CN115085467B

CN115085467B - Drive device and forklift

Info

Publication number: CN115085467B
Application number: CN202210996899.1A
Authority: CN
Inventors: 王慰军; 杨桂林; 陈庆盈; 郑天江; 张驰
Original assignee: Ningbo Institute of Material Technology and Engineering of CAS
Current assignee: Ningbo Institute of Material Technology and Engineering of CAS
Priority date: 2022-08-19
Filing date: 2022-08-19
Publication date: 2022-11-22
Anticipated expiration: 2042-08-19
Also published as: CN115085467A

Abstract

The invention relates to a driving device and a forklift. The driving device comprises an integrated motor, the integrated motor comprises a shell, a driving part and a speed reducing part, the driving part and the speed reducing part are both arranged in the shell, and the output end of the speed reducing part is connected with a load part through a flexible part; output torque of integral motor driven part

To the output end position of the drive part

Transfer function of (2)

(ii) a Output torque of integral motor driven part

To the position of the load part

Transfer function of

(ii) a And anti-resonant frequency

(ii) a Resonant frequency

(ii) a Load inertiaThan

(ii) a By means of a pair of resonant frequencies

Anti-resonant frequency

And load to inertia ratio

And (5) adjusting the parameters to ensure the inertia matching of the integrated motor.

Description

Drive device and forklift

Technical Field

The invention relates to the technical field of forklifts, in particular to a driving device and a forklift.

Background

The driving device for the forklift is usually provided with a speed reducer to increase the torque due to large load torque, and the existing motor and the speed reducer are mostly arranged in a split manner, so that the size and the volume of a driving system are large, and the power density and the efficiency are low;

because after the speed reducer and the motor are integrated, various parameters of the integrated motor can be changed, if the speed reducer and the motor are simply arranged into a whole without adjusting parameters such as anti-resonance frequency, load inertia ratio and the like, the optimal matching of inertia can not be obtained, and the dynamic characteristic and the motion output precision of the whole driving system are influenced.

Disclosure of Invention

Therefore, it is necessary to provide a driving device and a forklift for solving the problem that the integrated motor cannot obtain the optimal matching of inertia and affects the dynamic characteristics and the motion output precision of the whole driving system.

The application firstly provides an integral type motor, the integral type motor includes casing, drive division and speed reduction portion, the drive division with speed reduction portionThe parts are all arranged in the shell, and the output end of the speed reducing part is connected with the load part through a flexible part; the integrated motor is driven by the output torque of the driving part

To the output end position of the driving part

Transfer function of (2)

(ii) a The integrated motor is driven by the output torque of the driving part

To the position of the load part

Transfer function of

(ii) a And anti-resonant frequency

(ii) a Resonant frequency

(ii) a Load inertia ratio

(ii) a Wherein, the first and the second end of the pipe are connected with each other,

as a function of the position of the output of the drive,

as a function of the output torque of the drive section,

is an inertia of the driving part and,

is a function of the position of the load portion, n is the reduction ratio of the reduction portion, K is the stiffness of the flexible portion,

r is the inertia of the load portion and R is the damping of the compliant portion.

The output torque of the integrated motor is obtained based on the kinetic equation of the integrated motor

To the output end position of the drive part

And the position of the load part

To realize the control of the integrated motor; while passing through the resonant frequency

Anti-resonant frequency

And load to inertia ratio

The parameters are adjusted to ensure the inertia matching of the integrated motor, and the integrated motor has good dynamic characteristics and motion output precision.

In one embodiment, the driving portion includes a first rotating shaft, the decelerating portion includes a second rotating shaft, the driving portion can drive the first rotating shaft to rotate, the rotation of the first rotating shaft is output by the second rotating shaft after being decelerated by the decelerating portion, and the first rotating shaft and the second rotating shaft are coaxially arranged and are parallel to the third axis.

It can be understood that the driving part and the speed reducing part are both arranged inside the shell, so that the integral motor is compact in structure and can achieve the effect of light weight.

