CN202641838U - Electric steering control device of electric industrial vehicle - Google Patents
Electric steering control device of electric industrial vehicle Download PDFInfo
- Publication number
- CN202641838U CN202641838U CN 201220288710 CN201220288710U CN202641838U CN 202641838 U CN202641838 U CN 202641838U CN 201220288710 CN201220288710 CN 201220288710 CN 201220288710 U CN201220288710 U CN 201220288710U CN 202641838 U CN202641838 U CN 202641838U
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- steering
- electric
- controller
- motor
- control device
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Abstract
The utility model relates to an electric steering control device of an electric industrial vehicle and aims to provide the electric steering control device of the electric industrial vehicle, which is convenient to operate, and can accurately control the operation speed in a vehicle steering process so as to improve the stability and safety in the vehicle steering process. The technical scheme of the utility model is as follows: the electric steering control device of the electric industrial vehicle comprises an operation handle, an encoder, a driving wheel assembly, a steering motor and a driving motor, wherein the steering motor is used for controlling the driving wheel assembly to move; the encoder is coaxially mounted on a rotary shaft of the operation handle; the electric steering control device is characterized in that a signal output end of the encoder is connected with a steering controller; the steering controller is electrically connected with the steering motor; the driving motor is connected with a driving controller for controlling the rotating speed; and the driving controller is connected with the steering controller through a CAN (Controller Area Network) bus. The electric steering control device is applicable to the electric industrial vehicles including electric forklifts, electric storage vehicles, electric motor tractors and the like.
Description
Technical field
The utility model relates to a kind of electric steering controlling device, and particularly a kind of electric industry vehicle electricity steering controlling device mainly is applicable to the electric industry vehicles such as electri forklift, electronic storage vehicle, electrically propelled traction vehicle.
Background technology
Turning to of traditional electric industry vehicle substantially all is manual steering or hydraulic power-assisted steering, and steering hardware is complicated, can not realize the hand-held design and the particularity that turn to simultaneously.Along with the development of Eltec, electrical steering has some preliminary application, yet in actual mechanical process, because steering angle is excessive, when simultaneously the vehicle gait of march is relatively very fast, causes easily the medium dip of Vehicular turn process even tumble, cause the vehicle crew to damage.
Summary of the invention
The technical problems to be solved in the utility model is: the problem for above-mentioned existence provides a kind of simple in structure, easy to operate electric industry vehicle electricity steering controlling device, running velocity when accurately controlling Vehicular turn, stability and safety during with the raising Vehicular turn.
The technical scheme that the utility model adopts is: electric industry vehicle electricity steering controlling device, comprise operating handle, coder, drive wheel assembly, and the steer motor and the movable motor that are used for the action of control drive wheel assembly; Wherein coder is coaxially installed in the rotating shaft of operating handle, it is characterized in that: the signal output part of described coder connects steering controller, this steering controller is electrically connected with steer motor simultaneously, described movable motor is connected with the traveling controller for its rotating speed of control, and this traveling controller is connected with steering controller by the CAN bus.
Be provided with transmission device between described steer motor and the drive wheel assembly.
Described transmission device comprises intermeshing miniature gears and big gear wheel, and wherein miniature gears is coaxially installed on the output shaft of steer motor, and big gear wheel is fixedly installed on the drive wheel assembly.
Be coaxially installed with position transduser on the described miniature gears, the signal output part of this position transduser is connected with steering controller by signal wire (SW).
The beneficial effects of the utility model are: the utility model is set up steering controller and is connected with movable motor with being connected, and control the traveling controller of its rotating speed, steering controller is connected with traveling controller by the CAN bus simultaneously, be used for the variation of steering angle is sent to traveling controller in real time, realize the related control of vehicle steering angle and Vehicle Speed, namely walk controller according to steering angle and the stability of car body and the security requirement of vehicle when turning to, the max speed that allows during the control Vehicular turn, thereby the stability when greatly having improved Vehicular turn and safety.
Description of drawings
Fig. 1 is structural representation of the present utility model.
The specific embodiment
As shown in Figure 1, present embodiment comprises that operating handle 1, coder 2, steer motor 3, miniature gears 4, big gear wheel 5, drive wheel assembly 6, movable motor 7, this example of steering controller 9(adopt the ZAPI-EPSAC0 controller, also can select Curtis1222 controller or Danaher ACD controller) and this example of traveling controller 10(employing ZAPI-AC1 controller, also can select Curtis-1236 controller or Danaher ACS controller); Wherein coder 2 is coaxially installed in the rotating shaft of operating handle 1; Miniature gears 4 is coaxially installed on the output revolving shaft of steer motor 3, and big gear wheel 5 is captiveed joint with drive wheel assembly 6, and the power that miniature gears 4 is meshed with big gear wheel 5 steer motor 3 reaches drive wheel assembly 6, turns to realizing; Described drive wheel assembly 6 is connected with movable motor 7 simultaneously, to realize the walking of vehicle; Steering controller 9 is connected with coder 2 by signal wire (SW), is used for the signal that received code device 2 transmits; Steering controller 9 is connected with steer motor 3 with cable by signal wire (SW), is used for the work of control steer motor 3; Traveling controller 10 is connected with movable motor 7 with cable by signal wire (SW), is used for the rotating speed of control movable motor 7; Steering controller 9 is connected with traveling controller 10 by multiple twin CAN bus, for the variation real-time Transmission of steering angle to traveling controller 10.
