CN111016862A - Anti-lock braking method and system for rear-drive forklift - Google Patents
Anti-lock braking method and system for rear-drive forklift Download PDFInfo
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- CN111016862A CN111016862A CN201911370327.7A CN201911370327A CN111016862A CN 111016862 A CN111016862 A CN 111016862A CN 201911370327 A CN201911370327 A CN 201911370327A CN 111016862 A CN111016862 A CN 111016862A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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- Fluid Mechanics (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses an anti-lock braking method for a rear-drive forklift, which comprises the following steps: when a driver steps on a brake pedal, a first speed of a front wheel of the forklift is obtained, and a second speed of a driving wheel of the forklift is obtained; according to the corresponding relation between the first speed and the second speed, respectively distributing braking force for an electromagnetic brake for braking a front wheel and a driving motor for braking a rear wheel; and controlling the electromagnetic brake and the driving motor to output corresponding braking force so that the first speed and the second speed tend to be consistent. The anti-lock braking method for the rear-drive forklift truck can improve the braking force of the whole forklift truck to the maximum extent, shorten the braking distance and improve the safety; meanwhile, the phenomenon that the front wheel or the driving wheel is locked due to different braking forces of the front wheel and the driving wheel during braking is avoided, so that the forklift is braked more stably, the tire is prevented from being worn out to lose roundness, and the service life of the tire is prolonged. The invention also discloses a rear-drive forklift anti-lock braking system for implementing the rear-drive forklift anti-lock braking method.
Description
Technical Field
The invention relates to the technical field of forklift braking, in particular to an anti-lock braking method for a rear-drive forklift. In addition, the invention also relates to a rear-drive forklift anti-lock braking system for realizing the rear-drive forklift anti-lock braking method.
Background
For a standing-driving type rear-drive four-fulcrum forklift, the currently adopted braking mode is mostly driving wheel braking, namely, a single driving wheel is braked through a driving motor.
In order to prevent the drift of the vehicle and the abrasion of the driving wheel, the prior art adopts a hydraulic braking or electromagnetic braking mode to brake the front wheel, so that the front wheel and the driving wheel are braked simultaneously.
However, the braking action in the prior art is still controlled by the driver, that is, the braking force is determined by the foot force of the driver, when the driver steps on the brake too hard, the wheel is locked, the tire is out of round, and the wheel is scrapped after the tire is out of round. When the driver steps on the brake and is too light, then lead to the braking distance long, have the potential safety hazard.
Therefore, how to provide an anti-lock braking method for a rear-drive forklift truck, which can avoid locking of tires during braking and shorten the braking distance, is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an anti-lock braking method for a rear-drive forklift and a braking system thereof, which can prevent tires from locking during braking and shorten the braking distance.
In order to achieve the above purpose, the invention provides the following technical scheme:
an anti-lock braking method for a rear-drive forklift comprises the following steps:
when a driver steps on a brake pedal, a first speed of a front wheel of the forklift is obtained, and a second speed of a driving wheel of the forklift is obtained;
according to the corresponding relation between the first speed and the second speed, respectively distributing braking force for an electromagnetic brake for braking a front wheel and a driving motor for braking a rear wheel;
and controlling the electromagnetic brake and the driving motor to output corresponding braking force so that the first speed and the second speed tend to be consistent.
Preferably, after the driver depresses the brake pedal, before said obtaining the first speed of the front wheel of the forklift, the method further comprises:
acquiring a turning angle of the driving wheel;
determining vehicle states according to the turning angle, wherein the vehicle states comprise a left turning state, a right turning state and a straight running state;
obtaining a first speed of a front wheel of the forklift comprises:
when the vehicle state is a left-turning state, acquiring the speed of a front wheel on the right side of the vehicle, and taking the speed of the front wheel on the right side of the vehicle as the first speed;
when the vehicle state is a right-turning state, acquiring the speed of a front wheel on the left side of the vehicle, and taking the speed of the front wheel on the left side of the vehicle as the first speed;
and when the vehicle state is a straight-ahead state, acquiring the speed of the front wheel on the right side of the vehicle and the speed of the front wheel on the left side of the vehicle, comparing the speeds of the front wheel on the right side of the vehicle and the front wheel on the left side of the vehicle, and taking the higher speed as the first speed.
