A station driver type forklift truck auxiliary service brake control system and control method

Abstract

The application relates to a kind of station driving type forklift auxiliary driving brake control methods, the station driving type forklift adopts drive wheel and load wheel common braking, the station driving type forklift auxiliary driving brake control method is: after detecting that forklift has brake operation, collection forklift actual running speed v1;When the ideal speed n2 of drive wheel of slip rate S=20% is calculated, the actual speed of drive wheel is adjusted to the ideal speed n2 of drive wheel by adjusting the brake torque of drive motor;When the ideal speed n3 of load wheel of slip rate S=20% is calculated, the actual speed of load wheel is adjusted to the ideal speed n3 of load wheel by adjusting the brake torque of load wheel brake.The application controls the slip rate of forklift at 20%, can effectively and controllable brake force is applied, avoid the problem that brake distance is relatively long caused by brake force application too small and the problem that wheel lock caused by brake force application too large.

Description

Technical Field

[0001] This invention relates to the field of forklift driving braking technology, and in particular to an auxiliary driving braking control system and control method for a standing-on forklift. Background Technology

[0002] Currently, stand-on forklifts use a combined braking system for the drive wheels and load-bearing wheels. For example, patent CN109910848A discloses a stand-on forklift braking system and control method, based on the right and left load-bearing wheel brakes of the stand-on forklift, and also includes a controller, a motor encoder, and a load-bearing wheel encoder. The AC motor, load-bearing wheel encoder, right load-bearing wheel brake, and left load-bearing wheel brake are each communicatively connected to the controller. The controller is also communicatively connected to the thumb switch and brake switch of the stand-on forklift, and the brake switch is connected to the brake pedal of the stand-on forklift. This braking system uses a combined braking system for the drive wheels and load-bearing wheels, resulting in a short braking distance. By detecting the relative speed of the drive wheels and load-bearing wheels, the braking torque distribution of the drive wheels and load-bearing wheels is controlled, preventing the vehicle from veering off course during braking. It achieves a variable torque braking system triggered by a switch, resulting in minimal braking impact. However, because the application of braking force is not detailed or specific, under full load conditions, a small braking force can easily lead to a long braking distance, while a large braking force can easily cause wheel lock-up. Summary of the Invention

[0003] In view of the above-mentioned technical problems existing in the prior art, the purpose of the present invention is to provide an auxiliary driving brake control system and control method for a stand-on forklift, which effectively solves the problems of long braking distance, tire lock-up, large braking impact and vehicle deviation caused by unreasonable application of braking force during braking, making the forklift braking more stable and improving braking safety.

[0004] To achieve the above objectives, the present invention adopts the following technical solution.

[0005] This invention provides an auxiliary driving brake control method for a stand-on forklift, wherein the stand-on forklift uses both the drive wheels and the load-bearing wheels for braking, and the auxiliary driving brake control method for the stand-on forklift is as follows:

[0006] After detecting braking operation of the forklift, the actual operating speed of the forklift is collected. v 1;

[0007] The ideal speed of the drive wheel when the slip ratio S = 20% is calculated according to equation (Ⅰ). n 2. Adjust the braking torque of the drive motor to make the actual speed of the drive wheels reach the ideal speed of the drive wheels. n 2:

[0008] (I)

[0009] In formula (I), v $v_1$ is the rolling speed of the driving wheel, d $d_1$ is the rolling diameter of the driving wheel, i m2 $i_1$ is the transmission ratio between the driving wheel and the driving motor;

[0010] Calculate the ideal rotational speed of the load wheel when the slip ratio S = 20% according to formula (II) n $v_3$, and adjust the braking torque of the load wheel brake so that the actual rotational speed of the load wheel reaches the ideal rotational speed of the load wheel n $v_3$:

[0011] (II)

[0012] In formula (II), v $v_2$ is the rolling speed of the load wheel, d $d_2$ is the rolling diameter of the load wheel, i m3 $i_2$ is the transmission ratio between the load wheel and the driving motor.

[0013] The present invention controls the forklift slip ratio at 20%, which can effectively and controllably apply braking force, avoiding the problem of too long braking distance caused by too small braking force and the problem of wheel locking caused by too large braking force; by controlling the forklift slip ratio at 20%, the longitudinal ground adhesion coefficient is the largest, which can shorten the braking distance to the greatest extent, and the lateral ground adhesion coefficient is also relatively large, which can effectively avoid the occurrence of deviation phenomenon.

