CN109131536A - A kind of rotating direction control method of three fulcrum forklifts - Google Patents
A kind of rotating direction control method of three fulcrum forklifts Download PDFInfo
- Publication number
- CN109131536A CN109131536A CN201710511502.4A CN201710511502A CN109131536A CN 109131536 A CN109131536 A CN 109131536A CN 201710511502 A CN201710511502 A CN 201710511502A CN 109131536 A CN109131536 A CN 109131536A
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- CN
- China
- Prior art keywords
- wheel
- front wheel
- fulcrum
- control method
- rotating direction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
Abstract
The invention discloses a kind of rotating direction control methods of three fulcrum forklifts, three fulcrum forklift includes the near front wheel, off-front wheel, rear-wheel, the rear-wheel is connect with the three fulcrum forklifts turning machine, three fulcrum forklift is when turning to, the rear-wheel rotation is driven by the turning machine, and described the near front wheel, off-front wheel rotate angle according to the rear-wheel and provide corresponding revolving speed respectively, realize the go to action of three fulcrum forklift, utilize the compounding practice of three wheels, realize smoothly turning to for three fulcrum forklift, and smaller for the abrasion of wheel.
Description
Technical field
The present invention relates to the control methods of fork truck, and in particular to the rotating direction control method of three fulcrum forklifts.
Background technique
Fork truck plays very important role in the logistics system of enterprise, is the main force in material conveyance equipment,
The each department being widely used in the national economy such as station, harbour, airport, factory, warehouse, since fork truck usually works in sky
Between the places such as lesser warehouse, thus need its steering angle larger, for three fulcrum forklifts risen at present, when steering
Wheel cooperate the bad serious wear that can directly result in wheel, or even cause the uncoordinated of wheel, finally cause the peace such as rollover
Therefore how full accident it is very big realizes that the course changing control of three fulcrum forklifts influences the performance of three fulcrum forklifts.
Summary of the invention
For solving the above problems, the present invention proposes a kind of rotating direction control method of three fulcrum forklifts, the three fulcrums fork
Vehicle includes the near front wheel, off-front wheel, rear-wheel, and the rear-wheel is connect with the three fulcrum forklifts turning machine, and three fulcrum forklift is also
Including motor, the motor is connect with described the near front wheel, off-front wheel, for driving described the near front wheel and the off-front wheel to transport
Row, the number of the motor are two, connects respectively with described the near front wheel, off-front wheel, the motor and described the near front wheel,
Between off-front wheel be arranged deceleration mechanism, three fulcrum forklift further includes controller, the controller be two, respectively with it is described
Two motor connections, three fulcrum forklift drive the rear-wheel to rotate when turning to, by the turning machine, and described left front
Wheel, off-front wheel rotate angle according to the rear-wheel and provide corresponding revolving speed respectively, realize the go to action of three fulcrum forklift,
Using the compounding practice of three vehicles, smoothly turning to for three fulcrum forklift is realized, and smaller for the abrasion of wheel.
To achieve the above object, the technical scheme is that
A kind of rotating direction control method of three fulcrum forklifts, three fulcrum forklift include the near front wheel, off-front wheel, rear-wheel, institute
Rear-wheel is stated to connect with the three fulcrum forklifts turning machine, three fulcrum forklift further includes motor, the motor with it is described
The near front wheel, off-front wheel connection, for driving described the near front wheel and the off-front wheel to run, the number of the motor is two,
It is connect respectively with described the near front wheel, off-front wheel, deceleration mechanism, institute is set between the motor and described the near front wheel, off-front wheel
Stating three fulcrum forklifts further includes controller, and the controller is two, is connect respectively with described two motor.
Three fulcrum forklift drives the rear-wheel to rotate when turning to, by the turning machine, and before described the near front wheel, the right side
Wheel rotates angle according to the rear-wheel and provides corresponding revolving speed respectively, realizes the go to action of three fulcrum forklift.
