CN110239414A - A kind of all-electric lift truck for realizing exactly lifting with electromechanical actuation - Google Patents
A kind of all-electric lift truck for realizing exactly lifting with electromechanical actuation Download PDFInfo
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- CN110239414A CN110239414A CN201910598741.7A CN201910598741A CN110239414A CN 110239414 A CN110239414 A CN 110239414A CN 201910598741 A CN201910598741 A CN 201910598741A CN 110239414 A CN110239414 A CN 110239414A
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- China
- Prior art keywords
- support bar
- lift truck
- vehicle body
- electromechanical actuator
- electromechanical
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/02—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with parallel up-and-down movement of load supporting or containing element
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a kind of all-electric lift trucks that exactly lifting is realized with electromechanical actuation, including body portion, supporting frame part and platform.Upper electromechanical actuator and lower electromechanical actuator, are connected on upper support bar and lower support bar, and support rod is pushed to improve transmission efficiency and precision around vehicle body rotary motion to realize the weight for mitigating lift truck by the length of electromechanical actuator extension bar.There is a ultrasonic distance-measuring sensor at each wheel in body portion I, the height of wheel tracks from the ground at this can be measured by it and makes compartment concordant with level ground.The lift truck drives vehicle wheel rotation by motor, realizes whole lift truck movement.Lift truck, which solves traditional hydraulic type lift truck, leads to inefficient and oil leak due to increasing hydraulic device, and the unstable problem that lift truck occurs during the motion is effectively improved, safety and stationarity that lift truck realizes lifting during the motion are improved.
Description
Technical field
It is the invention belongs to electric device technical field, in particular to a kind of to realize the complete of exactly lifting with electromechanical actuation
Electric lift truck.
Background technique
With the proposition of power-by-wire and complete electrochemical concept, more and more full electrochemical products are pushed out.But needle
To lift truck, at present or traditional hydraulic driving mode is used, hydraulic system is integrated into entire lift truck system, can be increased
Add its complexity, and hydraulic system efficiency is relatively low.How to improve lift truck efficiency, mitigates its complicated structure and push its hair
One of an important factor for exhibition.
During traveling, due to Uneven road, turning are too urgent etc., lift truck unavoidably will appear shake up and down
It moving and can be continued in whole driving process, this will cause inevitably to collide to the object in lift truck compartment,
Especially those objects harsher to traffic condition, these collisions can have an immense impact on to it.Up to now, most of
Lift truck be to be transferred in hydraulic motor by motor by signal and hydraulic oil is transformed into pressure using hydraulic driving mode
Power oil realizes elevating function so that support rod be pushed to move.But since lift truck uses hydraulic system, keep its structure multiple
It is miscellaneous, weight is increased, and inevitably oil leakage phenomenon in hydraulic system, in the case where having pressure, hydraulic oil
It can be compressed, decrement and the oily certain relationship of temperature and pressure, so having resulted in the fortune of hydraulic cylinder in the process of work
Movable property is raw to be fluctuated, unstable in the course of work.It is therefore desirable to which a kind of novel elevating vehicle is both able to achieve, movement is steady, and structure is simple
It is single, and can accurately and rapidly realize elevating function.
Summary of the invention
Technical problem solved by the present invention is for hydraulic oil leakage and movement in traditional hydraulic type lift truck is solved
Unstable problem proposes a kind of all-electric lift truck that exactly lifting is realized with electromechanical actuation, it is therefore an objective to by simpler
Single structure replaces complicated hydraulic system, overcomes in existing lift truck system and moves the problems such as unstable, inefficient.And
And the position signal obtained using ultrasonic distance-measuring sensor, and pass it in electromechanical actuator to automatically adjust compartment vibration
Dynamic amplitude is steadily gone up and down with this to improve compartment in lift truck motion process.
The technical scheme is that a kind of all-electric lift truck for realizing exactly lifting with electromechanical actuation, special
Sign is, including body portion I, bracket assembly II and terrace part III；Bracket assembly II is located on vehicle body I, platform part
III is divided to be located on bracket assembly II；
The vehicle body I includes band, motor, wheel, ultrasonic distance-measuring sensor and vehicle body；Wheel is located at below vehicle body, electricity
Machine is located at the side above vehicle body by fixed frame, and is attached between motor and wheel by band；Ultrasonic distance measurement sensing
Device is fixed below vehicle body at each wheel, for acquiring height of the vehicle body apart from ground；
Bracket assembly II includes n (n is even number and n >=2) identical structure of group, is arranged along III axisymmetrical of terrace part；
Each group includes lower electromechanical actuator, upper electromechanical actuator, lower support bar and upper support bar, and lower support bar one end and vehicle body are cut with scissors
It connecing, upper support bar one end and terrace part III are hinged, and the lower support bar other end is hinged by connecting rod with the upper support bar other end,
Upper electromechanical actuator is located on upper support bar, and lower electromechanical actuator is located on lower support bar；Two electromechanical actuators are believed by motor
It number extends and retracts to change the length of electromechanical actuator, to drive upper support bar and lower support bar around respective connection respectively
Locate hinge centres rotation, realizes the elevating function of lift truck.