[0014] As a further improvement of the above solution of the present invention, the stand-on forklift includes a potentiometer, a thumb switch, a forward switch and a reverse switch; the potentiometer outputs different voltage signals C3 according to different positions of the thumb switch, and its variation range is: 0 - 5V, the forward switch outputs a switch signal C2 according to different positions of the thumb switch, and its value is 0 or 1; the reverse switch outputs a switch signal C1 according to different positions of the thumb switch, and its value is 0 or 1; the auxiliary driving braking control method of the stand-on forklift is also:

[0015] Preset voltage signals C5 = 2.5V, C6 = 5V;

[0016] When 0 < C3 < C5, C3 gradually increases and C1 = 1, at this time it is reverse braking, collect the actual running speed of the forklift v $v_1$, calculate the ideal rotational speed of the driving wheel when the slip ratio S = 20% respectively according to formulas (I) and (II) n $v_2$ n $v_3$, and adjust the braking torques of the driving motor and the load wheel brake respectively, so that the actual rotational speeds of the driving wheel and the load wheel reach the ideal rotational speeds of the driving wheel n $v_2$, the ideal rotational speed of the load wheel n3;

[0017] When C1 < C3 < C6, C3 gradually decreases and C2 = 1, it is a forward braking at this time, and the actual running speed of the forklift is collected v 1. Calculate the ideal rotational speed of the drive wheel when the slip ratio S = 20% respectively according to Formulas (Ⅰ) and (Ⅱ) n 2. Ideal rotational speed of the load wheel n 3. Adjust the braking torques of the drive motor and the load wheel brake respectively so that the actual rotational speeds of the drive wheel and the load wheel reach the ideal rotational speed of the drive wheel n 2. Ideal rotational speed of the load wheel n 3.

[0018] As a further improvement of the above solution of the present invention, the stand-on forklift further includes a brake switch, and the signal output of the brake switch is controlled by the brake pedal. When the brake pedal is depressed, the brake switch is closed and C4 = 1; when the brake pedal is released, the brake switch is opened and C4 = 0; the auxiliary driving braking control method of the stand-on forklift further is:

[0019] When C4 = 1, the brake switch is closed at this time, and the actual running speed of the forklift is collected v 1. Calculate the ideal rotational speed of the drive wheel when the slip ratio S = 20% respectively according to Formulas (Ⅰ) and (Ⅱ) n 2. Ideal rotational speed of the load wheel n 3. Adjust the braking torques of the drive motor and the load wheel brake respectively so that the actual rotational speeds of the drive wheel and the load wheel reach the ideal rotational speed of the drive wheel n 2. Ideal rotational speed of the load wheel n 3.

[0020] The present invention also proposes an auxiliary driving braking control system for a stand-on forklift, which adopts an auxiliary driving braking control method as described above. It includes a controller, a drive wheel, a left load wheel, a right load wheel, a drive motor, a left load wheel brake, a right load wheel brake, a speed acquisition module and an electromagnetic braking control module; wherein:

[0021] The drive motor drives the drive wheel to work through a drive gearbox, and a motor encoder for detecting the rotational speed of the drive motor is installed on the drive motor;

[0022] The left load wheel brake and the right load wheel brake are respectively installed on the left load wheel and the right load wheel, and a load wheel encoder for detecting the rotational speeds of the left load wheel and the right load wheel is installed on the left load wheel or the right load wheel;

[0023] The speed acquisition module is used to collect the actual running speed of the forklift v 1;

[0024] The controller is connected to the drive motor, left load-bearing wheel brake, right load-bearing wheel brake, and speed acquisition module. The controller operates based on the actual running speed of the forklift acquired by the speed acquisition module. v 1. The controller calculates the ideal speed of the drive wheel when the slip ratio S = 20% according to equations (I) and (II). n 2. Ideal rotational speed of the load-bearing wheel n 3. Adjust the braking torque of the drive motor, the left load-bearing wheel brake, and the right load-bearing wheel brake respectively to ensure that the actual speed of the drive wheels reaches the ideal speed of the drive wheels. n 2. Ensure that the actual rotational speeds of the left and right load-bearing wheels reach the ideal rotational speeds of the load-bearing wheels. n 3.

[0025] As a further improvement to the above-mentioned solution of the present invention, the speed acquisition module includes a satellite positioning module, which is used to detect the position of the forklift in real time, and the controller calculates the actual running speed of the forklift based on the position information of the forklift fed back by the satellite positioning module. v 1.