The revolving speed of the wheel of inside is less than the outboard wheels in steering procedure in described the near front wheel and the off-front wheel
Revolving speed, the revolving speed maximum value of the outboard wheels determines by the rotation angle of the rear-wheel.
The revolving speed maximum value of the outboard wheels and the rotation angle inverse correlation of the rear-wheel, the revolving speed of the outboard wheels
By the revolving speed maximum value of the wheel multiplied by the three fulcrum forklifts accelerator open degree ratio value.
The ratio of the revolving speed of the inboard wheel and the revolving speed of the outboard wheels is equal to the inboard wheel, outboard wheels
Respectively at the ratio between the distance between a certain specified point, the specified point is the center of the near front wheel described in steering procedure, off-front wheel
The intersection point of line and the rear-wheel center line.
Compared to existing three fulcrum forklifts rotating direction control method, the present invention has remarkable advantage and beneficial effect, embodies
Are as follows:
1. being turned to by the cooperation of three wheels, and pass through using the rotating direction control method of three fulcrum forklifts of the invention
It is accurately controlled the rotational speed difference of the near front wheel and off-front wheel, ensure that stationarity when fork-truck steering；
2. limiting turning velocity by steering angle using the rotating direction control method of three fulcrum forklifts of the invention, turn realizing
Under the premise of, the abrasion of wheel is reduced to greatest extent.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of wheel when three fulcrum forklifts of the invention turn to；
Fig. 2 is steering angle when three fulcrum forklifts of the invention turn to and the relation schematic diagram between speed.
Specific embodiment
Specific implementation method of the invention is as follows:
The usage amount of fork truck is very big at present, is mainly used in station, harbour, airport, factory, warehouse etc., and electricity
The use ratio of electrical forklift is increasing, and fuel consumption and operating noise can not only be greatly reduced in electri forklift, and electronic
Control can be improved control precision, and fork truck is enabled to be engaged in finer work, and existing fork truck is mostly four wheel constructions, and
Three fulcrum forklifts risen at present, it is at low cost with its, structure is simple, and flexibility is higher receives very big concern, and three
The steering control modes of only one deflecting roller when fulcrum forklift turns to, this and four-wheel fork truck have larger difference, thus, the present invention
The rotating direction control method for proposing a kind of three fulcrum forklifts provides a kind of accurate and balance for the steering operation of three fulcrum forklifts
High control method.
The specific working mode of the rotating direction control method of three fulcrum forklifts of the invention is illustrated with reference to the accompanying drawing:
Such as the structural schematic diagram that Fig. 1 is wheel when three fulcrum forklifts of the invention turn to, three fulcrum forklift includes left front
1, off-front wheel 2, rear-wheel 3 are taken turns, the rear-wheel 3 is connect with the three fulcrum forklifts turning machine, and three fulcrum forklift further includes electricity
Motivation 5, the motor 5 are connect with described the near front wheel 1, off-front wheel 2, for driving described the near front wheel 1 and the off-front wheel 2 to transport
Row, the number of the motor 5 are two, are connect respectively with described the near front wheel 1, off-front wheel 2, the motor 5 and the left side
Deceleration mechanism 4 is set between front-wheel 1, off-front wheel 2, three fulcrum forklift further includes controller, and the controller is two, point
It is not connect with described two motor 5, to control the operating of the motor 5.
Three fulcrum forklift drives the rear-wheel 3 to rotate when turning to, by the turning machine, and described the near front wheel 1, the right side
Front-wheel 2 rotates angle according to the rear-wheel 3 and provides corresponding revolving speed respectively, realizes the go to action of three fulcrum forklift, institute
The revolving speed for stating the near front wheel 1 and the off-front wheel 2 wheel of inside in steering procedure is less than the revolving speed of the outboard wheels, described
The revolving speed maximum value of outboard wheels is determined by the rotation angle of the rear-wheel, when giving three fulcrum forklift left-hand rotation in Fig. 1
Wheel position view, in the present embodiment, described the near front wheel 1 be inboard wheel, the off-front wheel 2 be outboard wheels.
