CN207903844U - A kind of forklift-walking system and the fork truck with it - Google Patents
A kind of forklift-walking system and the fork truck with it Download PDFInfo
- Publication number
- CN207903844U CN207903844U CN201820221925.2U CN201820221925U CN207903844U CN 207903844 U CN207903844 U CN 207903844U CN 201820221925 U CN201820221925 U CN 201820221925U CN 207903844 U CN207903844 U CN 207903844U
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- driving wheel
- deflecting roller
- steering angle
- forklift
- driving motor
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Abstract
The utility model discloses a kind of forklift-walking system and with its fork truck, forklift-walking system includes the first driving wheel, the second driving wheel, the first driving motor, the second driving motor, deflecting roller, steering angle sensor and controller, and the axial line of the first driving wheel and the second driving wheel is conllinear；First driving motor is connect with the first drive wheel；Second driving motor is connect with the second drive wheel；Steering angle sensor is connected on deflecting roller, controller is used for according to the first driving motor of controlling steering angle of deflecting roller and rotation direction and the rotating speed size of the second driving motor so that the first driving wheel and the second driving wheel form corresponding differential.To enable two driving wheels to adjust forward or backward speed according to the steering angle of deflecting roller to form differential, cooperation deflecting roller fast and flexible turns to.Solve the problems, such as that electri forklift turning in the prior art is inflexible.
Description
Technical field
The utility model is related to fork truck fields, in particular to a kind of forklift-walking system and with its fork truck.
Background technology
Currently, the application range of electri forklift is also increasingly wider.Existing fork truck is mainly the drive form for using and singly driving,
Vehicle operating is driven by a driving motor.Pass through the battery for being equipped with high power capacity and high-power alternating current generator, power
Full, power is powerful, becomes current mainstream car design.
However existing fork truck, since volume is bigger, turning is dumb, can not adapt to the cargo fortune of some special occasions
Turn demand.
Invention content
The main purpose of the utility model is to provide a kind of forklift-walking system and with its fork truck, at least to solve
The inflexible problem of electri forklift turning in the prior art.
To achieve the goals above, the first aspect according to the present utility model provides a kind of forklift-walking system, packet
It includes：First driving wheel and the second driving wheel, are arranged on the vehicle frame of fork truck, and the axial line of the first driving wheel and the second driving wheel is total
Line；First driving motor is connect with the first drive wheel；Second driving motor is connect with the second drive wheel；It turns to
Wheel is arranged on vehicle frame, and steering angle sensor is connected on deflecting roller, and steering angle sensor is used to incude turning for deflecting roller
To angle；Controller is all connected with the first driving motor, the second driving motor and steering angle sensor, and controller is used for
According to rotation direction and the rotating speed size of the first driving motor of controlling steering angle of deflecting roller and the second driving motor so that
One driving wheel and the second driving wheel form corresponding differential.
Further, the first driving wheel and the second driving wheel are arranged in the front end of vehicle frame；Deflecting roller is one, and deflecting roller is set
It sets in the rear end of vehicle frame.
Further, vehicle frame includes：Front-axle beam, the first driving wheel and the second driving wheel are oppositely arranged on the both ends of front-axle beam, the
One driving wheel and the second driving wheel have the line of symmetry vertical with front-axle beam；Wherein, the center line of deflecting roller and the first driving wheel and
The line of symmetry of second driving wheel is conllinear so that the first driving wheel, the second driving wheel and deflecting roller three arrange in isosceles triangle.
Further, vehicle frame includes：Rear axle support, deflecting roller are mounted in rear axle support, and the is provided in rear axle support
There is on steering angle sensor one tooth sector the second tooth sector, the first tooth sector mutually to be nibbled with the second tooth sector
It closes, to drive the induction component of steering angle sensor to rotate to incude the steering angle of deflecting roller when rear axle support rotates.
Further, forklift-walking system further includes：First gearbox, the first driving motor pass through the first gearbox and
One drive wheel connects.
Further, forklift-walking system further includes：Second gearbox, the second driving motor pass through the second gearbox and
Two drive wheels connect.
Further, controller includes：Master controller is connect with steering angle sensor, for obtaining turning for deflecting roller
It is handled to angle information, and by the steering angle information of deflecting roller；First submaster controller drives with master controller and first
Motor is all connected with；Wherein, master controller is additionally operable to the steering angle information of deflecting roller being sent to the first submaster controller, and first is secondary
Controller is used to control the rotation direction and rotating speed size of the first driving motor according to the steering angle information of deflecting roller.
