Forklift stability simulation analysis method

Abstract

The invention discloses a forklift stability simulation analysis method and system, electronic equipment and a storage medium, and belongs to the technical field of computer-aided engineering technologies. The forklift stability simulation analysis method comprises the following steps: establishing a working condition model of a target forklift in simulation software; performing a stability simulation test by using the working condition model to obtain a tipping angle of the forklift model; wherein the stability simulation test is used for testing states of the forklift model under various inclination angles, the inclination angles are included angles between the upper surface of the tipping table model and the horizontal plane, and the tipping angles are inclination angles when the forklift model is in a tipping critical state; and determining component deformation information when the forklift model is in the tipping critical state, and correcting the tipping angle in combination with the component deformation information to obtain a stability detection result of the target forklift. According to the invention, the stability of the forklift can be accurately and efficiently detected.

Description

Technical Field

[0001] The present application relates to the field of computer-aided engineering technology, and in particular to a forklift stability simulation analysis method, system, electronic equipment and storage medium. Background Art

[0002] The application of forklifts is becoming more and more common, and the market competition is becoming more and more fierce. Stability is one of the key performance indicators of forklifts, which requires theoretical verification calculations in the design stage and stability tests in the prototype stage. However, in the early stage of design, the stability results of the forklift obtained by theoretical calculations have a large error compared with the actual situation, especially for forklifts with high masts. This error is more significant. In the prototype stage, although more accurate stability results can be obtained through actual tests, this is not only costly, but also highly dangerous and takes a long time. If a load curve needs to be obtained, the same vehicle needs to be tested under multiple conditions of different loads and heights, which will further increase costs and take longer.

[0003] Therefore, how to accurately and efficiently detect the stability of a forklift is a technical problem that those skilled in the art currently need to solve. Summary of the invention

[0004] The purpose of this application is to provide a forklift stability simulation analysis method, system, electronic device and storage medium, which can accurately and efficiently detect the stability of the forklift.

[0005] In order to solve the above technical problems, the present application provides a forklift stability simulation analysis method, and the status warning method includes:

[0006] Establishing a working condition model of a target forklift in the simulation software; wherein the working condition model includes a forklift model and a tilting platform model in a preset working condition, and the forklift model is arranged on the upper surface of the tilting platform model;

[0007] The working condition model is used to perform a stability simulation test to obtain a tipping angle of the forklift model; wherein the stability simulation test is used to test the state of the forklift model at various tilt angles, the tilt angle being the angle between the upper surface of the tilting platform model and the horizontal plane, and the tipping angle being the tilt angle when the forklift model is in a tipping critical state;

[0008] The component deformation information of the forklift model when it is in the critical state of tipping is determined, and the tipping angle is corrected in combination with the component deformation information to obtain a stability detection result of the target forklift.

[0009] Optionally, before establishing the working condition model of the target forklift in the simulation software, the following steps are also included:

[0010] Establishing corresponding geometric models for components of the target forklift, and importing the geometric models into the simulation software;

[0011] The simulation parameters of the geometric model are set in the simulation software; wherein the simulation parameters include physical properties, connection relationships, contact relationships and driving methods.

[0012] Optionally, setting simulation parameters of the geometric model in the simulation software includes:

[0013] The contact parameters between the channel steel geometric model and the roller geometric model are set in the simulation software; wherein the contact parameters include contact stiffness, damping value and friction parameters, the contact stiffness is determined according to the deformation of the portal frame geometric model, and the portal frame geometric model includes the channel steel geometric model and the roller geometric model.

[0014] Optionally, before setting the contact parameters between the channel steel geometric model and the roller geometric model in the simulation software, the method further includes:

[0015] The deformation of the gantry geometric model is determined by finite element simulation analysis; wherein, during the finite element simulation analysis, the distance between the channel steel geometric model and the roller geometric model is determined based on the contact condition, and the contact condition is used to describe whether the channel steel geometric model is in contact with the roller geometric model.

