All-wheel electronic steering vehicle chassis and front double-drive omni-directional counterbalanced forklift

Abstract

The application discloses a full-wheel electronic steering vehicle chassis and a front double-drive omnidirectional balanced counterbalance forklift, which comprises a vehicle frame, front wheels arranged on the vehicle frame and having independent steering and driving functions, rear wheels arranged on the vehicle frame and having independent steering functions, and a controller arranged on the vehicle frame and used for controlling the front wheel driving and the front wheel and rear wheel steering. In the application, the two groups of front wheels and rear steering assemblies adopt electronic steering modes and can independently perform steering actions, the steering actions do not interfere with each other, the two groups of driving wheels and steering wheels can rotate by 360 degrees, the rotation angle cooperation is realized by a steering total controller algorithm, the forklift can realize straight driving, sideways driving, in-place rotation, oblique driving and minimum turning mode, the flexibility and site adaptability of the forklift are greatly improved, and the turning radius is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fork truck equipment, in particular to a full-wheel electronic steering vehicle chassis and a front double-drive omnidirectional counterbalance fork truck. BACKGROUND

[0002] Chinese patent publication No. CN100339293C discloses a universal traveling fork truck, which comprises a frame, a front axle connected with the frame, a portal connected with the front axle, left and right front wheels arranged at both ends of the front axle, left and right synchronous gear sets fixed on the front axle, a rear wheel arranged at the rear end of the frame, a rear steering wheel arranged on the rear wheel, an electromagnetic brake clutch installed in the middle of the frame, a left front wheel steering gear fixed on the left front wheel, and a right front wheel steering gear fixed on the right front wheel. The above fork truck realizes simultaneous steering of multiple wheels and effectively improves the flexibility of the fork truck. However, in actual use, the following obvious deficiencies still exist: the above fork truck realizes steering through a chain and sprocket structure, which makes the structure complex, the steering precision low, and the response slow; at the same time, since the steering structure is synchronously driven by a unified driving mechanism, it does not have independent steering, and the steering wheel does not have a corresponding driving function, which results in poor flexibility. SUMMARY

[0003] The present application aims to solve the problems presented in the background.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0005] A full-wheel electronic steering vehicle chassis, comprising

[0006] a frame;

[0007] a front wheel arranged on the frame and having independent steering and driving functions;

[0008] wherein: the front wheel is in transmission connection with an output end of a driving reducer, and an input end of the driving reducer is in transmission connection with a driving motor, the driving reducer is arranged at the front end of the frame through a rotary support and is rotatable, an electromagnetic clutch is arranged on the driving motor, and the driving motor is in electrical connection with a driving motor controller; a front steering motor is arranged at a corresponding position on the frame, a main shaft of the front steering motor is connected with an input end of a reducer one, an output end of the reducer one is provided with a front steering pinion, and the front steering pinion is in meshing connection with a front steering gear on the rotary support, an encoder is built-in in the front steering motor, and the front steering motor is in electrical connection with a front steering motor controller;

[0009] a rear wheel arranged on the frame and having independent steering function;

[0010] The rear wheel is arranged on the lower end shaft of the steering wheel support and can rotate freely, the steering wheel support is arranged on the rear end of the frame through a rotary support, a rear steering motor is arranged at the corresponding position of the rear end of the frame, the main shaft of the rear steering motor is connected with the input end of the second speed reducer, a rear steering pinion is arranged on the output end of the second speed reducer, the rear steering pinion is engaged with the rear steering gear on the rotary support, an electric potential meter which rotates synchronously with the steering wheel support is arranged on the rotary support, and the rear steering motor is electrically connected with the rear steering motor controller.

[0011] A controller is used for controlling the front wheel driving and the front wheel and rear wheel steering, and forming the side moving mode, the oblique moving mode, the center rotating mode and the straight moving mode.

[0012] Preferably, the front steering pinion, the front steering gear, the rear steering pinion and the rear steering gear are all chain wheel structures, and the front steering pinion and the rear steering pinion drive the front steering gear and the rear steering gear to rotate through chains respectively.

[0013] Preferably, the controller comprises a driving motor general controller, a working system general controller and a steering motor general controller, the driving motor general controller is electrically connected with the driving motor controller and is used for controlling the driving motor rotating speed and starting and stopping, the steering motor general controller is electrically connected with the front steering motor controller and the rear steering motor controller respectively, is used for receiving and judging the front wheel and rear wheel position signals, simultaneously fitting the position algorithm to give the corresponding steering position and steering speed of the vehicle in different moving states, and the working system general controller is used for coordinating the driving motor general controller and the steering motor general controller and giving the differential speed signals of the driving motors on two sides and the control hydraulic assembly executing actions.