Fig. 2 is steering angle when three fulcrum forklifts of the invention turn to and the relation schematic diagram between speed, the outside
The revolving speed maximum value n of wheel (the i.e. described off-front wheel 2)maxWith the rotation angle, θ inverse correlation of the rear-wheel 3, i.e., the described rear-wheel 3
It is bigger to rotate angle, θ, then the revolving speed maximum value n of the off-front wheel 2maxIt is smaller, and the revolving speed n of the off-front wheel 2It is rightBy this turn
Fast maximum value nmaxMultiplied by the three fulcrum forklifts accelerator open degree ratio value k, the off-front wheel is obtained according to current throttle opening value
2 revolving speed nIt is rightAccount for revolving speed maximum value nmaxRatio, i.e. nIt is right=nmax*k。
In the revolving speed n for calculating the off-front wheel 2It is rightAfterwards, the revolving speed n of described the near front wheel 1 is calculatedIt is left, turn of described the near front wheel 1
Fast nIt is leftWith the revolving speed n of the off-front wheelIt is rightRatio be equal to described the near front wheel 1, off-front wheel 2 respectively between a certain specified point away from
The ratio between from, the specified point is the friendship of the near front wheel 1 described in steering procedure, the center line of off-front wheel 2 and 3 center line of rear-wheel
Point, such as A point in figure, i.e., the revolving speed n of described the near front wheel 1It is leftWith the revolving speed n of the off-front wheelIt is rightThe ratio between be equal to described the near front wheel 1 arrive A
The distance of point and the off-front wheel 2 arrive the ratio of distances constant of A point, thus, it is possible to when accurately showing that the near front wheel 1 and off-front wheel 2 turn to
Running speed, guarantee that three fulcrum forklift smoothly turns to, and reduce the abrasion to wheel as far as possible.
For for exemplary embodiment of the invention, it should be understood that be in the protection scope of claims of the present invention
A certain kind demonstrative example therein has the guiding effect that those skilled in the art are realized with corresponding technical solution, and
Non- limitation of the invention.
Claims (9)
1. a kind of rotating direction control method of three fulcrum forklifts, which is characterized in that before three fulcrum forklift includes the near front wheel, is right
Wheel, rear-wheel, the rear-wheel are connect with the three fulcrum forklifts turning machine, and three fulcrum forklift further includes motor, the electricity
Motivation is connect with described the near front wheel, off-front wheel, for driving described the near front wheel and the off-front wheel to run.
2. the rotating direction control method of three fulcrum forklift according to claim 1, which is characterized in that the number of the motor
It is two, is connect respectively with described the near front wheel, off-front wheel, is arranged between the motor and described the near front wheel, off-front wheel and slows down
Mechanism.
3. the rotating direction control method of three fulcrum forklift according to claim 1, which is characterized in that three fulcrum forklift exists
When steering, the rear-wheel is driven to rotate by the turning machine, and described the near front wheel, off-front wheel rotate angle point according to the rear-wheel
Corresponding revolving speed is not provided, realizes the go to action of three fulcrum forklift.
4. the rotating direction control method of three fulcrum forklift according to claim 3, which is characterized in that described the near front wheel with it is described
The revolving speed of the wheel of inside is less than the revolving speed of the outboard wheels, the revolving speed of the outboard wheels in steering procedure in off-front wheel
Maximum value is determined by the rotation angle of the rear-wheel.
5. the rotating direction control method of three fulcrum forklift according to claim 4, which is characterized in that the outboard wheels turn
The rotation angle inverse correlation of fast maximum value and the rear-wheel.
6. the rotating direction control method of three fulcrum forklift according to claim 5, which is characterized in that the outboard wheels turn
Speed is by the revolving speed maximum value of the wheel multiplied by the three fulcrum forklifts accelerator open degree ratio value.
