A corner signal acquisition device applicable to industrial vehicles and an industrial vehicle

Abstract

The present invention relates to the field of automated mechanical equipment, and particularly to the design of steering components for industrial vehicles. The present invention is achieved through the following technical solutions: An angle signal acquisition device applicable to industrial vehicles, including a main frame, a steering axle, and an angle sensor. The steering axle includes a main shaft, a bridge body fixedly connected to the main frame, and a steering knuckle rotatably connected to the bridge body. The main shaft is fixedly connected to the bridge body, and a toothed rack is installed on the steering knuckle. The toothed rack includes a toothed ring. The purpose of the present invention is to provide an angle signal acquisition device applicable to industrial vehicles, which uses a fixed main shaft acquisition design, can real-time collect steering values without the main shaft rotating, reduce the production cost of the vehicle, improve the force stability of the steering axle, and enhance the load-carrying stability performance of industrial vehicles.

Description

Technical Field

[0001] The present invention relates to the field of automated mechanical equipment, and particularly to the design of steering components for industrial vehicles. Background Art

[0002] Industrial vehicles refer to power-driven motor vehicles used for carrying, pushing, towing, lifting, stacking, or palletizing various goods. Common industrial vehicles include forklifts, side forklifts, tractors, and so on.

[0003] Industrial vehicles rely on steering wheels installed on the vehicle body for steering, and the specific structure depends on the steering axle connected thereto. For example, a Chinese patent document with the publication number CN201420406140.4 discloses a steering axle, which includes three major components: a bridge body, a main shaft, and a steering knuckle. The bridge body is connected to the frame of the industrial vehicle and can be regarded as a stationary part. The steering knuckle is movably connected to the bridge body, and the main shaft is movably connected to the bridge body and extends in the vertical direction. The steering wheel is installed on the steering knuckle. During actual use, as shown in the figures in the patent specification, when the oil cylinder operates and the piston rod is pushed out, it pushes the steering knuckle and the main shaft to rotate relative to the bridge body, thereby causing the steering wheel to rotate and changing the driving trajectory of the vehicle.

[0004] When an industrial vehicle is steering, in order to ensure safety, it is necessary to collect the steering angle of the vehicle in real time. The control system of the vehicle controls the corresponding safe speed according to the steering angle. In the prior art, for the sake of compact space layout and convenience of steering value acquisition, the steering signal sensor is often connected to the main shaft, and the steering angle value is collected in real time through the rotation of the main shaft.

[0005] However, this technical solution has certain technical defects: in order to correctly collect the steering value, the main shaft rotates in real time. On the one hand, the rotation design of the main shaft increases the costs of design, independent mold opening, and production; on the other hand, due to the complex road conditions of the use environment of industrial vehicles, the road surface is uneven and potholed, and industrial vehicles need to carry goods, which affects the force reliability of the main shaft position and is prone to failures. Summary of the Invention

[0006] The purpose of the present invention is to provide a corner signal acquisition device applicable to industrial vehicles and an industrial vehicle, which use a fixed main shaft acquisition design, can collect steering values in real time without the rotation of the main shaft, reduce the production cost of the vehicle, improve the force stability of the steering axle, and enhance the load-carrying stability performance of industrial vehicles.

[0007] The present invention is achieved through the following technical solutions: A corner signal acquisition device applicable to industrial vehicles, including a main frame, a steering axle, and an angle sensor. The steering axle includes a main shaft, a bridge body fixedly connected to the main frame, and a steering knuckle rotatably connected to the bridge body. The main shaft is fixedly connected to the bridge body. A toothed rack is installed on the steering knuckle. The toothed rack includes a toothed ring. This corner signal acquisition device further includes a connecting shaft and a matching gear connected to the connecting shaft. The matching gear meshes with the toothed ring. The angle sensor is used to sense the rotation of the connecting shaft.

[0008] As a preference of the present invention, the matching gear and the toothed ring are arranged at the same height position.

