CN211844614U - Steering control device of three-fulcrum multi-directional traveling forklift - Google Patents
Steering control device of three-fulcrum multi-directional traveling forklift Download PDFInfo
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- CN211844614U CN211844614U CN202020238746.7U CN202020238746U CN211844614U CN 211844614 U CN211844614 U CN 211844614U CN 202020238746 U CN202020238746 U CN 202020238746U CN 211844614 U CN211844614 U CN 211844614U
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Abstract
The utility model discloses a three-pivot multidirectional steering control device of fork truck that traveles, including steering wheel and main control unit, be provided with the absolute value encoder in the steering wheel, the absolute value encoder is used for collecting the rotation signal of steering wheel, the absolute value encoder passes through the steering angle of a directive wheel of main control unit control according to mode change-over switch, and the steering angle of two other directive wheels is regulated and control according to the steering angle of the directive wheel that the absolute value encoder controlled through the algorithm that main control unit carried out, the walking mode of mode change-over switch control whole car, including straight big radius steering mode, straight small radius steering mode, side-tracking steering mode, diagonal angle steering mode and pivot mode; the utility model discloses set up multiple mode that turns to, the angle that turns to of left front wheel, right front wheel and back drive wheel can carry out the linkage adjustment under different modes, has simplified operating procedure, has reduced the directive wheel wearing and tearing, has guaranteed the security of work.
Description
Technical Field
The utility model relates to a fork truck technical field specifically is a three fulcrum multidirectional fork truck's of traveling steering control device.
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;
an object of the utility model is to design a can reduce turning radius and wheel wearing and tearing and be convenient for operate multidirectional antedisplacement formula fork truck steering control device.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a three fulcrum multidirectional fork truck's that traveles steering control device to solve the problem that proposes in the above-mentioned background art.
In order to achieve the above object, the utility model provides a 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;
side steering mode: 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 alpha, the steering angle of the right front wheel is-alpha, 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 beneficial effects of the utility model are that:
1. the utility model designs a plurality of steering modes, so that the forklift has a plurality of modes of straight-going large-radius steering, straight-going small-radius steering, side-going steering, diagonal steering, in-situ rotation and the like, thereby separating stacking and carrying work, improving the working efficiency of the forklift, and being capable of adapting to the operation requirement of large materials in narrow roadways;
2. the utility model discloses a wear rate of wheel can effectively be alleviateed to multidirectional antedisplacement formula steering mode, and the steering angle of left front wheel, right front wheel and rear drive wheel can carry out the linkage adjustment under different modes to prevent that the wheel from sliding and leading to the wheel wearing and tearing, prevent because turning radius is too big, the accident of overturning that the wheel contradicts and leads to has guaranteed fork truck's security;
3. the utility model discloses an operating procedure has been simplified to multiple mode of turning to, and the forklift worker can select different modes of turning to according to the operating condition of difference to operating procedure has been simplified, and then has reduced the error probability, has guaranteed fork truck's safety.
The utility model discloses set up multiple mode that turns to, the angle of turning to of left front wheel, right front wheel and back drive wheel can carry out the linkage adjustment under different modes, has improved fork truck's work efficiency, has simplified the operating procedure, has reduced the directive wheel wearing and tearing, has guaranteed the security of work.
Drawings
FIG. 1 is a diagram of a control system of the present invention;
FIG. 2 is a reference diagram of the wheel turning of the present invention;
FIG. 3 is a schematic view of a straight-going large-radius steering mode of the present invention;
FIG. 4 is a schematic view of a straight-running 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 the diagonal steering mode of the present invention;
fig. 7 is a schematic view of the 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 described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to 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;
side steering mode: the steering wheel 1 controls the left front wheel 14 to turn, the rear driving wheel 13 does not turn, the right front wheel 12 turns and is linked with the left front wheel 14, when the turning angle of the left front wheel 14 is alpha, the turning angle of the right front wheel 12 is-alpha, when the steering wheel 1 turns clockwise, the turning range of the left front wheel 14 is 90-68 degrees, and when the steering wheel 1 turns anticlockwise, the turning 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 (1)
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.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020238746.7U CN211844614U (en) | 2020-03-02 | 2020-03-02 | Steering control device of three-fulcrum multi-directional traveling forklift |
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| CN202020238746.7U CN211844614U (en) | 2020-03-02 | 2020-03-02 | Steering control device of three-fulcrum multi-directional traveling forklift |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111169533A (en) * | 2020-03-02 | 2020-05-19 | 合肥搬易通科技发展有限公司 | Steering control device and method for three-fulcrum multi-directional running forklift |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111169533A (en) * | 2020-03-02 | 2020-05-19 | 合肥搬易通科技发展有限公司 | Steering control device and method for three-fulcrum multi-directional running forklift |
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