Forklift steering control system, forklift steering control method, and forklift

Abstract

This invention relates to the field of forklift equipment, providing a forklift steering control system, a forklift steering control method, and a forklift, comprising: a steering axle; a steering knuckle, rotatably connected to the steering axle via a kingpin, the kingpin and steering knuckle rotating synchronously; a sensing element, disposed on the kingpin and rotating synchronously with it; a sensing element, disposed on the steering axle, capable of relative rotation between the sensing element and the sensing element, the sensing element sensing the rotation angle of the sensing element and emitting a sensing signal based on the rotation angle; and a controller, communicatively connected to the sensing element, the controller issuing a speed limit command based on the sensing signal. This configuration, through the cooperation of the sensing element and the sensing element, allows for real-time continuous detection of the rotation angle, thereby achieving continuous linear speed limiting that changes with the rotation angle, improving cargo safety and enhancing the operator's driving experience. Furthermore, the separate arrangement of the sensing element and the sensing element facilitates flexible installation within the effective sensing range and simplifyes maintenance.

Description

Technical Field

[0001] This invention relates to the field of forklift equipment technology, and in particular to a forklift steering control system, a forklift steering control method, and a forklift. Background Technology

[0002] As an important logistics handling tool, forklifts have high requirements for overall operating efficiency and cargo safety. In particular, if the speed is too high when turning, it is very easy for goods to scatter. Therefore, turning speed limit safety has gradually become one of the important evaluation indicators for forklifts.

[0003] Currently, forklifts mainly use proximity switches and sensors installed on the steering axle and steering cylinder to control speed through signal switching. However, this method only allows the forklift to turn at a fixed speed, and the sudden speed limit during turning can lead to poor cargo safety and a less than ideal driving experience. Summary of the Invention

[0004] The purpose of this invention is to provide a forklift steering control system, a forklift steering control method, and a forklift, so as to at least solve one of the problems existing in the prior art.

[0005] To achieve the above objectives, the present invention provides a forklift steering control system, comprising:

[0006] Steering axle;

[0007] The steering knuckle is rotatably connected to the steering axle via a kingpin, and the kingpin rotates synchronously with the steering knuckle;

[0008] A sensitive element is disposed on the main pin and rotates synchronously with the main pin;

[0009] A sensing element is disposed on the steering axle. The sensing element and the sensing element can rotate relative to each other. The sensing element is used to sense the rotation angle of the sensing element and emit a sensing signal according to the rotation angle.

[0010] A controller is communicatively connected to the sensing element, and the controller is used to issue a speed limit command based on the sensing signal.

[0011] The forklift steering control system provided by the present invention further includes:

[0012] A bridge housing is disposed at the end of the steering axle. The steering knuckle is rotatably disposed within the bridge housing. The kingpin passes through the bridge housing and is fixedly connected to the steering knuckle. The top of the bridge housing is provided with an opening adapted to the kingpin.

[0013] A bearing is sleeved on the outside of the kingpin, and the bearing is disposed between the bridge housing and the kingpin;

[0014] A dust cover is placed over the opening to form a sealed space above the bearing. The sensing element and the sensitive element are located in the sealed space. The sensitive element is disposed on the top surface of the kingpin, and the sensing element is disposed on the dust cover.

[0015] According to the forklift steering control system provided by the present invention, the sensing element is electrically connected to the controller via a cable, and the dust cover is provided with a cable hole adapted to the cable.

[0016] According to the forklift steering control system provided by the present invention, a first seal is provided between the cable and the cable hole.

[0017] The forklift steering control system provided by the present invention further includes:

[0018] An oil seal is disposed below the bearing, the oil seal is sleeved outside the kingpin, and the oil seal is disposed between the axle housing and the kingpin.

[0019] The forklift steering control system provided by the present invention further includes:

[0020] A bushing is fitted over the kingpin, the bushing is positioned between the oil seal and the kingpin, and the bushing abuts against the bearing.

[0021] The forklift steering control system provided by the present invention further includes:

[0022] The second seal is fitted over the kingpin and is located at the position where the bushing contacts the bearing.