[0016] Optionally, performing a stability simulation test using the operating condition model to obtain a tipping angle of the forklift model includes:

[0017] Controlling the forklift model to operate on the tilting platform model according to the preset working conditions, and adjusting the tilting angle of the tilting platform model;

[0018] Determining whether the contact force between the target tire geometry model of the forklift model and the tilting platform model is 0;

[0019] If yes, it is determined that the forklift model is in a critical state of tipping;

[0020] The tilt angle of the forklift model when it is in a critical state of tipping is set as the tipping angle.

[0021] Optionally, if the preset working condition is a longitudinal full-load stacking working condition or a longitudinal full-load running working condition, determining component deformation information when the forklift model is in the tipping critical state, and correcting the tipping angle in combination with the component deformation information, includes:

[0022] Determine the relative deformation of the front wheels and the relative deformation of the rear wheels when the forklift model is in the tipping critical state; wherein the relative deformation of the front wheels is used to represent the difference between the deformation of the front wheels in the tipping critical state and the horizontal state, and the relative deformation of the rear wheels is used to represent the difference between the deformation of the rear wheels in the tipping critical state and the horizontal state, and the horizontal state refers to the state of the forklift model when the inclination angle of the tipping platform model is 0°;

[0023] The rollover angle is corrected according to the relative deformation of the front wheels, the relative deformation of the rear wheels and the bridge distance.

[0024] Optionally, if the preset working condition is a transverse fully loaded stacking working condition or a transverse unloaded operating condition, determining component deformation information of the forklift model when it is in the critical state of tipping, and correcting the tipping angle in combination with the component deformation information, including:

[0025] Determine the relative deformation of the left front wheel and the relative deformation of the right front wheel when the forklift model is in the critical state of tipping; wherein the relative deformation of the left front wheel is used to represent the difference between the deformation of the left front wheel in the critical state of tipping and the horizontal state, and the relative deformation of the right front wheel is used to represent the difference between the deformation of the right front wheel in the critical state of tipping and the horizontal state, and the horizontal state refers to the state of the forklift model when the inclination angle of the tipping platform model is 0°;

[0026] The rollover angle is corrected according to the relative deformation of the left front wheel, the relative deformation of the right front wheel and the wheelbase.

[0027] The present application also provides a forklift stability simulation analysis system, the system comprising:

[0028] A modeling module, used to establish a working condition model of a target forklift in the simulation software; wherein the working condition model includes a forklift model and a tilting platform model in a preset working condition, and the forklift model is arranged on the upper surface of the tilting platform model;

[0029] A simulation module, used to perform a stability simulation test using the working condition model to obtain a tipping angle of the forklift model; wherein the stability simulation test is used to test the state of the forklift model at various tilt angles, the tilt angle being the angle between the upper surface of the tilting platform model and the horizontal plane, and the tipping angle being the tilt angle when the forklift model is in a tipping critical state;

[0030] The result output module is used to determine the component deformation information of the forklift model when it is in the critical state of overturning, and to correct the overturning angle in combination with the component deformation information to obtain the stability detection result of the target forklift.

[0031] The present application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps of the forklift stability simulation analysis method are implemented.

[0032] The present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the forklift stability simulation analysis method are implemented.

[0033] The present application discloses a forklift stability simulation analysis method. The present application establishes a working condition model including a forklift model and a tilting platform model in the simulation software, and uses the above working condition model to perform stability simulation test to obtain the tipping angle of the forklift model. The present application corrects the tipping angle in combination with the component deformation information when the forklift model is in a critical tipping state to obtain a stability detection result. In the above process, the stability of the forklift is automatically detected by the simulation software, which not only considers the overall movement of the forklift, but also pays attention to the deformation of the components of the forklift model. Correcting the tipping angle in combination with the component deformation information can improve the accuracy of the stability detection result and ensure that the stability detection result can truly reflect the performance of the forklift in actual use. Therefore, this solution can accurately and efficiently detect the stability of the forklift. The present application also provides a forklift stability simulation analysis system, a storage medium and an electronic device, which have the above beneficial effects and are not repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 A flowchart of a forklift stability simulation analysis method provided in an embodiment of the present application;

