KR20170098350A - Mecanum wheel forklift and the control method - Google Patents

Abstract

Disclosed are a mecanum wheel forklift capable of being easily steered even in a narrow space by having a mecanum wheel and a control method for the same. According to an aspect of the present invention, the mecanum wheel forklift includes: a main body having a driver seat and a mast assembly; multiple mecanum wheels installed in the lower part of the main body; multiple electric motors individually connected to the mecanum wheels and driving the mecanum wheel; a battery supplying power to the electric motor; and a motion control unit operating the main body and the electric motor. The motion control unit includes: an input unit receiving a fixed internet protocol (IP) address and a control command from a user; a storage unit storing a control signal matched to the control command; a driving unit individually driving each of the electric motors by receiving the control signal and driving the mecanum wheel; and a control unit determining the control command which is input by the input unit and controlling the driving unit by using the control signal stored in the storage unit. According to the present invention, the mecanum wheel forklift can be easily used by being easily steered in the narrow space and can improve safety of a worker by reducing a possibility of a collision disaster on peripheral workers. Also, the mecanum wheel forklift can prevent an accident by obtaining an additional visual field range of the user by using a camera. Also, the mecanum wheel forklift can save energy by reducing a driving distance for steering during a work.

Description

Mecanum wheel forklift and the control method

The present invention relates to a mechanan wheel forklift and a control method thereof, in which steering control is facilitated even in a narrow space by providing a mechanan wheel.

In general, forklifts are used to transport large quantities of luggage in a variety of industries and are used to lift or carry heavy loads.

A mast assembly is installed in front of the vehicle body. The mast assembly has a carriage which can be lifted up and down along a mast trail and a mast trail. A pair of forks lifting an actual cargo are provided on the carriage, Respectively.

On the other hand, a forklift is a vehicle that runs at a low speed, but it is as heavy as a counterweight and has a large inertia due to a driving force.

Therefore, it is easy to be directly connected with the injury of the people in case of industrial accident caused by forklift.

For example, as of 2010, 1,273 people have experienced industrial accidents due to forklift trucks. The main cause of the accidents was a driver's vision limit of 51.6% due to overloading, and a collision with a forklift Followed by product damage.

In addition, a total of 2,312 people were injured due to forklift trucks in the last two years (2013 ~ 2014), and 49.3% of the disasters were found to be caused by the disasters.

As a proposal to reduce industrial accidents caused by forklifts and to increase safety, Korean Registered Patent No. 0615457 (fork device of automatic foldable forklift, announcement on Aug. 28, 2006) has a simple lever or switch And the fork can be safely moved in a state in which the fork is folded when the forklift is moved as the fork is folded and lifted by the rotation of the hydraulic motor according to the operation.

In addition, in Korean Utility Model Application No. 0000871 (forklift fork with light emitting portion, published on Mar. 02, 2015) in 2015, a light emitting portion is formed on the side of a fork edge of a forklift to improve visibility, Or a vehicle easily recognizes the position and the movement line of the forklift fork so that it can be quickly evacuated from a dangerous situation, thereby preventing an accident.

However, although the above-mentioned devices have the effect of reducing the safety accident caused by the forklift by improving the fork of the forklift, there is no fundamental solution to the collision disaster which is the largest part of the accident caused by the forklift.

Korean Registered Patent No. 0615457 (published on August 28, 2006) Korean Public Utility Model No. 0000871 (Released on March 02, 2015)

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a steering control apparatus and a control method thereof, which can reduce the risk of collision against nearby workers by facilitating steering control even in a narrow space, The goal is to prevent the risk of accidents by securing them.

To achieve these and other advantages and in accordance with the purpose of the present invention, as embodied and broadly described herein,

A body including a driver's seat and a mast assembly;

A plurality of mechanical hooks mounted on a lower side of the main body;

A plurality of electric motors individually coupled to the mechanic wheel to drive the mechanic wheel;

A battery for supplying power to the electric motor; And

And an operation control unit for operating the main body and the electric motor,

The operation control unit,

An input unit for receiving a static IP (Internet Protocol) address and a control command from a user;

A storage unit for storing a control signal matched to the control command;

A drive unit for receiving the control signal and separately driving each of the electric motors to drive the mechanical wheel;

And a controller for determining the control command received from the input unit and controlling the driving unit based on the control signal stored in the storage unit.