[0023] According to the forklift steering control system provided by the present invention, the sensitive element is configured as a magnet, and the sensing element is configured as a Hall sensor adapted to the magnet.

[0024] The present invention also provides a forklift steering control method, based on the forklift steering control system as described in any of the preceding claims, comprising the following steps:

[0025] Obtain the vehicle turning command, and control the steering knuckle to rotate according to the vehicle turning command;

[0026] The system acquires the sensing signal emitted by the sensing element and issues a speed limit command based on the sensing signal.

[0027] The present invention also provides a forklift, including a forklift steering control system as described in any of the preceding claims.

[0028] The forklift steering control system provided by this invention includes: a steering axle; a steering knuckle, rotatably connected to the steering axle via a kingpin, with the kingpin and steering knuckle rotating synchronously; a sensing element, disposed on the kingpin and rotating synchronously with it; a sensing element, disposed on the steering axle, capable of relative rotation between the sensing element and the sensing element, the sensing element sensing the rotation angle of the sensing element and issuing a sensing signal based on the rotation angle; and a controller, communicatively connected to the sensing element, issuing a speed limit command based on the sensing signal. This configuration, through the cooperation of the sensing element and the sensing element, allows for real-time continuous detection of the rotation angle, thereby achieving continuous linear speed limiting that changes with the rotation angle, improving cargo safety and enhancing the operator's driving experience. Furthermore, the separate arrangement of the sensing element and the sensing element facilitates flexible installation within the effective sensing range and simplifyes maintenance. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the internal structure of the forklift steering control system provided by the present invention;

[0031] Figure 2 This is a schematic diagram of the external structure of the forklift steering control system provided by the present invention;

[0032] Figure 3 This is one of the control flowcharts of the forklift steering control method provided by the present invention;

[0033] Figure 4 This is the second control flowchart of the forklift steering control method provided by the present invention;

[0034] Figure label:

[0035] 1: Steering knuckle; 2: Kingpin; 3: Bushing; 4: Second seal; 5: Oil seal; 6: Bearing; 7: Axle housing; 8: Dust cover; 9: Sensing element; 10: Sensing element; 11: First fastener; 12: Second fastener; 13: Third fastener; 14: Cable; 15: Steering cylinder. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0037] The following is combined Figures 1 to 4 The present invention describes a forklift steering control system.

[0038] like Figures 1 to 4 As shown, this embodiment of the invention provides a forklift steering control system, including a steering axle, a steering knuckle 1, a sensitive element 10, a sensing element 9, and a controller. Specifically, as... Figure 1 As shown, the steering knuckle 1 is rotatably connected to the steering axle via the kingpin 2, and the kingpin 2 rotates synchronously with the steering knuckle 1. Specifically, the kingpin 2 and the steering knuckle 1 are fixedly connected by a kingpin locking assembly, such as a bolt assembly.

[0039] Sensing element 10 is mounted on kingpin 2 and rotates synchronously with kingpin 2, so that steering knuckle 1 can drive kingpin 2 and sensing element 10 to rotate together. Sensing element 9 is mounted on the steering axle. When steering knuckle 1 rotates relative to steering axle, sensing element 10 rotates relative to sensing element 9. The rotation angle of sensing element 10 is the rotation angle of steering knuckle 1. Sensing element 9 is used to sense the rotation angle of sensing element 10 and emits a corresponding sensing signal based on the measured rotation angle.

[0040] The controller is communicatively connected to the sensing element 9, and is used to issue speed limit commands based on the sensing signals sent by the sensing element 9. Specifically, the controller can directly utilize the forklift's vehicle controller. The vehicle controller is an existing mature product, so its specific structure and electrical connections will not be described in detail here.

[0041] This configuration, through the cooperation of sensing element 9 and sensitive element 10, allows for real-time continuous detection of the rotation angle, thereby achieving continuous linear speed limiting that changes with the rotation angle, improving cargo safety and enhancing the operator's driving experience. Furthermore, the separate arrangement of sensing element 9 and sensitive element 10 facilitates flexible installation within the effective sensing range and simplifyes maintenance.