Preferably, the allocating braking forces to the electromagnetic brake for front wheel braking and the driving motor for rear wheel braking, respectively, according to the correspondence relationship between the first speed and the second speed includes:
comparing the magnitude of the first speed and the second speed;
when the first speed is greater than the second speed and the second speed is greater than zero, increasing the braking force output by the electromagnetic brake;
when the second speed is greater than the first speed and the first speed is greater than zero, increasing the braking force output by the driving motor;
when the first speed is equal to the second speed and both are greater than zero, the respective output braking forces of the electromagnetic brake and the driving motor are kept unchanged.
A rear drive forklift anti-lock braking system comprising:
the electromagnetic brake is arranged corresponding to the front wheel of the forklift and used for braking the front wheel;
the driving motor is connected with a wheel shaft of a forklift driving wheel and used for providing driving force and braking force for the driving wheel;
a first speed sensor for detecting a first speed of the front wheel;
a second speed sensor for detecting a second speed of the drive wheel;
the input end of the controller is respectively connected with a brake pedal of a forklift, the first speed sensor and the second speed sensor, and the output end of the controller is respectively connected with the electromagnetic brake and the driving motor, so that after a driver steps on the brake pedal, the controller distributes braking force for the electromagnetic brake and the driving motor respectively according to the corresponding relation between the first speed and the second speed, and controls the electromagnetic brake and the driving motor to output corresponding braking force, so that the first speed and the second speed tend to be consistent.
Preferably, the number of the first speed sensors is two, and the two first speed sensors are respectively used for detecting the speed of a front wheel on the left side of the forklift and the speed of a front wheel on the right side of the forklift;
the controller comprises a first comparison module used for comparing the speed of the left front wheel with the speed of the right front wheel and taking the larger speed as the first speed.
Preferably, the vehicle further comprises a turning angle sensor for detecting a turning angle of the driving wheel, wherein the turning angle sensor is connected with an input end of the controller, so that the controller determines a vehicle state according to the turning angle and acquires the first speed according to the vehicle state.
Preferably, the controller includes:
the second comparison module is used for comparing the first speed with the second speed;
the braking force distribution module is used for respectively distributing braking force for the electromagnetic brake and the driving motor according to the comparison result of the second comparison module;
and the execution module is used for controlling the electromagnetic brake and the driving motor to output corresponding braking force.
Preferably, the brake pedal is a switch-type brake pedal.
Preferably, the second speed sensor is a sensor of the driving motor.
According to the anti-lock braking method for the rear-drive forklift, after a driver steps on a brake pedal, braking force is respectively distributed for the electromagnetic brake and the drive motor by acquiring the first speed of a front wheel of the forklift and the second speed of a drive wheel of the forklift in real time and according to the corresponding relation between the first speed and the second speed, so that the electromagnetic brake and the drive motor output corresponding braking force, and the first speed and the second speed tend to be consistent.
That is, the braking force of front wheel and drive wheel all not restricted by the foot power that the driver stepped on the brake, even if the driver steps on the brake pedal violently, the controller also can be according to the speed change of front wheel and drive wheel, comes electromagnetic braking ware and driving motor distribution braking force, makes whole car braking force maximize, nevertheless can not appear locking phenomenon. After braking is finished, even if the driver does not release the brake pedal, the electromagnetic brake and the driving motor are released through automatic control.
Therefore, the anti-lock braking method for the rear-drive forklift can improve the braking force of the whole forklift to the maximum extent, shorten the braking distance and improve the safety; meanwhile, the phenomenon that the front wheel or the driving wheel is locked due to different braking forces of the front wheel and the driving wheel during braking is avoided, so that the forklift is braked more stably, the tire is prevented from being worn out to lose roundness, and the service life of the tire is prolonged.
The anti-lock brake system for the rear-drive forklift is used for achieving the anti-lock brake method for the rear-drive forklift and has the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a method for anti-lock braking a rear-drive forklift according to an embodiment of the invention;
FIG. 2 is a flow chart of a method for anti-lock braking a rear-drive forklift according to another embodiment of the invention;
FIG. 3 is a schematic diagram of an anti-lock braking system for a rear-drive forklift according to an embodiment of the present invention;
fig. 4 is a schematic structural view of the front wheel in fig. 3.
