
Preferably, the gross vehicle control setup that described control separate unit fork truck runs comprises the master control of unit fork truck, vehicle running state controller, transport function movement controller, vehicle safety detection alarm device and running state detecting device, four delivery ports of described unit fork truck master control connect vehicle running state controller, transport function movement controller, vehicle safety detection alarm device and running state detecting device input port respectively, and described vehicle safety detection alarm device and running state detecting device delivery port be order machine fork truck master control second and the 3rd input port respectively.
Preferably, the gross vehicle control setup that described control multiple stage fork truck runs simultaneously comprises vehicle operating master controller, signal wireless transmission device, the gross vehicle control setup that unit signal transmitting apparatus and control separate unit fork truck run, wherein, the gross vehicle control setup that described control separate unit fork truck runs comprises the master control of unit fork truck, vehicle running state controller, transport function movement controller, vehicle safety detection alarm device and running state detecting device and said apparatus is arranged on same fork truck, described vehicle operating master controller delivery port connects signal wireless transmission device input port, the multiple delivery port of described signal wireless transmission device connects the unit signal transmitting apparatus input port of multiple parallel connection, the master control of described unit signal transmitting apparatus delivery port order machine fork truck, four delivery ports of described unit fork truck master control connect vehicle running state controller respectively, transport function movement controller, vehicle safety detection alarm device and running state detecting device input port, described vehicle safety detection alarm device and running state detecting device delivery port be order machine fork truck master control second and the 3rd input port respectively, described unit fork truck master control the 5th delivery port order machine signal transmitting apparatus input port, the unit signal transmitting apparatus delivery port of described multiple parallel connection connects the multiple input port of signal wireless transmission device, described radio transmitting device delivery port connects vehicle operating master controller input port.
Further, described steeraxle device comprises and is arranged on two wheel flutters in rotating shaft and pontic, described pontic one end is fixedly connected with car body lower surface, the pontic other end is fixedly connected with rotating shaft, and the vertical line of centers of described pontic and the central axis of the rotating shaft of installing two wheel flutters arrange to be that crosswise to make about wheel flutter 180 ° to rotate.
Further, described car body outer rim is provided with multiple peripheral obstacle safety monitoring assembly, and car body is also provided with fast battery charger.
Further, described steeraxle device adopts hydraulic-driven or servo electric drive, and described pontic is provided with speed reduction gearing and steering angle detecting device.
The present invention's advantage compared with prior art:
1, adopt storage battery to be power, have basic structure and the function of common fork truck, and keep its driver comfort, control mode is vehicle automatic driverless operation mode and the double mode manipulation of pilot steering simultaneously, can realize two kinds of mode safeties and immediately change;
2, vehicle does not need manpower to drive, and does not need people to be that remote control or other modes control yet.All operations have the automatic detection and control of system, comprising: vehicle transhipment, access goods, traveling, turn, detour, emergency engine kill.
3, vehicle is in operational process, can according to the operation conditions of travel condition of vehicle detecting device automatic checkout equipment, if et out of order or vehicle hour reach maintenance specified time, vehicle meeting automatic alarm also by information feed back to vehicle operating master controller, quits work simultaneously and drives to maintenance man position.When vehicle battery electric energy is not enough, vehicle can detect automatically, and the automatic running that quits work is to charging station, starts automatic charging.
4, vehicle can adopt magnetic guidance or las er-guidance navigation to handle, and vehicle also can be had autonomous without guiding navigation manipulation and automatic cruising to handle when implementing route fixing transhipment action;
5, vehicle range of use is wide, and can effectively save human resources and take, reduction people is probability of makeing mistakes, and exempts the probability because manpower fatigue has an accident;
6, vehicle is provided with failure-free safety protective alarming device, can automatically carry out fast detouring or emergency braking, avoid the accident of meeting accident under there is unforeseen circumstances.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is inner structure schematic diagram of the present invention;
Fig. 3 is principle of the invention structural representation;
Fig. 4 is the principle of work structural representation that the present invention works as when vehicle is in automatic Pilot state.
Detailed description of the invention
Below in conjunction with accompanying drawing 1-4, a kind of embodiment of the present invention is described.
Driverless operation electri forklift, the storage battery 1 that there is car body 3 and be located on car body 3, described car body 3 outer rim is provided with multiple peripheral obstacle safety monitoring assembly 21, when there is obstacle and enter risk range in vehicle periphery, peripheral obstacle safety monitoring assembly 21 works and sends signal, make vehicle automatic retarding and take to detour or the action such as emergency braking stopping, thus avoiding safety misadventure occurs.Car body 3 is also provided with fast battery charger 22, when storage battery 1 electric energy reaches warning threshold, vehicle automatically can run to charging station and start battery charger, and fast battery charger 22 works, automatic charging is carried out to storage battery 1, meets vehicle operating needs.Car body 3 is provided with equipment 2, described car body 3 front lower ends is provided with left driving wheel 8 and right drive wheel 4, described left driving wheel 8 controls to drive by left drive motor 7 and left change speed gear box 5, described right drive wheel 4 controls to drive by right drive