[0014] Preferably, the controller further comprises

[0015] A steering wheel is drivingly connected with a steering encoder through a support, the steering encoder is electrically connected with the steering motor general controller, the steering wheel is rotated to drive the input end of the steering encoder to rotate and generate a steering instruction signal to the steering motor general controller, and then the forklift front wheel and rear wheel are commanded to steer as required.

[0016] A pedal assembly comprises an acceleration pedal and a brake pedal, the acceleration pedal provides an acceleration instruction signal for the driving motor, the brake pedal provides a deceleration and reverse brake instruction signal for the driving motor and a brake instruction signal for the electromagnetic clutch.

[0017] A power battery is arranged on the frame and is used for providing electric power driving for the whole vehicle.

[0018] Preferably, the power battery is a lead-acid battery or a lithium ion battery and is arranged in an L shape.

[0019] This application also provides a front dual-drive omnidirectional counterbalance forklift, including the all-wheel electronic steering vehicle chassis described above.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] In this invention, both sets of front wheels and the rear steering assembly employ electronic steering, and each can independently execute steering actions without interfering with the others. Both sets of drive wheels and steering wheels can rotate 360°, with the rotation angle coordinated by the steering master controller algorithm. This allows the forklift to achieve straight-line, side-moving, stationary turning, diagonal, and minimum turning modes, significantly improving the forklift's flexibility and site adaptability, and reducing the turning radius. Furthermore, the counterbalanced forklift with its independent front dual-drive structure outperforms traditional electric counterbalanced forklifts in many aspects, including driving performance, climbing performance, obstacle avoidance performance, and braking performance, greatly improving the vehicle's environmental adaptability and work efficiency. More importantly, due to the use of all-wheel electronic steering, the electronic steering system significantly improves steering precision and response speed, while also having low energy consumption, a good control environment, and easy modification, making it particularly beneficial for the future development of AGV counterbalanced forklifts. Attached Figure Description

[0022] Figure 1 This is a front view of the vehicle chassis of the present invention;

[0023] Figure 2 This is a side view of the vehicle chassis of the present invention;

[0024] Figure 3 This is a top view of the forklift used in this invention;

[0025] Figure 4 This is a front view of the forklift used in this invention;

[0026] Figure 5 This is a top view and a right view of the forklift of the present invention;

[0027] Figure 6 This is a schematic diagram of the forklift side-travel mode of the present invention;

[0028] Figure 7 This is a schematic diagram of the forklift slant travel mode of the present invention;

[0029] Figure 8 This is a schematic diagram of the forklift center rotation mode of the present invention;

[0030] Figure 9 This is a schematic diagram of the forklift straight-line mode of the present invention.

[0031] In the diagram: 1. Frame, 2. Front wheel, 3. Rear wheel, 4. Controller, 5. Drive reducer, 6. Drive motor, 6.1. Electromagnetic clutch, 7. Slewing support, 8. Front steering motor, 9. Reducer I, 10. Front steering pinion, 11. Front steering gear, 12. Encoder, 13. Front steering motor controller, 14. Steering wheel bracket, 15. Slewing support, 16. Rear steering motor, 17. Reducer II, 18. Rear steering pinion, 19. Rear steering gear, 20. Potentiometer, 21. Rear steering motor controller, 22. Drive motor master controller, 23. Working system master controller 24 Steering motor master controller, 25 Cab assembly, 251 Cab frame, 252 Steering wheel, 253 Instrument assembly, 254 Integrated handle assembly, 255 Pedal assembly, 2551 Accelerator pedal, 2552 Brake pedal, 256 Steering encoder, 257 Seat, 26 Lifting assembly, 261 Mast support, 262 Mast, 263 Lifting cylinder, 264 Tilting cylinder, 27 Hydraulic assembly, 271 Lifting motor, 272 Hydraulic pump, 273 Hydraulic oil tank, 274 Integrated valve group, 28 Power battery. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Please see Figures 1-9 The present invention provides a technical solution:

[0034] A vehicle chassis with all-wheel electronic steering, including

[0035] Frame 1;