The reference numerals in fig. 3 and 4 are as follows:
1 is a driving motor, 2 is a first speed sensor, 3 is a controller, 4 is a brake pedal, 51 is a left front wheel, 52 is a right front wheel, 6 is a driving wheel, 7 is a turning angle sensor, 8 is an electromagnetic brake, 91 is a front wheel core, 92 is a front wheel polyurethane layer, 93 is an armature, 94 is a frame, 95 is a welding plate, and 96 is a front wheel shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide an anti-lock braking method and a braking system of a rear-drive forklift, which can avoid tire locking during braking and shorten the braking distance.
Referring to fig. 1 and fig. 2, fig. 1 is a flowchart illustrating an anti-lock braking method for a rear-drive forklift according to an embodiment of the present invention; fig. 2 is a flowchart of a method for anti-lock braking a rear-drive forklift according to another embodiment of the invention.
The invention provides an anti-lock braking method for a rear-drive forklift, which comprises the following steps:
s1: when a driver steps on a brake pedal, a first speed of a front wheel of the forklift is obtained.
S2: and acquiring a second speed of the driving wheel of the forklift after the driver steps on the brake pedal.
For convenience of description, the present invention refers to the speed of the front wheels of the forklift as the first speed and the speed of the driving wheels of the forklift as the second speed.
It should be noted that the present embodiment does not limit the specific manner of acquiring the first speed and the second speed, and for example, the first speed and the second speed may be acquired by providing a first speed sensor and a second speed sensor at corresponding positions of a front wheel of the forklift and a driving wheel of the forklift, respectively.
S3: according to the corresponding relation between the first speed and the second speed, braking force is distributed to the electromagnetic brake for front wheel braking and the driving motor for rear wheel braking respectively.
S4: and controlling the electromagnetic brake and the driving motor to output corresponding braking force so that the first speed and the second speed tend to be consistent.
It should be noted that, in the present invention, the correspondence relationship between the first speed and the second speed is not limited, and the correspondence relationship may be a proportional relationship between the first speed and the second speed, a comparison relationship between the first speed and the second speed, or of course, other functional relationships may also be used, and the correspondence relationship is specifically determined according to actual needs.
Preferably, the correspondence between the first speed and the second speed is a comparison.
In addition, the strategy of distributing the braking force by the electromagnetic brake and the driving motor is not particularly limited, and real-time adjustment can be performed according to the actual corresponding relation between the first speed and the second speed.
As a preferable aspect, the distributing the braking force to the electromagnetic brake for front wheel braking and the driving motor for rear wheel braking, respectively, according to the correspondence relationship of the first speed and the second speed includes steps S31 to S34:
s31: the magnitudes of the first and second velocities are compared.
S32: and when the first speed is greater than the second speed and the second speed is greater than zero, the braking force output by the electromagnetic brake is increased.
S33: and when the second speed is greater than the first speed and the first speed is greater than zero, increasing the braking force output by the driving motor.
S34: when the first speed is equal to the second speed and both the first speed and the second speed are larger than zero, the braking force output by the electromagnetic brake and the braking force output by the driving motor are kept unchanged.
That is, the preferred embodiment distributes the braking force to the electromagnetic brake and the drive motor, respectively, based on the comparison of the first speed and the second speed.
It can be understood that when the first speed is greater than the second speed and the second speed is greater than zero, the brake force of the driving wheel is large and the brake force of the front wheel is small, at the moment, the electromagnetic brake is controlled to increase the output brake force, the speeds of the front wheel and the driving wheel can be balanced, the speeds of the front wheel and the driving wheel tend to be consistent, the brake forces of the front wheel and the driving wheel can be maximized, the brake stability is ensured, and the front wheel and the driving wheel can be prevented from being locked.
Similarly, when the second speed is greater than the first speed and the first speed is greater than zero, the braking force of the front wheel is large and the braking force of the driving wheel is small, and at the moment, the driving motor is controlled to increase the output braking force of the driving motor, so that the speed of the driving wheel tends to the speed of the front wheel.