[0026] As a further improvement to the above-mentioned solution of the present invention, the electromagnetic braking control module is connected to the controller signal via a CAN bus and is used to control the left bearing wheel brake and the right bearing wheel brake.

[0027] As a further improvement to the above-mentioned solution of the present invention, the auxiliary driving brake control system of the standing-on forklift also includes a thumb switch, a potentiometer, a forward switch and a reverse switch. The controller is signal-connected to the thumb switch, potentiometer, forward switch and reverse switch. The potentiometer outputs a voltage signal C3 of different magnitudes depending on the position of the thumb switch, and its variation range is 0-5V. The forward switch outputs a switch signal C2 depending on the position of the thumb switch, and its value is 0 or 1. The reverse switch outputs a switch signal C1 depending on the position of the thumb switch, and its value is 0 or 1.

[0028] As a further improvement to the above-mentioned solution of the present invention, the auxiliary driving brake control system of the standing-on forklift also includes a battery pack, which is electrically connected to the controller and supplies power to the drive motor and speed acquisition module through the controller.

[0029] As a further improvement to the above-mentioned solution of the present invention, the auxiliary driving brake control system of the standing-on forklift also includes a brake switch. The brake switch is connected to the brake pedal of the standing-on forklift and the brake pedal controls the signal output of the brake switch. When the brake pedal is pressed, the brake switch is closed and C4=1; when the brake pedal is released, the brake switch is open and C4=0.

[0030] The present invention also proposes a stand-on forklift, which includes the stand-on forklift auxiliary driving brake control system as described above.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] This invention controls the forklift slip ratio at 20%, enabling effective and controllable application of braking force. This avoids the problems of insufficient braking force leading to long braking distances and excessive braking force causing wheel lock-up. Controlling the forklift slip ratio to 20% maximizes the longitudinal ground adhesion coefficient, minimizing braking distance, and also results in a relatively high lateral ground adhesion coefficient, effectively preventing vehicle deviation. Furthermore, this invention adjusts the braking torque in real-time based on the vehicle speed during braking, ensuring a smooth braking process. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of an auxiliary driving brake control system for a stand-on forklift according to an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram showing the relationship between the slip ratio and the road surface adhesion coefficient during forklift braking.

[0035] Reference numerals in the attached diagram: 1. Right load-bearing wheel brake; 2. Right load-bearing wheel; 3. Brake pedal; 4. Brake switch; 5. Thumb switch; 6. Potentiometer; 7. Forward switch; 8. Reverse switch; 9. Controller; 10. Battery pack; 11. Drive motor; 12. Drive gearbox; 13. Drive wheel; 14. Motor encoder; 15. Left load-bearing wheel brake; 16. Left load-bearing wheel; 17. Load-bearing wheel encoder; 18. Electromagnetic brake control module; 19. Satellite positioning module. Detailed Implementation

[0036] 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.

[0037] This embodiment addresses the technical problem of existing forklift braking systems where, under full load, insufficient braking force leads to long braking distances while excessive braking force causes wheel lock-up. It proposes an auxiliary service braking control system for stand-on forklifts. Please refer to... Figure 1The auxiliary driving brake control system of the stand-on forklift in this embodiment includes a controller 9, a drive wheel 13, a left load-bearing wheel 16, a right load-bearing wheel 2, a drive motor 11, a left load-bearing wheel brake 15, a right load-bearing wheel brake 1, and a speed acquisition module. It also includes an electromagnetic brake control module 18, a thumb switch 5, a brake switch 4, a potentiometer 6, a forward switch 7, a reverse switch 8, and a battery pack 10.

[0038] The drive motor 11 drives the drive wheel 13 through the drive gearbox 12. The drive motor 11 is equipped with a motor encoder 14 for detecting the speed of the drive motor 11.

[0039] The left bearing wheel brake 15 and the right bearing wheel brake 1 are respectively installed on the left bearing wheel 16 and the right bearing wheel 2. The left bearing wheel 16 is equipped with a bearing wheel encoder 17 for detecting the rotational speed of the left bearing wheel 16 and the right bearing wheel 2.

[0040] The speed acquisition module is used to collect the actual operating speed of the forklift. v 1, which is the rolling distance plus sliding distance of the forklift per unit time. In this embodiment, the speed acquisition module includes a satellite positioning module 19, which is used to detect the position information of the forklift in real time.