In one embodiment, the decelerating portion further includes a center wheel, a planet carrier, a plurality of planet wheels, and an annular ring gear, the center wheel is fixedly disposed on the first rotating shaft and is engaged with each planet wheel, the planet wheels are rotationally connected to the planet carrier by using their own axes as rotation axes, the planet carrier is rotationally connected to the housing by using the axis of the first rotating shaft as a rotation axis, each planet wheel is engaged with the annular ring gear, the annular ring gear is fixedly disposed on the housing, and the second rotating shaft is fixedly disposed on the planet carrier.

The application also provides a driving device for the forklift, which comprises a box body, two driving structures and a connecting structure; the two driving structures are arranged on the box body, each driving structure comprises the integrated motor and a roller driven by the integrated motor, and the roller is rotationally connected with the box body by taking a third axis as a rotation center; the connecting structure connects the box body and the forklift body so that the box body can rotate relative to the forklift body by taking a first axis as a rotation center, the first axis is perpendicular to a horizontal plane, and the third axis is perpendicular to the first axis.

It can be understood that, above-mentioned drive arrangement drives a gyro wheel respectively through two integral type motors, and rotationally connect the automobile body of box and fork truck through connection structure, so that two integral type motors are used for the drive to advance under most circumstances, and turn to through two integral type motor differential rotations when needs, turn to in order to realize drive arrangement, the work efficiency of integral type motor has greatly been improved, in addition, owing to take the mode of control drive arrangement direction to realize fork truck's turning to, omnidirectional movement can be realized, the user demand of narrow topography is satisfied.

In one embodiment, the connecting structure includes a movable seat, the movable seat is rotatably connected to the vehicle body by using the first axis as a rotation center, and the movable seat is further connected to the box body.

In one embodiment, the connecting structure further comprises a fixed seat and a supporting shaft; the fixing seat is fixedly arranged on the box body, the supporting shaft is arranged along the direction of the second axis, the movable seat is connected with the fixing seat in a rotatable mode through the supporting shaft, and the first axis, the second axis and the third axis are perpendicular to each other in a pairwise mode.

It can be understood that when the driving device runs to uneven road conditions, the two rollers can rotate by taking the second axis as a rotation center under the action of the extrusion force of the ground to the two rollers, and the contact area between the rollers and the ground is maximized through the self-adaptive adjustment of the rollers to different terrains, so that the controllability of the driving device is improved.

In one embodiment, the driving structure further comprises a transmission assembly, the integrated motor can drive the roller to rotate through the transmission assembly, each driving structure is in an L shape, the two driving structures are arranged in a quadrilateral shape, and the connecting structure is arranged in the quadrilateral shape.

It can be understood that the connecting structure is arranged inside the quadrangle surrounded by the driving structures, so that the box body of the driving device is as compact as possible on the premise of keeping the regular shape, the processing difficulty of the box body is reduced, and the volume of the driving device is reduced as much as possible.

The application also provides a forklift, which comprises a forklift body, a fork plate, a lifting device and four driving devices, wherein the lifting device is arranged on the forklift body, the fork plate is arranged on the lifting device, and the lifting device can drive the fork plate to lift.

In one of them embodiment, the lifting device includes slider lifting subassembly, slider lifting subassembly includes connecting rod, fixed axle, guide rail and drive slider, the fork board and all set firmly on the automobile body the guide rail, the guide rail is followed the length direction setting of fork board, each guide rail sliding connection has one drive slider, each drive slider is last to rotate and is connected with one the connecting rod, be located the fork board the drive slider is connected the connecting rod other end with the automobile body rotates to be connected, be located the automobile body the drive slider is connected the connecting rod other end with the fork board rotates to be connected, the fixed axle is located two the crossing department of connecting rod, and with two the connecting rod all rotates to be connected.

In one embodiment, the lifting device includes a screw lifting assembly, the screw lifting assembly includes a lifting motor, a screw and a nut seat, the lifting motor is disposed on the vehicle body and can drive the screw to rotate, the screw is parallel to the first axial direction and is in threaded connection with the nut seat, and the nut seat is fixedly disposed on the fork plate.