When the first speed is equal to the second speed and the speeds of the first speed and the second speed are both greater than zero, the braking force of the front wheels is equal to the braking force of the driving wheels, at the moment, the braking force does not need to be redistributed to the electromagnetic brake and the driving motor, and the braking force output by the electromagnetic brake and the driving motor is kept unchanged.
It should be noted that, in this embodiment, the specific value for increasing the braking force output by the electromagnetic brake and the specific value for increasing the braking force output by the driving motor are not limited, and may be determined specifically according to the actual speed difference between the first speed and the second speed, that is, if the speed difference between the first speed and the second speed is different, the braking forces increased for the electromagnetic brake and the driving motor are different, and those skilled in the art may set the braking forces according to actual requirements.
Therefore, the anti-lock braking method for the rear-drive forklift, provided by the invention, can be seen in that after a driver steps on a brake pedal, the first speed of the front wheel of the forklift and the second speed of the driving wheel of the forklift are obtained in real time, and braking force is respectively distributed to the electromagnetic brake and the driving motor according to the corresponding relation between the first speed and the second speed, so that the electromagnetic brake and the driving motor output corresponding braking force, and the first speed and the second speed tend to be consistent.
That is, the braking force of front wheel and drive wheel all not restricted by the foot power that the driver stepped on the brake, even if the driver steps on the brake pedal violently, the controller also can be according to the speed change of front wheel and drive wheel, comes electromagnetic braking ware and driving motor distribution braking force, makes whole car braking force maximize, nevertheless can not appear locking phenomenon.
According to the corresponding relation between the first speed and the second speed, the braking force is distributed for the electromagnetic brake and the driving motor, and the braking of the front wheel and the driving wheel can be released in time, namely, after the braking is finished, even if a driver does not release the brake pedal, the braking of the electromagnetic brake and the driving motor can be released through automatic control.
Therefore, the anti-lock braking method for the rear-drive forklift can improve the braking force of the whole forklift to the maximum extent, shorten the braking distance and improve the safety; meanwhile, the phenomenon that the front wheel or the driving wheel is locked due to different braking forces of the front wheel and the driving wheel during braking is avoided, so that the forklift is braked more stably, the tire is prevented from being worn out to lose roundness, and the service life of the tire is prolonged.
Considering that the speed of the left front wheel of the forklift is usually different from the speed of the right front wheel during the operation of the forklift, especially when the forklift turns left, for example, the speed of the left front wheel is lower than that of the right front wheel when the forklift turns left; on the other hand, when the forklift turns right, the speed of the right front wheel is lower than that of the left front wheel, and in order to ensure that the forklift can brake effectively under any vehicle state, on the basis of the above embodiments, after the driver depresses the brake pedal, before the first speed of the front wheel of the forklift is obtained, the method further comprises the steps of S5 and S6:
step S5: the turning angle of the driving wheel is acquired.
In the present embodiment, a specific mode of acquiring the turning angle of the driving wheel is not limited, and for example, the turning angle of the driving wheel may be detected by providing a turning angle sensor on the driving wheel.
Step S6: according to the turning angle of the driving wheel, the vehicle state is determined, and the vehicle state comprises a left turning state, a right turning state and a straight running state.
At this time, acquiring a first speed of the front wheel of the forklift includes:
s11: and when the vehicle state is a left-turning state, acquiring the speed of a right front wheel of the forklift, and taking the speed of the right front wheel as a first speed.
S12: when the vehicle state is a right-turn state, the speed of the front wheel on the left side of the forklift is acquired, and the speed of the front wheel on the left side is used as a first speed.
S13: when the vehicle state is a straight-ahead state, the speed of the right front wheel and the speed of the left front wheel are acquired, the speed of the right front wheel and the speed of the left front wheel are compared, and the larger speed is taken as a first speed.
That is, the present embodiment selects the acquired first speed of the front wheels of the forklift according to the vehicle state, so that the corresponding relationship between the first speed and the second speed is determined with the greater speed of the front wheels on the left side and the front wheels on the right side as the first speed regardless of the vehicle state, to ensure that the forklift can brake effectively in any vehicle state.