[0041] The electromagnetic brake control module 18 is connected to the controller 9 via a CAN bus and is used to control the left load-bearing wheel brake 15 and the right load-bearing wheel brake 1.

[0042] Potentiometer 6 outputs a voltage signal C3 of varying magnitude depending on the position of thumb switch 5, with a range of 0-5V. Forward switch 7 outputs a switch signal C2, with a value of 0 or 1, depending on the position of thumb switch 5. Backward switch 8 outputs a switch signal C1, with a value of 0 or 1, depending on the position of thumb switch 5.

[0043] The brake switch 4 is connected to the brake pedal 3 of the stand-on forklift and the brake pedal 3 controls the signal output of the brake switch 4. When the brake pedal 3 is pressed, the brake switch 4 is closed and C4=1; when the brake pedal 3 is released, the brake switch 4 is open and C4=0.

[0044] The controller 9 is signal-connected to the drive motor 11, the electromagnetic brake control module 18, the satellite positioning module 19, the thumb switch 5, the potentiometer 6, the forward switch 7, the reverse switch 8, and the brake switch 4. The battery pack 10 is electrically connected to the controller 9 and supplies power to the drive motor 11, the electromagnetic brake control module 18, and the satellite positioning module 19 through the controller 9. The electromagnetic brake control module 18 supplies power to the right carrier wheel brake 1 and the left carrier wheel brake 15. In this embodiment, the controller 9 uses a product of ZAPI Company in Italy, model: ACE2-350, rated voltage: 48V, maximum current (2min): 350A. The satellite positioning module 19 feeds back the forklift position signal to the controller at a certain frequency. The controller 9 calculates the forklift running speed according to the position and frequency information sent by the satellite positioning module 19 v 1, that is, the rolling distance + sliding distance of the forklift within a unit time

[0045] The control method of the assisted driving brake control system of the stand-on forklift in this embodiment is as follows

[0046] (1) First, preset the voltage signals C5 = 2.5V and C6 = 5V and store them in the controller 9

[0047] (2) When the controller 9 detects that 0 < C3 < C5, the C3 voltage signal gradually increases and C1 = 1, the satellite module 19 is triggered to detect the position of the forklift and feed back the position information of the forklift to the controller 9. The controller 9 calculates the actual running speed of the forklift according to the position information of the forklift v 1 and calculates the ideal rotational speed of the drive wheel when the slip ratio S = 20% according to formulas (Ⅰ) and (Ⅱ) respectively n 2, the ideal rotational speed of the carrier wheel n 3, and adjust the braking torques of the drive motor 11 and the carrier wheel brake respectively to make the actual rotational speeds of the drive wheel 13, the left carrier wheel 16, and the right carrier wheel 2 reach the ideal rotational speed of the drive wheel n 2, the ideal rotational speed of the carrier wheel n 3 respectively

[0048] (Ⅰ)

[0049] (Ⅱ)

[0050] In formula (Ⅰ), v 2 is the rolling speed of the drive wheel d 2 is the rolling diameter of the drive wheel 13 i m2 is the transmission ratio between the drive wheel 13 and the drive motor 11; in formula (Ⅱ), v 3 is the rolling speed of the carrier wheel d 3 is the rolling diameter of the carrier wheel i m3is the transmission ratio between the carrier wheel and the drive motor 11.

[0051] (3) When the controller 9 detects that C1 < C3 < C6, the C3 voltage signal gradually decreases, and C2 = 1, it triggers the satellite module 19 to detect the position of the forklift and feedback the position information of the forklift to the controller 9. The controller 9 calculates the actual running speed of the forklift according to the position information of the forklift v 1 and calculates the ideal speed of the drive wheel 13 when the slip rate S = 20% respectively according to formulas (Ⅰ) and (Ⅱ) n 2. Ideal speed of the carrier wheel n 3, and adjusts the braking torques of the drive motor 11 and the carrier wheel brake respectively, so that the actual speeds of the drive wheel 13, the left carrier wheel 16 and the right carrier wheel 2 reach the ideal speeds of the drive wheel n 2. Ideal speed of the carrier wheel n 3.