A driver's seat pivoting member including at least one of a worm gear and a stepping motor is provided on the lower side of the driver's seat to allow the driver's seat to pivot left and right.

As described above, in the mechanan wheel forklift and the control method thereof according to the present invention,

The steering control is facilitated even in a narrow space, so that it is easy to use, and the risk of collision against nearby workers is reduced, thereby enhancing the safety of the operator.

In addition, there is an effect of preventing the risk of accident by securing an additional visual range of the user through the camera.

Further, the driving distance for steering control during operation is shortened, thereby saving energy.

1 is a perspective view showing a conventional forklift.
FIG. 2 is a schematic view of a mecanum wheel forklift according to an embodiment of the present invention.
3 is a block diagram illustrating an operation control unit of a mechanan wheel forklift according to an embodiment of the present invention.
4 is a flowchart illustrating a method of controlling a mechanan wheel forklift according to an exemplary embodiment of the present invention.
FIG. 5 is a flowchart illustrating a method for controlling a mechanan wheel forklift according to another embodiment of the present invention. Referring to FIG.
FIG. 6 is a view showing a driver's seat rotating member of a mechanan wheel forklift according to an embodiment of the present invention.
FIG. 7 is a view showing a drive path when the direction of the conventional forklift is changed.
8 is a view illustrating a driving path when the direction of the mechanan wheel forklift is changed according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise. Also, the terms " part, "" ... "," module ", and the like described in the specification mean units for processing at least one function or operation, and may be implemented by hardware or software or a combination of hardware and software .

Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings.

Like reference symbols in the drawings denote like elements.

FIG. 1 is a perspective view of a conventional forklift, and FIG. 2 is a schematic view of a mechanum wheel forklift according to an embodiment of the present invention viewed from the bottom.

1 and 2, the present invention includes a main body 100 including a driver's seat 110 and a mast assembly 120, a plurality of mecanum wheels 200, a plurality of electric motors 300, a battery 400 and an operation control unit 500.

The mechan wheel 200 is installed on the lower side of the main body 100 and the electric motor 300 is coupled to the mechanan wheel 200, respectively.

A battery 400 is connected to the electric motor 300 to supply electric power.

An operation control unit 500 is connected to the main body 100 and the electric motor 300 to control the operation.

3 is a block diagram illustrating an operation control unit of a mechanan wheel forklift according to an embodiment of the present invention.

As shown in FIG. 3, the operation control unit 500,

An input unit 510 for receiving a static IP (Internet Protocol) address and a control command from a user;

A storage unit 520 for storing a control signal matched to the control command;

A driving unit 530 receiving the control signal and separately driving each of the electric motors 300 to drive the mechanan wheel 200;

And a control unit 540 for determining the control command received from the input unit 510 and controlling the driving unit 530 based on the control signal stored in the storage unit 520.

Then, the operation control unit 500,

And a communication unit 550 for wirelessly connecting to the user's terminal 700 via Wi-Fi and Bluetooth, and the communication unit 550 is controlled through the control unit 540. [

In addition, a camera 600 is installed on one side of the main body, and the operation control unit 500 further includes an image output unit 560 on which an image of the camera 600 is displayed.

The control unit 540 controls the camera 600 and the image output unit 560 to output the image output from the camera 600 to the image output unit 560.

A driver's seat tiltable member 111 is disposed below the driver's seat 110.

The driver's seat pivoting member 111 includes at least one of a worm gear and a stepping motor, which allows the driver's seat 110 to pivot left and right.

Hereinafter, a control method of the mechan wheel wheel loader having such a configuration will be described.

4 is a flowchart illustrating a method of controlling a mechanan wheel forklift according to an exemplary embodiment of the present invention.