[0009] As a preference of the present invention, the steering knuckle is connected to a steering wheel, and the matching gear is located on the side of the toothed ring away from the steering wheel.

[0010] As a preference of the present invention, the connecting shaft extends in the vertical direction. An upper fixing piece and a lower supporting piece are installed on the connecting shaft and are respectively located above and below the matching gear. The upper fixing piece and the lower supporting piece are used to define the height installation position of the matching gear.

[0011] As a preference of the present invention, a bayonet for engaging with the connecting shaft is provided on the lower supporting piece.

[0012] As a preference of the present invention, the lower supporting piece is a disc spring for providing an upward elastic force to the matching gear.

[0013] As a preference of the present invention, the toothed rack includes an upper sleeve portion and two side fixing portions located below the upper sleeve portion and extending toward the side ends of the upper sleeve portion. The side fixing portions are connected to the steering knuckle, and the toothed ring is located on the upper sleeve portion.

[0014] As a preference of the present invention, a sleeve shaft ring for sleeving the main shaft is provided on the upper sleeve portion.

[0015] As a preference of the present invention, the angle sensor is an angle multi-turn sensor, and the inner ring of the angle multi-turn sensor is connected to the connecting shaft.

[0016] As a preference of the present invention, the angle sensor includes an electromagnetic induction body and an inductor magnet, and the inductor magnet is connected to the connecting shaft.

[0017] As a preference of the present invention, the connecting shaft includes an upper connecting disc and a lower shaft connected to the lower surface of the upper connecting disc. The lower shaft is connected to the matching gear, and the inductor magnet is connected to the upper connecting disc.

[0018] As a preference of the present invention, a flat opening with a flat surface is provided on the lower shaft, and the central hole of the matching gear matches the flat opening.

[0019] As a preference of the present invention, it further includes a sensor bracket installed on the main frame, and the electromagnetic inductor is fixedly installed on the sensor bracket.

[0020] An industrial vehicle includes a drive wheel, a steering handle, a steering cylinder, and a steering wheel, and further includes a corner signal acquisition device applicable to the industrial vehicle. One end of the steering cylinder is connected to the main vehicle body, and the other end is connected to the steering knuckle, and the steering knuckle is connected to the steering wheel.

[0021] As a preference of the present invention, a plurality of wheel mounting bolts are provided on the steering knuckle, and the plurality of wheel mounting bolts are evenly arranged in a circumferential array.

[0022] In summary, the present invention has the following beneficial effects:

[0023] 1. The main shaft is fixedly connected to the axle body and can be integrally formed, and it does not move by itself during rotation, so its force stability, structural strength, and production cost can all be improved.

[0024] 2. The cooperation between the sleeve shaft hole and the main shaft makes the whole component more compact, optimizes the space utilization efficiency in the height direction, and on the other hand, makes the rotation trajectory of the tooth-pulling rack obtain auxiliary guidance and rotate more smoothly.

[0025] 3. The three-pronged design of the tooth-pulling rack enables the tooth ring to obtain a better and more stable rotation trajectory during rotation, relying on the two main fixing points of the two side fixing parts and the auxiliary positioning point of the sleeve shaft hole, providing a basis for the precise and reliable measurement of the subsequent rotation angle.

[0026] 4. The opening in the center of the matching gear sleeve matches the flat opening, increasing the synchronism of the rotation of the connecting shaft and the matching gear and ensuring no relative rotation.

[0027] 5. The clamping design of the upper fixing piece and the lower supporting piece for the matching gear has two functions. One is to ensure the height position of the matching gear, so as to ensure the effective cooperation between the matching gear and the tooth ring. The second is to serve as an intermediate component, using the upper and lower frictional forces to assist in strengthening the rotation synchronism of the connecting shaft and the matching gear 3.

[0028] 6. The lower supporting piece is of a semi-open design, which is convenient for being clamped into the lower shaft 72.