Further, controller further includes：Second submaster controller is all connected with master controller and the second driving motor；Its
In, master controller is additionally operable to the steering angle information of deflecting roller being sent to the second submaster controller, and the second submaster controller is used for root
The rotation direction and rotating speed size of the second driving motor are controlled according to the steering angle information of deflecting roller.
Further, forklift-walking system further includes：Supplying cell；Battery management system, supplying cell pass through cell tube
Reason system is connect with controller, to drive the first driving motor and the second driving motor to operate.
The second aspect according to the present utility model provides a kind of fork truck, including forklift-walking system, forklift-walking system
System is the forklift-walking system of the above.
Using the forklift-walking system of technical solutions of the utility model, including：First driving wheel, the second driving wheel, first
Driving motor, the second driving motor, deflecting roller, steering angle sensor and controller, the first driving wheel and the second driving wheel are set
It sets on the vehicle frame of fork truck, the axial line of the first driving wheel and the second driving wheel is conllinear；First driving motor and the first driving wheel
It is drivingly connected；Second driving motor is connect with the second drive wheel；Deflecting roller setting is connected on vehicle frame, on deflecting roller to be turned
To angular transducer, steering angle sensor is used to incude the steering angle of deflecting roller；Controller and the first driving motor, second
Driving motor and steering angle sensor are all connected with, and controller is used to drive electricity according to the controlling steering angle first of deflecting roller
The rotation direction and rotating speed size of machine and the second driving motor are so that the first driving wheel and the second driving wheel form corresponding differential.From
And two driving wheels is enable to adjust forward or backward speed according to the steering angle of deflecting roller to form differential, coordinate deflecting roller
Fast and flexible turns to.Solve the problems, such as that electri forklift turning in the prior art is inflexible.
Description of the drawings
Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application,
The exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the improper of the utility model
It limits.In the accompanying drawings：
Fig. 1 is according to optionally a kind of structural schematic diagram of forklift-walking system of the utility model embodiment；
Fig. 2 is the knot according to the first embodiment of the control system of the optional forklift-walking system of the utility model embodiment
Structure block diagram；
Fig. 3 is according to optionally a kind of structural representation of the rear axle support of forklift-walking system of the utility model embodiment
Figure；
Fig. 4 is the knot according to the second embodiment of the control system of the optional forklift-walking system of the utility model embodiment
Structure block diagram；
Fig. 5 is the knot according to the 3rd embodiment of the control system of the optional forklift-walking system of the utility model embodiment
Structure block diagram；And
Fig. 6 is the knot according to the fourth embodiment of the control system of the optional forklift-walking system of the utility model embodiment
Structure block diagram.
Wherein, above-mentioned attached drawing includes the following drawings label：
10, the first driving wheel；20, the second driving wheel；30, the first driving motor；40, the second driving motor；50, it turns to
Wheel；60, steering angle sensor；70, controller；71, master controller；72, the first submaster controller；73, the second submaster controller；
80, vehicle frame；81, front-axle beam；82, rear axle support；90, the first gearbox；100, the second gearbox；110, supplying cell；120, electric
Pond manages system；130, display；140, pump motor.
Specific implementation mode
In order to make those skilled in the art more fully understand the utility model, below in conjunction with the utility model reality
The attached drawing in example is applied, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment is only the embodiment of the utility model part, instead of all the embodiments.Based on the reality in the utility model
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts is all answered
When the range for belonging to the utility model protection.
According to the forklift-walking system of the utility model embodiment, as depicted in figs. 1 and 2, including：First driving wheel 10,
Second driving wheel 20, the first driving motor 30, the second driving motor 40, deflecting roller 50, steering angle sensor 60 and controller
70, the first driving wheel 10 and the second driving wheel 20 are arranged on the vehicle frame 80 of fork truck, the first driving wheel 10 and the second driving wheel 20
Axial line it is conllinear；First driving motor 30 and the first driving wheel 10 are drivingly connected；Second driving motor 40 and the second driving wheel
20 are drivingly connected；Steering angle sensor 60 is connected on deflecting roller 50, steering angle sensor 60 is for incuding deflecting roller 50
Steering angle；Controller 70 is all connected with the first driving motor 30, the second driving motor 40 and steering angle sensor 60,
Controller 70 is used for the operating side of controlling steering angle the first driving motor 30 and the second driving motor 40 according to deflecting roller 50
To with rotating speed size so that the first driving wheel 10 and the second driving wheel 20 form corresponding differential.
