CN111056497B - Anti-skid control method and control system for rear-drive forklift - Google Patents
Anti-skid control method and control system for rear-drive forklift Download PDFInfo
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- CN111056497B CN111056497B CN201911367835.XA CN201911367835A CN111056497B CN 111056497 B CN111056497 B CN 111056497B CN 201911367835 A CN201911367835 A CN 201911367835A CN 111056497 B CN111056497 B CN 111056497B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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Abstract
The invention discloses an antiskid control method for a rear-drive forklift, which comprises the following steps: acquiring a first speed of a front wheel of the forklift and acquiring a second speed of a driving wheel of the forklift; calculating to obtain the ratio of the first speed to the second speed according to the first speed and the second speed; judging whether the ratio of the first speed to the second speed meets the forklift slipping condition or not; and if so, reducing the output power of the forklift driving motor until the ratio of the first speed to the second speed does not meet the slipping condition. The invention also discloses a rear-drive forklift anti-skid control system for implementing the rear-drive forklift anti-skid control method. The anti-skidding control method and the anti-skidding control system for the rear-drive forklift can prevent the forklift from skidding.
Description
Technical Field
The invention relates to the technical field of vehicle anti-skid control, in particular to a rear-drive forklift anti-skid control method. In addition, the invention also relates to a rear-drive forklift anti-skid control system for realizing the rear-drive forklift anti-skid control method.
Background
For a rear-drive electric forklift, the rear wheels are driving wheels and also steering wheels, and the phenomenon that the driving wheels slip easily occurs in the rear-drive forklift at wet and slippery ground, cold storage, uneven ground sections and the like.
However, wheel slip accelerates tire wear, affecting normal vehicle operation, while reducing overall vehicle efficiency and operating efficiency.
Therefore, how to provide an anti-skid control method for a rear-drive forklift capable of preventing a vehicle from skidding is a problem to be solved urgently by those skilled in the art at present.
Disclosure of Invention
In view of the above, the present invention provides an antiskid control method and system for a rear-drive forklift, which can prevent a vehicle from skidding.
In order to achieve the above purpose, the invention provides the following technical scheme:
a antiskid control method for a rear-drive forklift comprises the following steps:
acquiring a first speed of a front wheel of the forklift and acquiring a second speed of a driving wheel of the forklift;
calculating the ratio of the first speed to the second speed according to the first speed and the second speed;
judging whether the ratio meets a forklift slipping condition or not;
and if so, reducing the output power of the forklift driving motor until the ratio does not meet the slipping condition.
Preferably, before the obtaining of the first speed of the front wheel of the forklift, the method further comprises:
acquiring a turning angle of the driving wheel;
determining vehicle states according to the turning angle, wherein the vehicle states comprise a left turning state, a right turning state and a straight running state;
obtaining a first speed of a front wheel of the forklift comprises:
when the vehicle state is a left-turning state, acquiring the speed of a right front wheel of the forklift, and taking the speed of the right front wheel as the first speed;
when the vehicle state is a right-turning state, acquiring the speed of a front wheel on the left side of the forklift, and taking the speed of the front wheel on the left side as the first speed;
and when the vehicle state is a straight-ahead state, acquiring the speed of the right front wheel and the speed of the left front wheel, comparing the speeds of the right front wheel and the left front wheel, and taking the higher speed as the first speed.
Preferably, before the determining whether the ratio satisfies the slip condition, the method further includes:
determining the slip condition corresponding to the turning angle based on the turning angle.
A rear drive forklift antiskid control system comprising:
a drive motor;
a first speed sensor for detecting a first speed of a front wheel of the forklift;
a second speed sensor for detecting a second speed of the forklift drive wheel;
the input end of the controller is respectively connected with the first speed sensor and the second speed sensor, and the output end of the controller is connected with the driving motor; the controller is used for obtaining a ratio of the first speed and the second speed according to calculation, judging whether the ratio meets a forklift slipping condition or not, and reducing the output power of the driving motor when the ratio meets the slipping condition until the ratio does not meet the slipping condition.
