Single-drive double-steering swing axle mechanism

Abstract

The invention relates to the technical field of forward-moving forklifts, and discloses a single-drive double-steering swing axle mechanism which comprises a swing axle frame, a drive mechanism, two steering mechanisms and two walking wheels. The driving mechanism is located on the left side of the swing bridge and connected with the walking wheels to form a driving system to achieve whole vehicle walking. The two steering mechanisms are located on the two sides of the swing bridge frame respectively and connected with the walking wheels to drive the walking wheels to rotate to achieve steering. The driving mechanism and the steering mechanism are both provided with detection electrical elements, and accurate speed control and steering angle control are achieved. The steering driving assembly comprises a steering motor, a steering gear and a second steering driven gear, and the steering motor drives the steering gear to rotate to drive the walking wheels to steer. In addition, the steering system further comprises a speed change assembly used for adjusting the height of the steering motor, changing the transmission efficiency and achieving adjustment of the steering response speed and the steering angle under different driving conditions so as to improve the driving comfort and safety.

Description

Technical Field

[0001] The invention relates to the technical field of reach forklifts, in particular to a single-drive double-steering swing bridge mechanism. Background Art

[0002] Existing reach truck swing axles are mainly divided into two types in terms of design and performance, each type has its own unique characteristics and corresponding advantages and disadvantages, which directly affect the operating efficiency and safety of the forklift.

[0003] First, let's look at the forklift swing bridge in the form of a single-drive, single-steering and universal wheel. The characteristic of this design is that its structure is relatively simple, consisting of only one drive wheel and one steering wheel. The steering wheel is usually connected to the forklift frame through a universal joint and can rotate freely. The manufacturing cost of this design is low because it has fewer components and is relatively simple to maintain. However, the disadvantage of this design is that since there is only one drive wheel, the forklift is prone to lose balance when turning, resulting in a "tail swing" phenomenon, that is, the tail of the forklift may be beyond the control of the operator, which not only affects the stability of the operation, but also increases the risk of safety accidents. Therefore, when this forklift is used in narrow passages, its operating efficiency and safety are limited.

[0004] Another type is a dual-drive dual-steering forklift swing axle. This design features two drive wheels and two steering wheels, each of which can be independently controlled, which makes the forklift more flexible when turning, can effectively avoid tail-swinging, and improves the stability and safety of operation. Especially when turning in a narrow space, the dual-drive dual-steering design can provide a better control experience. However, this design has a higher manufacturing cost because it requires more power system components and a complex control system. In addition, a dual-drive dual-steering forklift may not be as stable as a single-drive single-steering forklift when traveling in a straight line, because the synchronous control of two drive wheels is more complicated than one drive wheel, which may affect the forklift's straight-line performance.

[0005] In this context, with the continuous rise in domestic land prices and the improvement of warehouse space utilization, the demand for economical and efficient reach forklift swing bridges is growing. In order to solve the shortcomings of the existing technology, we propose a single-drive double-steering swing bridge mechanism to solve the problems in the above background. Summary of the invention

[0006] The purpose of the present invention is to provide a single-drive double-steering swing bridge mechanism to solve the problem that the existing swing bridges of reach forklifts proposed in the above background technology are mostly single-drive single-steering plus universal wheel form or double-drive double-steering form, the former is expensive, and the latter has the defects of turning and drifting and inability to go in a straight line.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] A single-drive double-steering swing bridge mechanism comprises a swing bridge frame having two ends respectively mounted on a steering mechanism, a running wheel being mounted at the bottom of the steering mechanism, and the steering mechanism driving the running wheel to rotate to achieve steering of the running wheel; a driving mechanism being mounted at one end of the swing bridge frame, and the driving mechanism being connected to the running wheel to form a driving system to achieve movement of the entire vehicle; the driving mechanism and the steering mechanism are both mounted with electrical components for data detection.

