CN109892033B - A kind of five electronic handling carrier of wheel side formula of four-way - Google Patents
A kind of five electronic handling carrier of wheel side formula of four-way Download PDFInfo
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- CN109892033B CN109892033B CN201318003595.2A CN201318003595A CN109892033B CN 109892033 B CN109892033 B CN 109892033B CN 201318003595 A CN201318003595 A CN 201318003595A CN 109892033 B CN109892033 B CN 109892033B
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The present invention relates to a kind of five electronic handling carrier of wheel side formula of four-way, this fork truck includes vehicle frame, driver's cabin, driving driving system, steering system, braking system, portal frame system, hydraulic system, electrical system；Using multiple mechanisms and Vehicular turns such as single motor, single oil pump driving door frame promotion, pallet fork forward moving, sidesways, running gear uses horizontal machine, reduce driving wheel mounting height, reduce fork truck length, it turns to more flexible, the area of objective table is increased, while reducing amount of parts, clean, low noise；It is designed using explosion-proof anti-static function, is suitble to the operation of library hazardous area.The beneficial effects of the present invention are: the explosive goods and materials of large volume overlength stacking, carrying in long and narrow closed environment are mainly solved, and in the carrying problem of outdoor gradient hard surfacing high over long distances, and assembly is simple, convenient for Operation and maintenance.
Description
Technical field
It is the present invention relates to a kind of long body goods and materials handling vehicle, in particular to a kind of for storing overlength, surpassing
Weight and large volume unit load warehouse homework, explosion-proof antistatic, can four-way traveling the electronic handling of side formula
Carrier.
Background technique
The country is suitble to the equipment of long body goods and materials handling to be mainly combustion engine powered Side Fork Lift Trucks, this kind of vehicle
Be used as power with internal combustion engine, the smog pollution of discharge is big, no explosion prevention function, be not suitable in atmosphere draught-free and
There is operation in the closed storehouse of requirement of explosion proof.Currently, the country there is no electric side forklift.The vehicle carries goods and materials
Overlength, overweight, limit of the other kinds of electri forklift by itself operation stability and storeroom operation narrow space
System is also unable to satisfy operation.In addition, according to gantry crane handling and trailer transportation mode, it is necessary to storehouse into
Row structure plant retrofit, fund and time investment are very huge.
Foreign countries have multiple company's productions for the electronic sorting formula fork truck of the long body goods and materials of handling and side fork
Vehicle, but vehicle, using wide article carrying platform, Gao Qisheng door frame, outer dimension is big, can not be by narrow short
Channel；Its vehicle frame point or so two parts, hinged by intermediate pin shaft, left and right two parts opposite can be swung up and down,
Guarantee tire ground connection, but vehicle frame objective table both ends are limited by the amplitude of swinging up and down, length cannot be too big, generally
All within 5m, and carries goods and materials and 6m or more is required to carrying platform length minimum.In addition, external similar
The electric vehicle road clearance is small, and driving method mainly uses a driving wheel to carry out single wheel drive, passes through angle
Great slope is unsatisfactory for driving force or compared with the storehouse environment of high obstacle；Driving wheel integrates motor using wheel side and drives
Dynamic, no explosion prevention function cannot use in the storehouse for having explosion-proof antistatic requirement.
Summary of the invention
It is the present invention relates to a kind of long body goods and materials handling vehicle, in particular to a kind of for storing overlength, surpassing
Weight and large volume unit load warehouse homework, explosion-proof antistatic, can four-way traveling the electronic handling of side formula
Carrier.The feature of operating environment of the present invention is narrow, the tight anti-explosion environment of library door, spaces compact in library, goes out
Enter that warehouse passage is long, narrow, the short and gradient is big, and obstacle with higher.The length of manipulating object is big
In 3 meters, packaging form has certain height and width.The technical problem to be solved by the present invention is to mention
For a kind of handling carrier, the vehicle can omnidirectional running, be suitble to the long body goods and materials in existing warehouse to load and unload transport,
Meet the flexible operation of narrow and small place in library, loading platform cargo length increases, can be to beyond length over ends of body cargo
Handling is carried out, and without exhaust emission, there is explosion prevention function, low noise is suitble to high garage capacity rate, storehouse
Hazardous area operation.The present invention is a kind of three fulcrum four-way battery side explosion proof forklifts, it is characterized in that shape
Compact, the high jacking capacity of three-level door frame, climbing capacity is strong, longevity of service, can assemble a variety of accessories, tool
There is fork fill, lift, clamping several work mode.
The technical solution for realizing the aim of the invention is as follows:
A kind of five electronic handling carrier of wheel side formula of four-way, including vehicle frame, driver's cabin, driving driving system,
Steering system, braking system, portal frame system, hydraulic system, electrical system.