Be coaxially installed with the position transduser 8 that rotates synchronously with it on the described miniature gears 4, the signal output part of this position transduser is connected with steering controller 9 by signal wire (SW).At this moment, coder 2, steer motor 3, position transduser 8, steering controller 9 form the control system of a closed loop, the steering order that coder 2 sends is diverted the rear while of motor 3 execution by position transduser 8 detections and feeds back to steering controller 9 revises adjustment, accurately controls the synchronous execution that turns to.
The principle of work of present embodiment is as follows: rotate steering operation handle 1, driving coder 2 rotates, coder 2 sends two-way orthogonal pulses signal 1A, 2A, 1B, 2B is to steering controller 9, steering controller 9 is according to the 1A that receives, 2A, 1B, positive and negative and the change frequency of 2B impulse singla calculates the hand of rotation that steer motor 3 should be exported, the rotating cycle of rotating speed and steer motor 3, and drive steer motor 3 by the hand of rotation of calculating, (this performance at vehicle is exactly the steering direction of vehicle for rotating speed and rotating cycle rotation, speed and steering angle), the output revolving shaft of steer motor 3 is successively by miniature gears 4, big gear wheel 5 drives drive wheel assembly 6 and rotates, and realizes the electric powered steering of vehicle.Simultaneously miniature gears 4 also drives position transduser 8 and rotates synchronously, utilizes position transduser 8 to detect steering state, and feeds back to steering controller 9 and revise adjustment, accurately controls to turn to.
Simultaneously, steering controller 9 sends to traveling controller 10 by multiple twin CAN bus in real time with the variation of steering angle, the security requirement of the stability of car body and vehicle during according to Vehicular turn, at Ackermann steer angle, curve by drive wheel steering angle (the namely steering angle of vehicle) the VS maximum travelling speed of setting, the max speed that traveling controller 10 will allow according to the size control of vehicle steering angle, stability and safety during with the raising Vehicular turn.
Claims (4)
1. an electric industry vehicle electricity steering controlling device comprises operating handle (1), coder (2), drive wheel assembly (6), and the steer motor (3) and the movable motor (7) that are used for control drive wheel assembly (6) action; Wherein coder (2) is coaxially installed in the rotating shaft of operating handle (1), it is characterized in that: the signal output part of described coder (2) connects steering controller (9), this steering controller is electrically connected with steer motor (3) simultaneously, described movable motor (7) is connected with the traveling controller (10) for its rotating speed of control, and this traveling controller is connected with steering controller (9) by the CAN bus.
2. electric industry vehicle electricity steering controlling device according to claim 1 is characterized in that: be provided with transmission device between described steer motor (3) and the drive wheel assembly (6).
3. electric industry vehicle according to claim 2 electricity steering controlling device, it is characterized in that: described transmission device comprises intermeshing miniature gears (4) and big gear wheel (5), wherein miniature gears (4) is coaxially installed on the output shaft of steer motor (3), and big gear wheel (5) is fixedly installed on the drive wheel assembly (6).
4. electric industry vehicle according to claim 3 electricity steering controlling device, it is characterized in that: be coaxially installed with position transduser (8) on the described miniature gears (4), the signal output part of this position transduser is connected with steering controller (9) by signal wire (SW).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220288710 CN202641838U (en) | 2012-06-19 | 2012-06-19 | Electric steering control device of electric industrial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220288710 CN202641838U (en) | 2012-06-19 | 2012-06-19 | Electric steering control device of electric industrial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202641838U true CN202641838U (en) | 2013-01-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220288710 Expired - Lifetime CN202641838U (en) | 2012-06-19 | 2012-06-19 | Electric steering control device of electric industrial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202641838U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103359659A (en) * | 2013-06-24 | 2013-10-23 | 安徽威玛重型机械制造有限公司 | Control system of fork truck |
-
2012
- 2012-06-19 CN CN 201220288710 patent/CN202641838U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103359659A (en) * | 2013-06-24 | 2013-10-23 | 安徽威玛重型机械制造有限公司 | Control system of fork truck |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: HANGZHOU HANGCHA ELECTRIC APPLIANCE CO., LTD. Effective date: 20131121 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20131121 Address after: 311305 Ling'an Economic Development Zone, Zhejiang, East Ring Road, No. 88, No. Patentee after: Hangcha Group Co., Ltd. Patentee after: Hangzhou Hangcha Electric Appliance Co., Ltd. Address before: 311305 Ling'an Economic Development Zone, Zhejiang, East Ring Road, No. 88, No. Patentee before: Hangcha Group Co., Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130102 |