A further technical solution of the present invention is: the terrace part III is a compartment, compartment is open at one end closed at one end,
And closed end is connect with bracket assembly II.
A further technical solution of the present invention is: the connecting rod both ends are separately connected along III axis the same side of terrace part
Two groups of upper and lower support rods of arrangement, and connecting rod axis is parallel to each other with vehicle body plane always.
A further technical solution of the present invention is: the upper electromechanical actuator, upper support bar and lower support bar constitute one
A triangular structure, two of them side are fixed, and in addition a line is made of upper electromechanical actuator, and by upper electromechanical actuator control
Device length processed, to realize that upper support bar is rotated around connecting rod axis.
A further technical solution of the present invention is: the hinge axes and lower electromechanical work of the lower support bar and vehicle body junction
The hinge axes decentraction of dynamic device and vehicle body junction, so lower support bar, vehicle body and lower electromechanical actuator constitute a triangle
Shape, one edge lengths of triangle are controlled by lower electromechanical actuator, the length on two other side fix, it can be achieved that lower support bar around
It is rotated with the hinge axes of vehicle body junction.
Invention effect
The technical effects of the invention are that: the complete electrochemical lift truck can be by being transmitted to lower electromechanical actuator for electric signal
With upper electromechanical actuator, so that lower support bar and upper support bar be pushed to move, and then realizes full electrification, avoid using hydraulic pressure system
The problems such as leakage of system bring hydraulic oil, low efficiency；Motor is connect by band with wheel, is transmitted motion in wheel, thus
Control lift truck movement；Collected altitude signal is transformed into electric signal and is transmitted to upper electromechanical actuator by distance measuring sensor
In, so that the signal that upper electromechanical actuator is exported according to each distance measuring sensor accurately adjusts the height of itself.Therefore the full electricity
Changing lift truck can be realized exactly realization elevating function.
Detailed description of the invention
Fig. 1 is a kind of assembly view of all-electric lift truck that exactly lifting is realized with electromechanical actuation proposed by the present invention
Figure；
Fig. 2 is the schematic diagram that the all-electric lift truck is in the extreme position risen；
Fig. 3 is the schematic diagram for the extreme position that the all-electric lift truck is in drop；
Fig. 4 is schematic diagram on front side of the all-electric lift truck
Description of symbols: 1- band；2- motor；3- wheel；Electromechanical actuator under 4-；The upper electromechanical actuator of 5-；6- ultrasound
Wave distance measuring sensor；7- vehicle body；8- lower support bar；9- connecting rod；10- upper support bar；The compartment 11-.
Specific embodiment
Referring to Fig. 1-Fig. 4, a kind of all-electric lift truck steadily gone up and down with electromechanical actuation realization, including body portion I,
Supporting frame part II and platform III；
The body portion I includes band 1, motor 2, wheel 3, ultrasonic distance-measuring sensor 6 and vehicle body 7；
Support frame as described above part is two groups of identical structures, and every group includes lower electromechanical actuator 4, upper electromechanical actuator 5, lower branch
Strut 8, connecting rod 9 and upper support bar 10.
The platform III includes compartment 11.In the present embodiment, compartment is a cube shape, open at one end closed at one end, internal
For cavity body, two groups of identical structures are equipped in the present embodiment, wherein symmetrical two-by-two along cube center.With wherein side
Distribution be illustrated, upper support bar 10 and car bottom are hinged, and lower support bar 8 and vehicle body 7 are hinged, and in two groups of side
Upper support bar 10 is parallel to each other, and lower support bar 8 is parallel to each other, while two upper support bars, 10, two lower support bars 8 are worked
Guarantee to be parallel to each other respectively in journey.Connecting rod one end and the same side wherein one group upper lower support bar it is hinged, the other end with it is same
The upper lower support bar of side another set is hinged.
Electromechanical actuator 4 and upper electromechanical actuator 5 under compartment 11 uses in lifting process.
Lower electromechanical actuator 4 pushes two lower support bars 8, and upper electromechanical actuator 5 pushes a upper support bar 10
Movement.
A ultrasonic distance-measuring sensor 6 is installed in each wheel 3.The present apparatus directly drives vehicle by band 1 using motor 2
Wheel 3.