The vehicle frame uses Side Fork Lift Trucks body frame structure for automotive, and the frame-type mechanism that rectangular tube is welded passes through entirety
Loading platform is arranged in formula main body crossbeam and the small roof beam structure combination of segmented, vehicle frame side, and there are two loading platform side dresses
Front-wheel is driven, another measured center position is equipped with double juxtaposition driven rear wheels, to reduce frame distortion and improving vehicle
Stability, double juxtaposition wheels swing rigid suspension mechanism by three-wheel and connect with two universal wheels, in driving process
Double juxtaposition wheels and two universal wheels all can well be contacted with ground.
The driver's cabin is located at vehicle frame left back, seat and steering wheel with antistatic.Width of the carbody reduces,
Narrow library door and operation path are adapted to, the sitting posture of driver is Oblique 45 Degree, to take into account fork truck two in length and breadth
The needs of the traveling in direction.Driver's cabin is using the tower structure being welded, the left and right two of driver head
Side is equipped with protection net, and to prevent fork truck, driver leans out head and causes danger when driving.Driver's cabin and vehicle frame
Between be connected with, split type structure manufacture easy to produce.The operation part of raising equipment is installed on
The right side of driver's cabin, right hand operation, installation site meet man-machine design and operating habit；Accelerator pedal and
Brake pedal is mounted on driver's cabin lower right-hand side, and right crus of diaphragm operates, and space structure is suitable；Instrument and direction are opened
It closes, the centre that function switch switch is mounted on driver's cabin is kept right, right hand operation, more convenient；Steering wheel peace
Mounted in the left side of driver's cabin, left-handed operation.To ensure driving vision and operation convenience, in the car body other end
Camera is disposed with, in image transmitting to driver's cabin.Running gear uses horizontal machine, reduces driving wheel peace
Dress height, clean, low noise use explosion-proof anti-static function and design, be suitble to the operation of library hazardous area.
The driving driving system is designed as five wheel driving systems, and rigid suspension is handed over using battery as the energy
Stream variable-frequency motor is power, by frequency control, controls two driving wheels respectively, carries out speed change and driving.It drives
Driving wheel is a horizontal driving wheel, mainly by centreless turntable, reduction gearbox, and driving motor, wheel, brake,
Transmission gear and bearing composition, reduction gearbox are two-stage transmission, and motor is mounted on wheel subcenter by bearing, with
Reduce driving wheel mounting height.The driving gear of the front output shaft installation primary transmission of driving motor, it is rear to export
The brake disc of axis installation brake.Left and right driving front-wheel is all made of independent suspension, and rear-wheel two sides increase universal wheel,
Rigid suspension is swung using three-wheel, deflecting roller can land simultaneously with two universal wheels, and deflecting roller is on various roads
Face stress is both greater than universal wheel, and stress constant rate turns to flexibly, improves steering behaviour, using five wheels
Arrangement, bearing area increase, and improve riding stability.
The steering system uses all-wheel steering device, including two front wheels steering cylinder, rear-axle steering oil cylinder,
Rack pinion or link transmission or both combine transmission.Two driving front-wheels are fitted with identical rack-and-pinion
Transmission device or link gearing convert wheel for the piston rod displacement of respective front-wheel steer oil cylinder respectively
Corner, two steering cylinders pass through matching treatment, make one of steering cylinder oil outlet and another oil cylinder
Oil inlet it is associated, to keep the displacement of two oil cylinders identical, the corner to guarantee two front wheels is identical.Rear-wheel
Steering cylinder realizes rear-axle steering by being installed on the rack and pinion drive of rear-wheel.When vehicle is in lateral line
When sailing, front-wheel locks after going to 90 degree, is turned to by rear-wheel, and the steering angle of rear-wheel feeds back to automatically controlled, control
The differential of two wheels in front realizes straight trip or turning driving；When longitudinal direction of car when driving, this two driving
Wheel, is both driving wheel and deflecting roller, and rear-wheel is longitudinally locked, and two driving wheel opposite directions rotate equal angular,
It is turned in toed-in or toed-out；Two driving wheels and rear-wheel can independently realize 180 ° of rotations.Between two front wheels
The corner size same direction on the contrary, turning radius is small, can be rotated around the geometric center of equipment.Turn to rear-wheel
Rigid suspension is swung using three-wheel, deflecting roller can land simultaneously with two universal wheels, and deflecting roller is on various roads
Face stress is both greater than universal wheel stress, constant rate, and transition flexibly, improves steering behaviour, using five wheels
Arrangement, bearing area increase, and improve riding stability.
