CN111169533A - Steering control device and method for three-fulcrum multi-directional running forklift - Google Patents
Steering control device and method for three-fulcrum multi-directional running forklift Download PDFInfo
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- CN111169533A CN111169533A CN202010136848.2A CN202010136848A CN111169533A CN 111169533 A CN111169533 A CN 111169533A CN 202010136848 A CN202010136848 A CN 202010136848A CN 111169533 A CN111169533 A CN 111169533A
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- front wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
Abstract
The invention discloses a steering control device and a method of a three-fulcrum multi-directional running forklift, which comprises a steering wheel and a main controller, wherein an absolute value encoder is arranged in the steering wheel and used for collecting a rotation signal of the steering wheel, the absolute value encoder controls the steering angle of one steering wheel through the main controller according to a mode switch, the steering angles of the other two steering wheels are regulated and controlled according to the steering angle of the steering wheel controlled by the absolute value encoder through an algorithm executed by the main controller, and the mode switch controls the running mode of the whole forklift and comprises a straight large-radius steering mode, a straight small-radius steering mode, a side running steering mode, an opposite-angle steering mode and an in-situ rotation mode; the invention sets a plurality of steering modes, and the steering angles of the left front wheel, the right front wheel and the rear driving wheel can be adjusted in a linkage way in different modes, thereby simplifying the operation steps, reducing the abrasion of the steering wheels and ensuring the safety of the work.
Description
Technical Field
The invention relates to the technical field of forklifts, in particular to a steering control device and method of a three-fulcrum multi-directional running forklift.
Background
Along with the increasing shortage of land resources, the requirement on the utilization rate of warehouse space is higher and higher, in order to increase the storage rate of a warehouse, more goods shelves must be placed, so that the demand on a forklift with high lifting capacity in a narrow roadway is higher and higher, particularly for stacking long materials (aluminum profiles, round steel, home-mounted doors and windows and the like) with the length of more than 3 meters, the traditional common forward-moving forklift or counter-weight forklift is difficult to carry and place the goods in the narrow roadway, meanwhile, in the steering process, because the steering angle is too large, the fixed wheels are easy to wear during steering, even safety accidents such as overturning and the like are caused, and the current forklift is not easy to operate, so that the operation error probability is improved, and therefore, the steering mode of the current three-pivot forklift is seriously improved;
the invention aims to design a multi-direction forward type forklift steering control device and a method, which can reduce the turning radius and the wheel wear and are convenient to operate.
Disclosure of Invention
The invention aims to provide a steering control device and a steering control method of a three-fulcrum multi-direction running forklift, which aim to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
a steering control device of a three-fulcrum multi-directional traveling forklift comprises a steering wheel and a main controller, wherein absolute value encoders are arranged in the steering wheel and electrically connected with the main controller, the main controller is respectively electrically connected with a steering motor controller, a mode selector switch, a traveling direction handle and a display screen, the number of the steering motor controllers is three, the three steering motor controllers are respectively electrically connected with a left front wheel steering motor, a right front wheel steering motor and a rear driving wheel steering motor, the left front wheel steering motor and the right front wheel steering motor are respectively connected with a rear driving wheel, a left front wheel and a right front wheel through transmission mechanisms, and the rear driving wheel, the left front wheel and the right front wheel are steering wheels and can steer for 360 degrees;
the absolute value encoder is used for collecting a rotation signal of a steering wheel, the absolute value encoder controls the steering angle of one steering wheel through the main controller according to the mode selector switch, and the steering angles of the other two steering wheels are regulated and controlled according to the steering angle of the steering wheel controlled by the absolute value encoder through an algorithm executed by the main controller;
the mode switching switch provides a switching signal for the main controller to control the walking mode of the whole vehicle, wherein the walking mode comprises a straight large-radius steering mode, a straight small-radius steering mode, a side-walking steering mode, an opposite angle steering mode and an in-situ rotation mode;
the main controller processes all collected signals, controls the three steering motor controllers through an algorithm, and controls the three steering wheels to steer through controlling the rotating speed of the steering motors, so that the linkage among the steering angles of the driving wheels, the left front wheel and the right front wheel is realized;
the driving direction handle controls the driving direction of the whole vehicle, namely, the whole vehicle moves forwards or backwards;
the display screen displays the walking mode of the whole vehicle and the steering positions of the three steering wheels.