[0036] Figure 2 A flow chart of a forklift stability analysis method provided in an embodiment of the present application;

[0037] Figure 3 A schematic diagram of a forklift model and a tilting platform model provided in an embodiment of the present application;

[0038] Figure 4 A schematic structural diagram of a forklift gantry chain system provided in an embodiment of the present application;

[0039] Figure 5 A schematic diagram of a horizontal simulation model setting provided in an embodiment of the present application;

[0040] Figure 6 A schematic diagram of a simulation scenario provided in an embodiment of the present application;

[0041] Figure 7 A schematic diagram of the relationship between tire force and tilt angle provided in an embodiment of the present application;

[0042] Figure 8 A schematic diagram of the relationship between tire force and time provided in an embodiment of the present application;

[0043] Fig. 9 A schematic diagram of a static load curve of a tire provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] See below Figure 1 , Figure 1 A flowchart of a forklift stability simulation analysis method provided in an embodiment of the present application.

[0046] Specific steps may include:

[0047] S101: Establishing a working condition model of a target forklift in simulation software;

[0048] Among them, this embodiment can be applied to electronic devices running simulation software, so as to detect the stability of forklifts through simulation software. Before this step, the structural parameters of the target forklift can be obtained, and then the geometric models of the components of the target forklift (such as the frame, door frame, front and rear axles, tires, cylinders, etc.) can be created, and the forklift model in the preset working condition can be assembled based on the geometric models of each component. The above-mentioned preset working conditions include: longitudinal full-load stacking working condition, longitudinal full-load operating condition, transverse full-load stacking working condition and transverse no-load operating condition.

[0049] This step can also establish a geometric model of the tilting table, that is, the tilting table model. The tilting table is a rectangular platform device on which a forklift can dock and can be flipped along a fixed axis. The working condition model can be obtained by assembling a forklift model in a preset working condition with a tilting table model. The above-mentioned working condition model includes a forklift model and a tilting table model in a preset working condition, and the forklift model is arranged on the upper surface of the tilting table model. The tilting table model has a rotating shaft, and the forklift model has a front axle and a rear axle; as a feasible layout method, the rotating shaft, the front axle and the rear axle are parallel to each other, and the front axle is arranged between the rotating shaft and the rear axle.

[0050] Through the above operations, this embodiment establishes a working condition model including a forklift model and a tilting platform model in a preset working condition in the simulation software. The forklift model is set on the upper surface of the tilting platform model to ensure the integrity and accuracy of the model. This working condition model can be used for subsequent stability simulation tests to evaluate the stability and anti-tilting ability of the forklift at different tilt angles.

[0051] S102: performing a stability simulation test using the working condition model to obtain a tipping angle of the forklift model;

[0052] In this embodiment, a working condition model corresponding to each preset working condition can be established, and then a stability simulation test can be performed on the working condition model corresponding to each preset working condition. The stability simulation test is used to test the state of the forklift model at various tilt angles.

[0053] During the stability simulation test, the simulation software can automatically and gradually increase the tilt angle of the tilting platform model, that is, the angle between the upper surface of the tilting platform model and the horizontal plane, thereby simulating the dynamic behavior of the forklift model at various tilt angles and recording the state of the forklift model at different tilt angles (such as tire stress).

[0054] During the stability simulation test, it can be determined whether the forklift model is in a critical state of tipping. For example, in this embodiment, the state when the force on the forklift tire is 0 can be regarded as the critical state of tipping, and the tilt angle of the forklift model in the critical state of tipping can be set as the tipping angle.

[0055] In this step, the working condition model is used to perform stability simulation test to obtain the rollover angle of the forklift model. The above process can not only evaluate the stability and anti-rollover ability of the forklift at different tilt angles, but also provide detailed dynamic behavior data, which is helpful for optimizing the design and improving the safety performance of the forklift.

[0056] S103: Determine component deformation information of the forklift model when it is in the critical state of tipping, and correct the tipping angle in combination with the component deformation information to obtain a stability detection result of the target forklift.