motor 6 and right change speed gear box 12, described left driving wheel 8 and right drive wheel 4 are controlled separately to drive by left drive motor 7 and right drive motor 6 respectively, control system is adopted to realize Automated electronic differential, left drive motor 7 and right drive motor 6 can rotatings, therefore, left driving wheel 8 and right drive wheel 4 can realize rotating, its rotating speed and output torque are according to the angle turning pontic 15, control voluntarily after having controller computing, when left rotation and right rotation direction is contrary and speed is identical with moment, wheel flutter 14 line of centers and pontic 15 central axis, steering angle is ± 90 °, when steering angle is in different angles, moment of torsion and the speed of left driving wheel 8 and right drive wheel 4 also change thereupon automatically, realize the turn radius manipulation that fork truck is different.When deflection angle is in-90 ° to 90 ° intervals, the hand of rotation of left driving wheel 8 and right drive wheel 4 and speed control to respective value automatically by after controller computing, thus ensure that turn inside diameter is normal.Lower end, described car body 3 rear portion is provided with can 180 ° of steeraxle devices 10 turned to, described steeraxle device 10 adopts hydraulic-driven or servo electric drive, described steeraxle device 10 comprises and is arranged on two wheel flutters 14 in rotating shaft and pontic 15, described pontic 15 one end is fixedly connected with car body 3 lower surface, pontic 15 other end is fixedly connected with rotating shaft, vertical line of centers and the central axis of the rotating shaft of installing two wheel flutters 14 of described pontic 15 arrange to be that crosswise makes wheel flutter about 14 180 ° rotate, described pontic 15 is provided with speed reduction gearing and steering angle detecting device.
Car body 3 is provided with and controls gross vehicle control setup that separate unit fork truck runs or control the gross vehicle control setup that multiple stage fork truck runs simultaneously, concrete, the gross vehicle control setup that described control separate unit fork truck runs comprises unit fork truck master control 11, vehicle running state controller 9, transport function movement controller 19, vehicle safety detection alarm device 13 and running state detecting device 18, four delivery ports of described unit fork truck master control 11 connect vehicle running state controller 9 respectively, transport function movement controller 19, vehicle safety detection alarm device 13 and running state detecting device 18 input port, described vehicle safety detection alarm device 13 and running state detecting device 18 delivery port be order machine fork truck master control 11 second and the 3rd input port respectively.The gross vehicle control setup that described control multiple stage fork truck runs simultaneously comprises vehicle operating master controller 20, signal wireless transmission device 16, the gross vehicle control setup that unit signal transmitting apparatus 17 and control separate unit fork truck run, wherein, the gross vehicle control setup that described control separate unit fork truck runs comprises unit fork truck master control 11, vehicle running state controller 9, transport function movement controller 19, vehicle safety detection alarm device 13 and running state detecting device 18 and said apparatus is arranged on same fork truck, described vehicle operating master controller 20 delivery port connects signal wireless transmission device 16 input port, described signal wireless transmission device more than 16 delivery port connects unit signal transmitting apparatus 17 input port of multiple parallel connection, described unit signal transmitting apparatus 17 delivery port order machine fork truck master control 11, four delivery ports of described unit fork truck master control 11 connect vehicle running state controller 9 respectively, transport function movement controller 19, vehicle safety detection alarm device 13 and running state detecting device 18 input port, described vehicle safety detection alarm device 13 and running state detecting device 18 delivery port be order machine fork truck master control 11 second and the 3rd input port respectively, described unit fork truck master control 11 the 5th delivery port order machine signal transmitting apparatus 17 input port, unit signal transmitting apparatus 17 delivery port of described multiple parallel connection connects signal wireless transmission device more than 16 input port, described radio transmitting device 16 delivery port connects vehicle operating master controller 20 input port, after multiple unit fork truck master control 11 sends travel condition of vehicle and vehicle location automatic detection signal to operation master controller 20 by unit signal transmitting apparatus 17 and signal wireless transmission 16, multiple light locomotive running is coordinated by operation master controller 20, prevent the generation of the dangerous accident such as obstruction or entrucking mutually between unit.In the operator's compartment of car body 3, be also provided with the mode conversion device 23 of automatic operation mode/manual operation patten transformation simultaneously.
When vehicle be in automatically drive state of value time, handling, completing of the shovel action such as goods, goods putting have been controlled automatically by unit fork truck master control 11.The running of unit fork truck master control 11 hydraulic control engine installation 24, hydraulic operation unit 26 is driven by hydraulic actuator 25, simultaneously by hydraulic control device 27 hydraulic control driving device 25 and hydraulic operation unit 26 action, complete various function action, by the performance of hydraulic operation unit 26 and the action of hydraulic operation detecting device 28 monitoring hydraulic function, and its feedback information is fed back to the order of unit fork truck master control 11 Correction and Control, realize closed-loop automatic control.The storage battery electric energy detection of vehicle, inside unit fork truck master control 11, the voltage signal of storage battery passes to unit fork truck master control 11, and the control program inside unit fork truck master control 11 can detect battery tension automatically, and when only having battery tension to reach operating needs, vehicle just can start work.
Above-described embodiment, just preferred embodiment of the present invention, is not used for limiting the scope of the present invention, therefore all equivalence changes done with content described in the claims in the present invention, all should be included within the claims in the present invention scope.