A steering method of a three-fulcrum multi-directional running forklift comprises the following modes:
straight-running large-radius steering mode: the steering wheel controls the steering action of the rear driving wheel, the left front wheel and the right front wheel are kept still, namely, the steering is not performed, and the steering range of the rear driving wheel is-90 degrees to 90 degrees;
straight-running small-radius steering mode: the steering wheel controls the steering action of the rear driving wheel, the steering angle of the left front wheel and the right front wheel is controlled by the following algorithm, and the algorithm is divided into two stages: the steering wheel controls the steering of the rear driving wheel, and when the steering angle of the rear driving wheel is 0-17.3 degrees, the left front wheel and the right front wheel do not participate in linkage, namely, the steering is not performed; the steering wheel controls the steering of the rear driving wheel, and when the steering angle of the rear driving wheel is 17.3-90 degrees, the left front wheel and the right front wheel are in steering linkage with the rear driving wheel;
the steering wheel controls the left front wheel to steer, the rear driving wheel does not steer, the right front wheel steer is linked with the left front wheel, when the steering angle of the left front wheel is α, the steering angle of the right front wheel is- α, when the steering wheel rotates clockwise, the steering range of the left front wheel is 90-68 degrees, and when the steering wheel rotates anticlockwise, the steering range of the left front wheel is 90-5 degrees;
diagonal steering mode: the steering wheel controls the steering action of the rear driving wheel, the rotating angle of the left front wheel and the right front wheel is the same as the steering angle of the rear driving wheel, and the steering range of the rear driving wheel is-90 degrees to 90 degrees;
in-situ rotation mode: the handle in the driving direction controls the whole vehicle to rotate clockwise and anticlockwise, at the moment, the steering angle of the rear driving wheel is 90 degrees, the steering angle of the left front wheel is 42.4 degrees, and the steering angle of the right front wheel is-42.4 degrees.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, various steering modes are designed, so that the forklift has various modes such as straight large-radius steering, straight small-radius steering, side steering, diagonal steering, in-situ rotation and the like, stacking and carrying work are separated, the working efficiency of the forklift is improved, and meanwhile, the forklift can meet the operation requirement of large materials in a narrow roadway;
2. the multi-direction forward-moving type steering mode can effectively reduce the wear rate of the wheels, and the steering angles of the left front wheel, the right front wheel and the rear driving wheel can be adjusted in a linkage manner under different modes, so that the wheels are prevented from being worn due to sliding, the rollover accident caused by collision of the wheels due to overlarge turning radius is prevented, and the safety of a forklift is ensured;
3. the operation steps are simplified through the multiple steering modes, and a forklift worker can select different steering modes according to different working states, so that the operation steps are simplified, the error probability is reduced, and the safety of the forklift is guaranteed.
The invention sets a plurality of steering modes, and the steering angles of the left front wheel, the right front wheel and the rear driving wheel can be adjusted in a linkage manner in different modes, thereby improving the working efficiency of the forklift, simplifying the operation steps, reducing the abrasion of the steering wheels and ensuring the working safety.
Drawings
FIG. 1 is a diagram of a control system of the present invention;
FIG. 2 is a reference view of the wheel steering of the present invention;
FIG. 3 is a schematic view of a straight large radius steering mode of the present invention;
FIG. 4 is a schematic view of a straight-ahead, small radius steering mode of the present invention;
FIG. 5 is a schematic view of a side steering mode of the present invention;
FIG. 6 is a schematic view of a diagonal steering mode of the present invention;
FIG. 7 is a schematic diagram of an in-situ rotation mode of the present invention.
In the figure: the device comprises a steering wheel 1, an absolute value encoder 2, a main controller 3, a steering motor controller 4, a mode selector switch 6, a driving direction handle 7, a display screen 8, a rear driving wheel steering motor 9, a left front wheel steering motor 10, a right front wheel steering motor 11, a right front wheel 12, a rear driving wheel 13 and a left front wheel 14.
