CN201626476U - Electronic control steering device of forklift - Google Patents
Electronic control steering device of forklift Download PDFInfo
- Publication number
- CN201626476U CN201626476U CN2010201014780U CN201020101478U CN201626476U CN 201626476 U CN201626476 U CN 201626476U CN 2010201014780 U CN2010201014780 U CN 2010201014780U CN 201020101478 U CN201020101478 U CN 201020101478U CN 201626476 U CN201626476 U CN 201626476U
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- fork truck
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Abstract
The utility model discloses an electronic control steering device of a forklift, having the advantages of low cost and low power consumption. The device consists of a steering handle (1), a steering shaft (3), a steering wheel (4), a steering wheel shaft (15), a DC motor (7), a steering controller (6), a gear box (9), a first transmission mechanism, a second transmission mechanism, a first sensor (5), a second sensor (8) and a third sensor (10). The steering controller (6) is connected with a DC power supply on the forklift. The first sensor (5) is fixed on the forklift body and connected with the lower part of the steering shaft (3) by the second transmission mechanism. The second sensor (8) is fixed on the DC motor (7) and fixedly connected with a rotating shaft (7.1). The third sensor (10) is arranged between the forklift body and the driven wheel of the second transmission mechanism. The first sensor (5), the DC motor (7), the second sensor (8) and the third sensor (10) are all electrically connected with the steering controller (6).
Description
Technical field
The utility model relates to a kind of electronic control package of Vehicular turn operation, specifically is a kind of electronically controlled steering device that is used for fork truck.
Background technology
Along with improving constantly of industrial automatization, people have higher requirement for comfort type, safety, the reliability of vehicular drive.Particularly some carrying vehicles are all the more so, because the goods that need carry of these vehicles is heavier, if realizing with the steering structure of operating machine only, then not only require great effort, and when the road traveling that relatively jolts, operating handle is easy to double swerve, causes vehicle to be difficult to control.
Announced the article of the application of one piece of electrical power steering control setup by name on electri forklift on China's mechanical engineer periodical, this steering hardware by bearing circle, stepping motor, interchange steering controller, three-phase induction motor, turn to change speed gear box, angle position sensor, AC driven motor and wheel flutter to form.And this steering hardware can also be realized the coordinated control of complete machine by other control module real-time exchange of CAN bus and fork truck.Its working process is: after chaufeur sends operating order, be contained in converting thereof into electric signal (as the main signal that makes) and being sent in the control of stepping motor on the steering tiller.The corner potential device of the output shaft by being connected the steering gear gear case detects the location information of wheel flutter, and by the sensor rotating speed of motor and the direction of induction motor, controller is controlled electrical motor according to both feedback signals simultaneously.There is following defective in the electrical power steering control setup of said structure in the use of reality:
1, because existing electri forklift is a DC power supply, and this steering controlling device adopts the source of AC of alternating current dynamo, three-phase induction motor etc., therefore existing steering controlling device re-uses after need adopt inverter that direct current (DC) is converted to alternating current, because the loss of inverter is very big, therefore this has not only increased the power consumption of steering controlling device to a certain extent, and has increased the cost of steering controlling device to a certain extent.
2, owing to existing steering controlling device is made of stepping motor, interchange steering controller, three-phase induction motor, angle position sensor, AC driven motor etc., wherein motor (as stepping motor) is used as sensor, therefore further increased the cost of steering controlling device.
The utility model content
The technical problems to be solved in the utility model is, overcomes the defective of above prior art, and the electronically controlled steering device that is used for fork truck that a kind of cost is low and power consumption is few is provided.