[0036] The front wheels 2 are located at the front end of the frame 1 and have independent steering and driving functions. In this embodiment, two sets of front wheels 2 are arranged independently and symmetrically along the center line of the frame 1. The front wheels 2 are connected to the output end of the drive reducer 5, and the input end of the drive reducer 5 is connected to the drive motor 6. The drive motor 6 provides driving power output for the forklift. The drive reducer 5 is rotatably mounted at the front end of the frame 1 via a slewing support 7, allowing the front wheels 2 to rotate 360° around the center of the slewing support 7. The drive motor 6 is equipped with an electromagnetic clutch 61, and the drive motor 6 is electrically connected to the drive motor controller. The electromagnetic clutch 61 is used to brake the drive motor 6, giving the forklift a braking function. The drive motor controller is used to control the speed and start / stop of the drive motor 6. Under the action of the drive reducer 5, the front wheels 2 are driven to move. The drive reducer 5 enables the front wheels 2 to output power during driving. Appropriate speed and torque; a front steering motor 8 is installed at a corresponding position on the frame 1. The main shaft of the front steering motor 8 is connected to the input end of the reducer 9, and a front steering pinion 10 is installed on the output end of the reducer 9. At the same time, the steering pinion 10 meshes with the front steering gear 11 on the slewing support 7. The setting of the reducer 9 ensures that the front wheel 2 has appropriate speed and torque during rotation. By setting the front steering motor 8, the front wheel 2 is driven to steer independently under the action of the front steering pinion 10 and the front steering gear 11. At the same time, the front steering pinion 10 and the front steering gear 11 can also be a sprocket structure. The front steering pinion 10 drives the front steering gear 11 to rotate through the chain, thereby linking the front wheel 2 to steer. The front steering motor 8 has a built-in encoder 12, and the front steering motor 8 is electrically connected to the front steering motor controller 13. The front steering motor controller 13 is used to control the start, stop and speed of the front steering motor 8.

[0037] The rear wheel 3 is located at the rear end of the frame 1 and has independent steering function but no driving function. The rear wheel 3 is mounted on the lower axle of the steering wheel bracket 14 and can rotate freely. The steering wheel bracket 14 is mounted at the rear end of the frame 1 via a slewing support 15, and can rotate 360° around the center of the slewing support 15. A rear steering motor 16 is located at a corresponding position at the rear end of the frame 1. The main shaft of the rear steering motor 16 is connected to the input end of a reducer 17, and a rear steering pinion 18 is located on the output end of the reducer 17. The rear steering pinion 18 interacts with the rear steering pinion 18 on the slewing support 15. The rear steering pinion 18 and the rear steering gear 19 can also be sprocket structures. The rear steering pinion 18 drives the rear steering gear 19 to rotate through a chain, thereby driving the rear wheel 3 to steer independently. A potentiometer 20 that rotates synchronously with the steering wheel bracket 14 is provided on the slewing support 15. The potentiometer 20 is connected to the slewing support 15 through a transmission device, so that the potentiometer 20 can monitor the rotation position of the rear wheel 3. The rear steering motor 16 is electrically connected to the rear steering motor controller 21. The rear steering motor controller 21 is used to control the start, stop and speed of the rear steering motor 16.

[0038] The controller 4 is located at the centerline of the front end of the frame 1 and is used to control the driving of the front wheels 2 and the steering of the front wheels 2 and the rear wheels 3. The controller 4 includes two sets of drive motor master controllers 22, a working system master controller 23 and a steering motor master controller 24. The drive motor master controller 22 is electrically connected to the drive motor controller and is used to control the speed and start / stop of the drive motor 6. The steering motor master controller 24 is electrically connected to the front steering motor controller 13 and the rear steering motor controller 21 respectively and is used to receive and determine the position signals of the front wheels 2 and the rear wheels 3. At the same time, the fitting position algorithm gives the corresponding steering position and steering speed under different driving conditions of the vehicle. The working system master controller 23 is used to coordinate the drive motor master controller 22 and the steering motor master controller 24, and to give the differential signals of the two drive motors 6 and control the hydraulic assembly 27 to perform actions.

[0039] Both sets of front wheels 2 and rear wheels 3 use electronic steering and can perform steering actions independently without interference between mechanisms. Both sets of front wheels 2 and rear wheels 3 can rotate 360°, and their rotation angles are coordinated by the steering motor master controller 24 algorithm. This allows the forklift to not only have the conventional straight-line driving mode in the forward and backward directions, but also the side-moving mode in the left and right directions, the center-turning mode around the center point of the vehicle outline, and the diagonal driving mode that translates at any angle. In each driving mode, the front wheels 2 and rear wheels 3 present different angle states, and their tire turning angles are determined by the forklift's wheelbase and track width.

[0040] This application also provides a front dual-drive omnidirectional counterbalance forklift, including a vehicle chassis with all-wheel electronic steering as described in any of the above claims, and further including...