It can be understood that the lead screw is in threaded connection with the nut seat, the self-locking device has a self-locking characteristic, and can keep a self-locking state after power failure, so that the fork plate is prevented from falling off after power is lost, and the safety of the forklift is improved.

In one embodiment, the lead screw lifting assembly further includes a worm wheel and a worm, the worm is fixedly disposed on the output shaft of the lifting motor, and the worm wheel is fixedly disposed on the lead screw and engaged with the worm.

It can be understood that the worm gear also has a self-locking characteristic, which can further increase the safety of the forklift.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic perspective view of a driving device according to the present invention;

FIG. 2 isbase:Sub>A schematic perspective view of FIG. 1 taken along A-A;

FIG. 3 is a schematic perspective view of the connection structure of FIG. 2;

FIG. 4 is a front view of the truck of the present invention;

FIG. 5 is a schematic view of the roller of the driving device of the present invention adaptive to uneven ground;

FIG. 6 is a schematic cross-sectional view of the integrated motor of FIG. 1;

FIG. 7 is a schematic cross-sectional view of the decelerating portion shown in FIG. 6;

FIG. 8 is a schematic view of the speed reducer portion of FIG. 6 taken along a radial direction of the first shaft;

fig. 9 is a schematic perspective view of the driving device of fig. 1 after hiding the box body and the connecting structure;

FIG. 10 is a schematic front view of the slide lift assembly of FIG. 4;

FIG. 11 is a cross-sectional view taken along line B-B of FIG. 10;

FIG. 12 is a schematic view of the slider lift assembly of FIG. 10;

FIG. 13 is a schematic cross-sectional view of the screw lift assembly of FIG. 4;

fig. 14 is a mechanical transmission structure diagram of the integrated motor of the present application.

Reference numerals are as follows: 10. a box body; 20. a drive structure; 21. an integral motor; 211. a housing; 212. a drive section; 212a, a first rotating shaft; 212b, a stator; 212c, a rotor; 213. a deceleration section; 213a, a second rotating shaft; 213b, a center wheel; 213c, a carrier; 213d, planet wheel; 213e, annular ring gear; 213f, a planet wheel shaft; 22. a roller; 23. a transmission assembly; 24. a flexible portion; 25. a load section; 30. a connecting structure; 31. a movable seat; 32. a fixed seat; 33. a support shaft; 34. a connecting seat; 35. a stationary disc of the encoder; 36. an encoder moving disc;

100. a vehicle body; 200. a fork plate; 300. a lifting device; 310. a slider lifting assembly; 311. a connecting rod; 312. a fixed shaft; 313. a guide rail; 314. driving the slide block; 320. a lead screw lifting assembly; 321. a lifting motor; 322. a lead screw; 323. a nut seat;

1. a first axis; 2. a second axis; 3. a third axis.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

It will be understood that when an element is referred to as being "secured to" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used in the description of the present application are for illustrative purposes only and do not represent the only embodiments.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact via an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the description of the present application, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 14, in the present application, firstly, an integrated motor is provided, in which an integrated motor 21 includes a housing 211, a driving portion 212 and a speed reducing portion 213, the driving portion 212 and the speed reducing portion 213 are both disposed in the housing 211, and an output end of the speed reducing portion 213 is connected to a load portion 25 through a flexible portion 24; the integrated motor 21 is driven by the output torque of the driving part 212

To the output end position of the driving part 212

Transfer function of (2)

(ii) a The integrated motor 21 is driven by the output torque of the driving part 212

To the position of the load part 25

Transfer function of

(ii) a And anti-resonant frequency

(ii) a Resonant frequency

(ii) a Load to inertia ratio

(ii) a Wherein the content of the first and second substances,

as a function of the position of the output of the drive section 212,

as a function of the output torque of the drive portion 212,

in order to be the inertia of the driving portion 212,

as a function of the position of the load portion 25, n is the reduction ratio of the reduction portion 213, K is the stiffness of the flexible portion 24,

r is the inertia of the load portion 25 and R is the damping of the flexible portion 24.