The technical solution of the utility model is, a kind of electronically controlled steering device that is used for fork truck is provided, and it comprises steering tiller, steering shaft, steering wheel, direction wheel shaft, motor, steering controller, gear case and first transmission device that is installed on the fork truck car body; Described steering tiller is captiveed joint with the top of steering shaft; The upper end of described direction wheel shaft and fork truck car body are rotationally connected, and captive joint with steering wheel in the lower end of described direction wheel shaft; The rotating shaft of described motor is connected with the input shaft of gear case; The output shaft of described gear case is captiveed joint with the driving wheel of first transmission device; The follower of described first transmission device is captiveed joint with the direction wheel shaft, and it also comprises second transmission device, detects the first sensor of the steering shaft anglec of rotation, second sensor that detects the machine shaft hand of rotation and the 3rd sensor of definite steering wheel position; Described motor is a DC machine; Described steering controller is connected with direct supply on the fork truck; Described first sensor is fixed on the fork truck car body; Described first sensor also is connected with the bottom of steering shaft by second transmission device; Described second sensor is fixed on the DC machine; Described second sensor is also captiveed joint with rotating shaft; Described the 3rd sensor is located between the follower of the fork truck car body and second transmission device; Described first sensor, DC machine, second sensor, the 3rd sensor all are electrically connected with steering controller.
After adopting above structure, the utility model compared with prior art has the following advantages:
1,, can be directly be connected with direct supply on the electri forklift because the utility model electronically controlled steering device adopts DC power supply.In this device, after being converted to alternating current with direct current (DC), the device that need not to adopt direct current to deliver stream re-uses.Therefore not only reduced the power consumption of steering controlling device to a certain extent, increased the period of service of fork truck, and reduced the cost of steering controlling device to a certain extent.
2, because the utility model electronically controlled steering device first sensor, with formations such as direct supply bonded assembly steering controller, DC machine, second sensor, gear case and the 3rd sensor, adopt more sensor to replace motor.Therefore the cost of the utility model electronically controlled steering device is able to further very low.
As improvement, described first sensor is first magnetic rotary encoder and first magnet steel, because first magnetic rotary encoder and first magnet steel are contactless, therefore can increase the service life and the functional reliability of the utility model electronically controlled steering device so greatly.
As further improvement, described second sensor is second magnetic rotary encoder and second magnet steel, because second magnetic rotary encoder and second magnet steel are contactless, therefore can further increase the service life and the functional reliability of the utility model electronically controlled steering device like this.
As further improving again, described the 3rd sensor be inductance type NPN or positive-negative-positive near switch, have the advantages that cost is low, functional reliability is high.Therefore can further reduce the utility model electronically controlled steering device cost, improve its functional reliability.
As further improving, described DC machine is a brush direct current motor.Because DC machine has advantages such as control is simple, load characteristic is good, thus can further reduce again the utility model electronically controlled steering device cost, improve its functional reliability.
Description of drawings
Fig. 1 is the structural representation that the utility model is used for the electronically controlled steering device of fork truck.
Fig. 2 is the circuit block diagram of steering controller.
This utility model of Fig. 3 is used for the principle of work diagram of circuit of the electronically controlled steering device of fork truck.
Shown in the figure 1, steering tiller, the 2, the 4th gear, 3, steering shaft, 4, steering wheel, 5, first sensor, 5.1, first magnetic rotary encoder, 5.2, first magnet steel, 6, steering controller, 7, DC machine, 7.1, rotating shaft, 8, second sensor, 8.1, second magnetic rotary encoder, 8.2, second magnet steel, 9, gear case, 10, the 3rd sensor, 10.1, near switch, 10.2, detect iron block, 11, first gear, 12, axle, 13, second gear, the 14, the 3rd gear, 15, the direction wheel shaft.
The specific embodiment
The utility model is described in further detail below in conjunction with the drawings and specific embodiments.