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.
Referring to fig. 1-7, the present invention provides a technical solution:
a steering control device of a three-pivot multi-directional running forklift comprises a steering wheel 1 and a main controller 3, wherein the steering wheel 1 is used for steering control, an absolute value encoder 2 is arranged in the steering wheel 1, steering signals of the steering wheel 1 are collected through the absolute value encoder 2, the signals are sent to the main controller 3 to control a steering motor controller 4, the absolute value encoder 2 is electrically connected with the main controller 3, the main controller 3 is respectively electrically connected with the steering motor controller 4, a mode switching switch 6, a running direction handle 7 and a display screen 8, the number of the steering motor controllers 4 is three, the steering motor controller 4 is respectively electrically connected with a left front wheel steering motor 10, a right front wheel steering motor 11 and a rear wheel steering motor 9, and rear driving wheels 13, a left front wheel steering motor 10 and a right front wheel steering motor 11 are respectively and fixedly arranged on steering shafts of the rear driving wheels steering motor 9, the left front wheel steering motor 10 and the right front wheel steering motor, The steering angle and the steering speed of the rear driving wheel 13, the left front wheel 14 and the right front wheel 12 are respectively controlled by a rear driving wheel steering motor 9, a left front wheel steering motor 10 and a right front wheel steering motor 11, the rear driving wheel 13 in the embodiment is provided with a driving motor, the three-fulcrum multi-direction running forklift is driven to work by the work of the driving motor, and the rear driving wheel 13, the left front wheel 14 and the right front wheel 12 are steering wheels and can steer for 360 degrees;
the absolute value encoder 2 is used for collecting a rotation signal of the steering wheel 1, the absolute value encoder 2 controls the steering angle of one steering wheel through the main controller 3 according to the mode selector switch 6, and the steering angles of the other two steering wheels are regulated and controlled according to the steering angle of the steering wheel controlled by the absolute value encoder through an algorithm executed by the main controller 3;
the mode switch 6 provides a switch signal for the main controller 3 to control the walking mode of the whole vehicle, including a straight large-radius steering mode, a straight small-radius steering mode, a side-walking steering mode, an opposite angle steering mode and a pivot rotation mode;
the main controller (3) is used for processing all collected signals, and controlling the three steering motor controllers (4) through an algorithm, and the steering motor controllers (4) control the steering of the three steering wheels by controlling the rotating speed of the steering motors, so that the linkage among the steering angles of the driving wheels (13), the left front wheel (14) and the right front wheel (12) is realized;
the driving direction handle 7 controls the driving direction of the whole vehicle, namely, the vehicle moves forwards or backwards;
the display screen 8 displays the walking mode of the whole vehicle and the steering positions of the three steering wheels;
in this embodiment, the left front wheel steering motor 10, the rear driving wheel steering motor 9, the right front wheel steering motor 11 provide steering torque through the transmission system to drive the left front wheel, the right front wheel and the rear driving wheel to steer, the left front wheel, the right front wheel and the rear driving wheel are all provided with a detection feedback device for detecting and feeding back the positions of the wheels, and display is performed through the display screen 8, the rear driving wheel, the left front wheel and the right front wheel are steered in a linkage manner, so that the wear rate of the steering wheel is reduced, and the steering safety is improved.