The mechanical transmission process of the integrated motor 21 can be analyzed by being divided into three parts, namely the integrated motor 21, the flexible part 24 and the load part 25, wherein the flexible part 24 is used for flexibly connecting the integrated motor 21 and the load part 25; the mechanical parts of the integrated machine 21 and the dynamic response of the load portion 25 can be viewed approximately as an inertia and damping system, both coupled by the flexible portion 24; the flexible portion 24 is approximately a spring damping system with stiffness K and damping D, and the dynamic equation of the integrated motor 21 can be expressed as follows:

；

；

。

wherein the content of the first and second substances,

、

and

inertia, load inertia, motor damping, and load damping of the integrated motor 21, respectively;

、

respectively, the output torque of the integrated motor 21, the received torque and the external load torque,

and

respectively the output end position of the driving portion 212 and the position of the loading portion 25,𝑛is a reduction gear ratio. Based on the dynamic model, the motor back electromotive force and the damping introduced by the speed reducer

And𝐷the output torque from the integrated motor 21 can be obtained

To the driverOutput end position of the movable portion 212

And the position of the load part 25

The transfer functions of (a) are:

；

。

the control of the integrated motor 21 can be realized by the above transfer function.

In addition, when the motor and the speed reducer are integrally designed, if the resonant frequency is not the same

Anti-resonant frequency

And load to inertia ratio

The optimal matching of inertia cannot be obtained due to the adjustment of the parameters, and the dynamic characteristic and the motion output precision of the whole driving system are influenced.

In particular, on the one hand, the anti-resonance frequency due to the reduction gear under load

Is generally not high (around 10 Hz), and cannot achieve the fast response of the integral motor 21 if only the control bandwidth ahead of the antiresonance frequency is utilized; on the other hand, if the resonant and anti-resonant frequencies are too close, the phase of the frequency response will change dramatically within a certain frequency range; in a third aspect, the load changes, resonances,In the case of anti-resonant frequency drift, the presence of a combination filter (not shown) can cause system instability.

By shifting the resonance frequency

Anti-resonant frequency

And load to inertia ratio

The three components are in anti-resonance frequency

Resonant frequency of

And load inertia ratio

The relationship of (A) is configured, namely the anti-resonance frequency in the integrated design of the motor and the speed reducer can be completed

To increase the resonant frequency

And anti-resonant frequency

The gap between them facilitates high bandwidth control of the subsequent drive and compliance control of the roller 22.

Referring to fig. 1 to 4, the present application further provides a driving device for a forklift, which includes a box 10, two driving structures 20, and a connecting structure 30; the two driving structures 20 are arranged on the box body 10, each driving structure 20 comprises the integrated motor 21 and a roller 22 driven by the integrated motor 21, and the roller 22 is rotatably connected with the box body 10 by taking the third axis 3 as a rotation center; the connection structure 30 connects the box 10 and the body 100 of the forklift so that the box 10 can rotate relative to the body 100 about a first axis 1 as a rotation center, the first axis 1 being perpendicular to the horizontal plane, and the third axis 3 being perpendicular to the first axis 1.

The two integrated motors 21 respectively drive one roller 22, so that the rotating speeds of the two rollers 22 can be respectively controlled; since the connection structure 30 connects the box 10 and the forklift body 100 so that the box 10 can rotate about the first axis 1 with respect to the forklift body 100, the box 10 and the roller 22 can rotate about the first axis 1 by controlling the two rollers 22 to rotate at a different speed, and thus the force acting on the roller 22 during the different speed rotation can be controlled to rotate the box 10 and the roller 22 about the first axis 1, thereby completing the steering of the driving apparatus.