Referring to fig. 3 and 4, fig. 3 is a schematic diagram of an anti-lock brake system of a rear-drive forklift according to an embodiment of the present invention; fig. 4 is a schematic structural view of the front wheel in fig. 3.
In addition to the anti-lock braking method for the rear-drive forklift, the invention also provides a rear-drive forklift anti-lock braking system for implementing the anti-lock braking method for the rear-drive forklift disclosed in the embodiment, the rear-drive forklift anti-lock braking system comprises an electromagnetic brake 8, a driving motor 1, a first speed sensor 2, a second speed sensor and a controller 3, wherein the electromagnetic brake 8 is arranged corresponding to the front wheel of the forklift and is used for braking the front wheel; the driving motor 1 is connected with a wheel shaft of a forklift driving wheel 6 and used for providing driving force and braking force for the driving wheel 6; the electromagnetic brake 8 and the driving motor 1 are both connected with the output end of the controller 3, and the first speed sensor 2 and the second speed sensor are respectively connected with the input end of the controller 3.
The first speed sensor 2 is used for detecting a first speed of a front wheel of the forklift, and the second speed sensor is used for detecting a second speed of a driving wheel 6 of the forklift; the first speed sensor 2 sends the first speed it detects to the controller 3, and the second speed sensor sends the second speed it detects to the controller 3.
The controller 3 is mainly used for realizing the anti-lock braking method of the rear-drive forklift, the input end of the controller 3 is also connected with a brake pedal 4 of the forklift, so that after the controller 3 receives a signal that a driver steps on the brake pedal 4, a first speed sent by the first speed sensor 2 and a second speed sent by the second speed sensor are obtained, then braking forces are respectively distributed to the electromagnetic brake 8 and the driving motor 1 according to the corresponding relation of the first speed and the second speed, and the electromagnetic brake 8 and the driving motor 1 are controlled to output corresponding braking forces, so that the first speed and the second speed tend to be consistent.
Therefore, the anti-lock brake system for the rear-drive forklift provided by the invention detects the speed of the front wheel of the forklift and the speed of the driving wheel 6 by using the first speed sensor 2 and the second speed sensor respectively after the driver steps on the brake pedal, obtains the corresponding relation between the first speed and the second speed by using the controller 3 according to the first speed and the second speed, distributes the braking force for the electromagnetic brake 8 and the driving motor 1 by using the controller 3 according to the corresponding relation between the first speed and the second speed, and controls the output of the electromagnetic brake 8 and the driving motor 1, so that the braking force of the front wheel and the driving wheel 6 is not limited by the foot force of the driver for stepping on the brake, even if the driver steps on the brake pedal, the controller 3 distributes the braking force for the electromagnetic brake 8 and the driving motor 1 according to the speed change of the front wheel and the driving wheel 6, the braking force of the whole vehicle is maximized, but the locking phenomenon cannot occur; meanwhile, after braking is finished, the controller 3 automatically releases the braking of the electromagnetic brake 8 and the driving motor 1 even if the driver does not release the brake pedal 4.
Therefore, the anti-lock brake system of the rear-drive forklift can improve the braking force of the whole forklift to the maximum extent, shorten the braking distance and improve the safety; meanwhile, the phenomenon that the front wheel or the driving wheel 6 is locked due to different braking forces of the front wheel and the driving wheel 6 during braking is avoided, so that the forklift is braked more stably, the tire abrasion loss is avoided, and the service life of the tire is prolonged.
In consideration of the fact that the speed of the left front wheel 51 of the forklift and the speed of the right front wheel 52 of the forklift are generally different during the operation of the forklift, therefore, in order to ensure that the forklift can effectively brake under any vehicle state, on the basis of the above embodiment, the number of the first speed sensors 2 is two, and the two first speed sensors 2 are respectively used for detecting the speed of the left front wheel 51 of the forklift and the speed of the right front wheel 52 of the forklift; at this time, the controller 3 is also configured to compare the speeds of the left front wheel 51 and the right front wheel 52 and set the larger speed as the first speed.
That is, the controller 3 in the present embodiment includes a first comparison module for comparing the magnitudes of the speed of the left front wheel 51 and the speed of the right front wheel 52, and takes the larger speed as the first speed.