[0009] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0010] The present invention effectively solves the problem of the existing forward-moving forklift swing bridge being difficult to balance between turning stability and safety, straight-line driving performance and cost by adopting a single-drive double-steering swing bridge mechanism; the technical principle is to drive the gearbox output shaft through a drive motor to drive the walking wheel to move forward and backward, and at the same time, a pair of steering motors drive the steering gear to mesh with the steering driven gear, thereby realizing the steering of the walking wheel. Among them, the speed change assembly adjusts the position of the steering motor through two groups of hydraulic cylinders, so that the steering gear meshes with the steering driven gears of different diameters, thereby changing the transmission ratio, realizing the dynamic adjustment of the steering speed and accuracy, and meeting the needs of different driving conditions, such as requiring higher steering accuracy when driving at low speed, and requiring faster steering speed when driving at high speed. In addition, the two steering mechanisms are respectively connected to the monitoring element and the speed encoder, which can detect the direction of the walking wheel and the rotation of the motor in real time, and transmit the feedback signal to the electrical system, thereby realizing accurate steering control and vehicle speed control, and significantly improving the operating efficiency and safety. At the same time, the present invention adopts a single-drive design, which reduces the cost and the size of the forklift, making it more suitable for the operating environment of a small space. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the overall side view structure of the first embodiment of the present invention;

[0012] Figure 2 This is a schematic diagram of the overall bottom structure of Embodiment 1 of the present invention;

[0013] Figure 3 It is a schematic diagram of the side structure of the steering mechanism of the second embodiment of the present invention;

[0014] Figure 4 This is a schematic diagram of the bottom structure of the steering mechanism of the second embodiment of the present invention;

[0015] Figure 5 For the present invention Figure 4 A schematic diagram of a local enlarged structure;

[0016] Figure 6 It is a schematic diagram of the structure of the speed change assembly according to the second embodiment of the present invention.

[0017] Among them: 1. Swinging bridge; 2. Driving mechanism; 3. Traveling wheel; 4. Steering mechanism; 5. Driving motor; 6. Mounting seat; 7. Gear box; 8. Electromagnetic brake; 9. Speed ​​encoder; 12. Rotating sleeve; 14. Steering motor; 15. Steering gear; 16. Second steering driven gear; 17. Detection element; 21. Intermediate gear; 22. Rotating support seat; 23. Third bearing; 24. First steering driven gear; 25. Steering column; 26. Connecting plate; 27. Hydraulic telescopic cylinder. DETAILED DESCRIPTION

[0018] 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.

[0019] Embodiment 1:

[0020] See also Figure 1-6 , the present invention provides a technical solution:

[0021] A single-drive double-steering swing bridge mechanism comprises a swing bridge frame 1, a drive mechanism 2, two steering mechanisms 4, and two running wheels 3.

[0022] like Figure 2 As shown, the driving mechanism 2 is located on the left side of the swing bridge 1, and a running wheel 3 is provided at the bottom of the swing bridge 1. The driving mechanism 2 is connected to the running wheel 3 to form a driving system to realize the travel of the whole vehicle;

[0023] The two steering mechanisms 4 are respectively located on both sides of the swing bridge 1 . The steering mechanisms 4 are connected to the running wheels 3 , and drive the running wheels 3 to rotate, thereby achieving the steering of the running wheels 3 .

[0024] The driving mechanism 2 and the two steering mechanisms 4 are both equipped with detection electrical components to achieve precise speed control and steering angle control.

[0025] Reference Figure 1 To further explain, the driving mechanism 2 includes a driving motor 5 , a mounting seat 6 , a gear box 7 , an electromagnetic brake 8 and a speed encoder 9 .

[0026] The driving motor 5 and the gear box 7 are respectively installed on the upper and lower parts of the mounting base 6, and the walking wheel 3 is installed on the output shaft of the gear box 7. The driving motor 5 is connected to the input shaft of the driving gear box 7 and drives the driving gear box 7 to work. The output torque of the driving motor 5 is changed from the vertical direction to the horizontal direction through the gear box 7, and the walking wheel 3 is driven to rotate through the output shaft of the driving gear box 7.