Claims (2)

1. driverless operation electri forklift, there is car body (3) and be located at the storage battery (1) on car body (3), described car body (3) is provided with equipment (2), it is characterized in that: described car body (3) front lower ends is provided with left driving wheel (8) and right drive wheel (4), described left driving wheel (8) controls to drive by left drive motor (7) and left change speed gear box (5), described right drive wheel (4) controls to drive by right drive motor (6) and right change speed gear box (12), described car body (3) lower end, rear portion is provided with can 180 ° of steeraxle devices (10) turned to, car body (3) is provided with and controls gross vehicle control setup that separate unit fork truck runs or control the gross vehicle control setup that multiple stage fork truck runs simultaneously, in the operator's compartment of car body (3), be also provided with the mode conversion device (23) of automatic operation mode/manual operation patten transformation simultaneously, described steeraxle device (10) comprises and is arranged on two wheel flutters (14) in rotating shaft and pontic (15), described pontic (15) one end is fixedly connected with car body (3) lower surface, pontic (15) other end is fixedly connected with rotating shaft, and vertical line of centers and the central axis of the rotating shaft of installing two wheel flutters (14) of described pontic (15) arrange to be that crosswise makes 180 °, wheel flutter (14) left and right rotate, described steeraxle device (10) adopts hydraulic-driven or servo electric drive, and described pontic (15) is provided with speed reduction gearing and steering angle detecting device, the gross vehicle control setup that described control multiple stage fork truck runs simultaneously comprises vehicle operating master controller (20), signal wireless transmission device (16), the gross vehicle control setup that unit signal transmitting apparatus (17) and control separate unit fork truck run, wherein, the gross vehicle control setup that described control separate unit fork truck runs comprises unit fork truck master control (11), vehicle running state controller (9), transport function movement controller (19), vehicle safety detection alarm device (13) and running state detecting device (18) and said apparatus is arranged on same fork truck, described vehicle operating master controller (20) delivery port connects signal wireless transmission device (16) input port, described signal wireless transmission device (16) multiple delivery port connects unit signal transmitting apparatus (17) input port of multiple parallel connection, described unit signal transmitting apparatus (17) delivery port order machine fork truck master control (11), four delivery ports of described unit fork truck master control (11) connect vehicle running state controller (9) respectively, transport function movement controller (19), vehicle safety detection alarm device (13) and running state detecting device (18) input port, described vehicle safety detection alarm device (13) and running state detecting device (18) delivery port be order machine fork truck master control (11) second and the 3rd input port respectively, described unit fork truck master control (11) the 5th delivery port order machine signal transmitting apparatus (17) input port, unit signal transmitting apparatus (17) delivery port of described multiple parallel connection connects signal wireless transmission device (16) multiple input port, described radio transmitting device (16) delivery port connects vehicle operating master controller (20) input port.
2. driverless operation electri forklift according to claim 1, it is characterized in that: described car body (3) outer rim is provided with multiple peripheral obstacle safety monitoring assembly (21), car body (3) is also provided with fast battery charger (22).
CN201310371105.3A 2013-08-22 2013-08-22 Driverless operation electri forklift Active CN103419673B (en)