In the application, an independent additional steering motor is not required to be arranged, the two integrated motors 21 are used for driving to advance under most conditions, and the two integrated motors 21 rotate at a differential speed when steering is required, so that the steering of the driving device is realized, and the working efficiency of the integrated motors 21 is greatly improved; in addition, because the mode of controlling the driving device direction is adopted in the application to realize the steering of the forklift, after the driving device is controlled to steer as required, the omnidirectional movement can be realized, compared with the traditional differential steering, the required turning radius is small, and the use requirement of narrow terrains can be met.

Referring to fig. 2 and fig. 3, in some embodiments, the connecting structure 30 includes a movable seat 31, the movable seat 31 is rotatably connected to the vehicle body 100 by taking the first axis 1 as a rotation center, and the movable seat 31 is further connected to the box 10, so that the box 10 and the movable seat 31 can rotate around the first axis 1 relative to the vehicle body 100.

In some embodiments, the connecting structure 30 further includes a connecting seat 34, an encoder stationary disc 35 and an encoder movable disc 36, the connecting seat 34 is fixedly disposed on the vehicle body 100, the movable seat 31 and the connecting seat 34 are rotatably connected by taking the first axis 1 as a rotation center, the encoder stationary disc 35 is fixedly disposed on the connecting seat 34, and the encoder movable disc 36 is fixedly disposed on the movable seat 31 and corresponds to the encoder stationary disc 35; can detect the rotation of encoder driving disk 36 through the quiet dish 35 of encoder to detect and obtain the turned angle and the rotation quick-freeze of sliding seat 31 and box 10, and then realize the high accuracy control that turns to rotary device.

In some embodiments, the movable seat 31 has a wire passing hole (not shown) through along the axial direction of the supporting shaft 33, and the wire passing hole is located between the supporting shaft 33 and the connecting seat 34, so that a cable can pass through the wire passing hole, and it is ensured that the cable of the integrated motor 21 is not wound in the steering process of the driving device.

Referring to fig. 2, 3 and 5, in some embodiments, the connecting structure 30 further includes a fixing base 32 and a supporting shaft 33; fixing base 32 sets firmly in box 10, and back shaft 33 sets up along 2 directions on the second axis, and the sliding seat 31 passes through back shaft 33 and the rotatable connection of fixing base 32, and first axis 1,

second axis

2 and 3 two liang of verticals on the third axis.

Because the fixed seat 32 is rotatably connected with the movable seat 31 through the support shaft 33, the fixed seat 32 is fixedly arranged on the box body 10, and the roller 22 and the box body 10 can rotate relative to the movable seat 31 by taking the second axis 2 as a rotation center; when the driving device runs to uneven road conditions, the two rollers 22 can rotate by taking the second axis 2 as a rotation center under the action of the extrusion force of the ground to the two rollers, and the contact area between the rollers 22 and the ground is maximized through the self-adaptive adjustment of the rollers 22 to different terrains, so that the controllability of the driving device is improved.

Referring to fig. 6, in some embodiments, the integrated motor 21 includes a housing 211, a driving portion 212 and a decelerating portion 213, wherein the driving portion 212 and the decelerating portion 213 are disposed in the housing 211; the driving portion 212 includes a first rotating shaft 212a, the decelerating portion 213 includes a second rotating shaft 213a, the driving portion 212 can drive the first rotating shaft 212a to rotate, the rotation of the first rotating shaft 212a is decelerated by the decelerating portion 213 and then output by the second rotating shaft 213a, and the first rotating shaft 212a and the second rotating shaft 213a are coaxially disposed and are parallel to the third axis 3.

The reduction unit 213 and the driving unit 212 are integrally designed, that is, both the driving unit 212 and the reduction unit 213 are installed inside the housing, so that the integrated motor 21 can be compact and light.

Specifically, the driving unit 212 further includes a stator 212b fixed to the housing 211 and a rotor 212c fixed to the first rotating shaft 212a, and the stator 212b can drive the rotor 212c to rotate around the axis of the first rotating shaft 212a and rotate the first rotating shaft 212a after being energized.