The portal frame system includes pallet fork system, three-level door frame, door frame Forward balladeur train, lift oil tank, door frame
Reach oil cylinder, supporting leg push-pull mechanism etc., the three-level door frame, can be in door frames under the push-and-pull of door frame reach oil cylinder
It moves forward and retreats on Forward balladeur train, under lift oil tank effect, pass through the realizations such as chain pulley and lift；It is described
Pallet fork system includes pallet fork sidesway system, pallet fork forward moving system and fork mechanism, the pallet fork sidesway system by
Sidesway oil cylinder, sidesway balladeur train, pallet fork support frame composition, the pallet fork support frame are mounted on third level door frame,
Realize left and right sidesway using the sidesway oil cylinder and sidesway balladeur train that are assemblied on door frame, the pallet fork forward moving system by
Reach oil cylinder, pallet fork set composition, the pallet fork set is sleeved on pallet fork support frame, using being assemblied in pallet fork branch
Reach oil cylinder on support, which is realized, to be moved forward and backward, and the fork mechanism is mounted on pallet fork and puts on, and movement is side
Moving device and advancing device generate the vector sum of displacement, and fork mechanism can be lifting accessory, fork dress accessory and
Accessory etc. is clamped, pallet fork system finely tunes pallet fork position when can facilitate forklift workability, in favor of in intensive stacking item
Operation under part.The fork mechanism of the pallet fork system can be lifted, pitch dress or clamp operation；Portal frame system is also
Using two supporting leg push-pull mechanisms, the mechanism include supporting leg push cylinder, vertical leg, be mounted on it is auxiliary on vertical leg
Help support wheel.Two supporting leg push-pull mechanisms are arranged symmetrically in loading platform side close to vehicle frame both ends.The mechanism is in weight
Under the conditions of load, when door frame releases certain distance, by push cylinder vertical leg is released, at this time auxiliary support wheel
Ground, touchdown point is outside two driving wheel axis of vehicle frame front end, thus stability when enhancing operation.When door frame contracts
When returning certain distance, push cylinder automatically withdraws vertical leg.
The hydraulic system by oil pump, steering cylinder, explosion-proof electromagnetic multiple directional control valve, diverter, multi-way valve,
Lift oil tank, door frame reach oil cylinder, pallet fork forward moving oil cylinder, support oil cylinder, fork set oil cylinder, sidesway oil cylinder,
The composition such as reach oil cylinder.Entire hydraulic system uses open system, and walking, raising turn to a shared liquid
Press pump, by motor connecting belt hydrodynamic press pump, pressure oil flows through electromagnetic valve outlet through the pump housing, can be independently to steering
Device fuel feeding, the diverted device of working oil push front-wheel steer oil cylinder and rear-axle steering oil cylinder, realize front-and rear-wheel steer,
Hydraulic motor is connect by overflow valve and manual proportional multi-way valve, realize to pallet fork forward moving oil cylinder, sidesway oil cylinder,
The control of door frame reach oil cylinder and lift oil tank；Point work processed of Hydraulic System Oil pump motor, steering motor and mentions
The public motor of lifting motor, is controlled by automatically controlled program.When the vehicle is running, direction switch is in
Advance or fall back state, Oil pump electrical machinery slow rotation gives diverter fuel feeding, realizes Turning travel, works as direction
Switch is by advancing or when the state of falling back reaches vacancy, motor delay working, until stopping.When the electricity of multi-way valve
When magnet valve is opened, the movement of equipment is realized in Oil pump electrical machinery full speed operation by hydraulic system；Work dress
The hydraulic system of the hydraulic system system and walking set is two sets of independent hydraulic systems, but their public a set of electricity
Machine and oil pump.Due to consideration that explosion-proof, the multi-way valve of lifting system shares an explosion-proof travel switch, by this
On the one hand a travel switch triggers the work of Oil pump electrical machinery, still further aspect input controller controls motor
Running speed.