As is known, when the truck is turning left, the speed of its left front wheel 51 is lower than the speed of its right front wheel 52; when the forklift turns right, the speed of the right front wheel 52 is lower than that of the left front wheel 51, that is, when the forklift turns right, the speed of the left front wheel 51 and the speed of the right front wheel 52 are known and do not need to be compared.
Therefore, on the basis of the above-described embodiment, a turning angle sensor 7 for detecting the turning angle of the drive wheels 6 is further included, and the turning angle sensor 7 is connected to an input terminal of the controller 3, so that the controller 3 determines the vehicle state from the turning angle and acquires the first speed from the vehicle state.
The vehicle state includes a left-turn state, a right-turn state, and a straight-traveling state.
When the vehicle state is the left-turning state, the controller 3 directly acquires the speed of the right front wheel 52 of the forklift, and takes it as the first speed.
When the vehicle state is the right-turn state, the controller 3 directly acquires the speed of the left front wheel 51 of the forklift, and takes it as the first speed.
When the vehicle state is the straight-ahead state, the controller 3 simultaneously acquires the speed of the right front wheel 52 and the speed of the left front wheel 51, then compares the magnitudes of the speed of the right front wheel 52 and the speed of the left front wheel 51, and takes the larger of the speeds as the first speed.
Considering that the first speed and the second speed have different corresponding relations, the controller 3 has different strategies for distributing the braking force to the electromagnetic brake 8 and the driving motor 1, and a person skilled in the art can adjust the braking force distribution strategy of the controller 3 in real time according to the actual corresponding relation of the first speed and the second speed.
As a preferable scheme, on the basis of any one of the above embodiments, the controller 3 includes a second comparing module, a braking force distribution module and an executing module, the second comparing module is configured to compare magnitudes of the first speed and the second speed, the braking force distribution module is configured to distribute braking forces to the electromagnetic brake 8 and the driving motor 1 respectively according to a comparison result of the second comparing module, and the executing module is configured to control the electromagnetic brake 8 and the driving motor 1 to output corresponding braking forces.
On the basis of the above embodiment, the brake pedal 4 is a switch-type brake pedal so as to be easily operated by the driver when stepping on the brake.
On the basis of the above-described exemplary embodiment, the second speed sensor is a sensor carried by the drive motor 1, i.e. the speed of the drive wheel 6 is detected by a speed sensor of the drive motor 1.
It should be noted that, in the above embodiments, the specific structures of the first speed sensor 2 and the turning angle sensor 7 and the detection principles thereof are not limited, and those skilled in the art can select them according to actual needs.
As shown in fig. 4, which is a cross-sectional view of the front wheel, it should be noted that, in the above embodiments, except for the first speed sensor 2 and the electromagnetic brake 8 additionally provided on the front wheel, the other structures of the front wheel are the same as the main structure of the conventional front wheel in the prior art, for example, the front wheel includes a front wheel core 91, a front wheel polyurethane layer 92, an armature 93, a frame 94, a welding plate 95, a front wheel axle 96, and the like.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The anti-lock braking method and the braking system for the rear-drive forklift are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (9)
1. An anti-lock braking method for a rear-drive forklift is characterized by comprising the following steps:
when a driver steps on a brake pedal, a first speed of a front wheel of the forklift is obtained, and a second speed of a driving wheel of the forklift is obtained;
according to the corresponding relation between the first speed and the second speed, respectively distributing braking force for an electromagnetic brake for braking a front wheel and a driving motor for braking a rear wheel;
and controlling the electromagnetic brake and the driving motor to output corresponding braking force so that the first speed and the second speed tend to be consistent.