As shown in fig. 7 and 8, in some embodiments, the speed reducer 213 further includes a central wheel 213b, a planet carrier 213c, a plurality of planet wheels 213d, and an annular ring gear 213e, the central wheel 213b is fixed to the first rotating shaft 212a and is engaged with each planet wheel 213d, the planet wheel 213d is rotatably connected to the planet carrier 213c by using its own axis as a rotation central axis, the planet carrier 213c is rotatably connected to the housing 211 by using the axis of the first rotating shaft 212a as the rotation central axis, each planet wheel 213d is engaged with the annular ring gear 213e, the annular ring gear 213e is fixed to the housing 211, and the second rotating shaft 213a is fixed to the planet carrier 213c.

The first rotating shaft 212a can drive each planetary gear 213d to rotate around its own axis through the central gear 213b, and since the annular ring gear 213e engaged with each planetary gear 213d is fixed to the housing 211, each planetary gear 213d tends to revolve around the axis of the first rotating shaft 212a along with the engagement between each planetary gear 213d and the annular ring gear 213e, and since the planet carrier 213c is rotationally connected to the housing 211 around the axis of the first rotating shaft 212a, the rotation of each planetary gear 213d drives the planet carrier 213c to rotate around the first rotating shaft 212a, thereby driving the second rotating shaft 213a to rotate.

Specifically, the planet carrier 213c is divided into an upper portion and a lower portion, the upper portion and the lower portion are rotatably connected with the housing 211 through bearings respectively, the lower portion is provided with a through hole for the first rotating shaft 212a to penetrate through, the second rotating shaft 213a is fixedly arranged on the upper portion, in addition, the upper portion and the lower portion are fixedly connected through a plurality of planet wheel shafts 213f, the planet wheel shafts 213f are circumferentially arranged by taking the axis of the first rotating shaft 212a as a center, and each planet wheel shaft 213f is rotatably connected with a planet wheel 213d through a bearing.

It is understood that the central wheel 213b may be a gear engaged with the planet wheel 213d, or may be in other forms, such as a tooth portion disposed on an outer peripheral wall of the first rotating shaft 212a, as long as it can engage with the planet wheel 213d and drive the planet wheel 213d to rotate, and the present application is not limited in this respect.

Further, the central gear 213b, the planet gear 213d, and the annular ring gear 213e are not limited to gears, and may be a friction gear, a cycloid gear, or a cam, which are commonly used transmission structures, as long as speed reduction transmission can be achieved, and the present application is also not specifically limited herein.

In some embodiments, the speed reducing portion 213 includes three planetary wheels 213d, and the three planetary wheels 213d are circumferentially and evenly distributed around the axis of the first rotating shaft 212 a.

Referring to fig. 9, in some embodiments, the driving structures 20 further include transmission assemblies 23, the integrated motor 21 can drive the roller 22 to rotate through the transmission assemblies 23, each driving structure 20 is L-shaped, two driving structures 20 are disposed in a quadrilateral shape, and the connecting structure 30 is disposed inside the quadrilateral shape.

It will be appreciated that the drive assembly 23 is the flexible portion 24 in this embodiment and the roller 22 is the load portion 25 in this embodiment.

By arranging the connecting structure 30 inside the quadrangle surrounded by the driving structure 20, the box 10 of the driving device can be made as compact as possible while keeping the regular shape, thereby reducing the processing difficulty of the box 10 and reducing the volume of the driving device as much as possible.

Referring to fig. 4, the present application further provides a forklift including a body 100, a fork plate 200, a lifting device 300, and four driving devices, where the lifting device 300 and the driving devices are both disposed on the body 100, the fork plate 200 is disposed on the lifting device 300, and the lifting device 300 can drive the fork plate 200 to ascend and descend.