[0042] In this embodiment of the invention, the forklift steering control system further includes an axle housing 7, a bearing 6, and a dust cover 8. For example... Figure 1As shown, the axle housing 7 is located at the end of the steering axle, and the steering knuckle 1 is rotatably mounted within the axle housing 7. The kingpin 2 passes through the axle housing 7 and is fixedly connected to the steering knuckle 1, so that the steering knuckle 1 and the kingpin 2 rotate relative to the axle housing 7 under the drive of the steering cylinder 15. The top of the axle housing 7 has an opening adapted to the kingpin 2 for mounting the kingpin 2 and its related accessories.

[0043] Bearing 6 is fitted around the kingpin 2 and positioned between the axle housing 7 and the kingpin 2, ensuring smooth rotation of the kingpin 2 and thus ensuring flexible wheel steering. Specifically, bearing 6 can be a tapered roller bearing, typically used in pairs. The outer ring of bearing 6 is fixedly connected to the axle housing 7, and the inner ring of bearing 6 is fixedly connected to the kingpin 2. In practical applications, grease needs to be added to bearing 6 for lubrication and protection.

[0044] A dust cover 8 covers the opening to seal the top space of the main pin 2, thus forming a sealed space above the bearing 6. The sensing element 9 and the sensitive element 10 are located within this sealed space to prevent contamination from dust and other impurities. The sensitive element 10 is disposed on the top surface of the main pin 2, and the sensing element 9 is correspondingly disposed on the dust cover 8. Specifically, the sensing element 9 and the sensitive element 10 are arranged vertically opposite each other. The sensitive element 10 is fixedly mounted to the main pin 2 by a third fastener 13, such as a bolt, and is coaxially arranged with the main pin 2. The dust cover 8 is fixedly mounted to the bridge housing 1 by a first fastener 11, sealing the top opening, and the sensing element 9 is mounted on the dust cover 8 by a second fastener 12. It should be noted that the material and structure of the dust cover 8 can be specifically determined according to actual design requirements to ensure its structural strength and sealing performance.

[0045] This configuration, with the dust cover 8 connected to the bridge housing 1, seals the top space of the main pin 2. On one hand, it forms a sealed grease cavity, effectively sealing the connection and preventing dust from entering the grease cavity and affecting the service life of the bearing 6. On the other hand, it facilitates the placement of the sensing element 9 and the sensitive element 10, effectively protecting them and ensuring the reliability and stability of the angle measuring device. It should be noted that, as shown in the following... Figure 1 Regarding the placement of the forklift steering control system shown in the diagram, the up and down directions refer to the upper and lower positions, and the upper part of the diagram refers to the top.

[0046] In an optional embodiment of the invention, the sensing element 9 is electrically connected to the controller via a cable 14, and the bridge housing 7 is provided with a wire-passing hole adapted to the cable 14. Thus, as... Figure 2 As shown, the cable 14 extends out of the bridge housing 7 through the cable hole and can be electrically connected to the controller for signal transmission. At the same time, the tight contact between the outer shell of the cable 14 and the cable hole, and its cooperation with the dust cover 8, can play a sealing role, ensuring the airtightness of the grease cavity and preventing dust and other contaminants from polluting the grease.

[0047] Furthermore, in this embodiment of the invention, a first sealing element is provided between the cable 14 and the through hole. This reliably provides a seal, preventing dust and other impurities from entering and contaminating the lubricating grease, thus effectively extending the service life of the bearing 6. Specifically, the first sealing element can be an O-ring or similar material. Alternatively, sealant can be filled between the cable 14 and the through hole to achieve a sealed connection.

[0048] As an optional embodiment of the present invention, the forklift steering control system further includes an oil seal 5, specifically, the oil seal 5 may be a skeleton oil seal. Figure 1 As shown, the oil seal 5 is located below the bearing 6, sleeved around the kingpin 2, and positioned between the bridge housing 7 and the kingpin 2. This arrangement seals the area below the bearing 6, forming a lower seal for the grease cavity, preventing impurities from entering from below. This effectively seals the entire cavity, ensuring that the sealing and lubrication of the kingpin 2 and bearing 6 are not affected during continuous real-time rotation measurement. Of course, in other embodiments, the oil seal 5 is not limited to the aforementioned skeleton oil seal; other sealing elements such as V-type combination seals can also be used to seal the lower part of the grease cavity.