As shown in Figure 1, a kind of electronically controlled steering device that is used for fork truck of the utility model, it comprises the steering tiller 1 that is installed on the fork truck car body (it can bearing circle, operating handle etc.), steering shaft 3, steering wheel 4, direction wheel shaft 15, motor, steering controller 6, gear case 9 and first transmission device; Described steering tiller 1 is captiveed joint with the top of steering shaft 3, adopts welding or bolted connection etc.; The upper end of described direction wheel shaft 15 and fork truck car body are rotationally connected, and captive joint with steering wheel 4 in the lower end of described direction wheel shaft 15, make rotation direction wheel shaft 15 can drive steering wheel 4 and rotate; Described machine shaft 7.1 is connected with the input shaft of gear case 9, adopts coupler or other connection modes to connect; The output shaft of described gear case 9 is connected with the driving wheel of first transmission device; The follower of described first transmission device is captiveed joint with direction wheel shaft 15, adopts key to connect.More than be prior art of the present utility model, its inventive point is as follows:
The described electronically controlled steering device that is used for fork truck also comprises second transmission device, detect the first sensor 5 of steering shaft 3 anglecs of rotation, detect the motor shaft hand of rotation second sensor 8, determine the 3rd sensor 10 of steering wheel position; Described motor is a DC machine 7; Described steering controller 6 is connected with direct supply on the fork truck; Described first sensor 5 is our common angular transducer, can adopt Magnetic Sensor or opto-electronic pickup; Described first sensor 5 is fixed on the fork truck car body; Described first sensor 5 is connected with steering shaft 3 by second transmission device; Described second sensor 8 is our common angular transducer, can adopt Magnetic Sensor or opto-electronic pickup; Described second sensor 8 is fixed on the DC machine 7; Described second sensor 8 is connected with the rotating shaft 7.1 of DC machine 7; Described the 3rd sensor 10 is located between the follower of the fork truck car body and second transmission device; Described first sensor 5, DC machine 7, second sensor 8, the 3rd sensor 10 all are electrically connected with steering controller 6.
Described first transmission device comprises intermeshing the 3rd gear 14 and the 4th gear 2, and described the 3rd gear 14 is the driving wheel of first transmission device; Described the 3rd gear 14 is captiveed joint with the output shaft of gear case 9, and it is spacing that employing flat key or other connection modes are carried out circumferential and axial; Described the 4th gear 2 is the follower of first transmission device; Described the 4th gear 2 is captiveed joint with the middle part of direction wheel shaft 15, and it is spacing that employing flat key or other connection modes are carried out circumferential and axial.
Described second transmission device comprises axle 12, intermeshing first gear 11 and second gear 13, and described first gear 11 is captiveed joint with the bottom of steering shaft 3, and it is spacing that employing flat key or other connection modes are carried out circumferential and axial; One end of described axle 12 is captiveed joint with first sensor 5, and the other end of described axle 12 is captiveed joint with second gear 13, and it is spacing that employing flat key or other connection modes are carried out circumferential and axial.
Described first sensor 5 comprises first magnetic rotary encoder 5.1 and first magnet steel 5.2, generally be located in the housing, distance between described first magnetic rotary encoder 5.1 and first magnet steel 5.2 is 1mm-1.5mm, first magnetic rotary encoder 5.1 is fixed in the housing, first magnet steel 5.2 is rotationally connected with housing, promptly first magnet steel can rotate in housing, and housing is provided with through hole, and rotating shaft can be connected with first magnet steel 5.2 by this through hole.Wherein, first magnet steel 5.2 is that a diameter is approximately the circular magnet steel that 5mm thickness is 3mm; Distance between described first magnetic rotary encoder 5.1 and first magnet steel 5.2 is 1mm-1.5mm, and described first magnet steel 5.2 welds with an end of axle 12; Described first magnetic rotary encoder 5.1 is connected with the fork truck car body, promptly is connected with the fork truck car body by fixed link or fixed mount, first magnetic rotary encoder 5.1 is maintained static get final product.
Described second sensor 8 comprises second magnetic rotary encoder 8.1 and second magnet steel 8.2, generally be located in the housing, distance between described second magnetic rotary encoder 8.1 and first magnet steel 8.2 is 1mm-1.5mm, second magnetic rotary encoder 8.1 is fixed in the housing, second magnet steel 8.2 is rotationally connected with housing, promptly second magnet steel can rotate in housing, and housing is provided with through hole, and rotating shaft can be connected with second magnet steel 8.2 by this through hole.Second magnet steel 8.2 is that a diameter is approximately the circular magnet steel that 5mm thickness is 3mm; Distance between described second magnetic rotary encoder 8.1 and second magnet steel 8.2 is 1mm-1.5mm, and described second magnet steel 8.2 welds with an end of DC machine 7 output shafts 7.1; Described second magnetic rotary encoder 8.1, maintains static it and gets final product on the housing of DC machine (7) by screw retention.