The electrical system includes that explosion-proof direct current generator, battery, explosion-proof battery case, explosion-proof power box connect
Wire box, explosion-proof light indicator light, explosion-proof signal lamp, hydraulic valve control electromagnet, sensor, mention for vehicle
For power, control, illumination and signal designation, can be realized power supply control, traveling control, control for brake,
Lift control and position limitation protection, the interlocking of traveling raising, battery under-voltage protection, fault detection, and to drive
It sails room raising manipulation box function and instrument is shown, facilitate human-computer interaction；
Hydraulic system is connected with the steering system of fork truck, when fork truck is promoted, and Forward or sidesway operate,
Two position three-way valve L7 obtains electric, and oil circuit is switched to promotion equipment.Hydraulic system and electrical system combination, control
Vehicle operation processed.It can be convenient by operation K5, K6 switch key and automatically controlled program and quickly realize that vehicle is vertical
The conversion of cross running mode.When lateral direction of car driving mode, rear-wheel is deflecting roller.Function switch is switched
It beats and obtains electric, 1 ante-chamber oil inlet of front-wheel steer oil cylinder to K5, solenoid valve L3, L5, until triggering travel switch
K7 movement, signal keep output, and two front wheels turn in place, while K7 signal inputs automatically controlled, automatically controlled control
L3, L5 power loss, L4, L6 are powered, and rear-wheel rotation, until K8 is closed, L4, L6 are powered off, and L2 is logical
Electricity, pump motor M3 power-off, steering system are in rear-axle steering idling mode, and vehicle is transferred to cross running mould
Formula.For vehicle in longitudinal driving mode, two front driving wheels are deflecting rollers.Function switch switch is beaten to K6,
Solenoid valve L4, L5 obtain electric, pump motor M3 energization, rear-axle steering oil cylinder back cavity oil inlet to travel switch K8
Output state is kept, handling angle potentiometer keeps 90 ° of output states, L4, L5 power-off, and L3, L6 are powered,
Front-wheel rotation, until K7 is closed, L3, L6 power-off, L1 are powered, pump motor M3 power-off is in
Longitudinal, all of above solenoid valve is realized by automatically controlled control.Two driving motor revolving speeds are identical, rotation direction
On the contrary, speed regulation is by Accelerator control.
The braking system include hand brake, foot brake, electronics output rotor, explosion-proof travel switch,
Contracting brake or spot-type disc brake, hand braking flexible axle, master cylinder, foot brake oil pipe, braking point
Pump.Driving foot brake, parking hand braking and regenerative braking can be achieved.
Service brake, the braking of oil pressure band brake type power loss, i.e. foot brake.Foot steps on the brake pedal of brake 21,
Master cylinder 42 is compressed, brake cylinder 44 is connected to by pipeline 43, acts on band-type brake 40, so that band-type brake
40 hold the rotation of 38 locking motor of motor output shaft tightly, to realize car reduction of speed until parking.In addition it makes again
When dynamic, on-off action of driving a vehicle, so that motor power loss.
Stopping brake, the braking of mechanical hatching gate formula power loss are that is, hand braking.5 brake handle of drawing article, passes through hand
Braking flexible axle closes up 3 band-type brake of part, the friction plate holding Motor Shaft on band-type brake, the rotation of locking motor,
Amplified by the torque of reduction gearbox, to realize parking, guarantees that vehicle in stopping brake, cannot start vehicle
Son is controlled by driving switch 2.
Auxiliary braking, i.e. regenerative braking are realized by the regenerative braking capability of alternating current generator.Original motor
Acting, converts electrical current into mechanical energy, when release the accelerator pedal, at this time due to the effect of inertia, motor
Mechanical energy is converted to electric energy, is used as generator, to play the role of reducing speed.Regenerative braking
Power can be set by controller, the abrasion of mechanical friction piece can be substantially reduced in this way and fever is asked
Topic extends the service life.
Compared with prior art, the present invention its remarkable advantage:
(1) be used as improvement of the present invention, Vehicle Frame Design comprehensively consider total arrangement, self weight and intensity etc. because
Element.This vehicle carriage combines mode with case structure using the frame that rectangular tube is welded.All components are just
In checking, repairing, vehicle frame is U-shaped, is convenient for fork and pretends industry.Battery and explosion-proof control box arrangement
Keep gravity centre distribution more reasonable, valve group and Oil pump electrical machinery are installed under loading platform, and debugging maintenance is very convenient.
(2) handling carrier characteristics of compact layout of the invention, high, the wide size of vehicle is small, has a variety of steering sides
Formula, can omnidirectional running, be suitble to the long body goods and materials handling transport of existing warehouse, it is flexible to meet the narrow and small place in library
Operation, and road clearance with higher and climbing capacity.
(3) vehicle left back is provided with driver's cabin, has protective device at left and right sides of driver, to prevent from pitching
Driver leans out head and causes danger vehicle when driving.Steerable system is set in driver's cabin, using ergonomics
Design, the operation part of raising equipment, accelerator and brake pedal, instrument and direction switch, function
Switch can be switched, the installation site of steering wheel meets operating habit and space structure.In driver's cabin, traveling,
Steering, braking and stacking and electricity show, malfunction coefficient, headlight, turn signal, loudspeaker, promptly make
Dynamic wait can facilitate completion.