[0049] Furthermore, in this embodiment of the invention, the forklift steering control system also includes a bushing 3, which is sleeved around the kingpin 2 and positioned between the oil seal 5 and the kingpin 2, and abuts against the bearing 6. Specifically, the bushing 3 is fixedly connected to the kingpin 2 and rotates synchronously. The outer wall of the bushing 3 is in close contact with the sealing lip of the skeleton oil seal, and the upper end face of the bushing 3 abuts against the lower end face of the bearing 6. This arrangement protects the kingpin 2, reduces wear on the kingpin 2, and further improves the lower sealing of the grease cavity, making lubrication and sealing more reliable.

[0050] In an optional embodiment of the present invention, the forklift steering control system further includes a second seal 4, which is sleeved on the kingpin 2 and positioned at the contact point between the bushing 3 and the bearing 6. Specifically, the second seal 4 can be an O-ring, V-ring, or similar material, and is arranged on the end faces of the bushing 3 and the bearing 6. Furthermore, an annular groove can be provided on the upper end face of the bushing 3, and the second seal 4 can be embedded in the annular groove to provide positioning and installation for the second seal 4, facilitating its assembly. This arrangement effectively seals the connection gap between the bushing 3 and the bearing 6, ensuring that grease does not leak out and that external impurities cannot intrude.

[0051] In a specific embodiment of the present invention, the sensing element 10 is configured as a magnet, specifically, for example, a magnet. One or more magnets may be evenly arranged on the top surface of the kingpin 2, rotating together with the steering knuckle 1. The sensing element 9 is configured as a Hall sensor adapted to the magnet, mounted on the dust cover 8, opposite to the magnet. This configuration forms a split non-contact Hall angle measuring device, consisting of a magnet part and a sensing part, which is flexible to install and easy to maintain within the effective detection range. The angle measuring device continuously detects the rotation angle of the steering knuckle 1 in real time through magnetic field induction, and outputs a set voltage signal according to different rotation angles. After receiving the voltage signal, the vehicle controller adjusts the vehicle speed, thereby achieving continuous linear speed limiting that changes with the steering angle. Of course, in other embodiments, the angle measuring device is not limited to the aforementioned Hall sensor and magnet; other non-contact sensing devices such as photoelectric sensors and reflectors may also be used, with adaptive adjustments made for flexible installation and continuous measurement of the steering angle.

[0052] In summary, embodiments of the present invention provide a forklift steering control system, such as... Figure 1 As shown, the system specifically includes a steering axle, steering knuckle 1, kingpin 2, sensitive element 10, sensing element 9, controller, axle housing 7, dust cover 8, cable 14, bushing 3, and oil seal 5. The sensitive element 10 is configured as a magnet, which is bolted to the top surface of the kingpin 2. The kingpin 2 is securely connected to the steering knuckle 1 via a kingpin locking assembly. The sensing element 9 is configured as a Hall effect sensor, bolted to the dust cover 8, which is bolted to the axle housing 7. Thus, the magnet and Hall effect sensor achieve real-time continuous detection of angle and voltage signals through magnetic field sensing, thereby achieving continuous linear speed limiting that changes with the steering angle, effectively ensuring cargo safety and improving the driving experience for operators. Furthermore, the magnet and Hall effect sensor form a separate, non-contact Hall effect angle sensor, allowing for flexible installation and convenient maintenance within its effective range.

[0053] Meanwhile, the dust cover 8 and bridge housing 7 form an effective upper sealing structure for the grease cavity of the internal main pin 2 and bearing 6, while the bushing 3 and oil seal 5 form a lower sealing structure for the grease cavity. This effectively seals the entire grease cavity, preventing dust and other impurities from entering and ensuring the service life of bearing 6. It will not affect the sealing and lubrication of the main pin 2 and bearing 6. It is easy to install and reliable to use.

[0054] The forklift steering control method provided by the present invention is described below. The forklift steering control method described below can be referred to in correspondence with the forklift steering control system described above.