[0027] A rotating sleeve 12 is fixedly connected to one end of the gear box 7 close to the mounting seat 6, a first bearing is arranged between the outer wall of the rotating sleeve 12 and the mounting seat 6, the shaft of the drive motor 5 passes through the rotating sleeve 12 and is connected to the input end of the gear box 7, and a second bearing sleeve is installed between the inner wall of the rotating sleeve 12 and the shaft of the drive motor 5, so that the rotating sleeve 12 of the gear box 7 can rotate smoothly between the mounting seat 6 and the shaft of the drive motor 5, thereby reducing resistance and avoiding wear of components.

[0028] The electromagnetic brake 8 and the speed encoder 9 are installed above the driving motor 5. When the driving motor 5 drives the gear box 7 to work, the gear box 7 transmits power to the running wheel 3 to move and walk;

[0029] The speed encoder 9 records the number of revolutions of the drive motor 5, generates a feedback signal, and transmits it to the electrical system, thereby controlling the speed and displacement of the gantry vehicle, achieving positioning and speed control;

[0030] The electromagnetic brake 8 is used to control the emergency stop of the drive motor 5, thereby achieving vehicle speed reduction and emergency braking.

[0031] Reference Figure 1-2 Furthermore, the steering mechanism 4 includes a steering drive component, a speed encoder 9 , a detection element 17 , and a mounting seat 6 .

[0032] The steering drive assembly includes a steering motor 14, a steering gear 15 and a second steering driven gear 16.

[0033] The steering motor 14 is located above the mounting seat 6 and is fixedly connected to the mounting seat 6. The shaft of the steering motor 14 passes through the mounting seat 6 and is fixedly connected to the steering gear 15. The second steering driven gear 16 is fixedly sleeved on the outside of the rotating sleeve 12 of the gear box 7. The steering gear 15 is meshed with the second steering driven gear 16. The steering motor 14 drives the steering gear 15 to rotate, and the steering gear 15 drives the second steering driven gear 16 to rotate. Since the rotating sleeve 12 of the gear box 7 is fixedly connected to the second steering driven gear 16, the gear box 7 and the walking wheel 3 connected to the output shaft of the gear box 7 rotate, thereby realizing the steering operation of the vehicle.

[0034] The detection element 17 is fixedly connected to the mounting seat 6 and is located on the side of the steering motor 14. The detection element 17 has a real-time detection function and can accurately locate the direction of the running wheel 3. The speed encoder 9 is located above the steering motor 14. When the steering motor 14 rotates, the speed encoder 9 can record the number of rotations of the detection motor. At the same time, the detection element 17 performs real-time detection and accurate positioning of the direction of the running wheel 3. The speed encoder 9 and the detection element 17 generate feedback signals and transmit them to the electrical system, so that the deflection angle of the running wheel 3 can be controlled to achieve accurate control of the steering angle or to achieve straight-line travel of the entire vehicle.

[0035] Embodiment 2:

[0036] See also Figure 3-6 , and combined with Example 1, it is further obtained that the steering drive assembly also includes a speed change assembly.

[0037] The speed change assembly includes a telescopic device for adjusting the lifting and lowering of the steering motor 14, a first steering follower, and a second steering follower;

[0038] The first steering driven member is the first steering driven gear 24 and the intermediate gear 21; a rotating support seat 22 is arranged outside the intermediate gear 21, one end of the rotating support seat 22 is fixedly connected to the mounting seat 6 through a connecting plate 26, and the other end of the rotating support seat 22 is sleeved with the outside of the rotating sleeve 12, and a third bearing 23 is installed between the rotating support seat 22 and the rotating sleeve 12.