(4) driving system of the present invention is designed as five wheel driving systems, and front-wheel is equipped with differential mechanism in cross running,
Realize straight trip or turning driving.Left and right driving front-wheel is all made of independent suspension, turns to rear-wheel and is swung using three-wheel
Rigid suspension, five wheels can land simultaneously, and rear steering wheel is both greater than universal wheel stress in various road surface stress,
Constant rate turns to flexibly, improves steering behaviour, arranges that bearing area increases using five wheels, improves
Vehicle run stability.
Detailed description of the invention
Fig. 1 is handling carrier front view of the invention；
Fig. 2 is handling carrier side view of the invention；
Fig. 3 is the steering system figure and its partial structural diagram of handling carrier of the invention；
Fig. 4 is the hydraulic scheme of handling carrier of the invention；
Fig. 5 is the brake composition of handling carrier of the invention；
Fig. 6 is the auxiliary leg installation diagram of handling carrier of the invention.
Specific embodiment
Steering system uses all-wheel steering device, including two front wheels steering cylinder 30 and 29, rear-axle steering oil cylinder
28, rack pinion or link transmission or both combine transmission.Two driving front-wheels 1 are fitted with identical tooth
Rack gearing or link gearing 46 are taken turns, respectively by the work of respective front-wheel steer oil cylinder 29 and 30
Stopper rod is displaced the corner for being converted into wheel, and two steering cylinders 29 and 30 pass through matching treatment, make one of them turn
Oil outlet to oil cylinder is associated with the oil inlet of another oil cylinder, to keep the displacement of two oil cylinders identical, to protect
The corner for demonstrate,proving two front wheels is identical.Rear-axle steering oil cylinder 28 is filled by being installed on the rack pinion 45 of rear-wheel
Set realization rear-axle steering.When vehicle is in cross running, front-wheel locks after being rotated by 90 °, and is turned by rear-wheel 2
It is fed back to, the steering angle of rear-wheel 2 automatically controlled, controls the differential of two wheels 1 in front, realize straight trip or turn
Curved traveling；When longitudinal direction of car when driving, this two driving wheels 1, are both driving wheel and deflecting roller, rear-wheel
Longitudinally locked, two driving wheel opposite directions rotate equal angular, turn in toed-in or toed-out；Two driving wheels
180 ° of rotations can be independently realized with rear-wheel.The corner size same direction between two front wheels is opposite.
Portal frame system includes pallet fork system, three-level door frame 7, door frame Forward sliding 5 framves, lift oil tank 9, door frame
Reach oil cylinder 6, supporting leg push-pull mechanism etc..Three-level door frame, can be before door frame under the push-and-pull of door frame reach oil cylinder 6
It moves on balladeur train 5 and moves forward and retreat, under the effect of lift oil tank 9, lifted by realizations such as chain pulleys.Door
Frame system also uses two supporting leg push-pull mechanisms, which includes supporting leg push cylinder 25, vertical leg 24, installation
Auxiliary support wheel 23 on vertical leg.Two supporting leg push-pull mechanisms are symmetrical close to 3 both ends of vehicle frame in loading platform side
Arrangement.The mechanism is under fully loaded transportation condition, when door frame releases certain distance, by push cylinder 25 by vertical leg 24
Release, auxiliary support wheel 23 lands at this time, touchdown point outside 3 front end of vehicle frame, two driving wheel, 1 axis, thus
Enhance stability when operation.When door frame retracts certain distance, push cylinder 25 automatically receives vertical leg 24
It returns；
Hydraulic System Oil pump motor point work processed, is controlled by automatically controlled program.When the vehicle is running, side
To switch in advancing or falling back state, Oil pump electrical machinery slow rotation gives 31 fuel feeding of diverter, realizes and turns to
Traveling, when direction switch is by advancing or when the state of falling back reaches vacancy, motor delay working, until stopping.
When the solenoid valve of multi-way valve is opened, Oil pump electrical machinery full speed operation realizes equipment by hydraulic system
Movement.The hydraulic system of equipment and the hydraulic system of walking are two sets of independent hydraulic systems.Due to examining
Consider explosion-proof, the shared explosion-proof travel switch of the multi-way valve of lifting system, on the one hand by this travel switch
The work of Oil pump electrical machinery is triggered, still further aspect input controller controls the running speed of motor.