[0055] like Figure 3As shown, this embodiment of the invention also provides a forklift steering control method, based on the forklift steering control system as described in the above embodiments, including the following steps:

[0056] Step S100: Obtain the vehicle turning command and control the steering knuckle 1 to rotate according to the vehicle turning command;

[0057] Specifically, this step is used to achieve the vehicle's steering action.

[0058] In actual operation, the operator issues a turning request based on the on-site situation. Generally, the operator can issue the turning request by manipulating the handle or turning the steering gear. The following explanation uses turning the steering gear as an example: After the operator turns the steering gear, the vehicle controller receives the turning command, opens the steering valve, starts the oil pump motor, and then drives the hydraulic pump to pump hydraulic oil into the steering cylinder 15. After the steering cylinder 15 is filled with fluid, it moves left and right, driving the steering knuckle 1 to rotate, completing the vehicle's turning action.

[0059] Since the kingpin 2 and the magnet are fixedly connected to the steering knuckle 1, the steering knuckle 1 drives the kingpin 2 and the magnet to rotate synchronously. The rotation of the magnet causes a change in the magnetic field generated between the magnet and the Hall sensor. The Hall sensor converts this change in magnetic field into a change in output voltage and outputs a set voltage signal according to different rotation angles. The Hall sensor is electrically connected to the vehicle controller and sends the output voltage signal to the vehicle controller. Of course, in some embodiments, the sensing signal emitted by the Hall sensor is not limited to a voltage signal; other forms of transmission, such as current signals, can also be used.

[0060] Step S200: Obtain the sensing signal emitted by the sensing element 9, and issue a speed limit command based on the sensing signal.

[0061] Specifically, this step is used to enable the vehicle to make a speed-limited turn.

[0062] When the vehicle turns, the vehicle controller receives a voltage signal from the Hall sensor and issues a speed limit command. Upon receiving the speed limit command from the vehicle controller, the motor controller adjusts the drive motor speed, specifically by reducing the drive motor speed. This slows the vehicle down while turning, ensuring the safety of the cargo and preventing it from scattering due to excessive speed.

[0063] The vehicle controller can segment the forklift's rotation angle according to its range, adjusting the drive motor current to limit its speed and reduce it below the corresponding safe speed for cornering. This achieves continuous linear speed limiting as the turning angle changes. Specifically, based on forklift parameters, the controller calculates the turning angle 'a' when the forklift is prone to tipping over and the corresponding safe turning speed 'V'. Then, based on actual design requirements, the entire turning angle range is divided into segments with a certain gradient, such as 5 degrees, 10 degrees, etc., and the safe turning speed for each segment is calculated. Multiple sets of data are pre-stored in the vehicle controller as preset parameters. The controller compares the real-time collected rotation angle with the pre-stored preset angles to determine the corresponding safe turning speed and sends this speed limit to the drive motor, restricting the forklift's speed to below the corresponding safe speed range. This ensures that the forklift's cornering speed changes in real-time with the rotation angle, achieving safe cornering. It should be noted that the adjustment method of the drive motor speed is not limited to the above adjustment method. It can be specifically designed according to actual requirements to achieve the purpose of continuous linear speed limiting when turning with the change of turning angle.

[0064] This configuration, through the cooperation of sensing element 9 and sensitive element 10, allows for real-time continuous detection of the rotation angle, thereby achieving continuous linear speed limiting that changes with the rotation angle, improving cargo safety and enhancing the operator's driving experience. Furthermore, the separate design of sensing element 9 and sensitive element 10 facilitates flexible installation within the effective sensing range and simplifyes maintenance. The derivation process for this beneficial effect is roughly similar to that of the forklift steering control system described above, and therefore will not be repeated here.

[0065] In summary, the embodiments of the present invention provide a forklift steering control method, based on the forklift steering control system as described in the above embodiments, such as... Figure 4 As shown, the specific control process is as follows: vehicle turning demand → steering gear rotation → steering valve opening → oil pump motor drives hydraulic oil pump to pump oil → steering cylinder 15 fills with fluid and moves left and right → steering knuckle 1 drives kingpin 2 and magnet to rotate → magnet and Hall sensor generate magnetic field change → Hall sensor outputs voltage signal → vehicle controller receives voltage signal and issues speed limit command → motor controller adjusts drive motor speed → vehicle slows down to corner.