[0052] (4) When the controller 9 detects that C4 = 1, it triggers the satellite module 19 to detect the position of the forklift and feedback the position information of the forklift to the controller 9. The controller 9 calculates the actual running speed of the forklift according to the position information of the forklift v 1 and calculates the ideal speed of the drive wheel when the slip rate S = 20% respectively according to formulas (Ⅰ) and (Ⅱ) n 2. Ideal speed of the carrier wheel n 3, and adjusts the braking torques of the drive motor 11 and the carrier wheel brake respectively, so that the actual speeds of the drive wheel 13, the left carrier wheel 16 and the right carrier wheel 2 reach the ideal speeds of the drive wheel n 2. Ideal speed of the carrier wheel n 3.

[0053] In summary, this embodiment has the following advantages:

[0054] This embodiment controls the forklift slip rate at 20%, can effectively and controllably apply the braking force, and avoid the problems of too long braking distance caused by too small braking force application and wheel locking caused by too large braking force application.

[0055] Combined with Figure 2 , when this embodiment controls the slip rate at 20%, the longitudinal adhesion coefficient reaches the maximum, which can effectively shorten the braking distance; when the slip rate is controlled at 20%, the lateral adhesion coefficient is also relatively large, ensuring no deviation during braking.

[0056] This embodiment adjusts the braking torque in real time according to the vehicle speed during braking, making the braking process proceed smoothly.

[0057] It should be noted that when a component is said to be "installed on" another component, it can be directly on the other component or it may be in a component that is centered on it. When a component is said to be "set on" another component, it can be directly set on the other component or it may also be in a component that is centered on it. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or it may also be in a component that is centered on it.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0059] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0060] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A method for controlling the auxiliary driving brake of a stand-on forklift, wherein the stand-on forklift employs braking of both the drive wheels and the load-bearing wheels, characterized in that, The auxiliary service brake control method for the standing-on forklift is as follows: After detecting braking operation of the forklift, the actual operating speed of the forklift is collected. v 1; The ideal speed of the drive wheel when the slip ratio S = 20% is calculated according to equation (Ⅰ). n 2. Adjust the braking torque of the drive motor to make the actual speed of the drive wheels reach the ideal speed of the drive wheels. n 2: （Ⅰ） In formula (Ⅰ), v 2 represents the rolling speed of the drive wheel. d 2 represents the rolling diameter of the drive wheel. i m2 This refers to the transmission ratio between the drive wheel and the drive motor. The ideal rotational speed of the bearing wheel when the slip ratio S = 20% is calculated according to formula (II). n 3. Adjust the braking torque of the load-bearing wheel brake so that the actual speed of the load-bearing wheel reaches the ideal speed of the load-bearing wheel. n 3: （Ⅱ） In formula (II), v 3 represents the rolling speed of the load-bearing wheel. d 3 represents the rolling diameter of the load-bearing wheel. i m3 This refers to the transmission ratio between the load-bearing wheel and the drive motor. The standing-mounted forklift includes a potentiometer, a thumb switch, a forward switch, and a reverse switch; the potentiometer outputs a voltage signal C3 of different magnitudes depending on the position of the thumb switch, and its range of variation is: 0-5V, the forward switch outputs a switch signal C2 with different thumb switch positions, the value of which is 0 or 1; the reverse switch outputs a switch signal C1 with different thumb switch positions, the value of which is 0 or 1; the auxiliary driving brake control method for the standing-on forklift also includes: Preset voltage signals C5=2.5V, C6=5V; When 0 < C3 < C5, C3 gradually increases and C1 = 1, it is reverse braking at this time, and the actual running speed of the forklift is collected. v 1. Calculate the ideal rotational speed of the driving wheel when the slip ratio S = 20% respectively according to formulas (Ⅰ) and (Ⅱ). n 2. Ideal rotational speed of the load wheel n 3. Adjust the braking torques of the driving motor and the load wheel brake respectively to make the actual rotational speeds of the driving wheel and the load wheel reach the ideal rotational speed of the driving wheel n 2. Ideal rotational speed of the load wheel n 3; When C1 < C3 < C6, C3 gradually decreases and C2 = 1, this is forward braking, and the actual operating speed of the forklift is collected v 1. Calculate the ideal rotational speed of the driving wheels when the slip ratio S = 20% according to formulas (Ⅰ) and (Ⅱ) respectively n 2. Ideal rotational speed of the load wheels n 3. Adjust the braking torques of the driving motor and the load wheel brakes respectively so that the actual rotational speeds of the driving wheels and the load wheels reach the ideal rotational speeds of the driving wheels n 2. Ideal rotational speed of the load wheels n 3 2. The auxiliary driving brake control method for a standing-on forklift according to claim 1, characterized in that, The stand-on forklift also includes a brake switch, whose signal output is controlled by the brake pedal. When the brake pedal is depressed, the brake switch is closed, C4=1; when the brake pedal is released, the brake switch is open, C4=0. The auxiliary service brake control method for the stand-on forklift also includes: When C4=1, the brake switch is closed, and the actual running speed of the forklift is collected. v 1. Calculate the ideal speed of the drive wheel when the slip ratio S = 20% according to equations (I) and (II). n 2. Ideal rotational speed of the load-bearing wheel n 3. Adjust the braking torque of the drive motor and the bearing wheel brake respectively so that the actual speed of the drive wheel and the bearing wheel reaches the ideal speed of the drive wheel. n 2. Ideal rotational speed of the load-bearing wheel n 3.