[0029] 7. The lower supporting piece can adopt a circlip, and its elastic force direction is upward, which can further provide a more sufficient supporting force for the matching gear.

[0030] 8. In an electromagnetic inductor, there is a certain gap between the inductor magnet and the electromagnetic induction body, eliminating the need for physical contact and making it more adaptable to the bumps and vibrations generated during vehicle operation, further enhancing the reliability of angle detection and the service life of components. Description of the Drawings

[0031] Figure 1 is a schematic diagram of Embodiment 1;

[0032] Figure 2 is Figure 1 exploded view of parts;

[0033] Figure 3 is a schematic diagram of the tooth-pulling rack and the matching gear;

[0034] Figure 4 is a schematic diagram of the sensor bracket, the angle sensor, and the connecting shaft.

[0035] In the figure:

[0036] 1. Steering bridge, 11. Steering knuckle, bridge body, 12. Wheel mounting bolt, 13. Main shaft, 2. Tooth-pulling rack, 21. Upper sleeve part, 211. Tooth ring, 22. Side fixing part, 23. Sleeve collar, 3. Matching gear, 41. Upper fixing piece, 42. Lower supporting piece, bayonet, 5. Sensor bracket, 6. Angle sensor, 61. Electromagnetic induction body, 62. Inductor magnet, 7. Connecting shaft, 71. Upper connecting plate, 72. Lower shaft, 721. Flat mouth, 91. Oil cylinder, 92. Main frame. Detailed Embodiment

[0037] The present invention will be further described in detail below with reference to the accompanying drawings.

[0038] This specific embodiment is only an explanation of the present invention and does not limit the present invention. Those skilled in the art can make modifications to this embodiment without creative contributions according to their needs after reading this specification, but as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

[0039] Embodiment 1, an industrial vehicle, which includes drive wheels, a steering handle, a steering oil cylinder, and steering wheels. The structures of these components are the same as those in the prior art and are not changed in this technical solution. It also includes a corner signal acquisition device, such as Figure 1 and Figure 2 shown. When the steering wheel turns, the main frame 92 can be regarded as a stationary part, and the oil cylinder 91 is installed on the main frame 92 and is pushed out to drive the steering bridge 1 to turn.

[0040] The steering axle 1 specifically includes an axle body, a knuckle 11, and a main shaft 13. A plurality of wheel mounting bolts 12 are evenly arranged in a circular array on the knuckle 11, and the steering wheel is connected and mounted to the wheel mounting bolts 12. During the steering process of the steering axle 1, the rotating wheel steers accordingly.

[0041] The main shaft 13 extends in the vertical direction. Different from the prior art, the main shaft 13 is fixedly connected to the axle body. That is, during the steering process, the main shaft 13, the axle body, and the main frame 92 can all be regarded as non-moving parts, while the steering knuckle 11 and the steering wheel can be regarded as rotating parts. Since the main shaft 13 is fixedly connected to the axle body, they can be integrally formed and do not move during rotation, improving their force stability, structural strength, and production cost. The toothed rack 2, as a rotating transmission component, transmits the rotational displacement to the matching gear 3.

[0042] Specifically, as Figure 2 and Figure 3 shown, the toothed rack 2 is designed in a three-pronged shape, including an upper sleeve portion 21 and two side fixing portions 22 extending at the side ends. The side fixing portions 22 are connected to the steering knuckle 11, and a sleeve shaft hole 23 is provided on the upper sleeve portion 21 for the main shaft 13 to extend into. The cooperation between the sleeve shaft hole 23 and the main shaft 13 not only makes the whole component more compact and optimizes the space utilization efficiency in the height direction, but also provides auxiliary guidance for the rotation trajectory of the toothed rack 2, making the rotation more stable. A toothed ring 211 is provided on the upper sleeve portion 21. The three-pronged design of the toothed rack 2 enables the toothed ring 211 to obtain a better and more stable rotation trajectory during rotation, relying on the two main fixing points of the two side fixing portions 22 and the auxiliary positioning point of the sleeve shaft hole 23, providing a basis for the precision and reliability of subsequent rotation angle measurement.