[0057] In this embodiment, the component deformation information of the forklift model when it is in the critical state of tipping may be the deformation of the key components of the forklift model (such as the door frame, frame or tire, etc.) in the critical state of tipping. The component deformation information may also be the difference in deformation of the key components of the forklift model in the critical state of tipping and in the horizontal state, such as , is the relative deformation of key components in component deformation information, is the deformation of the key component in the critical state of overturning, is the deformation of the key component in the horizontal state, and the horizontal state refers to the state of the forklift model when the inclination angle of the tilting platform model is 0°.

[0058] The deformation of the components of the forklift model will change the position of the center of mass. In order to improve the accuracy of the simulation, this step corrects the rollover angle in combination with the component deformation information to obtain a corrected rollover angle, and then generates a stability test result of the target forklift based on the corrected rollover angle. For example, if the corrected rollover angle is greater than the preset value, a qualified stability test result is generated; if the corrected rollover angle is less than or equal to the preset value, an unqualified stability test result is generated. Each preset working condition can correspond to a corresponding stability test result (i.e., a forklift stability simulation analysis result).

[0059] In this embodiment, a working condition model including a forklift model and a tilting platform model is established in the simulation software, and the above working condition model is used to perform a stability simulation test to obtain the tipping angle of the forklift model. In this embodiment, the tipping angle is corrected in combination with the deformation information of the components when the forklift model is in a critical state of tipping, so as to obtain a stability test result. In the above process, the stability of the forklift is automatically tested by the simulation software, which not only considers the overall movement of the forklift, but also pays attention to the deformation of the components of the forklift model. Correcting the tipping angle in combination with the deformation information of the components can improve the accuracy of the stability test results, and ensure that the stability test results can truly reflect the performance of the forklift in actual use. Therefore, this solution can accurately and efficiently test the stability of the forklift.

[0060] As for Figure 1 Further introduction to the corresponding embodiment, before establishing the working condition model of the target forklift in the simulation software, a corresponding geometric model can also be established for the components of the target forklift, and the geometric model can be imported into the simulation software; the simulation parameters of the geometric model can be set in the simulation software; wherein the simulation parameters include physical properties, connection relationships, contact relationships and driving methods.

[0061] The above-mentioned physical properties include mass and center of mass position; the connection relationships include fixed joint connection, revolute joint connection, and ball joint connection; the connection relationships are used to describe the contact conditions between components; the driving modes include front wheel drive, tilt cylinder drive, lifting cylinder drive, tilting table rotation drive, and steering cylinder drive.

[0062] As a feasible implementation method, the present embodiment can set the contact parameters between the channel steel geometric model and the roller geometric model in the simulation software; wherein the contact parameters include contact stiffness, damping value and friction parameter, and the contact stiffness is determined according to the deformation of the portal frame geometric model, and the portal frame geometric model includes the channel steel geometric model and the roller geometric model. The channel steel and the roller are both structures in the portal frame; the groove can provide the roller with rolling and sliding motion, and the two are in contact with each other. During the process of the portal frame lifting and lowering, the roller moves up and down in the channel steel, and the roller also provides support for the channel steel.

[0063] As a feasible implementation, before setting the contact parameters between the channel steel geometric model and the roller geometric model in the simulation software, the deformation of the gantry geometric model can also be determined by finite element simulation analysis; wherein, during the finite element simulation analysis, the distance between the channel steel geometric model and the roller geometric model is determined according to the contact condition, and the contact condition is used to describe whether the channel steel geometric model is in contact with the roller geometric model. Specifically, this embodiment can determine the deformation of the gantry geometric model under each preset working condition by finite element simulation analysis, so as to construct a forklift model based on the deformation of the gantry geometric model.

[0064] As for Figure 1 In the corresponding embodiment, using the working condition model to perform a stability simulation test to obtain the tipping angle of the forklift model includes: controlling the forklift model to operate on the tipping platform model according to the preset working condition, and adjusting the tilting angle of the tipping platform model; determining whether the contact force between the target tire geometry model of the forklift model and the tipping platform model is 0; if so, determining that the forklift model is in a tipping critical state; and setting the tilting angle of the forklift model when it is in a tipping critical state as the tipping angle. The above-mentioned target tire geometry model can be a geometry model of the front wheel.