A steering method of a three-fulcrum multi-directional running forklift comprises the following modes:
straight-running large-radius steering mode: the steering wheel 1 controls the steering action of the rear driving wheel 13, the left front wheel 14 and the right front wheel 12 are kept still, namely, the steering is not performed, and the steering range of the rear driving wheel is-90 degrees to 90 degrees;
straight-running small-radius steering mode: the steering wheel 1 controls the steering action of the rear driving wheels 13, and the steering angle of the front left wheel 14 and the front right wheel 12 is controlled by the following algorithm, which is divided into two stages: in the first stage, the steering wheel 1 controls the steering of the rear driving wheel 13, and when the steering angle of the rear driving is 0-17.3 degrees, the left front wheel 14 and the right front wheel 12 do not participate in linkage, namely, do not steer; in the second stage, the steering wheel 1 controls the steering of the rear driving wheels 13, and when the steering angle of the rear driving is 17.3-90 degrees, the left front wheel 14 and the right front wheel 12 are in steering linkage with the rear driving wheels 13;
the side-driving steering mode is that the steering wheel 1 controls the left front wheel 14 to steer, the rear driving wheel 13 does not steer, the right front wheel 12 steers and is linked with the left front wheel 14, when the steering angle of the left front wheel 14 is α, the steering angle of the right front wheel 12 is- α, when the steering wheel 1 rotates clockwise, the steering range of the left front wheel 14 is 90-68 degrees, when the steering wheel 1 rotates anticlockwise, the steering range of the left front wheel 14 is 90-5 degrees;
diagonal steering mode: the steering wheel 1 controls the steering action of the rear driving wheel 13, the rotating angles of the left front wheel 14 and the right front wheel 12 are the same as the steering angle of the rear driving wheel 13, and the steering range of the rear driving wheel is-90 degrees to 90 degrees;
in-situ rotation mode: the driving direction handle 7 controls the whole vehicle to rotate clockwise and anticlockwise, the steering angle of the rear driving wheel is 90 degrees, the steering angle of the left front wheel is 42.4 degrees, and the steering angle of the right front wheel is-42.4 degrees;
the straight-going large-radius steering, the straight-going small-radius steering, the side-going steering, the diagonal steering, the in-situ rotation and other steering modes designed by an algorithm improve the utilization rate of a warehouse, simultaneously separate the carrying mode and the stacking mode of a forklift, and the straight-going large-radius steering is used for the carrying condition of goods, under the condition, the running speed of the forklift can run at full speed, the straight-going small-radius steering mode and the side-going steering mode are used for the stacking condition of the goods, the forklift works in the warehouse when stacking the goods, the space is relatively limited, the turning radius of the forklift can be reduced by the straight-going small-radius steering mode and the side-going steering mode, the space can be fully utilized, the running speed of the forklift is reduced, the running safety is ensured, the diagonal steering can quickly solve the straight-going and side-going switching, the continuous switching is realized, the in-situ rotation can change the stacking surface of the forklift in a, through the setting of above-mentioned multiple mode can make things convenient for fork truck to carry out the transportation and the stack of goods in narrow tunnel, and the mode that turns to of difference simultaneously switches conveniently between, has simplified operating procedure, switches different functioning speed according to different modes, has guaranteed the safety of stack.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. The utility model provides a three fulcrum multidirectional fork truck's steering control device that traveles, includes steering wheel (1) and main control unit (3), its characterized in that: an absolute value encoder (2) is arranged in the steering wheel (1), the absolute value encoder (2) is electrically connected with a main controller (3), the main controller (3) is respectively electrically connected with a steering motor controller (4), a mode selector switch (6), a traveling direction handle (7) and a display screen (8), the number of the steering motor controllers (4) is three, the three steering motor controllers (4) are respectively electrically connected with a left front wheel steering motor (10), a right front wheel steering motor (11) and a rear driving wheel steering motor (9), the left front wheel steering motor (10) and the right front wheel steering motor (11) are respectively connected with a rear driving wheel (13), a left front wheel (14) and a right front wheel (12) through transmission mechanisms, and the rear driving wheel (13), the left front wheel (14) and the right front wheel (12) are steering wheels, the steering can be carried out by 360 degrees;
the absolute value encoder (2) is used for collecting a rotation signal of a steering wheel, the absolute value encoder controls the steering angle of one steering wheel through the main controller (3) according to the mode switch (6), and the steering angles of the other two steering wheels are regulated and controlled according to the steering angle of the steering wheel controlled by the absolute value encoder through an algorithm executed by the main controller (3);
the mode switching switch (6) provides a switching signal for the main controller (3) to control the walking mode of the whole vehicle, and the mode switching switch comprises a straight large-radius steering mode, a straight small-radius steering mode, a side-walking steering mode, a diagonal steering mode and a pivot rotation mode;
the main controller (3) processes all collected signals, controls the three steering motor controllers (4) through an algorithm, and controls the three steering wheels to steer through controlling the rotating speed of the steering motors by the steering motor controllers (4), so that linkage among steering angles of the rear driving wheels (13), the left front wheels (14) and the right front wheels (12) is realized;
the driving direction handle (7) controls the driving direction of the whole vehicle, namely, the vehicle moves forwards or backwards;
and the display screen (8) displays the walking mode of the whole vehicle and the steering positions of the three steering wheels.