As shown in FIG. 4, a method for controlling a mechanum wheel forklift of the present invention by a user on a driver's seat,

The control unit 540 activates the camera 600 to output the image output from the camera 600 to the image output unit 560 (S110);

A step S120 of the input unit 510 receiving a control command;

Matching the control command received from the input unit 510 with the control signal stored in the storage unit 520 in operation S130;

The control unit 540 controls the driving unit 530 with the control signal of the storage unit 520 (S140).

The driving unit 530 receives the control signal and drives the electric motor 300 and the mechanane wheel 200 (S150).

This will be described in detail as follows.

The present invention is a forklift including a driver's seat (110) and a mast assembly (120). The mecanum wheel (200) is provided below the main body (100) to facilitate steering control in a narrow space.

A camera 600 is installed on one side of the main body 100, and an image output from the camera 600 is displayed through the video output unit 560.

Accordingly, the user can secure a view of a work space, which is difficult to be visually confirmed through the image output unit 560.

The method of controlling the mechanan wheel forklift according to the present invention is a method for controlling the camera 600 by using the control unit 540 installed in the main body 100, , It is possible to obtain a wider field of view than a visual field which depends only on the naked eye.

A control command is input through the input unit 510 to perform the transportation operation, the operation, and the steering control.

Here, the input unit 510 may be operated using a conventional handle, or may be operated and steering controlled using a display device equipped with a touch sensor.

At this time, the reserved control signals are stored in the storage unit 520, and are matched with the control commands input from the input unit 510 for the operation and steering control of the main body 100.

That is, in order to drive the mechanic wheel 200 installed on the lower side of the main body 100 and perform the operation and the steering control, the electric motors 300 that operate individually must be controlled.

However, this is not easy to use and causes confusion to the user.

Thus, a control signal for driving each of the electric motors 300 is set and stored in the storage unit 520, which is matched with a predetermined control command.

)를 누르고, 제어부(540)가 상기 저장부(520)에서 이와 매칭되는 제어 신호를 연결하여 구동부(530)를 구동하는 것이다.For example, if the user wishes to advance the main body 100 in the forward direction,

The control unit 540 drives the driving unit 530 by connecting the matching control signal to the storage unit 520.

In the above example, four mechanic wheel 200 are provided, and the front left mechanic wheel 200 and the rear right mechanic wheel 200 are arranged such that the center axes of the rollers are inclined at a certain angle counterclockwise And the control signal is transmitted to the mecanum wheel 200 when the center axes of the rollers are configured to be inclined at a certain angle in the clockwise direction, respectively, in the front right side mechanum wheel 200 and the rear left side mecanum wheel 200, And drives the electric motors 300 to advance all four.

Therefore, the force acting on each of the mechanum wheels 200 is based on the principle of the physics vector, so that the forces of the two front mechanwheels 200 in the inward direction of the main body 100 cancel each other and only the force in the forward direction is left, The two rear mechanwheel wheels 200 are offset from each other by the force exerted in the outward direction of the main body 100, and only the force in the forward direction remains, and the main body 100 is driven in the forward direction.

)를 누르고, 상기 제어부(540)가 마찬가지로 상기 저장부(520)에서 이와 매칭되는 제어 신호를 연결하여 상기 구동부(530)를 구동시킨다.As another example, if the user wishes to move the main body 100 in the right direction,

And the control unit 540 drives the driving unit 530 by connecting a control signal matching the same to the storage unit 520.

In the case where four mechan wheel 200 are installed as described above, the control signal is transmitted to the front left mechan wheel 200 and the rear right mechan wheel 200 forward, The worm wheel 200 drives the electric motor 300 to move backward.

Then, due to the principle of the physics vector, the force acting on each of the mechanum wheels 200 is canceled by the force in the inner direction of the main body 100 of the two right mechanum wheels 200, and only the force in the right direction is left , The two left mechanum wheels 200 are offset from each other by the force exerted on the outer side of the main body 100 and only the force on the right side remains, driving the main body 100 to the right side.

In addition, control commands and control signals are set for various operation modes to facilitate the user's use.