Described the 3rd sensor 10 comprise inductance type NPN or positive-negative-positive near switch 10.1 and detect iron block 10.2, the edge of the upper surface of the described follower that is welded on second transmission device near switch 10.1, described detection iron block 10.2 is welded on the fork truck body; Also can be the edge of the upper surface of described detection iron block 10.2 follower that is welded on second transmission device, describedly be welded on the fork truck body near switch 10.1; Described detection iron block 10.2 is 1mm-2mm with distance near the inductive head of switch 10.1.Inductive head near switch 10.1 is embedded, and can avoiding on every side, metal object too produces misoperation near it.Determine by its distance of reaction near switch 10.1 distance detecting iron blocks 10.2 height.As the distance near the reliable induction derby of switch is 2mm, and then distance detecting piece 13 may be selected to be 1mm to 1.5mm.When steering wheel 4 directions with respect to car be the dead ahead to the time, during over against the detection iron block 10.2 of below, the direction wheel is in center position near switch 10.1.
As shown in Figure 2, described steering controller 6 comprise with first sensor 5 bonded assembly first sensor signal receiving circuits, with second sensor, 8 bonded assemblys, the second sensor signal acceptor circuit, with the 3rd sensor 10 bonded assemblys the 3rd sensor signal acceptor circuit, microcontroller, fault detector, decision circuit, H bridge driving circuit, executive circuit, with DC machine 7 bonded assembly circuit for controlling motor and the amplifier and the comparator that big current path are detected and protects usefulness; The mouth of the mouth of the mouth of described first sensor signal receiving circuit, the second sensor signal acceptor circuit, the 3rd sensor signal acceptor circuit, the mouth of amplifier all are connected with the input port of microcontroller; The output port of described microcontroller is connected with the input port of fault detector, the input port of decision circuit respectively; The output port of described decision circuit is connected with H bridge driving circuit, executive circuit, circuit for controlling motor successively; The output port of described executive circuit also is connected with the amplifier input terminal mouth; The output port of described amplifier is connected with the input port of comparator; The output port of described comparator is connected with the input port of H bridge driving circuit.
Described DC machine 7 is a brush direct current motor; Described gear case 9 is planetary deceleration gear case, adopts it to obtain bigger moment of torsion with higher speed.Wherein the fork truck car body is because length is limited and not shown in the drawings.
The utility model middle gear belongs to prior art with the concrete mounting structure of axle, has therefore just no longer described in detail at this.Above-described electronics package and circuit all belong to the technology that the product that can sell on the market or industry ordinary skill people know.
As shown in Figure 4, principle of work of the present utility model is: during start, steering controller 6 is at first controlled DC machine 7 always and is rotated the 4th gear 2, when detecting iron block 10.2 and forward below near switch 10.1 to, just this moment, steering wheel 4 was in center position, steering controller 6 just begins to receive from the turn sign of first sensor 5 reaction steering tillers 1 and impels steering wheel 4 to follow the direction of steering tiller, and this is the start self-orientation.In order to locate in the fastest time as far as possible, steering controller 6 is provided with the preceding memory function of steering wheel 4 present positions when once shutting down, steering wheel 4 directions are to be in the left avertence position when shutting down as the last time, and steering controller 6 impels steering wheel 4 right-hand turnings when then starting shooting next time; If the direction of steering wheel 4 is in the right avertence position during last the shutdown, steering controller 6 impels steering wheel 4 left-handed turnings when then starting shooting next time, and the location of so just can avoiding starting shooting sometimes will turn over a nearly circle could success.Steering controller 6 receives in real time from first sensor 5 and reflects the angle information of steering tillers 1 and the impulse singla that second sensor 8 can be converted into the angle of reflection the 4th gear 2, both signal values is transformed into unified numerical relation carries out computing in program; If the angle value of steering tiller 1 is uk after the conversion, the angle value of the 4th gear 2 after the conversion is yk, and above-mentioned two numerical value are subtracted each other, and obtains difference e k; Judge the value of ek, if ek＜0, the direction that steering tiller 1 then is described is on the