3. A standing-on forklift auxiliary service braking control system, characterized in that, It employs an auxiliary driving brake control method for a stand-on forklift as described in any one of claims 1-2, comprising a controller, a drive wheel, a left load-bearing wheel, a right load-bearing wheel, a drive motor, a left load-bearing wheel brake, a right load-bearing wheel brake, a speed acquisition module, and an electromagnetic brake control module, wherein: The drive motor drives the drive wheel through the drive gearbox, and the drive motor is equipped with a motor encoder for detecting the speed of the drive motor. The left and right load-bearing wheel brakes are respectively installed on the left and right load-bearing wheels, and a load-bearing wheel encoder for detecting the rotational speed of the left and right load-bearing wheels is installed on the left or right load-bearing wheel. The speed acquisition module is used to collect the actual operating speed of the forklift. v 1; The controller is connected to the drive motor, left load-bearing wheel brake, right load-bearing wheel brake, electromagnetic brake control module, and speed acquisition module. The controller operates based on the actual running speed of the forklift collected by the speed acquisition module. v 1. The controller calculates the ideal speed of the drive wheel when the slip ratio S = 20% according to equations (I) and (II). n 2. Ideal rotational speed of the load-bearing wheel n 3. Adjust the braking torque of the drive motor, the left load-bearing wheel brake, and the right load-bearing wheel brake respectively to ensure that the actual speed of the drive wheels reaches the ideal speed of the drive wheels. n 2. Ensure that the actual rotational speeds of the left and right load-bearing wheels reach the ideal rotational speeds of the load-bearing wheels. n 3.

4. The auxiliary service braking control system for a standing-on forklift according to claim 3, characterized in that, The speed acquisition module includes a satellite positioning module, which is used to detect the position of the forklift in real time. The controller calculates the actual operating speed of the forklift based on the position information fed back by the satellite positioning module. v 1.

5. The auxiliary service braking control system for a standing-on forklift according to claim 3, characterized in that, The electromagnetic brake control module is connected to the controller via a CAN bus and is used to control the brakes of the left and right load-bearing wheels.

6. The auxiliary service braking control system for a standing-on forklift according to claim 3, characterized in that, The auxiliary driving brake control system of the standing-on forklift also includes a thumb switch, a brake switch, a potentiometer, a forward switch, and a reverse switch. The controller is connected to the thumb switch, brake switch, potentiometer, forward switch, and reverse switch. The potentiometer outputs a voltage signal C3 of different magnitudes depending on the position of the thumb switch, and its range of variation is: 0-5V, the forward switch outputs a switch signal C2 with a value of 0 or 1 depending on the position of the thumb switch; the backward switch outputs a switch signal C1 with a value of 0 or 1 depending on the position of the thumb switch.

7. The auxiliary service braking control system for a standing-on forklift according to claim 3, characterized in that, The auxiliary driving brake control system of the standing-on forklift also includes a battery pack, which is electrically connected to the controller and supplies power to the drive motor and speed acquisition module through the controller.

8. The auxiliary service braking control system for a standing-on forklift according to claim 3, characterized in that, The auxiliary driving brake control system of the standing-on forklift also includes a brake switch. The brake switch is connected to the brake pedal of the standing-on forklift and the brake pedal controls the signal output of the brake switch. When the brake pedal is pressed, the brake switch is closed and C4=1; when the brake pedal is released, the brake switch is open and C4=0.

9. A stand-on forklift, characterized in that, It includes the auxiliary service braking control system for stand-on forklifts as described in any one of claims 3-7.

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