As shown in fig. 10 to 12, in some embodiments, the lifting device 300 includes a slider lifting assembly 310, the slider lifting assembly 310 includes a connecting rod 311, a fixing shaft 312, a guide rail 313 and a driving slider 314, the fork 200 and the car body 100 are both fixedly provided with the guide rail 313, the guide rail 313 is arranged along the length direction of the fork 200, each guide rail 313 is slidably connected with one driving slider 314, each driving slider 314 is rotatably connected with one connecting rod 311, the other end of the connecting rod 311 connected with the driving slider 314 of the fork 200 is rotatably connected with the car body 100, the other end of the connecting rod 311 connected with the driving slider 314 of the car body 100 is rotatably connected with the fork 200, and the fixing shaft 312 is located at the intersection of the two connecting rods 311 and is rotatably connected with both connecting rods 311.

By driving the sliding block 314 to translate along the guide rail 313, the two connecting rods 311 rotate around the connection point of the two connecting rods with the fork plate 200 or the vehicle body 100, so that the fork plate 200 is lifted and lowered relative to the vehicle body 100.

Referring to fig. 13, in some embodiments, the lifting device 300 includes a lead screw lifting assembly 320, the lead screw lifting assembly 320 includes a lifting motor 321, a lead screw 322, and a nut seat 323, the lifting motor 321 is disposed on the vehicle body 100 and can drive the lead screw 322 to rotate, the lead screw 322 is disposed parallel to the first axis 1 and is in threaded connection with the nut seat 323, and the nut seat 323 is fixedly disposed on the fork 200.

Through lead screw 322 and nut seat 323 threaded connection, have the auto-lock characteristic on the one hand, can keep the auto-lock state after the outage, avoid fork plate 200 to lose the power back and drop, increase fork truck's security, on the other hand can restrict fork plate 200's removal degree of freedom for fork plate 200 only can go up and down along vertical direction, so that the operation of slider lifting subassembly 310.

In some embodiments, the lead screw lifting assembly 320 further includes a worm gear fixedly mounted to the output shaft of the lifting motor 321, and a worm gear fixedly mounted to the lead screw 322 and engaged with the worm gear; the worm gear has the auto-lock characteristic equally, can keep the auto-lock state when the outage, avoids dropping behind fork board 200 the power that loses, further increases fork truck's security.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several implementation modes of the present application, and the description thereof is specific and detailed, but not construed as limiting the scope of the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A drive device for a forklift truck, characterized by comprising a box (10), two drive structures (20) and a connecting structure (30);

the two driving structures (20) are arranged on the box body (10), each driving structure (20) comprises an integrated motor (21) and a roller (22) driven by the integrated motor (21), and the roller (22) is rotationally connected with the box body (10) by taking a third axis (3) as a rotation center;

the integrated motor (21) comprises a shell (211), a driving part (212) and a speed reducing part (213), wherein the driving part (212) and the speed reducing part (213) are both arranged in the shell (211), and the output end of the speed reducing part (213) is connected with a load part (25) through a flexible part (24);

the integrated motor (21) is driven by the output torque of the drive unit (212)

To the output end position of the driving part (212)

Satisfy the transfer function

Wherein, in the step (A),

To the position of the load part (25)

Satisfy the transfer function

Wherein, in the step (A),

；

and anti-resonant frequency

(ii) a Resonant frequency

(ii) a Load to inertia ratio

；

Wherein, the first and the second end of the pipe are connected with each other,

as a function of the position of the output of the drive (212),

as a function of the output torque of the drive (212),

is the inertia of the driving part (212),

is a function of the position of the load portion (25), n is the reduction ratio of the reduction portion (213), K is the stiffness of the flexible portion (24),

is the inertia of the load portion (25), R is the damping of the flexible portion (24);

the connection structure (30) connects the box body (10) and the forklift body (100) so that the box body (10) can rotate relative to the forklift body (100) with a first axis (1) as a rotation center, the first axis (1) is perpendicular to a horizontal plane, and the third axis (3) is perpendicular to the first axis (1).