Hydraulic system is connected with the steering system of fork truck, when fork truck is promoted, and Forward or sidesway operate,
Two position three-way valve L7 obtains electric, and oil circuit is switched to promotion equipment.Hydraulic system and electrical system combination, control
Vehicle operation processed.It can be convenient by operation K5, K6 switch key and automatically controlled program and quickly realize that vehicle is vertical
The conversion of cross running mode.When lateral direction of car driving mode, rear-wheel is deflecting roller.Function switch is switched
It beats and obtains electric, 1 ante-chamber oil inlet of front-wheel steer oil cylinder to K5, solenoid valve L3, L5, until triggering travel switch
K7 movement, signal keep output, and two front wheels turn in place, while K7 signal inputs automatically controlled, automatically controlled control
L3, L5 power loss, L4, L6 are powered, and rear-wheel rotation, until K8 is closed, L4, L6 are powered off, and L2 is logical
Electricity, pump motor M3 power-off, steering system are in rear-axle steering idling mode, and vehicle is transferred to cross running mould
Formula.For vehicle in longitudinal driving mode, two front driving wheels are deflecting rollers.Function switch switch is beaten to K6,
Solenoid valve L4, L5 obtain electric, pump motor M3 energization, rear-axle steering oil cylinder back cavity oil inlet to travel switch K8
Output state is kept, handling angle potentiometer keeps 90 ° of output states, L4, L5 power-off, and L3, L6 are powered,
Front-wheel rotation, until K7 is closed, L3, L6 power-off, L1 are powered, pump motor M3 power-off is in
Longitudinal, all of above solenoid valve is realized by automatically controlled control.Two driving motor revolving speeds are identical, rotation direction
On the contrary, speed regulation is by Accelerator control.
Braking system includes hand brake 20, foot brake 21, electronics output rotor 38, explosion-proof travel switch
39, contracting brake 40 or spot-type disc brake, hand braking flexible axle 41, master cylinder 42, foot brake
Oil pipe 43, brake cylinder 44.Driving foot brake, parking hand braking and regenerative braking can be achieved；Service brake,
The braking of oil pressure band brake type power loss, i.e. foot brake.Foot steps on the brake pedal of brake 21, compresses master cylinder 42,
It is connected to brake cylinder 44 by pipeline 43, acts on band-type brake 40, so that band-type brake 40 holds motor output shaft tightly
The rotation of 38 locking motors, to realize car reduction of speed until parking.When in addition braking again, driving switch is made
With so that motor power loss；Stopping brake, the braking of mechanical hatching gate formula power loss are that is, hand braking.Drawing article 5 is made
Fixed handle closes up 3 band-type brake of part by hand braking flexible axle, and the friction plate on band-type brake holds Motor Shaft tightly,
The rotation of locking motor, the torque by reducing case amplifies, to realize parking, guarantees that vehicle is made in parking
When dynamic, car cannot be started, have driving switch 2 to control；Auxiliary braking, i.e. regenerative braking pass through friendship
The regenerative braking capability of galvanic electricity machine is realized.Electricity, is converted into wiring energy by original motor acting, when release adds
When speed pedal, at this time since mechanical energy is converted to electric energy by the effect of inertia, motor, used as generator,
To play the role of reducing speed.The power of regenerative braking can be set by controller, in this way can be with
Abrasion and the heating problem of mechanical friction piece are substantially reduced, the service life is extended.
Function of the invention and corresponding working principle are described as follows:
Power supply control: power turn-on master switch, the instrument on operation panel shows fork truck cumulative operation time, several
The electricity for switching to battery after second kind is shown.It is tired to the unused time that cumulative operation time is that fork truck is switched on every time
Add, provides basis of time for use, the maintenance of fork truck.
Traveling control: the traveling of this fork truck uses double drive alternating current generator speed control, two drive control devices
Two driving motors are controlled respectively, and the corresponding controller of left motor is master controller, except being responsible for left motor driven
Control is outer, is managed to entire vehicle electrical system, and the corresponding controller of right motor is that submaster controller is responsible for right electricity
The drive control of machine.When driving, by the steering potentiometer signal of steered wheel rotation through submaster controller and internal journey
After GO TO table comparing in sequence, master controller is passed to by CAN bus to realize the electricity of left and right wheels
Sub- differential.
Equipped with vertical and horizontal selection switch on operation panel.
When longitudinal driving, vertical and horizontal selection switch is threaded to lengthwise position, the left control stick on operation panel
It requests to switch for forward-reverse, by control stick to being pushed forward when advance, and slowly steps on accelerator, fork truck is to moving ahead
It sails.Control stick is pulled back when retrogressing, accelerator fork truck is slowly stepped on and travels backward.It is asked in transformation forward-reverse
Before seeking switch, first have to accelerator will be allowed to return to zero.