right of the 4th gear 2, and it is right-hand turning that steering controller 6 control DC machine 7 are transferred the 4th gear 2 left; If ek＞0 then illustrates steering tiller 1 direction on the left side of the 4th gear 2, steering controller 6 control DC machine 7 are transferred the 4th gear 2 left-handed turnings to the right, turn to the direction of following steering tiller 1 all the time to impel the 4th gear 2; Work as ek=0, illustrate that then the direction of steering tiller 1 is consistent with the 4th gear 2 directions, stop motor and rotate.First sensor 5, second sensor 8, the 3rd sensor 10, the signal that is sent is defeated by steering controller 6, convert that microcontroller can be approved the signal of identification to and this is carried out calculation process through each interface circuit of steering controller 6, the PWM ripple that microcontroller sends corresponding dutycycle according to the result of computing carries out signal conditioning by decision circuit and flows to H bridge driving circuit, H bridge driving circuit is in the time of circuit for controlling motor control DC machine 7 rotatings and speed setting, receive simultaneously by amplifier and comparator size of current detection signal by executive circuit, occur excessive as electric current, on the one hand H bridge driving circuit cuts out executive circuit at once so that electric current drops to safety value discharges rapidly again, Here it is so-called hardware protection; Amplifier will detect current signal and be defeated by microcontroller in addition, so that microcontroller is made various Reasonable Protection measure, be referred to as software protection.A fault detector is arranged on the steering controller 6, when device breaks down, can prepare to find the reason of fault rapidly, be convenient to maintenance.
All Design of Mechanical Structure in sum are connected with electric wiring, write the control algorithm of optimization in steering controller 6 programs in addition, thus can assurance device can be efficiently, rapidly, accurately Vehicular turn is controlled.
Claims (8)
1. electronically controlled steering device that is used for fork truck, it comprises steering tiller (1), steering shaft (3), steering wheel (4), direction wheel shaft (15), motor, steering controller (6), gear case (9) and first transmission device that is installed on the fork truck car body; Described steering tiller (1) is captiveed joint with the top of steering shaft (3); The upper end and the fork truck car body of described direction wheel shaft (15) are rotationally connected, and captive joint with steering wheel (4) in the lower end of described direction wheel shaft (15); The rotating shaft of described motor (7.1) is connected with the input shaft of gear case (9); The output shaft of described gear case (9) is captiveed joint with the driving wheel of first transmission device; The follower of described first transmission device is captiveed joint with direction wheel shaft (15), it is characterized in that: it also comprises second transmission device, detects the first sensor (5) of steering shaft (3) anglec of rotation, second sensor (8) that detects machine shaft (7.1) hand of rotation and the 3rd sensor (10) of definite steering wheel (4) position; Described motor is DC machine (7); Described steering controller (6) is connected with direct supply on the fork truck; Described first sensor (5) is fixed on the fork truck car body; Described first sensor (5) also is connected with the bottom of steering shaft (3) by second transmission device; Described second sensor (8) is fixed on the DC machine (7); Described second sensor (8) is also captiveed joint with rotating shaft (7.1); Described the 3rd sensor (10) is located between the follower of the fork truck car body and second transmission device; Described first sensor (5), DC machine (7), second sensor (8), the 3rd sensor (10) all are electrically connected with steering controller (6).
2. the electronically controlled steering device that is used for fork truck according to claim 1, it is characterized in that: described first transmission device comprises intermeshing the 3rd gear (14) and the 4th gear (2), and described the 3rd gear (14) is the driving wheel of first transmission device; Described the 3rd gear (14) is captiveed joint with the output shaft of gear case (9); Described the 4th gear (2) is the follower of first transmission device; Described the 4th gear (2) is captiveed joint with the middle part of direction wheel shaft (15).
3. the electronically controlled steering device that is used for fork truck according to claim 1, it is characterized in that: described second transmission device comprises axle (12), intermeshing first gear (11) and second gear (13), and described first gear (11) is captiveed joint with the bottom of steering shaft (3); One end of described axle (12) is captiveed joint with first sensor (5), and the other end of described axle (12) is captiveed joint with second gear (13).