2. The driving device according to claim 1, wherein the driving portion (212) includes a first rotating shaft (212 a), the decelerating portion (213) includes a second rotating shaft (213 a), the driving portion (212) can drive the first rotating shaft (212 a) to rotate, the rotation of the first rotating shaft (212 a) is decelerated by the decelerating portion (213) and then output by the second rotating shaft (213 a), and the first rotating shaft (212 a) and the second rotating shaft (213 a) are coaxially arranged and are parallel to a third axis (3).

3. The driving apparatus according to claim 2, wherein the decelerating portion (213) further includes a central wheel (213 b), a planet carrier (213 c), a plurality of planet wheels (213 d), and an annular ring gear (213 e), the central wheel (213 b) is fixed to the first rotating shaft (212 a) and is simultaneously engaged with each planet wheel (213 d), the planet wheels (213 d) are rotatably connected to the planet carrier (213 c) with their axes as a rotation central axis, the planet carrier (213 c) is rotatably connected to the housing (211) with the axis of the first rotating shaft (212 a) as a rotation central axis, each planet wheel (213 d) is engaged with the annular ring gear (213 e), the annular ring gear (213 e) is fixed to the housing (211), and the second rotating shaft (213 a) is fixed to the planet carrier (213 c).

4. The drive device according to claim 1, characterized in that the connecting structure (30) comprises a movable seat (31), the movable seat (31) is rotatably connected with the vehicle body (100) by taking the first axis (1) as a rotation center, and the movable seat (31) is further connected with the box body (10).

5. The drive device according to claim 4, characterized in that the connecting structure (30) further comprises a fixed seat (32) and a supporting shaft (33); fixing base (32) set firmly in box (10), back shaft (33) set up along second axis (2) direction, sliding seat (31) are passed through back shaft (33) with fixing base (32) rotatable connection, first axis (1) second axis (2) and third axis (3) two liang of perpendicular.

6. The driving device according to claim 1, wherein the driving structure (20) further comprises a transmission assembly (23), the integrated motor (21) can drive the roller (22) to rotate through the transmission assembly (23), each driving structure (20) is L-shaped, two driving structures (20) are arranged in a quadrilateral shape, and the connecting structure (30) is arranged in the quadrilateral shape.

7. A forklift, characterized by comprising a vehicle body (100), a fork plate (200), a lifting device (300) and four driving devices according to any one of claims 1-6, wherein the lifting device (300) and the driving devices are both arranged on the vehicle body (100), the fork plate (200) is arranged on the lifting device (300), and the lifting device (300) can drive the fork plate (200) to lift.

8. The forklift as claimed in claim 7, wherein the lifting device (300) comprises a slider lifting assembly (310), the slider lifting assembly (310) comprises connecting rods (311), a fixed shaft (312), guide rails (313) and driving sliders (314), the guide rails (313) are fixedly arranged on the fork plate (200) and the forklift body (100), the guide rails (313) are arranged along the length direction of the fork plate (200), each guide rail (313) is slidably connected with one driving slider (314), each driving slider (314) is rotatably connected with one connecting rod (311), the other end of the connecting rod (311) connected with the driving slider (314) on the fork plate (200) is rotatably connected with the forklift body (100), the other end of the connecting rod (311) connected with the driving slider (314) on the forklift body (100) is rotatably connected with the fork plate (200), the fixed shaft (312) is positioned at the intersection of the two connecting rods (311) and is rotatably connected with the two connecting rods (311).

9. The lift truck of claim 7, wherein the lifting device (300) comprises a lead screw lifting assembly (320), the lead screw lifting assembly (320) comprises a lifting motor (321), a lead screw (322) and a nut seat (323), the lifting motor (321) is disposed on the truck body (100) and can drive the lead screw (322) to rotate, the lead screw (322) is disposed parallel to the first axis (1) and is in threaded connection with the nut seat (323), and the nut seat (323) is fixedly disposed on the fork plate (200).

10. The lift truck of claim 9, wherein the lead screw lift assembly (320) further comprises a worm gear fixedly secured to an output shaft of the lift motor (321), and a worm gear fixedly secured to the lead screw (322) and engaged with the worm gear.