When the steering wheel is operated using the steering wheel, the axis of the wheel is not changed when the steering wheel is operated (leftward or rightward), but is changed by changing the motor RPM of the corresponding portion in the fixed wheel axis state .

That is, the motor output of each part and the rotational direction of each of the mechanic wheels 200 are stored in the storage unit 520 according to the degree of rotation of the handle, and the control unit 530 controls the motor It is possible to drive the respective mechan wheel 200 by matching with the information stored in the memory 520.

FIG. 5 is a flowchart illustrating a method for controlling a mechanan wheel forklift according to another embodiment of the present invention. Referring to FIG.

As shown in FIG. 5, a method for remotely controlling a mecha- nhen wheel forklift according to the present invention without a user aboard the driver's seat 110,

The control unit 540 controls the communication unit 550 to wirelessly connect to the user terminal 700 (S200);

A step S210 of connecting the user terminal 700 to the control unit 540 using a fixed IP address;

The control unit 540 activates the camera 600 to output the image output from the camera 600 to the user terminal 700 (S220);

A step S230 of the input unit 510 receiving a control command from the user terminal 700;

Matching the control command received from the input unit 510 with a control signal stored in the storage unit 520 in operation S240;

The control unit 540 controls the driving unit 530 using the control signal of the storage unit 520 (S250).

The driving unit 530 receives the control signal and drives the electric motor 300 and the mechanane wheel 200 (S260).

This will be described in detail as follows.

As shown in FIG. 5, the user connects to the control unit 540 remotely and does not board the forklift.

The control unit 540 controls the communication unit 550 to allow the user's terminal 700 to be connected wirelessly using wireless communication means such as Wi-Fi and Bluetooth.

Then, the user connects to the main body 100 by using the remote terminal 700 such as a smart phone or a tablet PC.

Thus, the user can directly control the control unit 540 remotely.

The user remotely controls the control unit 540 of the main body 100 to operate the camera 600 and controls the control unit 540 to transmit the image output from the camera 600 to the user terminal 700. [ .

Therefore, the user can work with the naked eye while keeping a wide field of view apart from the main body 100, and by confirming the image of the camera 600 installed on the main body 100 through the user terminal 700, The blind spot is reduced to prevent accidents.

In addition, the user remotely inputs control commands to the input unit 510 through the terminal 700 to perform the transportation operation and the operation and steering control.

In this case, as described above, the control signals stored in the storage unit 520 are stored and matched with control commands input from the input unit 510 for operation and steering control of the main body 100.

Therefore, it is possible to easily perform driving and steering control by using the predetermined control command without individually grasping the operation of the mechanically driven wheel 200 and the electric motor 300, which are individually driven.

Then, the driving unit 530 is controlled by the control signal to drive the electric motor 300 and the mechanane wheel 200 individually.

That is, when a control command designed to facilitate operation and steering control of the main body 100 is input, the matched control signals drive the electric motor 300 and the mechan wheel 200 individually.

FIG. 6 is a view showing a driver's seat rotating member of a mechanan wheel forklift according to an embodiment of the present invention.

6, a driver's seat pivoting member 111 is provided below the driver's seat 110 to allow the driver's seat 110 to pivot left and right,

The driver's seat rotating member 111 includes at least one of a worm gear and a stepping motor.

In other words, when the user rides on the driver's seat 110 and changes direction, the driver's seat 110 is fixed in the conventional manner, and the user turns the driver in a desired direction.

As a result, the user's body is burdened, and the visibility is ensured through the narrow and inconvenient side surfaces and the rear surface as compared with the front of the driver's seat 110, thereby increasing the risk of accidents.

Therefore, a driver's seat tiltable member 111 is provided below the driver's seat 110 to enable the driver's seat 110 to pivot left and right.

The driver's seat tiltable member 111 is constituted by providing a stepping motor that is capable of rotating the driver's seat left and right or adjusting a desired rotational angle by forming a worm gear below the driver's seat 110. [

The calculation formula for calculating the power required for driving the electric motor 300 and the stepping motor 200 is as follows.