[0043] As Figure 2 shown, a sensor bracket 5 is installed on the main frame 92, and an angle sensor 6 is installed thereon for obtaining steering data. Specifically, the sensor bracket 5 is installed on the main frame 92 as a non-moving part, and the connecting shaft 7 is rotatably installed on the sensor bracket 5. As Figure 3 and Figure 4As shown, the connecting shaft 7 includes an upper connecting disc 71 and a lower shaft 72. A flat opening 721 is provided on the lower shaft 72, and the surface of the flat opening 721 is flat. The matching gear 3 is sleeved on the lower shaft 72, and the opening in its center matches the lower shaft 72, especially the flat opening 721, increasing the synchronization of the rotation of the connecting shaft 7 and the matching gear 3 to ensure no relative rotation. The matching gear 3 meshes with the tooth ring 211 on the upper sleeve portion 21, thereby transmitting the rotation action of the steering knuckle 11 to the connecting shaft 7. The upper fixing piece 41 and the lower supporting piece 42 are connected to the connecting shaft 7, and the matching gear 3 is clamped in a preset position from top and bottom. The clamping design has two functions. One is to ensure the height position of the matching gear 3, thereby ensuring the effective cooperation between the matching gear 3 and the tooth ring 211. The second is to serve as an intermediate component, using the upper and lower frictional forces to assist in strengthening the rotation synchronization of the connecting shaft 7 and the matching gear 3. The above designs all provide guarantees for the precision of the final rotation angle measurement. Among them, the lower supporting piece 42 is of a semi-open design and includes a bayonet for easily snapping onto the lower shaft 72. The lower supporting piece 42 can use a circlip, and its elastic force direction is upward, which can further provide a more sufficient supporting force for the matching gear 3.

[0044] As Figure 4 shown, in this case, the angle sensor 6 selects an electromagnetic type angle sensor. Specifically, the electromagnetic inductor 61 is fixedly installed on the sensor bracket 5, and the inductor magnet 62 is fixedly connected to the upper connecting disc 71. During rotation, the inductor magnet 62 and the electromagnetic inductor 61 rotate relative to each other, and the resistance value sensed by the electromagnetic inductor 61 changes, thereby detecting the correct steering angle data of the steering knuckle 11. In this embodiment, the electromagnetic inductor is selected because an industrial vehicle, as a load-bearing component, is used in a warehousing and logistics environment for a long time with complex road conditions and uneven bumps. In the electromagnetic inductor, there is a certain gap between the inductor magnet 62 and the electromagnetic inductor 61, without physical contact. This enables the inductor to better adapt to the bumps and vibrations generated during the vehicle's operation, further enhancing the reliability of angle detection and the service life of the components.

[0045] The angle sensor 6 and the sensor bracket 5 are both located on the side of the main shaft 13 away from the steering wheel. Such a spatial layout method first better matches the tooth ring 211 that has undergone the three-point auxiliary positioning described above, secondly prevents the sensor bracket 5 and the angle sensor 6 from interfering with the steering wheel, and thirdly reduces the wiring length of the wires of the angle sensor 6.

[0046] Embodiment 2: Different from Embodiment 1, the angle sensor 6 uses an angle multi-turn sensor. The outer ring of the sensor is connected to the sensor bracket 5, and the inner ring is connected to the connecting shaft 7.

Claims

1. A corner signal acquisition device applicable to industrial vehicles, including a main frame (92), a steering axle (1), and an angle sensor (6). The steering axle (1) includes a main shaft (13), a bridge body fixedly connected to the main frame (92), and a steering knuckle (11) rotatably connected to the bridge body, and is characterized in that: The main shaft (13) is fixedly connected to the bridge body. A toothed rack (2) is mounted on the steering knuckle (11). The toothed rack (2) includes a toothed ring (211). This kind of corner signal acquisition device further includes a connecting shaft (7) and a matching gear (3) connected to the connecting shaft (7). The matching gear (3) meshes with the toothed ring (211). The angle sensor (6) is used to sense the rotation of the connecting shaft (7).