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US9097549B1 (en) * 2014-03-17 2015-08-04 Ford Global Technologies, Llc Learning automated vehicle
CN104057944A (en) * 2014-06-26 2014-09-24 云南昆船智能装备有限公司 Semi-automatic driving control system and method for forklift
CN104079669B (en) * 2014-07-22 2016-08-17 李德毅 Double drive dual control intelligent vehicle bus system
CN104463525A (en) * 2014-11-14 2015-03-25 杨鹏波 Automated warehouse management system based on unmanned forklift
CN104442452B (en) * 2014-11-14 2017-04-05 宝鸡赫威特机械科技有限公司 Unmanned electric railless three-dimensional stacking fork truck
CN104527646A (en) * 2014-12-19 2015-04-22 苏州大方特种车股份有限公司 Driverless metallurgical transportation vehicle
CN106185727A (en) * 2016-08-31 2016-12-07 苏州先锋物流装备科技有限公司 AGV las er-guidance system on double mode reach truck
CN106494330B (en) * 2016-11-10 2019-02-15 浙江商业职业技术学院 A kind of Working vehicle communication system
CN111532340A (en) * 2020-07-09 2020-08-14 山东科技职业学院 Vehicle transmission speed difference steering device

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US5938710A (en) * 1996-04-03 1999-08-17 Fiat Om Carrelli Elevatori S.P.A. Selectively operable industrial truck
JP2003070104A (en) * 2001-08-23 2003-03-07 Nippon Yusoki Co Ltd Battery replacement period management system for automated guided vehicle
CN201023525Y (en) * 2007-04-23 2008-02-20 印辉 Three supporting point electric fork lift steering axle device
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Inventor after: Yang Pengbo

Inventor after: Wang Dapeng

Inventor after: Yang Ke

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Effective date of registration: 20160303

Address after: Ten road 721004 Baoji city of Shaanxi province Guo Hospital No. 10 Building 2, unit 1, No. 8

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