[0039] The second steering driven gear serves as the second steering driven member. The diameter of the first steering driven gear 24 is smaller than the diameter of the second steering driven gear 16 , and the radius of the second steering driven gear 16 is equal to the sum of the radius of the first steering driven gear 24 and the diameter of the intermediate gear 21 .

[0040] One end of the running wheel 3 close to the mounting seat 6 is fixedly connected with a steering column 25, the steering column 25 is rotatably connected to the mounting seat 6, the first steering driven gear 24 and the second steering driven gear 16 are both fixedly mounted on the steering column 25, and the axes of the first steering driven gear 24, the second steering driven gear 16 and the steering column 25 coincide with each other;

[0041] The edge of the intermediate gear 21 of the first steering follower close to the steering gear 15 is on the same straight line as the edge of the second steering follower gear 16 of the second steering follower close to the steering gear 15. The steering motor 14 is pushed up and down by the telescopic device, so that the steering motor 14 drives the steering gear 15 to switch the meshing between the first steering follower and the second steering follower, thereby changing the transmission efficiency;

[0042] Furthermore, in order to facilitate the rapid switching of the steering gear 15 , both ends of the teeth of the steering gear 15 are provided with chamfers so that it can quickly cooperate with the intermediate gear 21 or the second steering driven gear 16 .

[0043] By this switching, the transmission efficiency is changed. When the steering gear 15 is meshed with the steering driven gear with a larger diameter, the transmission ratio increases, which means that the steering driven gear will rotate fewer circles per rotation of the steering gear 15, but the steering angle is larger, thereby improving the transmission efficiency.

[0044] On the contrary, when the steering gear 15 meshes with the steering driven gear with a smaller diameter, the transmission ratio decreases. Each time the steering gear 15 is rotated, the steering driven gear will rotate more circles, but the steering angle is smaller and the transmission efficiency is relatively low.

[0045] In this way, the driver can select the appropriate transmission ratio according to different driving conditions to optimize the steering response speed and steering angle, thereby improving driving comfort and safety.

[0046] The telescopic device is two groups of hydraulic telescopic cylinders 27, and the two groups of hydraulic telescopic cylinders 27 are symmetrically arranged on both sides of the steering motor 14. The outside of the hydraulic telescopic cylinders 27 is fixedly connected to the mounting seat 6, so that the hydraulic telescopic cylinders 27 remain fixed, and the outside of the steering motor 14 is fixedly connected to the mounting seat 6. The telescopic ends of the hydraulic telescopic cylinders 27 are fixedly connected to both sides of the mounting seat 6. The position of the steering motor 14 is adjusted by synchronously telescoping the two groups of hydraulic telescopic cylinders 27 to achieve the switching engagement of the speed change assembly.

[0047] The driving gear can be matched with the steering driven gear of different diameters as needed, and the driving gear and the steering driven gear are connected to transmit the steering action to the wheels.

[0048] When the driver turns the steering wheel, the driving gear starts to rotate. Depending on the matching of the driving gear with different steering driven gears, the rotation speed and angle of the steering driven gear will be different: when the steering driven gear with a large diameter matches the driving gear, the steering speed is slower, but the steering accuracy is higher. This configuration is suitable for use when driving at low speeds, such as parking or reversing, because more precise control is required at this time.

[0049] When a steering driven gear with a small diameter is matched with a driving gear, the steering speed is faster, but the steering accuracy is lower. This configuration is suitable for use at high speeds, because the driver needs to steer quickly to adapt to changes in high-speed driving. By switching different steering driven gears, the driver can adjust the steering speed and accuracy according to different driving conditions.

[0050] By providing different steering responses at different speeds, the driver can control the vehicle more safely. Providing greater steering precision at low speeds allows the driver to control the vehicle more easily. At high speeds, the steering is faster, reducing driver fatigue.

