All-wheel braking system and counterbalance forklift truck

Abstract

The invention relates to the technical field of forklifts, and discloses an all-wheel brake system and a counterbalance forklift truck, the all-wheel brake system comprises a driving motor, a first electromagnetic brake, a driving axle assembly, a driving wheel, a traveling pedal brake assembly, a steering motor, a second electromagnetic brake, a steering axle assembly, a driving wheel and the like. The first electromagnetic brake is arranged on the driving motor, and meanwhile, the second electromagnetic brake is arranged at the position of the steering wheel, so that four-wheel stable all-wheel braking of the forklift can be realized no matter in a manual driving mode or an automatic control mode, and the safety of the driving and parking process of the forklift is improved. And meanwhile, the encoder is additionally arranged in the motor, so that the accuracy and the reliability of vehicle operation are improved. And meanwhile, the two modes of manual driving and automatic control can be compatible, the use purpose of the forklift is expanded, and one machine with two purposes is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of forklifts, and in particular to an all-wheel braking system and a counterbalanced forklift. Background Art

[0002] A counterbalanced forklift is a common industrial handling vehicle. Its design feature is that a counterbalance block is installed at the rear of the vehicle body to offset the weight of the goods and maintain the stability of the vehicle during handling. The main components of a counterbalanced forklift include: power unit, transmission device, steering device, hydraulic system, brake device and counterbalance weight. With the continuous deepening of the new energy process, new energy forklifts have also begun to be put into use.

[0003] At present, the battery forklifts on the market are mainly driven by the motor to drive the drive axle assembly forward. The braking system of the forklift mainly drives the brake hydraulic pump to brake the wheel hub through the driving pedal brake system, and the parking function mainly uses the handbrake parking brake system to park the wheel hub of the driving wheel. The rear-wheel drive axle assembly usually has only steering function and no braking function. This braking method cannot effectively ensure the safety of personnel and property on some dangerous roads with a small friction coefficient or in some emergency conditions with high braking requirements. Moreover, this braking system is only suitable for manual driving control work and cannot be used as an AGV body after modification to replace manual work. However, with the sharp increase in labor costs and the increase in labor intensity, the market demand for intelligent control forklifts is increasing in today's popularization of intelligence, and there is an urgent need for dual-mode control forklifts that can be both manually controlled and automatically controlled.

[0004] SUMMARY OF THE INVENTION

[0005] The technical problem solved by the present invention is that the existing battery forklift braking system cannot effectively ensure the safety of personnel and property on some dangerous roads with low friction coefficients or in some emergency conditions with high braking requirements, and this braking system is only suitable for manual driving control work and cannot replace manual labor after the AGV body is modified. However, with the sharp increase in labor costs and the increase in labor intensity, in today's intelligent popularization, the market demand for intelligent control forklifts is increasing, and there is an urgent need for dual-mode control forklifts that can be both manually controlled and automatically controlled.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] An all-wheel braking system comprising:

[0008] Controller;

[0009] A driving foot pedal brake assembly, wherein the driving foot pedal brake assembly is connected to the controller;

[0010] A drive axle assembly, the drive axle assembly comprising a drive axle assembly, a drive wheel, a drive motor and a first electromagnetic brake, the drive wheel being rotatably arranged at both ends of the drive axle assembly, the drive motor being fixedly installed on the drive axle assembly, the first electromagnetic brake being arranged on the drive motor and connected to the controller;

[0011] A steering axle assembly, the steering axle assembly comprising a steering axle assembly, a steering wheel and a steering motor, the steering motor being fixedly arranged on the steering axle assembly and used for driving the steering wheel to steer, the steering wheel being provided with a second electromagnetic brake, and the second electromagnetic brake being connected to the controller.

[0012] In one embodiment of the present invention, the first electromagnetic brake is arranged at the rear end of the drive motor.

[0013] In one embodiment of the present invention, the steering wheel is rotationally matched with the steering bracket, and the driving gear of the steering motor is drivingly connected to the steering bracket.

[0014] In one solution of the present invention: the stator of the second electromagnetic brake is fixedly arranged on the steering bracket, and the rotor is installed on the hub of the steering wheel.

[0015] In one embodiment of the present invention, a slewing support is provided between the steering bracket and the steering axle assembly.

[0016] In one embodiment of the present invention, an encoder is provided in the driving motor.

[0017] In one embodiment of the present invention, an encoder is provided in the steering motor.

[0018] In one embodiment of the present invention, the vehicle foot pedal brake assembly includes a brake pedal and an analog switch.