[0041] The cab assembly 25 includes a cab frame 251 fixedly mounted on the upper left end of the frame 1. The cab frame 251 houses a steering wheel 252, an instrument cluster 253, an integrated handle assembly 254, a pedal assembly 255, and a seat 257. The steering wheel 252 is connected to a steering encoder 256 via a bracket. The steering encoder 256 is electrically connected to a steering motor controller 24. When the forklift is in manual driving mode, rotating the steering wheel 252 rotates the input end of the steering encoder 256, generating a rotation signal. The command signal is sent to the steering motor master controller 24, which in turn commands the front wheels 2 and rear wheels 3 of the forklift to steer as required. The integrated handle assembly 254 is used to switch the forklift driving mode and control the lifting assembly 26 for lifting, tilting, and lateral movement. The pedal assembly 255 includes an accelerator pedal 2551 and a brake pedal 2552. The accelerator pedal 2551 provides an acceleration command signal to the drive motor 6, and the brake pedal 2552 provides a deceleration and reverse braking command signal to the drive motor 6, while also providing a braking command signal to the electromagnetic clutch 61.

[0042] The lifting assembly 26 is located at the front end of the frame 1 and is used to forklift and lift goods. The lifting assembly 26 adopts a narrow-body mast structure design. The lifting assembly 26 includes a mast 262 connected to the front end of the frame 1 through a mast support 261 at the lower end. The mast 262 is connected to a lifting cylinder 263 and a tilting cylinder 264 for driving its lifting and tilting.

[0043] The counterbalance forklift assembly 27, connected to the lifting assembly 26, controls the tilting, lateral movement, and lifting of the lifting assembly 26. The counterbalance forklift assembly 27 is located at the left rear end of the frame 1, below the cab assembly 25. The counterbalance forklift assembly 27 uses a proportional valve, which enables the working system control of the omnidirectional counterbalance forklift to be linear, smooth, and precise. The counterbalance forklift assembly 27 includes a lifting motor 271 electrically connected to the working system master controller 23. The lifting motor 271 is driven by a hydraulic pump 272. The oil inlet of the hydraulic pump 272 is connected to the hydraulic oil tank 273, and its oil outlet is connected to the lifting cylinder 263 and the tilting cylinder 264 through an integrated valve group 274.

[0044] The power battery 28 is located on the right side of the frame 1. In order to provide electric drive for the whole vehicle, the power battery 28 is arranged in an L-shape. The power battery 28 is a lead-acid battery or a lithium-ion battery. At the same time, the left side of the frame 1 and the lower side of the cab assembly 25 are also arranged with counterweights in an L-shape to meet the compact size requirements of the front dual-drive omnidirectional counterweight forklift.

[0045] Side view mode: such as Figure 6As shown, when the forklift is in the left and right lateral movement mode, the two sets of front drive wheels 2 and rear wheels 3 are perpendicular to the center line of the forklift's symmetry as the steering reference position; in this mode, the two sets of front steering motors 8 drive the two sets of front drive wheels 2 to perform synchronous wrap-around steering, the rear wheels 3 are always in the reference position and locked, and the rear wheels 3 cannot be turned. The steering angle of the forklift is achieved by the wrap-around angle of the two sets of front drive wheels 2. In this mode, the forklift can only travel to the left and right.

[0046] Diagonal mode: such as Figure 7 As shown, when the forklift is in the diagonal movement mode of translating in any angle direction, the two sets of front drive wheels 2 and rear wheels 3 are parallel to the center line of the forklift's symmetry as the steering reference position. In this mode, the front steering motor 8 drives the two sets of front drive wheels 2 to perform real-time synchronous steering at the same angle, and the rear steering motor 16 performs real-time synchronous steering at the same angle with the front steering motor 8. In this mode, the forklift can achieve parallel movement in any angle direction.

[0047] Center turn pattern: Refer to Figure 8 As shown, when the forklift is in center turn mode, the two sets of drive front wheels 2 and rear wheels 3 and the tangent of the circumference of the center point of the forklift outline serve as the steering reference position; in this mode, the two sets of front steering motors 8 drive the two sets of drive front wheels 2 to rotate to the fixed wrap angle shown in the figure and lock them, and the rear steering motor 16 rotates to the fixed angle shown in the figure and locks them. In this mode, the forklift can only rotate clockwise or counterclockwise along the center point of the forklift outline.

[0048] Straight-through mode: such as Figure 9 As shown, when the forklift is in the straight-line mode in the forward and backward direction, the two sets of drive front wheels 2 and rear wheels 3 are parallel to the center line of the forklift's symmetry as the steering reference position. In this mode, the two sets of drive front wheels 2 are always in the reference position state, the front steering motor 8 is locked and cannot be turned, and the forklift's steering action angle is realized by the rear steering motor 16. In this mode, the forklift can only travel forward and backward.