[0066] The forklift provided by the present invention is described below. The forklift described below and the forklift steering control system described above can be referred to in correspondence.

[0067] This invention also provides a forklift, including the forklift steering control system described in the above embodiments. This configuration, through the cooperation of the sensing element 9 and the sensitive element 10, allows for real-time continuous detection of the rotation angle, thereby achieving continuous linear speed limiting that changes with the rotation angle, improving cargo safety and enhancing the operator's driving experience. Furthermore, the separate configuration of the sensing element 9 and the sensitive element 10 facilitates flexible installation within the effective sensing range and simplifyes maintenance. The derivation process of this beneficial effect is largely similar to that of the forklift steering control system described above, and therefore will not be repeated here.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A forklift steering control system, characterized in that, include: Steering axle; The steering knuckle is rotatably connected to the steering axle via a kingpin, and the kingpin rotates synchronously with the steering knuckle; A sensitive element is disposed on the main pin and rotates synchronously with the main pin; A sensing element is disposed on the steering axle. The sensing element and the sensing element can rotate relative to each other. The sensing element is used to sense the rotation angle of the sensing element and emit a sensing signal according to the rotation angle. A controller is communicatively connected to the sensing element, and the controller is used to issue a speed limit command based on the sensing signal; The controller pre-stores the turning angle 'a' when the forklift is prone to tipping over and the corresponding safe turning speed 'V'. The controller compares the real-time collected rotation angle with the pre-stored preset angle to obtain the corresponding safe turning speed and sends the safe turning speed limit to the drive motor to limit the forklift's travel speed to below the corresponding safe speed range, thus achieving continuous linear speed limiting that changes with the turning angle.

2. The forklift steering control system according to claim 1, characterized in that, Also includes: A bridge housing is disposed at the end of the steering axle. The steering knuckle is rotatably disposed within the bridge housing. The kingpin passes through the bridge housing and is fixedly connected to the steering knuckle. The top of the bridge housing is provided with an opening adapted to the kingpin. A bearing is sleeved on the outside of the kingpin, and the bearing is disposed between the bridge housing and the kingpin; A dust cover is placed over the opening to form a sealed space above the bearing. The sensing element and the sensitive element are located in the sealed space. The sensitive element is disposed on the top surface of the kingpin, and the sensing element is disposed on the dust cover.

3. The forklift steering control system according to claim 2, characterized in that, The sensing element is electrically connected to the controller via a cable, and the bridge housing is provided with a cable pass-through hole adapted to the cable.

4. The forklift steering control system according to claim 3, characterized in that, A first seal is provided between the cable and the cable hole.

5. The forklift steering control system according to claim 2, characterized in that, Also includes: An oil seal is disposed below the bearing, the oil seal is sleeved outside the kingpin, and the oil seal is disposed between the axle housing and the kingpin.

6. The forklift steering control system according to claim 5, characterized in that, Also includes: A bushing is fitted over the kingpin, the bushing is positioned between the oil seal and the kingpin, and the bushing abuts against the bearing.

7. The forklift steering control system according to claim 6, characterized in that, Also includes: The second seal is fitted over the kingpin and is located at the position where the bushing contacts the bearing.

8. The forklift steering control system according to claim 1, characterized in that, The sensitive element is configured as a magnet, and the sensing element is configured as a Hall sensor adapted to the magnet.

9. A forklift steering control method, characterized in that, The forklift steering control system based on any one of claims 1-8 includes the following steps: Obtain the vehicle turning command, and control the steering knuckle to rotate according to the vehicle turning command; The sensor receives the sensing signal from the sensing element and issues a speed limit command based on the sensing signal. Based on the pre-stored steering angle 'a' when the forklift is prone to tipping over and the corresponding safe turning speed 'V', the real-time collected rotation angle is compared with the pre-stored preset angle to obtain the corresponding safe turning speed. This speed limit is then sent to the drive motor to restrict the forklift's travel speed to below the corresponding safe speed range, thus achieving continuous linear speed limiting that changes with the turning angle.

10. A forklift, characterized in that, Including the forklift steering control system as described in any one of claims 1-8.

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