[0019] A counterbalanced forklift comprises the all-wheel braking system as described above.

[0020] In one embodiment of the present invention, before the controller controls the driving electromagnetic brake and the second electromagnetic brake of the steering wheel to brake, the controller controls the driving motor to apply reverse torque to reduce the speed.

[0021] Beneficial effects of the present invention:

[0022] This application provides a first electromagnetic brake on the driving motor and a second electromagnetic brake at the steering wheel position, which can achieve stable all-wheel braking of the forklift's four wheels regardless of the manual driving mode or the automatic control mode, thereby increasing the safety of the forklift's driving and parking process. At the same time, by adding an encoder inside the motor, the accuracy and reliability of the vehicle's operation are improved. This application is compatible with both manual driving and automatic control modes, which expands the use of the forklift and achieves dual purposes. By adding a navigation sensor externally, it can be converted into an AGV forklift, and then widely used in a variety of intelligent warehousing, handling, stacking and other scenarios, thereby replacing manual labor, reducing costs and increasing efficiency.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and easy to understand from the description of the embodiments in conjunction with the following drawings. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. Among them:

[0025] Figure 1 It is a schematic diagram of the overall structure of the counterbalanced forklift of the present invention;

[0026] Figure 2 It is a structural schematic diagram of the drive axle assembly of the present invention;

[0027] Figure 3 It is a structural schematic diagram of the steering axle assembly of the present invention.

[0028] The reference numerals in the figure are:

[0029] 10. Drive axle assembly; 11. First electromagnetic brake; 12. Drive motor; 13. Drive wheel; 14. Drive axle assembly;

[0030] 20. Driving pedal brake assembly;

[0031] 30. Steering axle assembly; 31. Steering motor; 32. Steering axle assembly; 33. Rotating support; 34. Steering bracket; 35. Second electromagnetic brake; 36. Steering wheel; 37. Driving gear. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0034] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0035] See also Figure 1-3The present invention is an all-wheel brake system and a counterbalanced forklift, comprising: a controller, a driving pedal brake assembly 20, a drive axle assembly 10, and a steering axle assembly 30; the driving pedal brake assembly 20 is connected to the controller; the drive axle assembly 10 comprises a drive axle assembly 14, a drive wheel 13, a drive motor 12, and a first electromagnetic brake 11, the drive wheel 13 is rotatably arranged at both ends of the drive axle assembly 14, the drive motor 12 is fixedly installed on the drive axle assembly 14, the first electromagnetic brake 11 is arranged on the drive motor 12, and is connected to the controller; the steering axle assembly 30 comprises a steering axle assembly 32, a steering wheel 36, and a steering motor 31, the steering motor 31 is fixedly arranged on the steering axle assembly 32, and is used to drive the steering wheel 36 to steer, the steering wheel 36 is provided with a second electromagnetic brake 35, and the second electromagnetic brake 35 is connected to the controller. The first electromagnetic brake 11 is arranged at the tail end of the drive motor 12. The steering wheel 36 is rotatably matched with the steering bracket 34, and the driving gear of the steering motor 31 is drivingly connected to the steering bracket 34. The stator of the second electromagnetic brake 35 is fixedly arranged on the steering bracket 34, and the rotor is installed on the hub of the steering wheel 36. A slewing support is arranged between the steering bracket 34 and the steering axle assembly 32. An encoder is arranged in the driving motor. An encoder is arranged in the steering motor. The driving foot pedal brake assembly 20 includes a brake pedal and an analog switch.

[0036] See also Figure 1-3 As an example, specifically, the all-wheel brake system includes a driving motor 12, a first electromagnetic brake 11, a driving axle assembly 14, a driving wheel 13, a driving pedal brake assembly 20, a steering motor 31, a second electromagnetic brake 35, a steering axle assembly 32, a slewing support 33, a steering bracket 34, a driving wheel 13, a driving gear 37, etc. The first electromagnetic brake 11 is fixed to the rear end of the driving motor 12 by screw connection, the front end of the driving motor 12 is fixed to the input end of the driving axle assembly 14 by screws, and the two driving wheels 13 are fixed to the two ends of the driving axle assembly 14 by screws. The driving pedal brake assembly 20 can be fixed to the front part of the forklift body by screws, which is convenient for manual operation. The stator of the second electromagnetic brake 35 at the steering wheel 36 position is installed on the vertical plate of the steering bracket 34 by screws, and the rotor of the electromagnetic brake of the steering wheel 36 is fixed to the hub of the steering wheel 36 by screws. The steering motor 31 is installed on the upper plate of the steering axle assembly 32, and the driving gear 37 is fixed to the output shaft of the steering motor 31 through a key transmission screw. The upper end of the slewing support 33 is fixed to the steering axle assembly 32 by screws, and the lower end is installed on the upper plate of the slewing wheel frame by screw connection. The steering wheel 36 is fixed to the support shaft of the steering bracket 34 through a bearing.