There is control switch (as shown in Figure 4) on vehicle body 7, entire lift truck can be directly controlled.
The body portion I includes band 1, motor 2, wheel 3, ultrasonic distance-measuring sensor 6 and vehicle body 7；The automobile body part
Point, two motors 2, which are connected by screw to, to be fixed on vehicle body 7, and it is connect, is transmitted motion in wheel 3 with wheel 3 by band 1,
To control the movement of whole lift truck entirety.Support frame as described above part include lower electromechanical actuator 4, upper electromechanical actuator 5, under
Support rod 8, connecting rod 9 and upper support bar 10；Support frame as described above part, two lower support bars 8 are connect by pin with vehicle body 7, in addition
One end is connect by connecting rod 9 with upper support bar 10, and the main body frame that lift truck realizes elevating function, upper electromechanics actuation are constituted
Device 5 and lower electromechanical actuator 4 are connect with upper support bar 10 and lower support bar 8 respectively, and two electromechanical actuators are believed by motor internal
It number extends and retracts to change its length, so that upper support bar 10 and lower support bar 8 be driven to rotate around vehicle body 7, realizes lifting
The elevating function of vehicle.Ultrasonic distance-measuring sensor 6 acquires height of the vehicle body apart from ground, and the altitude signal is converted to telecommunications
It number is transmitted in electromechanical actuator 5, to adjust since ground relief generates the concussion of about 11 compartment.In body portion I
In have a ultrasonic distance-measuring sensor at each wheel, the height of wheel tracks from the ground at this can be measured by it
Degree, signal is input in electromechanical actuator by transmission line, the length of the adjustable side electromechanical actuator extension bar, so that
Compartment is concordant with level ground.
A kind of course of work difference of above-mentioned all-electric lift truck steadily gone up and down with electromechanical actuation realization is as follows:
In uphill process, signal can be transmitted to lower electromechanical work by route by controlling rising button on vehicle body 7
In dynamic device 4, lower electromechanical actuator 4 can extend, can be by lower support bar 8 around the hinge axis line inverse time with 7 junction of vehicle body
Needle deflection, and the connecting rod 9 connecting with lower support bar 8 is rotated around 8 other end hinge axis line of support rod.At the same time,
The signal of control switch can also pass the signal along in electromechanical actuator 5, and upper electromechanical actuator 5 can extend, and further make
It obtains upper support bar 10 to rotate clockwise around 9 axial line of connecting rod, compartment 11 is finally made to increase, when reaching predetermined altitude,
Can taking human as closing rising button, at this point, lower electromechanical actuator 4 and upper electromechanical actuator 5 stop working, lower support bar 8,
Connecting rod 9 and upper support bar 10 can also stop operating, and compartment 11 eventually stops rising.
It, similarly can be by controlling declines button on vehicle body 7 during decline, dropping signal passes to lower electromechanical actuation
In device 4, electromechanical actuator 4 is started to shrink at present for this, lower support bar 8 drive connecting rod 9 together around with 7 junction of vehicle body
Hinge axis line deflects clockwise, and dropping signal passes in electromechanical actuator 5, further such that upper support bar 10 around
9 axial line of connecting rod rotates counterclockwise, declines compartment 11.When compartment 11 drops to specified altitude assignment, decline is closed
Button, lower electromechanical actuator 4 and upper electromechanical actuator 5 stop working, and lower support bar 8, connecting rod 9 and upper support bar 10 also can
It stops operating, compartment 11 eventually stops decline.
Forwarding button or retrogressing on vehicle body 7 can be passed through when entire complete electrochemical lift truck needs and advances and perhaps retreat
Button can pass the signal along in the motor 2 of body portion I button and when pressed, and motor 2 is started to work, and drive band 1 just
Turn or invert, further band motor car wheel 3 moves, to realize that entire entirely electrochemical lift truck moves forward or back, when arrival refers to
When positioning is set, corresponding button can be closed, entire complete electrochemical lift truck stop motion.
When complete electrochemical lift truck needs to turn during advance or retrogressing, can by turning left on vehicle body 7 or
Person turns right realization.For example, can press button of turning left when lift truck needs to turn left, signal can be transmitted to simultaneously in body portion I
Two motors 2, left motor and right motor it is contrary, so that left side wheel 3 be driven to move backward, right side wheels 3
It travels forward, is moved downward to realize.