Preferably, the number of the first speed sensors is two, and the two first speed sensors are respectively used for detecting the speed of a front wheel on the left side of the forklift and the speed of a front wheel on the right side of the forklift;
the controller comprises a comparison module for comparing the speed of the left front wheel with the speed of the right front wheel and taking the larger speed as the first speed.
Preferably, the vehicle further comprises a turning angle sensor for detecting a turning angle of the driving wheel, wherein the turning angle sensor is connected with an input end of the controller, so that the controller determines a vehicle state according to the turning angle and acquires the first speed according to the vehicle state.
According to the anti-skid control method for the rear-drive forklift, the output power of the driving motor is adjusted in real time by acquiring the first speed of the front wheel of the forklift and the second speed of the driving wheel of the forklift in real time and judging whether the ratio of the first speed to the second speed meets the skid condition or not, so that the ratio of the first speed to the second speed is dynamically corrected in real time, and the ratio of the first speed to the second speed does not meet the skid condition.
The invention provides a rear-drive forklift anti-skid control system, which is characterized in that a first speed sensor and a second speed sensor are used for respectively detecting the speed of a front wheel of a forklift and the speed of a driving wheel, a controller is used for processing the speed of the front wheel of the forklift and the speed of the driving wheel, the output power of a driving motor is adjusted in real time by judging whether the ratio of the speed of the front wheel to the speed of the driving wheel meets a skid condition or not, the ratio of the speed of the front wheel to the speed of the driving wheel is dynamically corrected in real time, the ratio of the speed of the front wheel to the speed of the driving wheel does not meet the skid condition, so that the forklift is.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of an antiskid control method for a rear-drive forklift according to a first embodiment of the present invention;
fig. 2 is a flowchart of an antiskid control method for a rear-drive forklift according to a second embodiment of the present invention;
fig. 3 is a schematic view of an installation structure of a first speed sensor, a second speed sensor and a turning angle sensor of the anti-skid control system of the rear-drive forklift according to the embodiment of the present invention.
The reference numerals in fig. 3 are as follows:
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a control method and a control system for preventing the rear-drive forklift from skidding, which can prevent the vehicle from skidding.
Referring to fig. 1 and fig. 2, fig. 1 is a flowchart of an anti-skid control method for a rear-drive forklift according to an embodiment of the present invention; fig. 2 is a flowchart of an antiskid control method for a rear-drive forklift according to a second embodiment of the present invention.
The invention provides a rear-drive forklift antiskid control method, which comprises the following steps:
s1: a first speed of a front wheel of a forklift is obtained.
S2: a second speed of the forklift drive wheel is obtained.
It should be noted that, for convenience of description, the present invention refers to the speed of the front wheel of the forklift as the first speed, and refers to the speed of the driving wheel of the forklift as the second speed.
In addition, the present embodiment does not limit the specific manner of acquiring the first speed and the second speed, and for example, the first speed and the second speed may be acquired by providing a first speed sensor and a second speed sensor on the front wheel and the driving wheel of the forklift, respectively.
It will be appreciated that since the speed of the drive wheel is determined by the drive motor, the speed of the drive wheel can be obtained by detecting the rotational speed of the drive motor, and the drive motor is typically self-contained with a speed sensor for detecting the rotational speed thereof.
S3: and calculating the ratio of the first speed to the second speed according to the first speed and the second speed.
S4: and judging whether the ratio of the first speed to the second speed meets the forklift slipping condition or not.
S5: if so, reducing the output power of the forklift driving motor until the ratio does not meet the forklift slipping condition.
It should be noted that, according to the structural characteristics of the forklift itself and objective factors such as the weight of the loaded goods, a functional relationship between the ratio of the speed of the front wheel of the forklift to the speed of the driving wheel of the forklift and the slipping of the forklift can be determined, so as to determine the slipping condition of the forklift, when the ratio of the real-time speed (first speed) of the front wheel to the real-time speed (second speed) of the driving wheel meets the slipping condition, it indicates that the forklift is in the slipping state, in order to avoid the slipping of the forklift, the output power of the driving motor needs to be reduced at this moment, so as to reduce the speed of the driving wheel, and.