[0037] Working principle of the present invention:

[0038] The counterbalanced forklift includes a drive axle assembly 10, a driving pedal brake assembly 20, a steering axle assembly 30, etc. Among them, the drive axle assembly 10 includes a drive motor 12 and a first electromagnetic brake 11, a drive axle assembly 14, and two drive wheels 13. The drive axle assembly 10 is not only provided with a traditional driving pedal brake assembly 20, but also a first electromagnetic brake 11 is arranged at the tail of the drive motor 12 in the drive axle assembly 10. By arranging the first electromagnetic brake 11 at the drive motor 12, in the automatic mode, the driving and parking brake functions of the front two drive wheels 13 can be realized. In the manual mode, the first electromagnetic brake 11 can be used for auxiliary braking of the drive wheel 13. At the same time, the drive motor 12 is built with an encoder, and the distance traveled by the drive motor 12 can be monitored in real time by calculating the transmission ratio, thereby improving the accuracy of the forklift operation and realizing precise control of the two front drive wheels 13.

[0039] The steering axle assembly 30 includes a steering motor 31, a steering axle assembly 32, a slewing support, a steering bracket 34, a second electromagnetic brake 35, a steering wheel 36, a driving gear 37, etc. The rear steering axle assembly 30 includes two steering wheels 36, which are respectively controlled by corresponding steering motors 31, and each steering wheel 36 hub is equipped with a second electromagnetic brake 35. By installing a second electromagnetic brake 35 between the steering wheel 36 and the steering bracket 34, each steering wheel 36 can be braked independently. The stator of the second electromagnetic brake 35 is fixed on the steering bracket 34, and the rotor part is installed on the hub of the steering wheel 36. Different braking torque controls of the steering wheel 36 can be achieved by controlling the electromagnetic opening and closing and analog quantity of the second electromagnetic brake 35.

[0040] The steering wheel 36, the driving wheel 13 and their components in the present application all have a braking function, and the front drive axle assembly 10 is equipped with two braking systems, one is a driving pedal brake assembly 20; the other is a first electromagnetic brake 11 arranged at the rear end of the driving motor 12. Thus, the compatibility of the two modes of manual driving and automatic control can be achieved.

[0041] In the manual driving mode, the driving pedal brake assembly 20 is responsible for the main braking function of the front driving wheel 13, and the first electromagnetic brake 11 at the rear end of the driving motor 12 and the second electromagnetic brake 35 of the steering wheel 36 realize the braking function of the driving wheel 13 and the steering wheel 36 at the same time under the control of the control system (PLC controller can be selected). Among them, the brake pedal of the driving pedal brake assembly 20 is equipped with an analog switch. When the driver steps on the brake pedal, the control system can control the suction force of the second electromagnetic brake 35 on the steering wheel 36 according to the change of the pedal angle to achieve different braking torques.

[0042] Specifically, when the brake pedal is manually stepped on, the driving foot pedal brake assembly 20 can perform the main driving braking function on the two driving wheels 13 of the drive axle assembly 10. At the same time, under the control of the control system, the analog switch on the pedal controls the reverse thrust torque applied by the drive motor 12 through angle changes to reduce the drive wheel 13 to a certain speed. The first electromagnetic brake 11 drives the drive axle assembly 14 to perform auxiliary braking on the two front driving wheels 13. The two second steering electromagnetic brakes 35 of the steering axle assembly 30 at the rear end adjust the brake's suction torque through pedal angle changes under the control of the control system to perform driving braking on the two steering wheels 36 respectively.

[0043] When parking, the control system controls the first electromagnetic brake 11 and the second electromagnetic brake 35 of the rear steering wheel 36 to perform parking brakes on the drive wheel 13 and the steering wheel 36 respectively, realizing safe and reliable all-wheel driving and parking brake functions in manual control mode.