[0051] Under different driving conditions, such as urban roads, highways or off-road surfaces, the steering configuration can be quickly switched to adapt to different steering needs. The design of this steering system allows the vehicle to provide different steering responses at high and low speeds, thereby improving driving comfort and safety. In actual applications, the system usually works with an electronic control unit to dynamically adjust the diameter of the steering driven gear according to the vehicle speed and the driver's operation to achieve optimal steering performance.

[0052] The working principle of the single-drive double-steering swing bridge mechanism is as follows:

[0053] First, the drive motor 5 in the drive mechanism 2 converts electrical energy into mechanical energy by connecting to the input shaft of the gear box 7, and transmits the power to the running wheel 3 through the gear box 7 to realize the running of the whole vehicle. The output torque of the drive motor 5 is converted from the vertical direction to the horizontal direction through the gear transmission of the gear box 7, and finally drives the running wheel 3 to rotate.

[0054] In terms of steering, the steering drive assembly in the steering mechanism 4 includes a steering motor 14, a steering gear 15, and a second steering driven gear 16. When the driver turns the steering wheel, the steering motor 14 starts to rotate, driving the steering gear 15 to rotate. The steering gear 15 meshes with the first steering driven gear 24 and the second steering driven gear 16, and transmits power to the rotating sleeve 12 of the gear box 7 through the transmission system, thereby driving the running wheel 3 to steer.

[0055] In addition, a speed change assembly is also provided in the steering mechanism, including a telescopic device, a first steering follower, and a second steering follower for adjusting the lifting and lowering of the steering motor 14. The telescopic device is used to push the steering motor 14 up and down, so that the steering gear 15 can be meshed with steering follower gears of different diameters, thereby changing the transmission efficiency. When the steering gear 15 is meshed with a steering follower gear with a larger diameter, the steering angle is larger; when it is meshed with a steering follower gear with a smaller diameter, the steering angle is smaller.

[0056] In terms of detection and control, the drive mechanism 2 and the steering mechanism 4 are both equipped with detection electrical components. The speed encoder 9 records the number of rotations of the drive motor 5, generates a feedback signal, and transmits it to the electrical system to control the speed and displacement of the vehicle, and achieve positioning and speed control. The detection element 17 detects the direction of the running wheel 3 in real time, and transmits the feedback signal to the electrical system to achieve precise control of the steering angle or to achieve straight-line travel of the vehicle.

[0057] The electromagnetic brake 8 is used to control the emergency stop of the drive motor 5, thereby achieving vehicle speed reduction and emergency braking.

[0058] Although specific embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the specific embodiments without departing from the principles and spirit thereof, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A single-drive double-steering swing bridge mechanism, characterized in that: The invention comprises a swing bridge (1) having two ends respectively mounted on a steering mechanism (4), a running wheel (3) being mounted at the bottom of the steering mechanism (4), and the steering mechanism (4) driving the running wheel (3) to rotate, thereby realizing the steering of the running wheel (3); a driving mechanism (2) being mounted at one end of the swing bridge (1), and the driving mechanism (2) being connected to the running wheel (3) to form a driving system, thereby realizing the running of the whole vehicle; and the driving mechanism (2) and the steering mechanism (4) are both mounted with electrical components for data detection.

2. A single-drive double-steering swing bridge mechanism according to claim 1, characterized in that: The driving mechanism (2) comprises a driving member and an electrical element for driving detection.

3. A single-drive double-steering swing bridge mechanism according to claim 2, characterized in that: The driving component comprises a driving motor (5), a mounting seat (6) and a gear box (7); the mounting seat (6) is fixedly connected to the end of the swing bridge (1); the driving motor (5) and the gear box (7) are respectively mounted on the upper part and the lower part of the mounting seat (6); the walking wheel (3) is mounted on the output shaft of the gear box (7); the driving motor (5) is connected to the input shaft of the driving gear box (7); and the gear box (7) changes the output torque of the driving motor (5) from the vertical direction to the horizontal direction.