That is to say, according to the anti-skid control method for the rear-drive forklift provided by the invention, the output power of the driving motor is adjusted in real time by acquiring the first speed of the front wheel of the forklift and the second speed of the driving wheel of the forklift in real time and judging whether the ratio of the first speed to the second speed meets the skid condition or not, so that the ratio of the first speed to the second speed is dynamically corrected in real time, and the ratio of the first speed to the second speed does not meet the skid condition.
It should be noted that, when the ratio of the first speed to the second speed does not satisfy the slip condition, the output power of the driving motor is maintained.
Considering that the speed of the left front wheel of the forklift is usually different from the speed of the right front wheel during the operation of the forklift, especially when the forklift turns left, for example, the speed of the left front wheel is lower than that of the right front wheel when the forklift turns left; on the other hand, when the forklift turns right, the speed of the right front wheel is lower than that of the left front wheel, and in order to ensure that the forklift can be prevented from slipping under any vehicle state, on the basis of the above embodiment, before the first speed of the front wheel of the forklift is acquired, the method further includes step S6 and step S7:
step S6: the turning angle of the driving wheel is acquired.
In the present embodiment, a specific mode of acquiring the turning angle of the driving wheel is not limited, and for example, the turning angle of the driving wheel may be detected by providing a turning angle sensor on the driving wheel.
Step S7: according to the turning angle of the driving wheel, the vehicle state is determined, and the vehicle state comprises a left turning state, a right turning state and a straight running state.
At this time, acquiring a first speed of the front wheel of the forklift includes:
s11: and when the vehicle state is a left-turning state, acquiring the speed of a right front wheel of the forklift, and taking the speed of the right front wheel as a first speed.
S12: when the vehicle state is a right-turn state, the speed of the front wheel on the left side of the forklift is acquired, and the speed of the front wheel on the left side is used as a first speed.
S13: when the vehicle state is a straight-ahead state, the speed of the right front wheel and the speed of the left front wheel are acquired, the speed of the right front wheel and the speed of the left front wheel are compared, and the larger speed is taken as a first speed.
That is, the present embodiment selects the acquired first speed of the front wheels of the forklift according to the vehicle state, so that the ratio of the first speed to the second speed is calculated with the greater speed of the front wheels on the left side and the front wheels on the right side as the first speed regardless of the vehicle state, to ensure that the forklift does not slip in any vehicle state.
Further, in order to improve the accuracy of preventing the vehicle from slipping, on the basis of the above embodiment, before determining whether the ratio of the first speed to the second speed satisfies the slip condition, the method further includes:
s8: based on the turning angle, a slip condition corresponding to the turning angle is determined.
That is to say, the slip condition in this embodiment corresponds to the turning angle one to one, and after obtaining the turning angle of the driving wheel, when determining the vehicle state according to the turning angle, the slip condition is determined according to the turning angle, and it is determined whether the ratio of the first speed to the second speed satisfies the slip condition corresponding to the turning angle, so that the determination is more accurate, and the accuracy of preventing the forklift from slipping is improved.
Fig. 3 is a schematic view of an installation structure of a first speed sensor, a second speed sensor and a turning angle sensor of an anti-skid control system of a rear-drive forklift according to an embodiment of the present invention.
In addition to the anti-skid control method for the rear-drive forklift, the invention also provides a rear-drive forklift anti-skid control system for realizing the anti-skid control method for the rear-drive forklift disclosed by the embodiment, wherein the rear-drive forklift anti-skid control system comprises a first speed sensor 1, a second speed sensor 2, a driving motor and a controller, the first speed sensor 1 and the second speed sensor 2 are respectively connected with the input end of the controller, and the driving motor is connected with the output end of the controller.
The first speed sensor 1 is used for detecting a first speed of a front wheel of the forklift, and the second speed sensor 2 is used for detecting a second speed of a driving wheel of the forklift; the first speed sensor 1 sends the first speed detected by it to the controller, and the second speed sensor 2 sends the second speed detected by it to the controller.