2. The corner signal acquisition device applicable to industrial vehicles according to claim 1, characterized in that: The matching gear (3) and the toothed ring (211) are arranged at the same height position.

3. The corner signal acquisition device for industrial vehicles according to claim 2, characterized in that: The steering knuckle (11) is connected to the steering wheel. The matching gear (3) is located on the side of the toothed ring (211) away from the steering wheel.

4. The corner signal acquisition device applicable to industrial vehicles according to claim 2, wherein: The connecting shaft (7) extends in the vertical direction. An upper fixing piece (41) and a lower supporting piece (42) are respectively mounted on the connecting shaft (7) above and below the matching gear (3). The upper fixing piece (41) and the lower supporting piece (42) are used to define the height installation position of the matching gear (3).

5. The corner signal acquisition device for industrial vehicles according to claim 4, wherein: The lower supporting piece (42) is provided with a bayonet for clamping the connecting shaft (7).

6. The corner signal acquisition device applicable to industrial vehicles according to claim 4, characterized in that: The lower supporting piece (42) is a butterfly snap spring for providing an upward elastic force to the matching gear (3).

7. A corner signal acquisition device applicable to industrial vehicles according to any one of claims 1-5, characterized in that: The toothed rack (2) includes an upper sleeve part (21) and two side fixing parts (22) located below the upper sleeve part (21) and extending towards the side ends of the upper sleeve part (21). The side fixing parts (22) are connected to the steering knuckle (11). The toothed ring (211) is located on the upper sleeve part (21).

8. The corner signal acquisition device for industrial vehicles according to claim 7, characterized in that: The upper sleeve part (21) is provided with a sleeve ring (23) for the main shaft (13) to be sleeved into.

9. A corner signal acquisition device applicable to industrial vehicles according to any one of claims 1-5, characterized in that: The angle sensor (6) is an angle multi-turn sensor. The inner ring of the angle multi-turn sensor is connected to the connecting shaft (7).

10. A corner signal acquisition device applicable to industrial vehicles according to any one of claims 1-5, characterized in that: The angle sensor (6) includes an electromagnetic induction body (61) and an inductor magnet (62). The inductor magnet (62) is connected to the connecting shaft (7).

11. An angle signal acquisition device for industrial vehicles according to claim 10, characterized in that: The connecting shaft (7) includes an upper connecting disc (71) and a lower shaft (72) connected to the lower surface of the upper connecting disc (71). The lower shaft (72) is connected to the matching gear (3). The inductor magnet (62) is connected to the upper connecting disc (71).

12. A corner signal acquisition device applicable to industrial vehicles according to claim 11, characterized in that: A flat opening (721) with a flat surface is provided on the lower shaft (72). The central hole of the matching gear (3) matches the flat opening (721).

13. A corner signal acquisition device applicable to industrial vehicles according to claim 10, characterized in that: It further includes a sensor bracket (5) mounted on the main frame (92). The electromagnetic induction body (61) is fixedly mounted on the sensor bracket (5).

14. An industrial vehicle, comprising a drive wheel, a steering handle, a steering cylinder and a steering wheel, characterized in that, It further includes a corner signal acquisition device applicable to industrial vehicles as described in any one of claims 1 - 13. One end of the steering cylinder is connected to the main vehicle body, and the other end is connected to the steering knuckle (11). The steering knuckle is connected to the steering wheel.

15. An industrial vehicle according to claim 14, characterized in that: A plurality of wheel mounting bolts (12) are provided on the steering knuckle (11). The plurality of wheel mounting bolts (12) are evenly arranged in a circumferential array in a circular pattern.

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