Using the forklift-walking system of technical solutions of the utility model, including：First driving wheel 10, the second driving wheel 20,
First driving motor 30, the second driving motor 40, deflecting roller 50, steering angle sensor 60 and controller 70, the first driving wheel
10 and second driving wheel 20 be arranged on the vehicle frame 80 of fork truck, the axial line of the first driving wheel 10 and the second driving wheel 20 is conllinear；
First driving motor 30 and the first driving wheel 10 are drivingly connected；Second driving motor 40 and the second driving wheel 20 are drivingly connected；Turn
It is arranged on the vehicle frame 80 of fork truck to wheel 50, steering angle sensor 60, steering angle sensor 60 is connected on deflecting roller 50
Steering angle for incuding deflecting roller 50；Controller 70 and the first driving motor 30, the second driving motor 40 and steering angle
Degree sensor 60 is all connected with, and controller 70 is used to be driven according to the first driving motor of controlling steering angle 30 and second of deflecting roller 50
The rotation direction and rotating speed size of dynamic motor 40 are so that the first driving wheel 10 and the second driving wheel 20 form corresponding differential.To make
Two driving wheels can adjust forward or backward speed to form differential according to the steering angle of deflecting roller 50, coordinate deflecting roller 50
Fast and flexible turns to.Solve the problems, such as that electri forklift turning in the prior art is inflexible.
When it is implemented, fork truck includes vehicle frame 80, the front end of vehicle frame 80 has lateral 81 first driving wheel of front-axle beam, 10 He
Second driving wheel 20 is arranged at 81 both ends of front-axle beam.It is additionally provided with the first gearbox 90 and the second gearbox 100 at 81 both ends of front-axle beam,
First driving motor 30 is drivingly connected by the first gearbox 90 and the first driving wheel 10, and the second driving motor 40 becomes by second
Fast case and the second driving wheel 20 are drivingly connected.The rotating speed that the first driving wheel 10 is adjusted by the first gearbox 90 becomes by second
Fast case 100 adjusts the rotating speed of the second driving wheel 20.
Deflecting roller 50 is one, and specifically, as shown in figures 1 and 3, the rear end of vehicle frame 80 is provided with rear axle support 82, is turned
It is mounted in rear axle support 82 to wheel 50, rear axle support 82 is pivoted arm suspension, and deflecting roller 50 is arranged under rear axle support 82
End, rear axle support 82 are rotatably arranged in the middle part of the rear end of vehicle frame 80 around its axial direction.First driving wheel 10 and second drives
Wheel 20 has the line of symmetry vertical with front-axle beam 81；Wherein, the center line of deflecting roller 50 and the first driving wheel 10 and the second driving wheel
20 line of symmetry is conllinear so that the first driving wheel 10, the second driving wheel 20 and 50 three of deflecting roller are arranged in vehicle in isosceles triangle
On frame 80.To enable fork truck to realize flexibly turning to for greater angle, meet the transhipment demand in small space.
It is provided with the first tooth sector in rear axle support 82, there is the second tooth sector on steering angle sensor 60, the
One tooth sector and the second tooth sector are intermeshed, and when fork-truck steering, rear axle support 82, which rotates, simultaneously passes through the first tooth sector
The induction component of steering angle sensor 60 is driven to rotate to incude the steering angle of deflecting roller 50 with the second tooth sector.By turning
The steering angle of the deflecting roller 50 sensed is sent to controller 70 to control 10 He of the first driving wheel to angular transducer 60
The rotating speed of second driving wheel 20, to coordinate deflecting roller 50 to complete to turn to.
As shown in figure 4, controller 70 includes：Master controller 71, the first submaster controller 72 and the second submaster controller 73, master control
Device 71 processed is connect with steering angle sensor 60, the steering angle information for obtaining deflecting roller 50, and deflecting roller 50 is turned
It is handled to angle information；First submaster controller 72 is all connected with master controller 71 and the first driving motor 30；Second secondary control
Device 73 processed is all connected with master controller 71 and the second driving motor 40.Master controller 71 is additionally operable to the steering angle of deflecting roller 50
Information is sent to the first submaster controller 72 and the second submaster controller 73, and the first submaster controller 72 is used for the steering according to deflecting roller 50
Angle information controls the rotation direction and rotating speed size of the first driving motor 30；Second submaster controller 73 is used for according to deflecting roller 50
Steering angle information control the second driving motor 40 rotation direction and rotating speed size.So that the first driving wheel 10 and second drives
Driving wheel 20 generates corresponding differential cooperation 50 fast steering of deflecting roller.