Tm = Ta + L + R

(Where Tm: motor torque, Ta: acceleration torque, L: friction torque, R: rolling resistance)

f/t)1. Ta (acceleration torque) = (J / g) X (2

f / t)

(Where J: rotational moment of inertia, g = gravitational acceleration = 981 cm / s ² ,

f: revolutions per second [rps], t: acceleration time)

J (rotational inertia moment) = WXD ^2/8

(Where W = total weight, D = wheel diameter)

2. L (Friction Torque) = (X X W X r) / 4

(mu = friction coefficient, r = wheel radius)

3. R (rolling resistance) = _r XW

(μ _r = Coefficient of asphalt friction)

4. P (Rated output) = Tω

f)(T = motor torque, omega = angular velocity = 2

f)

Based on the above calculation formula, the required power of the electric motor 300 that drives the mechan wheel 200 and the stepping motor that rotates the driver's seat 110 left and right is calculated.

FIG. 7 is a view illustrating a drive path when the direction of the forklift is changed, and FIG. 8 is a view illustrating a drive path when the direction of the mechanum wheel forklift is changed according to an embodiment of the present invention.

As shown in FIG. 7, the conventional forklift requires a large working radius and a driving distance in order to change directions.

However, as shown in FIG. 8, the present invention has an effect of steering control is easy, direction can be changed and work even in a narrow space, driving distance is shortened, and energy is saved.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, And all changes to the scope that are deemed to be valid.

100: main body 110: driver's seat
111: driver's seat tiltable member 120: mast assembly
200: Mecanum wheel 300: Electric motor
400: Battery 500: Operation control unit
510: input unit 520: storage unit
530: driving unit 540:
550: communication unit 560: video output unit
600: camera 700: terminal

Claims (7)

A body including a driver's seat and a mast assembly;
A plurality of mechanical hooks mounted on a lower side of the main body;
A plurality of electric motors individually coupled to the mechanic wheel to drive the mechanic wheel;
A battery for supplying power to the electric motor; And
And an operation control unit for operating the main body and the electric motor.
The method according to claim 1,
The operation control unit,
An input unit for receiving a static IP (Internet Protocol) address and a control command from a user;
A storage unit for storing a control signal matched to the control command;
A drive unit for receiving the control signal and separately driving each of the electric motors to drive the mechanical wheel;
And a control unit for determining a control command received from the input unit and controlling the driving unit based on a control signal stored in the storage unit.
3. The method of claim 2,
The operation control unit,
Further comprising a communication unit for wirelessly connecting to a user's terminal via Wi-Fi and Bluetooth,
And the control unit controls the communication unit.
3. The method according to claim 1 or 2,
A camera for securing a view of a user is installed on one side of the main body,
Wherein the operation control unit further includes an image output unit for displaying an image of the camera,
Wherein the control unit controls the camera to output an image output from the camera to the video output unit.
The method according to claim 1,
A driver's seat pivoting member for allowing the driver's seat to pivot left and right is provided below the driver's seat,
Wherein the driver's seat pivoting member includes at least one of a worm gear and a stepping motor.
The control unit activating the camera and outputting an image output from the camera to the video output unit (S110);
A step (S120) of receiving an input unit control command;
Matching the control command received from the input unit with a control signal stored in the storage unit (S130);
The control unit controlling the driving unit with the control signal of the storage unit (S140);
(S150) driving the electric motor and the mechanane wheel by receiving the control signal from the driving unit.
A step S200 of the control unit controlling the communication unit and wirelessly connecting to the user's terminal;
A step S210 of connecting a user terminal to the control unit using a fixed IP address;
The control unit activating a camera and outputting an image output from the camera to a user terminal (S220);
(S230) the input unit receives a control command from the user terminal;
Matching the control command received from the input unit with a control signal stored in the storage unit (S240);
The control unit controlling the driving unit with the control signal of the storage unit (S250);
And driving the electric motor and the mechanane wheel by receiving the control signal from the driving unit (S260).

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