When cross running, vertical and horizontal selection switch is threaded to lateral position, three on fork truck take turns at this time
Son will control two front driving wheels from longitudinal state shift transverse state, steering wheel.To the left when driving, it will grasp
Left control stick on vertical case pulls back, and slowly steps on accelerator, fork truck travels to the left.To the right when driving, it will grasp
Left control stick on vertical case slowly steps on accelerator to being pushed forward, and fork truck is to right travel.
Lift control: the raising of fork truck controls pump motor by a controller, using alternating current generator speed control
System.Lift control includes shifting and pallet fork or so shifting before and after hydraulic power-assisted steering, door frame.
When the left control stick on operation panel is to when being pushed forward or pulling back, pump motor is started to work, at this time at motor
In low-voltage slow-speed of revolution working condition.Power steering by the distributing valve in hydraulic circuit to fork truck send oil, when
When raising valve rod or door frame front and back being pulled to move valve rod or pallet fork or so shifting valve rod, pump motor total pressure full speed running.
One steering assist motor is just omitted using the great advantage of controller control pump motor, it is empty to save installation
Between, while big motor slow-speed of revolution low noise, electric current are small.
Height limit: to prevent oil cylinder lift from going beyond the limit of, design has height limiting device in fork lift truck structure part,
To avoid oil cylinder from generating mechanical impact when rising top, and it is mounted with height limit switch on forklift door frame, works as goods
Raising circuit will be cut off when fork reaches the limit of height.
Traveling, raising interlocking: it in order to improve safety of the fork truck in operation, controls and is provided with traveling in program
It is unable to raising in motion, cannot go in raising that is, using competition priority principle with raising interlock function
It sails.
Manipulation box function: it is opened on operation panel equipped with instrument, forward/backward request switch, left/right turn indicator
Pass, longitudinal direction/horizontal selection switch, horn switch button, luminous lamp switch.
Instrument is shown: the instrument on operation panel can show cumulative operation time (booting moment), accumulator electric-quantity,
Low battery alarm, fork truck malfunction coefficient and fault code.
Under-voltage protection: the instrument on operation panel will show battery discharge capacity after opening several seconds kinds of power supply,
Discharge capacity shown with " % " value it is aobvious, such as: 100% is shown when fully charged.
Theoretically, battery is discharged beyond 80% category overdischarge, and overdischarge will damage battery, and reduce battery
Service life.Therefore when the liquid crystal display of instrument is close to 20%, charge alert lamp starts to flash, at this time should be timely
Charging, when continuing to use arrival 20%, system is protection battery by the raising circuitry cuts of fork truck, is forced
It stops running.
Braking: fork truck design has foot brake (mechanical braking) and hand braking, and foot brake is service brake, hand
Braking is parked braking, and when hand braking, the traveling of fork truck fails.
Since alternating current generator speed control has good regenerative braking capability, supplemented by foot brake is visual
Braking is helped, this makes fork truck safer.
Malfunction monitoring: being set with various malfunction monitorings in the control program of fork truck, these malfunction monitorings include
The damage of electrical device, the operating mistake and motor of operator, the overheat of controller, overcurrent etc..Work as fork truck
When failure, the trouble light in the instrument lower right corner is lighted, and liquid crystal display shows fault code, and program is to failure generation
Code is defined, and has worked out fault code table, and inquiring fault code table according to fault code can help
Professional searches rapidly the fork truck problem.But it is noted that some failures are due to operator
The reasons fork truck such as operation order mistake or motor, controller overheat enters guard mode, although fork truck may function
It can fail, but be not the failure in just sincere justice, be reduced to error correcting or temperature, fork truck can again just
Often dynamic row.