2. A steering method of a three-fulcrum multi-directional running forklift is characterized in that: the method comprises the following modes:
straight-running large-radius steering mode: the steering wheel (1) controls the steering action of a rear driving wheel (13), the left front wheel (14) and the right front wheel (12) are kept still, namely, the steering is not performed, and the steering range of the rear driving wheel is-90 degrees to 90 degrees;
straight-running small-radius steering mode: the steering wheel (1) controls the steering action of the rear driving wheel (13), the steering angle of the left front wheel (14) and the right front wheel (12) is controlled by the following algorithm, and the algorithm is divided into two stages: the steering wheel (1) controls the steering of a rear driving wheel (13), and when the steering angle of the rear driving wheel is 0-17.3 degrees, a left front wheel (14) and a right front wheel (12) do not participate in linkage, namely do not steer; the steering wheel (1) controls the steering of the rear driving wheel (13), and when the steering angle of the rear driving is 17.3-90 degrees, the left front wheel (14) and the right front wheel (12) are in steering linkage with the rear driving wheel (13);
the side-driving steering mode is characterized in that the steering wheel (1) controls the steering of the left front wheel (14), the rear driving wheel (13) does not steer, the steering of the right front wheel (12) is linked with the left front wheel (14), when the steering angle of the left front wheel (14) is α, the steering angle of the right front wheel (12) is- α, when the steering wheel (1) rotates clockwise, the steering range of the left front wheel (14) is 90-68 degrees, and when the steering wheel (1) rotates anticlockwise, the steering range of the left front wheel (14) is 90-5 degrees;
diagonal steering mode: the steering wheel (1) controls the steering action of a rear driving wheel (13), the rotating angles of the left front wheel (14) and the right front wheel (12) are the same as the steering angle of the rear driving wheel (13), and the steering range of the rear driving wheel is-90 degrees;
in-situ rotation mode: the driving direction handle (7) controls the whole vehicle to rotate clockwise and anticlockwise, at the moment, the steering angle of the rear driving wheel is 90 degrees, the steering angle of the left front wheel is 42.4 degrees, and the steering angle of the right front wheel is-42.4 degrees.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010136848.2A CN111169533A (en) | 2020-03-02 | 2020-03-02 | Steering control device and method for three-fulcrum multi-directional running forklift |
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| CN202010136848.2A CN111169533A (en) | 2020-03-02 | 2020-03-02 | Steering control device and method for three-fulcrum multi-directional running forklift |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113697727A (en) * | 2020-05-21 | 2021-11-26 | 苏州先锋物流装备科技有限公司 | Three-wheel steering control system |
| CN117602538A (en) * | 2024-01-23 | 2024-02-27 | 合肥搬易通科技发展有限公司 | Control method and system for steering dead zone of double-drive four-pivot AGV forklift |
| CN117602538B (en) * | 2024-01-23 | 2024-04-19 | 合肥搬易通科技发展有限公司 | Control method and system for steering dead zone of double-drive four-pivot AGV forklift |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113697727A (en) * | 2020-05-21 | 2021-11-26 | 苏州先锋物流装备科技有限公司 | Three-wheel steering control system |
| CN117602538A (en) * | 2024-01-23 | 2024-02-27 | 合肥搬易通科技发展有限公司 | Control method and system for steering dead zone of double-drive four-pivot AGV forklift |
| CN117602538B (en) * | 2024-01-23 | 2024-04-19 | 合肥搬易通科技发展有限公司 | Control method and system for steering dead zone of double-drive four-pivot AGV forklift |
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