The controller is mainly used for realizing the anti-skid control method of the rear-drive forklift, when the controller receives a first speed sent by the first speed sensor 1 and a second speed sent by the second speed sensor 2, the ratio of the first speed to the second speed is obtained through calculation, whether the ratio of the first speed to the second speed meets a forklift skid condition or not is judged, and when the ratio of the first speed to the second speed meets the skid condition, the controller controls the driving motor to reduce the output power until the ratio of the first speed to the second speed does not meet the skid condition.
That is to say, the controller comprises a ratio calculation module, a judgment module and an execution module, wherein the ratio calculation module is used for calculating the ratio of the first speed to the second speed according to the first speed and the second speed; the judging module is used for judging whether the ratio of the first speed to the second speed meets a slipping condition or not, and if so, the executing module is called; the execution module is used for reducing the output power of the driving motor until the ratio of the first speed to the second speed does not meet the slip condition.
Therefore, the anti-skid control system of the rear-drive forklift provided by the invention has the advantages that the first speed sensor 1 and the second speed sensor 2 are used for respectively detecting the speed of the front wheel of the forklift and the speed of the driving wheel, the controller is used for processing the speed of the front wheel of the forklift and the speed of the driving wheel, the output power of the driving motor is adjusted in real time by judging whether the ratio of the speed of the front wheel to the speed of the driving wheel meets the skid condition or not, the ratio of the speed of the front wheel to the speed of the driving wheel is dynamically corrected in real time, the ratio of the speed of the front wheel to the speed of the driving wheel does not meet the skid condition, the forklift is separated from the.
Considering that the speed of the left front wheel of the forklift and the speed of the right front wheel are not the same in general during the operation of the forklift, therefore, in order to more accurately prevent the forklift from skidding, on the basis of the above embodiment, the number of the first speed sensors 1 is two, the two first speed sensors 1 are respectively used for detecting the speed of the left front wheel of the forklift and the speed of the right front wheel of the forklift, and the two first speed sensors 1 are both connected with the input end of the controller, and then the controller is also used for comparing the speed of the left front wheel and the speed of the right front wheel, and taking the larger speed as the first speed.
That is, the controller in the present embodiment includes a comparison module for comparing the speed of the front left wheel and the speed of the front right wheel in magnitude, and taking the larger speed as the first speed.
It is known that when a forklift turns left, the speed of its left front wheel is lower than the speed of its right front wheel; when the forklift turns right, the speed of the right front wheel is lower than that of the left front wheel, namely, when the forklift turns right, the speed of the left front wheel and the speed of the right front wheel are known and do not need to be compared.
Therefore, on the basis of the above-described embodiment, a turning angle sensor 3 for detecting a turning angle of the drive wheels is further included, and the turning angle sensor 3 is connected to an input terminal of the controller, so that the controller determines a vehicle state from the turning angle and acquires the first speed from the vehicle state.
The vehicle state includes a left-turn state, a right-turn state, and a straight-traveling state.
When the vehicle state is a left-turning state, the controller directly obtains the speed of a front wheel on the right side of the forklift and takes the speed as the first speed.
When the vehicle state is a right-turn state, the controller directly acquires the speed of the front wheel on the left side of the forklift and takes the speed as the first speed.
When the vehicle state is a straight-ahead state, the controller simultaneously acquires the speed of the right front wheel and the speed of the left front wheel, then compares the speeds of the right front wheel and the left front wheel, and takes the larger speed as the first speed.
In the above embodiments, the specific structures of the first speed sensor 1, the second speed sensor 2 and the turning angle sensor 3 and the detection principles thereof are not limited, and those skilled in the art can select them according to actual needs.