2. The anti-lock braking method for a rear-drive forklift as recited in claim 1, further comprising, after the driver depresses the brake pedal, before said obtaining the first speed of the front wheel of the forklift:
acquiring a turning angle of the driving wheel;
determining vehicle states according to the turning angle, wherein the vehicle states comprise a left turning state, a right turning state and a straight running state;
obtaining a first speed of a front wheel of the forklift comprises:
when the vehicle state is a left-turning state, acquiring the speed of a front wheel on the right side of the vehicle, and taking the speed of the front wheel on the right side of the vehicle as the first speed;
when the vehicle state is a right-turning state, acquiring the speed of a front wheel on the left side of the vehicle, and taking the speed of the front wheel on the left side of the vehicle as the first speed;
and when the vehicle state is a straight-ahead state, acquiring the speed of the front wheel on the right side of the vehicle and the speed of the front wheel on the left side of the vehicle, comparing the speeds of the front wheel on the right side of the vehicle and the front wheel on the left side of the vehicle, and taking the higher speed as the first speed.
3. The anti-lock braking method for a rear-wheel drive forklift according to claim 1 or 2, wherein said distributing braking force for an electromagnetic brake for front-wheel braking and a drive motor for rear-wheel braking, respectively, based on the correspondence relationship between said first speed and said second speed comprises:
comparing the magnitude of the first speed and the second speed;
when the first speed is greater than the second speed and the second speed is greater than zero, increasing the braking force output by the electromagnetic brake;
when the second speed is greater than the first speed and the first speed is greater than zero, increasing the braking force output by the driving motor;
when the first speed is equal to the second speed and both are greater than zero, the respective output braking forces of the electromagnetic brake and the driving motor are kept unchanged.
4. A rear-drive forklift anti-lock brake system, comprising:
the electromagnetic brake (8) is arranged corresponding to the front wheel of the forklift and used for braking the front wheel;
the driving motor (1) is connected with a wheel shaft of a forklift driving wheel (6) and is used for providing driving force and braking force for the driving wheel (6);
a first speed sensor (2) for detecting a first speed of the front wheel;
a second speed sensor for detecting a second speed of the drive wheel (6);
the input end of the controller (3) is respectively connected with a brake pedal (4) of a forklift, the first speed sensor (2) and the second speed sensor, the output end of the controller (3) is respectively connected with the electromagnetic brake (8) and the driving motor (1), so that after a driver steps on the brake pedal (4), the controller (3) distributes braking force for the electromagnetic brake (8) and the driving motor (1) respectively according to the corresponding relation between the first speed and the second speed, and controls the electromagnetic brake (8) and the driving motor (1) to output corresponding braking force, so that the first speed and the second speed tend to be consistent.
5. Anti-lock braking system for rear-drive fork trucks according to claim 4, characterized in that said first speed sensors (2) are two in number, two of said first speed sensors (2) being respectively adapted to detect the speed of the front left wheels (51) of the fork truck and the speed of the front right wheels (52) of the fork truck;
the controller (3) comprises a first comparison module for comparing the speed of the left front wheel (51) with the speed of the right front wheel (52) and taking the larger speed as the first speed.
6. Anti-lock brake system for rear-drive forklift truck according to claim 5, further comprising a turning angle sensor (7) for detecting a turning angle of the drive wheels (6), the turning angle sensor (7) being connected to an input of the controller (3) so that the controller (3) determines a vehicle state from the turning angle and acquires the first speed from the vehicle state.
7. The rear-drive forklift anti-lock brake system according to any one of claims 4 to 6, wherein the controller (3) comprises:
the second comparison module is used for comparing the first speed with the second speed;
the braking force distribution module is used for distributing braking force to the electromagnetic brake (8) and the driving motor (1) according to the comparison result of the second comparison module;
and the execution module is used for controlling the electromagnetic brake (8) and the driving motor (1) to output corresponding braking force.
8. Anti-lock brake system for rear-drive forklifts according to claim 7, characterized in that the brake pedal (4) is a switch-type brake pedal.
9. Anti-lock brake system for rear-drive forklift trucks according to claim 7, characterized in that said second speed sensor is a sensor of the driving motor (1) itself.
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| CN201911370327.7A CN111016862B (en) | 2019-12-26 | 2019-12-26 | Anti-lock braking method and system for rear-drive forklift |
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| CN201911370327.7A CN111016862B (en) | 2019-12-26 | 2019-12-26 | Anti-lock braking method and system for rear-drive forklift |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115416630A (en) * | 2022-04-06 | 2022-12-02 | 王志鹏 | Electronic anti-lock brake control system |
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