As shown in Figure 4 and Figure 5, forklift-walking system further includes：Supplying cell 110 and battery management system 120；Power supply electricity
Pond 110 is connect by battery management system 120 with controller 70, to for the first driving motor 30 and the second driving motor 40 with
And the work of controller 70 is powered.
In order to drive deflecting roller 50 to turn to, the forklift-walking system of the present embodiment further includes pump motor 140, pump motor 140
It is connect with the hydraulic pump of fork truck to drive hydraulic pump to operate, to provide power for the steering of deflecting roller 50.
In order to show the operating status of entire forklift-walking system, further, the forklift-walking system of the present embodiment is also
Including display 130, the operating condition of fork truck various pieces can be checked in time during fork truck works by display 130
And parameter.
As shown in fig. 6, battery management system 120 (BAS), display 130, the first submaster controller 72 and the second submaster controller
73 are connected to as a node in the CAN bus of vehicle.CAN bus is a kind of communications protocol, any one node all may be used
To initiate data communication to other nodes.CAN protocol meets the regulation of CAN2.0B, J1939 and ISO11898.
It is master controller 71, the first submaster controller 72, the as power source that supplying cell 110, which uses lithium battery, lithium battery,
Two submaster controllers 73, pump motor 140, the first driving motor 30, the second driving motor 40 and display 130 are powered.
Master controller 71 drives pump motor 140, the first submaster controller 72 to drive the first driving motor 30, the second submaster controller
73 the second driving motors 40 of driving.Steering angle sensor 60 is mounted in rear axle support 82, and signal wire is connected to main control
On device 71, master controller 71 can read the signal of steering angle sensor 60 when turning.
When steering, deflecting roller 50 can be driven to rotate to the left or to the right for steering wheel, it can be achieved that 90 ° of steerings.Rear axle support 82 is pacified
The gear of steering angle sensor 60 can be driven to rotate equipped with a pinion gear, steering angle sensor 60 passes to corner information
Respective drive data are separately sent to by master controller 71, master controller 71 according to the size and direction of corner by CAN bus
First submaster controller 72 and the second submaster controller 73 control the big of 30 rotating speed of the first driving motor by the first submaster controller 72
Small, stalling or direction rotation, size, stalling and the direction that 40 rotating speed of the second driving motor is controlled by the first submaster controller 72 turn
It is dynamic.At this point, the first driving motor 30 and the second driving motor 40 can be there are one speed differences.Before the speed difference of two driving motors is
The wheelbase of trailing wheel and the function of steering angle.So due to the presence of speed difference, fork truck can be with flipper turn, and realizes original place
Turning.
Above are merely preferred embodiments of the utility model, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of this utility model, several improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as the scope of protection of the utility model.
Claims (10)
1. a kind of forklift-walking system, which is characterized in that including：
First driving wheel (10) and the second driving wheel (20) are arranged on the vehicle frame (80) of fork truck, first driving wheel (10)
It is conllinear with the axial line of the second driving wheel (20)；
First driving motor (30) is drivingly connected with first driving wheel (10)；
Second driving motor (40) is drivingly connected with second driving wheel (20)；
Deflecting roller (50) is arranged on the vehicle frame (80), steering angle sensor (60) is connected on the deflecting roller (50),
The steering angle sensor (60) is used to incude the steering angle of the deflecting roller (50)；
Controller (70) is passed with first driving motor (30), second driving motor (40) and the steering angle
Sensor (60) is all connected with, and the controller (70) is for the first driving described in the controlling steering angle according to the deflecting roller (50)
The rotation direction and rotating speed size of motor (30) and second driving motor (40) are so that first driving wheel (10) and institute
It states the second driving wheel (20) and forms corresponding differential.
2. forklift-walking system according to claim 1, which is characterized in that first driving wheel (10) and described second
Driving wheel (20) is arranged in the front end of the vehicle frame (80)；The deflecting roller (50) is one, and deflecting roller (50) setting exists
The rear end of the vehicle frame (80).
3. forklift-walking system according to claim 2, which is characterized in that the vehicle frame (80) includes：
Front-axle beam (81), first driving wheel (10) and second driving wheel (20) are oppositely arranged on the two of the front-axle beam (81)
End, first driving wheel (10) and second driving wheel (20) have the line of symmetry vertical with the front-axle beam (81)；
Wherein, the center line of the deflecting roller (50) and first driving wheel (10) and second driving wheel (20) is symmetrical
Line is conllinear so that first driving wheel (10), second driving wheel (20) and the deflecting roller (50) three are in isoceles triangle
Shape is arranged.