When encounter ground occur it is uneven when, ultrasonic distance-measuring sensor 6 can detecte out the side vehicle body 7 apart from ground
Height, have a ultrasonic distance-measuring sensor 6 at each wheel 3, when the height that ultrasonic distance-measuring sensor 6 exports is different
When cause, illustrate that the compartment 11 of the complete electrochemical lift truck is in heeling condition.The maximum height exported with ultrasonic distance-measuring sensor 6
Subject to, the difference of height and maximum height that remaining each ultrasonic distance-measuring sensor 6 exports, as electromechanical actuator on the side
5 and lower electromechanical actuator 4 input signal, electromechanical actuator 5 on the side and lower electromechanical actuator 4 can be stretched out it is appropriate away from
From so that compartment 11 is in horizontality.
In conclusion complete electrochemical lift truck of the invention can effectively improve, current lift truck low efficiency, structure is complicated,
Move the problems such as unstable, and automatically adjust height of the compartment 11 apart from ground, so that it will not with ground relief and
Generate concussion up and down.
Claims (5)
1. a kind of all-electric lift truck for realizing exactly lifting with electromechanical actuation, which is characterized in that including body portion I,
Bracket assembly II and terrace part III；Bracket assembly II is located on vehicle body I, and terrace part III is located at bracket assembly II
On；
The vehicle body I includes band (1), motor (2), wheel (3), ultrasonic distance-measuring sensor (6) and vehicle body (7)；Wheel (3) position
Below vehicle body (7), motor (2) is located at the side above vehicle body (7) by fixed frame, and leads between motor (2) and wheel (3)
Band (1) is crossed to be attached；Ultrasonic distance-measuring sensor (6) is fixed below vehicle body (7) at each wheel, for acquiring vehicle body
Height apart from ground；
Bracket assembly II includes n (n is even number and n >=2) identical structure of group, is arranged along III axisymmetrical of terrace part；It is each
Group includes lower electromechanical actuator (4), upper electromechanical actuator (5), lower support bar (8) and upper support bar (10), lower support bar (8) one
Hingedly with vehicle body (7), upper support bar (10) one end and terrace part III are hinged, lower support bar (8) other end and upper support bar at end
(10) other end passes through connecting rod (9) hingedly, and upper electromechanical actuator (5) is located on upper support bar (10), lower electromechanical actuator (4)
On lower support bar (8)；Two electromechanical actuators are extended and retracted by motor (2) signal to change the length of electromechanical actuator
Degree realizes lift truck to drive upper support bar (10) and lower support bar (8) to rotate around respective junction hinge centres respectively
Elevating function.
2. a kind of all-electric lift truck for realizing exactly lifting with electromechanical actuation as described in claim 1, feature exist
In the terrace part III is a compartment (11), and compartment (11) are open at one end closed at one end, and closed end and bracket assembly II
Connection.
3. a kind of all-electric lift truck for realizing exactly lifting with electromechanical actuation as described in claim 1, feature exist
In connecting rod (9) both ends are separately connected two groups of upper and lower support rods along III axis the same side of terrace part arrangement, and even
Extension bar (9) axis is parallel to each other with vehicle body (7) plane always.
4. a kind of all-electric lift truck for realizing exactly lifting with electromechanical actuation as described in claim 1, feature exist
In the upper electromechanical actuator (5), upper support bar (10) and lower support bar (8) constitute a triangular structure, two of them
While fixing, in addition a line is made of upper electromechanical actuator (5), and by upper electromechanical actuator (5) controller length, thus real
Existing upper support bar (10) are rotated around connecting rod (9) axis.
5. a kind of all-electric lift truck for realizing exactly lifting with electromechanical actuation as described in claim 1, feature exist
In hinge axes and lower electromechanical actuator (4) and vehicle body (7) junction of the lower support bar (8) and vehicle body (7) junction
Hinge axes decentraction, so lower support bar (8), vehicle body (7) and lower electromechanical actuator (4) constitute a triangle, the triangle
One edge lengths of shape by lower electromechanical actuator (4) control, the length on two other side is fixed, it can be achieved that lower support bar (8) around with
The hinge axes of vehicle body (7) junction rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910598741.7A CN110239414A (en) | 2019-07-04 | 2019-07-04 | A kind of all-electric lift truck for realizing exactly lifting with electromechanical actuation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910598741.7A CN110239414A (en) | 2019-07-04 | 2019-07-04 | A kind of all-electric lift truck for realizing exactly lifting with electromechanical actuation |
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| Publication Number | Publication Date |
|---|---|
| CN110239414A true CN110239414A (en) | 2019-09-17 |
Family
ID=67890969
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910598741.7A Pending CN110239414A (en) | 2019-07-04 | 2019-07-04 | A kind of all-electric lift truck for realizing exactly lifting with electromechanical actuation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210204469A1 (en) * | 2020-01-07 | 2021-07-08 | Cnh Industrial America Llc | Agricultural Application Implement With A Liftable Bin |
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Application publication date: 20190917 |