4. A single-drive double-steering swing bridge mechanism according to claim 3, characterized in that: The gear box (7) is fixedly connected to a rotating sleeve (12) at one end close to the mounting seat (6); a first bearing is arranged between the outer wall of the rotating sleeve (12) and the mounting seat (6); the shaft of the drive motor (5) passes through the interior of the rotating sleeve (12) and is connected to the input end of the gear box (7); and a second bearing sleeve is arranged between the inner wall of the rotating sleeve (12) and the shaft of the drive motor (5).

5. The single-drive double-steering swing bridge mechanism according to claim 4, characterized in that: The steering mechanism (4) comprises a steering drive assembly, a mounting seat (6) and an electrical component for steering detection. The steering drive assembly comprises a steering motor (14), a steering gear (15) and a second steering driven gear (16). The steering motor (14) is located above the mounting seat (6) and is fixedly connected to the mounting seat (6). The shaft of the steering motor (14) passes through the mounting seat (6) and is fixedly connected to the steering gear (15). The second steering driven gear (16) is fixedly sleeved on the outside of a rotating sleeve (12) of a gear box (7), and the steering gear (15) is meshed with the second steering driven gear (16).

6. The single-drive double-steering swing bridge mechanism according to claim 2, characterized in that: The electrical component for steering detection comprises a speed encoder (9) for detecting and recording the number of rotations of the steering motor (14) and a detection element (17) for positioning the direction of the running wheel (3); the detection element (17) is fixedly connected to the mounting seat (6) and is located on the side of the steering motor (14); the speed encoder (9) is located above the steering motor (14).

7. The single-drive double-steering swing bridge mechanism according to claim 5, characterized in that: The steering drive assembly also includes a speed change assembly; the speed change assembly includes a telescopic device for lifting and lowering the steering motor (14), a first steering follower and a second steering follower.

8. The single-drive double-steering swing bridge mechanism according to claim 7, characterized in that: The first steering driven member is a first steering driven gear (24) and an intermediate gear (21); a rotating support seat (22) is arranged outside the intermediate gear (21); one end of the rotating support seat (22) is fixedly connected to the mounting seat (6) through a connecting plate (26); the other end of the rotating support seat (22) is sleeved with the outside of the rotating sleeve (12); and a third bearing (23) is installed between the rotating support seat (22) and the rotating sleeve (12).

9. The single-drive double-steering swing bridge mechanism according to claim 8, characterized in that: The second steering driven gear serves as a second steering driven member; the diameter of the first steering driven gear (24) is smaller than the diameter of the second steering driven gear (16), and the radius of the second steering driven gear (16) is equal to the sum of the radius of the first steering driven gear (24) and the diameter of the intermediate gear (21); one end of the running wheel (3) close to the mounting seat (6) is fixedly connected to a steering column (25), the steering column (25) is rotatably connected to the mounting seat (6), the first steering driven gear (24) and the second steering driven gear (16) are both fixedly mounted on the steering column (25), and the axes of the first steering driven gear (24), the second steering driven gear (16) and the steering column (25) coincide; the edge of the intermediate gear (21) of the first steering driven member close to the steering gear (15) is on the same straight line as the edge of the second steering driven gear (16) of the second steering driven member close to the steering gear (15).

10. The single-drive double-steering swing bridge mechanism according to claim 9, characterized in that: Both ends of the teeth of the steering gear (15) are provided with chamfers, the telescopic device is two groups of hydraulic telescopic cylinders (27), the two groups of hydraulic telescopic cylinders (27) are symmetrically arranged on both sides of the steering motor (14), the outside of the hydraulic telescopic cylinders (27) is fixedly connected to the mounting seat (6), the outside of the steering motor (14) is fixedly connected to the mounting seat (6), and the telescopic ends of the hydraulic telescopic cylinders (27) are fixedly connected to both sides of the mounting seat (6).

Images