Claims (2)
1. a kind of handling carrier, including vehicle frame (3), driver's cabin (13), five wheel driving systems, steering
System, braking system, portal frame system, hydraulic system, electrical system, it is characterised in that:
Vehicle frame (3) uses Side Fork Lift Trucks body frame structure for automotive, and loading platform, loading platform one is arranged in vehicle frame (3) side
For side dress there are two front-wheel (1) is driven, other side center is equipped with double juxtaposition driven rear wheels (2), double juxtapositions
Driven rear wheel (2) swings rigid suspension using three-wheel, and there are two Auxiliary support universal wheels for the installation of suspension both ends
(22), vehicle can be reduced vehicle frame (3) and be deformed and improve whole vehicle stability using this five wheels driving system；
Steering system uses all-wheel steering device, including two front wheels steering cylinder (29,30), rear-axle steering oil
Cylinder (28), rack pinion or link transmission or both combine transmission；Two drivings front-wheel (1) are all installed
There are identical rack and pinion drive or link gearing (46), respectively by respective front-wheel steer oil cylinder
The piston rod displacement of (29,30) is converted into the corner of wheel, two front wheels steering cylinder (29,30) process
With processing, it is associated with the oil inlet of another oil cylinder to make the oil outlet of one of steering cylinder, to make two
The displacement of oil cylinder is identical, and the corner to guarantee two front wheels is identical；Rear-axle steering oil cylinder (28) is by being installed on
The rack and pinion drive (45) of rear-wheel realizes rear-axle steering；When vehicle is in cross running, two are driven
Front-wheel (1) locks after going to 90 degree, is turned to by double juxtaposition driven rear wheels (2), double juxtaposition driven rear wheels
(2) steering angle feeds back to automatically controlled, the differential of two driving front-wheel (1) of control, realization straight trip or turning row
It sails；When longitudinal direction of car when driving, this two driving front-wheel (1), is both driving wheel and deflecting roller, it is double simultaneously
It is longitudinally locked to set driven rear wheel (2), it is in toed-in that two driving front-wheel (1) opposite directions, which rotate equal angular,
Or toed-out turns to；Two drivings front-wheel (1) and double juxtaposition driven rear wheels (2) can independently realize 180 ° of rotations
Turn；
Portal frame system include pallet fork system, three-level door frame (7), door frame Forward balladeur train (5), lift oil tank (9),
Door frame reach oil cylinder (6), supporting leg push-pull mechanism.
2. handling carrier according to claim 1, characterized in that the portal frame system uses two
Supporting leg push-pull mechanism, the mechanism include supporting leg push cylinder (25), vertical leg (24), are mounted on vertical leg
Auxiliary support wheel (23)；Two supporting leg push-pull mechanisms are arranged symmetrically in loading platform side close to vehicle frame (3) both ends；
Under fully loaded transportation condition, when door frame releases certain distance, vertical leg is released by push cylinder, at this time Auxiliary support
Wheel lands, and touchdown point drives outside front-wheel axis in vehicle frame front end two, thus stability when enhancing operation；When
When door frame retracts certain distance, push cylinder automatically withdraws vertical leg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201318003595.2A CN109892033B (en) | 2013-08-02 | 2013-08-02 | A kind of five electronic handling carrier of wheel side formula of four-way |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201318003595.2A CN109892033B (en) | 2013-08-02 | 2013-08-02 | A kind of five electronic handling carrier of wheel side formula of four-way |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109892033B true CN109892033B (en) | 2016-05-11 |
Family
ID=66791877
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201318003595.2A Expired - Fee Related CN109892033B (en) | 2013-08-02 | 2013-08-02 | A kind of five electronic handling carrier of wheel side formula of four-way |
Country Status (1)
| Country | Link |
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| CN (1) | CN109892033B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110285107A (en) * | 2019-08-01 | 2019-09-27 | 江苏集萃道路工程技术与装备研究所有限公司 | A kind of the passive type control valve group and thrust wheel system of thrust wheel |
| CN111114628A (en) * | 2019-12-25 | 2020-05-08 | 杭州坤格智造科技有限公司 | Multidirectional steering device and transfer car (buggy) that travel |
| CN112896340A (en) * | 2021-04-12 | 2021-06-04 | 合肥搬易通科技发展有限公司 | Reassembling type side station driver's cabin and four-way fork truck thereof |
| CN116425085A (en) * | 2023-06-14 | 2023-07-14 | 河南垣发专用车辆集团有限公司 | Fork truck with safety protection function |
| CN116639631A (en) * | 2023-06-21 | 2023-08-25 | 上海寰瑞电子有限公司 | Electric ground ox |
-
2013
- 2013-08-02 CN CN201318003595.2A patent/CN109892033B/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110285107A (en) * | 2019-08-01 | 2019-09-27 | 江苏集萃道路工程技术与装备研究所有限公司 | A kind of the passive type control valve group and thrust wheel system of thrust wheel |
| CN111114628A (en) * | 2019-12-25 | 2020-05-08 | 杭州坤格智造科技有限公司 | Multidirectional steering device and transfer car (buggy) that travel |
| CN112896340A (en) * | 2021-04-12 | 2021-06-04 | 合肥搬易通科技发展有限公司 | Reassembling type side station driver's cabin and four-way fork truck thereof |
| CN116425085A (en) * | 2023-06-14 | 2023-07-14 | 河南垣发专用车辆集团有限公司 | Fork truck with safety protection function |
| CN116425085B (en) * | 2023-06-14 | 2023-08-18 | 河南垣发专用车辆集团有限公司 | Fork truck with safety protection function |
| CN116639631A (en) * | 2023-06-21 | 2023-08-25 | 上海寰瑞电子有限公司 | Electric ground ox |
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Granted publication date: 20160511 Termination date: 20200802 |
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