[0049] Based on the aforementioned characteristics of each driving mode, the all-wheel electronic steering front dual-drive omnidirectional counterbalance forklift significantly improves its passability in various spatial environments, greatly reduces its turning radius, and greatly enhances its flexibility.

[0050] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A vehicle chassis with all-wheel electronic steering, characterized in that: include Frame (1); The front wheel (2) is mounted on the frame (1) and has independent steering and drive functions; Wherein: the front wheel (2) is connected to the output end of the drive reducer (5) and the input end of the drive reducer (5) is connected to the drive motor (6). The drive reducer (5) is rotatably mounted on the front end of the frame (1) via the slewing support (7). The drive motor (6) is equipped with an electromagnetic clutch (61) and is electrically connected to the drive motor controller. The frame (1) is equipped with a front steering motor (8) at a corresponding position. The main shaft of the front steering motor (8) is connected to the input end of the reducer (9) and the output end of the reducer (9) is equipped with a front steering pinion (10). At the same time, the steering pinion (10) meshes with the front steering gear (11) on the slewing support (7). The front steering motor (8) is equipped with an encoder (12) and is electrically connected to the front steering motor controller (13). The rear wheel (3) is mounted on the frame (1) and has independent steering function; Wherein: the rear wheel (3) is mounted on the lower shaft of the steering wheel bracket (14) and can rotate freely; the steering wheel bracket (14) is mounted on the rear end of the frame (1) via a slewing support (15); a rear steering motor (16) is mounted at the corresponding position at the rear end of the frame (1); the main shaft of the rear steering motor (16) is connected to the input end of the reducer (17); and a rear steering pinion (18) is mounted on the output end of the reducer (17); the rear steering pinion (18) meshes with the rear steering gear (19) on the slewing support (15); a potentiometer (20) that rotates synchronously with the steering wheel bracket (14) is mounted on the slewing support (15); and the rear steering motor (16) is electrically connected to the rear steering motor controller (21); and The controller (4) is used to control the driving of the front wheel (2) and the steering of the front wheel (2) and the rear wheel (3), and to form a side driving mode, a diagonal driving mode, a center turning mode and a straight driving mode; The controller (4) includes a drive motor master controller (22), a working system master controller (23), and a steering motor master controller (24). The drive motor master controller (22) is electrically connected to the drive motor controller and is used to control the speed and start / stop of the drive motor (6). The steering motor master controller (24) is electrically connected to the front steering motor controller (13) and the rear steering motor controller (21) respectively. It is used to receive and determine the position signals of the front wheel (2) and the rear wheel (3), and at the same time, the fitting position algorithm gives the corresponding steering position and steering speed under different driving conditions of the vehicle. The working system master controller (23) is used to coordinate the drive motor master controller (22) and the steering motor master controller (24), and to give the differential signal of the two drive motors (6) and control the hydraulic assembly (27) to perform actions.

2. The all-wheel electronic steering vehicle chassis according to claim 1, characterized in that: The front steering pinion (10), the front steering gear (11), the rear steering pinion (18), and the rear steering gear (19) are all sprocket structures. The front steering pinion (10) and the rear steering pinion (18) drive the front steering gear (11) and the rear steering gear (19) to rotate via chains, respectively.

3. The all-wheel electronic steering vehicle chassis according to claim 2, characterized in that: Also includes The steering wheel (252) is connected to the steering encoder (256) via a bracket. The steering encoder (256) is electrically connected to the steering motor controller (24). By rotating the steering wheel (252), the input end of the steering encoder (256) is rotated and a steering command signal is generated to the steering motor controller (24), which in turn commands the front wheels (2) and rear wheels (3) of the forklift to steer as required. The pedal assembly (255) includes an accelerator pedal (2551) and a brake pedal (2552). The accelerator pedal (2551) provides an acceleration command signal to the drive motor (6), and the brake pedal (2552) provides a deceleration and reverse braking command signal to the drive motor (6) and a braking command signal to the electromagnetic clutch (61). The power battery (28) is mounted on the frame (1) to provide electric power for the whole vehicle.

4. The all-wheel electronic steering vehicle chassis according to claim 3, characterized in that: The power battery (28) is a lead-acid battery or a lithium-ion battery, and is arranged in an L-shape.

5. A front dual-drive omnidirectional counterbalance forklift, comprising an all-wheel electronic steering vehicle chassis as described in any one of claims 1-4.

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