4. forklift-walking system according to claim 2, which is characterized in that the vehicle frame (80) includes：
Rear axle support (82), the deflecting roller (50) are mounted in the rear axle support (82), are set on the rear axle support (82)
Be equipped with the first tooth sector, there is the second tooth sector on the steering angle sensor (60), first tooth sector with
The second tooth sector intermeshing, the steering angle sensor (60) is driven when being rotated with bridge bracket in the rear (82)
Induction component rotate to incude the steering angle of the deflecting roller (50).
5. forklift-walking system according to claim 1, which is characterized in that forklift-walking system further includes：
First gearbox (90), first driving motor (30) pass through first gearbox (90) and first driving wheel
(10) it is drivingly connected.
6. forklift-walking system according to claim 1, which is characterized in that forklift-walking system further includes：
Second gearbox (100), second driving motor (40) pass through second gearbox and second driving wheel
(20) it is drivingly connected.
7. forklift-walking system according to claim 1, which is characterized in that the controller (70) includes：
Master controller (71) is connect, the steering angle for obtaining the deflecting roller (50) with the steering angle sensor (60)
Information is spent, and the steering angle information of the deflecting roller (50) is handled；
First submaster controller (72) is all connected with the master controller (71) and first driving motor (30)；
Wherein, the master controller (71) is additionally operable to the steering angle information of the deflecting roller (50) being sent to first pair
Controller (72), first submaster controller (72) are used for according to the steering angle information of the deflecting roller (50) control described the
The rotation direction and rotating speed size of one driving motor (30).
8. forklift-walking system according to claim 7, which is characterized in that the controller (70) further includes：
Second submaster controller (73) is all connected with the master controller (71) and second driving motor (40)；
Wherein, the master controller (71) is additionally operable to the steering angle information of the deflecting roller (50) being sent to second pair
Controller (73), second submaster controller (73) are used for according to the steering angle information of the deflecting roller (50) control described the
The rotation direction and rotating speed size of two driving motors (40).
9. forklift-walking system according to claim 1, which is characterized in that the forklift-walking system further includes：
Supplying cell (110)；
Battery management system (120), the supplying cell (110) pass through the battery management system (120) and the controller
(70) it connects, to drive first driving motor (30) and second driving motor (40) to operate.
10. a kind of fork truck, including forklift-walking system, which is characterized in that the forklift-walking system is in claim 1 to 9
Any one of them forklift-walking system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820221925.2U CN207903844U (en) | 2018-02-08 | 2018-02-08 | A kind of forklift-walking system and the fork truck with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820221925.2U CN207903844U (en) | 2018-02-08 | 2018-02-08 | A kind of forklift-walking system and the fork truck with it |
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| Publication Number | Publication Date |
|---|---|
| CN207903844U true CN207903844U (en) | 2018-09-25 |
Family
ID=63562349
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820221925.2U Active CN207903844U (en) | 2018-02-08 | 2018-02-08 | A kind of forklift-walking system and the fork truck with it |
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| Country | Link |
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| CN (1) | CN207903844U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109160453A (en) * | 2018-09-29 | 2019-01-08 | 杭叉集团股份有限公司 | A kind of fork truck |
| CN110329004A (en) * | 2019-07-04 | 2019-10-15 | 福建龙马环卫装备股份有限公司 | Electric sweeper truck segmented vehicle bridge |
| 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 |
| CN112938830A (en) * | 2021-02-24 | 2021-06-11 | 安徽合力股份有限公司 | Control method of double-drive electric forklift |
-
2018
- 2018-02-08 CN CN201820221925.2U patent/CN207903844U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109160453A (en) * | 2018-09-29 | 2019-01-08 | 杭叉集团股份有限公司 | A kind of fork truck |
| CN109160453B (en) * | 2018-09-29 | 2023-12-12 | 杭叉集团股份有限公司 | Fork truck |
| CN110329004A (en) * | 2019-07-04 | 2019-10-15 | 福建龙马环卫装备股份有限公司 | Electric sweeper truck segmented vehicle bridge |
| 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 |
| CN112938830A (en) * | 2021-02-24 | 2021-06-11 | 安徽合力股份有限公司 | Control method of double-drive electric forklift |
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