4. according to claim 1 or the 3 described electronically controlled steering devices that are used for fork truck, it is characterized in that: described first sensor (5) comprises first magnetic rotary encoder (5.1) and first magnet steel (5.2), and the distance between described first magnetic rotary encoder (5.1) and first magnet steel (5.2) is 1mm-1.5mm; Described first magnet steel (5.2) is affixed with an end of axle (12); Described first magnetic rotary encoder (5.1) is affixed with the fork truck car body.
5. the electronically controlled steering device that is used for fork truck according to claim 1, it is characterized in that: described second sensor (8) comprises second magnetic rotary encoder (8.1) and second magnet steel (8.2), distance between described second magnetic rotary encoder (8.1) and second magnet steel (8.2) is 1mm-1.5mm, and described second magnet steel (8.2) is affixed with an end of rotating shaft (7.1); Described second magnetic rotary encoder (8.1) is fixed on the housing of DC machine (7).
6. the electronically controlled steering device that is used for fork truck according to claim 1, it is characterized in that: described the 3rd sensor (10) comprise inductance type NPN or positive-negative-positive near switch (10.1) and detect iron block (10.2), the edge of the upper surface of the described follower that is fixed on second transmission device near switch (10.1), described detection iron block (10.2) is located on the fork truck body, and described detection iron block (10.2) is 1mm-2mm with distance near the inductive head of switch (10.1).
7. the electronically controlled steering device that is used for fork truck according to claim 1 is characterized in that: described DC machine (7) is a brush direct current motor.
8. the electronically controlled steering device that is used for fork truck according to claim 1 is characterized in that: described steering controller (6) comprises and first sensor (5) bonded assembly first sensor signal receiving circuit, with second sensor (8) bonded assembly, the second sensor signal acceptor circuit, with the 3rd sensor (10) bonded assembly the 3rd sensor signal acceptor circuit, microcontroller, fault detector, decision circuit, H bridge driving circuit, executive circuit, with DC machine (7) bonded assembly circuit for controlling motor and the amplifier and the comparator that big current path are detected and protects usefulness; The mouth of the mouth of the mouth of described first sensor signal receiving circuit, the second sensor signal acceptor circuit, the 3rd sensor signal acceptor circuit, the mouth of amplifier all are connected with the input port of microcontroller; The output port of described microcontroller is connected with the input port of fault detector, the input port of decision circuit respectively; The output port of described decision circuit is connected with H bridge driving circuit, executive circuit, circuit for controlling motor successively; The output port of described executive circuit also is connected with the amplifier input terminal mouth; The output port of described amplifier is connected with the input port of comparator; The output port of described comparator is connected with the input port of H bridge driving circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201014780U CN201626476U (en) | 2010-01-20 | 2010-01-20 | Electronic control steering device of forklift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201014780U CN201626476U (en) | 2010-01-20 | 2010-01-20 | Electronic control steering device of forklift |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201626476U true CN201626476U (en) | 2010-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201014780U Expired - Lifetime CN201626476U (en) | 2010-01-20 | 2010-01-20 | Electronic control steering device of forklift |
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| Country | Link |
|---|---|
| CN (1) | CN201626476U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101734280B (en) * | 2010-01-20 | 2011-06-08 | 宁波力达物流设备有限公司 | Electronically controlled steering device for forklift |
| CN102167078A (en) * | 2011-03-17 | 2011-08-31 | 宁波豪迈机械有限公司 | Steering system for electric forklift and transporting equipment |
-
2010
- 2010-01-20 CN CN2010201014780U patent/CN201626476U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101734280B (en) * | 2010-01-20 | 2011-06-08 | 宁波力达物流设备有限公司 | Electronically controlled steering device for forklift |
| CN102167078A (en) * | 2011-03-17 | 2011-08-31 | 宁波豪迈机械有限公司 | Steering system for electric forklift and transporting equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20101110 Effective date of abandoning: 20100120 |