[0044] In the automatic control mode, when the control system (controller / control center) issues a service brake command, the first electromagnetic brake 11 performs service brakes on the two driving wheels 13 through the drive axle assembly 14 (indirectly through the internal gear pair of the drive axle assembly 14 to perform service brakes on the driving wheels 13, and the two second electromagnetic brakes 35 of the steering axle assembly 30 perform service brakes on the two steering wheels 36 respectively. When parking, the first electromagnetic brake 11 and the steering wheel 36 and the second electromagnetic brake 35 brake the driving wheel 13 and the steering wheel 36 respectively under the command of the control system, thereby realizing the full-wheel braking and parking functions of the whole vehicle in the automatic mode. The entire braking system is intelligent, safe and reliable.

[0045] In summary, the present application provides a first electromagnetic brake 11 on the driving motor and a second electromagnetic brake 35 at the steering wheel position 36, so that the forklift can achieve stable all-wheel braking of the four wheels regardless of the manual driving mode or the automatic control mode, thereby increasing the safety of the forklift driving and parking process. At the same time, by adding an encoder inside the motor, the accuracy and reliability of the vehicle operation are improved. The present application is compatible with both manual driving and automatic control modes, which expands the use of the forklift and realizes dual-purpose of one machine. By adding a navigation sensor externally, it can be converted into an AGV forklift, and then widely used in a variety of intelligent warehousing, handling, stacking and other scenarios, thereby replacing manual labor, reducing costs and increasing efficiency.

[0046] This application can independently realize normal control of the forklift (including driving, braking, cargo handling and stacking, etc.) in both manual driving mode and automatic control mode, so as to realize dual-purpose of one machine without affecting each other. Moreover, both the drive motor 12 and the steering motor 31 have built-in precise encoders, which are more precise, safer and more flexible than traditional forklifts, and can be applied in a wider range. Furthermore, during braking, the control system can control the drive motor 12 to recycle and reuse energy, realize renewable energy braking, reduce energy consumption, and extend the battery life of the forklift. Specifically, before the control system controls the drive electromagnetic brake and the second electromagnetic brake 35 of the steering wheel 36 to brake, the control system controls the drive motor 12 to apply reverse torque to reduce the speed, and recycles the generated current to realize energy regeneration, thereby reducing energy loss.

[0047] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of application of the present invention should still fall within the scope of the claims of the present invention.

Claims

1. An all-wheel braking system, characterized in that: include: Controller; A driving foot pedal brake assembly (20), wherein the driving foot pedal brake assembly (20) is connected to the controller; A drive axle assembly (10), the drive axle assembly (10) comprising a drive axle assembly (14), a drive wheel (13), a drive motor (12) and a first electromagnetic brake (11), the drive wheel (13) being rotatably arranged at both ends of the drive axle assembly (14), the drive motor (12) being fixedly mounted on the drive axle assembly (14), and the first electromagnetic brake (11) being arranged on the drive motor (12) and connected to the controller; A steering axle assembly (30), the steering axle assembly (30) comprising a steering axle assembly (32), a steering wheel (36) and a steering motor (31), the steering motor (31) being fixedly arranged on the steering axle assembly (32) and used for driving the steering wheel (36) to steer, the steering wheel (36) being provided with a second electromagnetic brake (35), and the second electromagnetic brake (35) being connected to the controller.

2. An all-wheel braking system according to claim 1, characterized in that: The first electromagnetic brake (11) is arranged at the rear end of the drive motor (12).

3. An all-wheel braking system according to claim 2, characterized in that: The steering wheel (36) is rotationally matched with the steering bracket (34), and the driving gear (37) of the steering motor (31) is drivingly connected to the steering bracket (34).

4. An all-wheel braking system according to claim 3, characterized in that: The stator of the second electromagnetic brake (35) is fixedly arranged on the steering bracket (34), and the rotor is installed on the hub of the steering wheel (36).

5. The all-wheel braking system according to claim 4, characterized in that: A slewing support member (33) is provided between the steering bracket (34) and the steering axle assembly (32).

6. An all-wheel braking system according to claim 5, characterized in that: An encoder is arranged inside the driving motor (12).

7. An all-wheel braking system according to claim 6, characterized in that: An encoder is arranged inside the steering motor (31).

8. An all-wheel braking system according to claim 7, characterized in that: The vehicle foot pedal brake assembly (20) comprises a brake pedal and an analog switch.

9. A counterbalanced forklift, characterized in that: The invention comprises an all-wheel braking system according to any one of claims 1 to 8.

10. The counterbalanced forklift according to claim 9, characterized in that: Before the controller controls the driving electromagnetic brake and the second electromagnetic brake (35) of the steering wheel (36) to brake, the controller controls the driving motor (12) to apply reverse torque to reduce the speed.

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