7. the rotating direction control method of three fulcrum forklift according to claim 4, which is characterized in that the inboard wheel turns
The fast ratio with the revolving speed of the outboard wheels be equal to the inboard wheel, outboard wheels between a certain specified point away from
The ratio between from.
8. the rotating direction control method of three fulcrum forklift according to claim 7, which is characterized in that the specified point is to turn to
The intersection point of described the near front wheel, the center line of off-front wheel and the rear-wheel center line in the process.
9. the rotating direction control method of three fulcrum forklift according to claim 1, which is characterized in that three fulcrum forklift is also
Including controller, the controller is two, is connect respectively with described two motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710511502.4A CN109131536A (en) | 2017-06-28 | 2017-06-28 | A kind of rotating direction control method of three fulcrum forklifts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710511502.4A CN109131536A (en) | 2017-06-28 | 2017-06-28 | A kind of rotating direction control method of three fulcrum forklifts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109131536A true CN109131536A (en) | 2019-01-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710511502.4A Pending CN109131536A (en) | 2017-06-28 | 2017-06-28 | A kind of rotating direction control method of three fulcrum forklifts |
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| CN (1) | CN109131536A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112249980A (en) * | 2020-08-26 | 2021-01-22 | 宁波如意股份有限公司 | Anti-tipping method and anti-tipping mechanism for three-fulcrum electric forklift |
| CN113697727A (en) * | 2020-05-21 | 2021-11-26 | 苏州先锋物流装备科技有限公司 | Three-wheel steering control system |
Citations (5)
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| JP2010143241A (en) * | 2008-12-16 | 2010-07-01 | Hitachi Automotive Systems Ltd | Steering control device |
| CN104175882A (en) * | 2014-08-27 | 2014-12-03 | 杭叉集团股份有限公司 | Vehicle speed control system and control method thereof |
| CN204354798U (en) * | 2015-01-05 | 2015-05-27 | 山东雷鸣重工股份有限公司 | Front two driving exchanges three supporting-point storage battery counter fork trucks entirely |
| KR20160071165A (en) * | 2014-12-11 | 2016-06-21 | 현대자동차주식회사 | Apparatus and Method for Wheel Controlling of Vehicle |
| CN106696622A (en) * | 2016-12-13 | 2017-05-24 | 重庆宗申技术开发研究有限公司 | Reverse tricycle front suspension deflection structure |
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2017
- 2017-06-28 CN CN201710511502.4A patent/CN109131536A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010143241A (en) * | 2008-12-16 | 2010-07-01 | Hitachi Automotive Systems Ltd | Steering control device |
| CN104175882A (en) * | 2014-08-27 | 2014-12-03 | 杭叉集团股份有限公司 | Vehicle speed control system and control method thereof |
| KR20160071165A (en) * | 2014-12-11 | 2016-06-21 | 현대자동차주식회사 | Apparatus and Method for Wheel Controlling of Vehicle |
| CN204354798U (en) * | 2015-01-05 | 2015-05-27 | 山东雷鸣重工股份有限公司 | Front two driving exchanges three supporting-point storage battery counter fork trucks entirely |
| CN106696622A (en) * | 2016-12-13 | 2017-05-24 | 重庆宗申技术开发研究有限公司 | Reverse tricycle front suspension deflection structure |
Non-Patent Citations (1)
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| 吴乐平: "电动叉车单双驱动比较", 《叉车技术》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113697727A (en) * | 2020-05-21 | 2021-11-26 | 苏州先锋物流装备科技有限公司 | Three-wheel steering control system |
| CN112249980A (en) * | 2020-08-26 | 2021-01-22 | 宁波如意股份有限公司 | Anti-tipping method and anti-tipping mechanism for three-fulcrum electric forklift |
| CN112249980B (en) * | 2020-08-26 | 2022-04-01 | 宁波如意股份有限公司 | Anti-tipping method and anti-tipping mechanism for three-fulcrum electric forklift |
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Application publication date: 20190104 |