[0065] As for Figure 1Further introduction to the corresponding embodiment, if the preset working condition is a longitudinal full-load stacking condition or a longitudinal full-load operating condition, the rollover angle can be corrected in the following manner: determine the relative deformation of the front wheels and the relative deformation of the rear wheels when the forklift model is in the critical state of rollover; wherein the relative deformation of the front wheels is used to represent the difference in deformation of the front wheels in the critical state of rollover and the horizontal state, respectively, and the relative deformation of the rear wheels is used to represent the difference in deformation of the rear wheels in the critical state of rollover and the horizontal state, respectively, and the horizontal state refers to the state of the forklift model when the inclination angle of the tilting platform model is 0°; correct the rollover angle according to the relative deformation of the front wheels, the relative deformation of the rear wheels and the bridge distance.

[0066] In this embodiment, the relative deformation of the front wheel is expressed by the following formula: , is the relative deformation of the front wheel, is the deformation of the front wheel in the critical state of rollover, is the deformation of the front wheel in the horizontal state.

[0067] In this embodiment, the relative deformation of the rear wheel is expressed by the following formula: , is the relative deformation of the rear wheel, is the deformation of the rear wheel in the critical state of rollover, is the deformation of the rear wheel in the horizontal state.

[0068] The above-mentioned relative deformation of the front wheel refers to the difference in deformation of the same front wheel (such as the left front wheel or the right front wheel) in the critical state of rollover and the horizontal state respectively, and the above-mentioned relative deformation of the rear wheel refers to the difference in deformation of the same front wheel (such as the left rear wheel or the right rear wheel) in the critical state of rollover and the horizontal state respectively.

[0069] As for Figure 1 Further introduction to the corresponding embodiment, if the preset working condition is a lateral fully loaded stacking condition or a lateral unloaded operating condition, the rollover angle can be corrected in the following manner: determine the relative deformation of the left front wheel and the relative deformation of the right front wheel when the forklift model is in the critical state of rollover; wherein the relative deformation of the left front wheel is used to represent the difference in deformation of the left front wheel in the critical state of rollover and the horizontal state, respectively, and the relative deformation of the right front wheel is used to represent the difference in deformation of the right front wheel in the critical state of rollover and the horizontal state, respectively, and the horizontal state refers to the state of the forklift model when the inclination angle of the tilting platform model is 0°; the rollover angle is corrected according to the relative deformation of the left front wheel, the relative deformation of the right front wheel and the wheelbase.

[0070] In this embodiment, the relative deformation of the left front wheel is expressed by the following formula: , is the relative deformation of the left front wheel, is the deformation of the left front wheel in the critical state of rollover, is the deformation of the left front wheel in the horizontal state.

[0071] In this embodiment, the relative deformation of the right front wheel is expressed by the following formula: , is the relative deformation of the right front wheel, is the deformation of the right front wheel in the critical state of rollover, is the deformation of the right front wheel in the horizontal state.

[0072] The process described in the above embodiment is explained below through an embodiment in actual application.

[0073] In the related art, a theoretical verification method is usually used to determine the stability of a forklift, but this method is based on an engineering calculation formula and does not consider the effect of the forklift gantry deformation on stability. The higher the gantry, the greater the effect, which leads to errors. In addition, the theoretical verification does not consider the effect of the relative deformation of the tires before and after the vehicle tip over on the center of mass of the vehicle, which will also introduce errors. For example, under the longitudinal stability conditions of full load stacking and full load operation, when the front wheel goes from a horizontal state to a critical state of tipping, the load gradually increases, the deformation also gradually increases, while the deformation of the rear wheel gradually decreases. The combined relative deformation of the two will affect the center of mass position of the vehicle, thereby affecting stability. The situation is similar for lateral stability conditions. Therefore, the theoretical verification method cannot accurately calculate the load curve of the forklift.