Preferably, the second speed sensor 2 is a sensor of the drive motor itself, i.e. the speed of the drive wheel is detected by a speed sensor of the drive motor.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The anti-skid control method and the control system of the rear-drive forklift are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (5)
1. A method for controlling the skid resistance of a rear-drive forklift is characterized by comprising the following steps:
acquiring a first speed of a front wheel of the forklift and acquiring a second speed of a driving wheel of the forklift;
calculating the ratio of the first speed to the second speed according to the first speed and the second speed;
judging whether the ratio meets a forklift slipping condition or not;
if so, reducing the output power of the forklift driving motor until the ratio does not meet the slipping condition;
before the first speed of the front wheel of the forklift is obtained, the method further comprises the following steps:
acquiring a turning angle of the driving wheel;
determining vehicle states according to the turning angle, wherein the vehicle states comprise a left turning state, a right turning state and a straight running state;
obtaining a first speed of a front wheel of the forklift comprises:
when the vehicle state is a left-turning state, acquiring the speed of a right front wheel of the forklift, and taking the speed of the right front wheel as the first speed;
when the vehicle state is a right-turning state, acquiring the speed of a front wheel on the left side of the forklift, and taking the speed of the front wheel on the left side as the first speed;
and when the vehicle state is a straight-ahead state, acquiring the speed of the right front wheel and the speed of the left front wheel, comparing the speeds of the right front wheel and the left front wheel, and taking the higher speed as the first speed.
2. The anti-skid control method for the rear-drive forklift according to claim 1, before the determining whether the ratio satisfies the skid condition, further comprising:
determining the slip condition corresponding to the turning angle based on the turning angle.
3. The utility model provides a rear-drive formula fork truck antiskid control system which characterized in that includes:
a drive motor;
a first speed sensor (1) for detecting a first speed of a front wheel of the forklift;
a second speed sensor (2) for detecting a second speed of the forklift drive wheel (5);
the input end of the controller is respectively connected with the first speed sensor (1) and the second speed sensor (2), and the output end of the controller is connected with the driving motor; the controller is used for obtaining a ratio of the first speed and the second speed according to calculation, judging whether the ratio meets a forklift slipping condition or not, and reducing the output power of the driving motor when the ratio meets the slipping condition until the ratio does not meet the slipping condition.
4. The anti-skid control system of the rear-drive forklift as recited in claim 3, characterized in that the number of the first speed sensors (1) is two, and the two first speed sensors (1) are respectively used for detecting the speed of a front wheel on the left side of the forklift and the speed of a front wheel on the right side of the forklift;
the controller comprises a comparison module for comparing the speed of the left front wheel with the speed of the right front wheel and taking the larger speed as the first speed.
5. The antiskid control system for a rear-drive forklift according to claim 3 or 4, further comprising a turning angle sensor (3) for detecting a turning angle of the drive wheel (5), wherein the turning angle sensor (3) is connected to an input of the controller so that the controller determines a vehicle state from the turning angle and acquires the first speed from the vehicle state.
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| AU2013200185A1 (en) * | 2012-03-20 | 2013-10-17 | The Raymond Corporation | Turn Stability Systems and Methods for Lift Trucks |
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| JP3780827B2 (en) * | 2000-07-10 | 2006-05-31 | 株式会社豊田自動織機 | Industrial vehicle travel control device |
| JP5336447B2 (en) * | 2010-09-02 | 2013-11-06 | 日立建機株式会社 | Electric drive vehicle |
| CN104477819A (en) * | 2014-12-03 | 2015-04-01 | 无锡中鼎物流设备有限公司 | Dual-drive horizontal drive mechanism of stacking machine |
| CN205890594U (en) * | 2016-06-21 | 2017-01-18 | 杭州虬龙科技有限公司 | Electric vehicle's traction control system |
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| AU2013200185A1 (en) * | 2012-03-20 | 2013-10-17 | The Raymond Corporation | Turn Stability Systems and Methods for Lift Trucks |
| CN104712752A (en) * | 2015-03-16 | 2015-06-17 | 林德（中国）叉车有限公司 | High-speed reversing protection device for gearbox |
| CN105584960A (en) * | 2016-03-03 | 2016-05-18 | 浙江美科斯叉车有限公司 | Hydraulic four-wheel-drive cross-country forklift |
| CN107662522A (en) * | 2016-07-28 | 2018-02-06 | 比亚迪股份有限公司 | Anti-skid control method, system and the vehicle of vehicle |
| CN208648650U (en) * | 2018-02-06 | 2019-03-26 | 视航机器人（佛山）有限公司 | Fork truck and its velocity measurement mechanisms |
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