[0074] It can be seen that the above-mentioned related technologies have the following technical problems: (1) The deformation of the forklift gantry structure is not considered, and the deformation of the gantry has a great influence on stability. The higher the gantry is lifted and the greater the load, the greater its deformation; the gantry is composed of rollers and channel steels and other structures, and there is a gap between the channel steel rollers, which will affect the deformation of the gantry. (2) The influence of the relative deformation of the tires during the tipping process on the center of mass position of the whole vehicle is not considered. In the longitudinal stability working conditions of full-load stacking and full-load operation, the front wheel is loaded from the horizontal state of the forklift to the critical state of longitudinal tipping, the load continues to increase, the deformation gradually increases, and the deformation of the rear wheel gradually decreases during this process. The comprehensive relative deformation of the two will affect the center of mass position of the whole vehicle; in the lateral stability working conditions of full-load stacking and empty-load operation, the wheel on one side is loaded from the horizontal state of the forklift to the critical state of lateral tipping, the load continues to increase, the deformation gradually increases, and the deformation of the wheel on the other side gradually decreases during this process. The comprehensive relative deformation of both sides will affect the center of mass position of the whole vehicle. (3) The forklift load curve cannot be accurately calculated.

[0075] In view of the technical problems existing in the above-mentioned related technologies, this embodiment provides a forklift stability analysis solution. This solution establishes a forklift vehicle stability simulation model, which takes into account factors such as the deformation of the door frame, the gap between the roller and the channel steel, and the deformation of the tire during the tipping process. This model can obtain accurate forklift stability performance in the design stage and prototype stage. This solution can accurately calculate the forklift load curve and evaluate the remaining load capacity of the forklift.

[0076] See also Figure 2 , Figure 2 A flowchart of a forklift stability analysis method provided in an embodiment of the present application may include the following steps:

[0077] S201: Establishing geometric model;

[0078] This step can establish geometric models such as the vehicle frame, door frame, front axle, rear axle, tire, oil cylinder and tilting platform. In this step, a coordinate system can also be selected to assemble the above geometric models together.

[0079] S202: In the same global coordinate system, each structure is imported into the multi-body dynamics simulation software according to its components, and attributes are assigned. The mass and the center of mass position are adjusted by the mass block.

[0080] During the design phase, the mass of each component can be combined through theoretical calculation to obtain the mass and center of mass position of the entire vehicle. During the prototype phase, the mass and center of mass position of the entire vehicle can be obtained through weighing and center of mass measurement tests.

[0081] S203: The components are connected by fixed joints, revolute joints, ball joints, etc. The forces between the portal channel steel and the roller are simulated by contact, and the stiffness parameters (of the portal channel steel and the roller) are adjusted by the deformation of the portal. In this step, the chain model can also be used to simulate the forklift chain system to establish contact between the tire and the tilting table.

[0082] During the design stage, the gantry deformation is obtained by establishing a finite element model of the gantry and analyzing the deformation of the gantry in each working condition. During the prototype stage, the gantry deformation is obtained by conducting experiments to obtain the deformation of the middle position of the gantry shelf in each working condition.

[0083] S204: Set the front wheel drive, tilt cylinder drive, lift cylinder drive, tilting table rotation drive and steering cylinder drive.

[0084] S205: operating condition model conversion;

[0085] Specifically, this step can transform the longitudinal stacking condition model into the longitudinal operating condition model, the longitudinal stacking condition model into the transverse stacking condition model, and the transverse stacking condition model into the transverse operating condition model. Forklift stability tests generally require four types of test verifications, namely longitudinal stacking tests, longitudinal operating tests, transverse stacking tests, and transverse operating tests. Therefore, it is necessary to establish simulation models for four test conditions. The simulation models of various test conditions can be converted to each other. For example, in the conversion method from the longitudinal stacking condition model to the longitudinal operating condition model, the gantry lifting height is adjusted from the highest to 300mm, and the gantry position is adjusted from the vertical state to the maximum rearward tilt state; in the conversion method from the longitudinal stacking condition model to the transverse stacking condition model, the gantry position is adjusted from the vertical state to the maximum rearward tilt state, the whole vehicle is rotated a certain angle relative to the vertical axis and adjusted to the transverse test state, and the rear wheels also need to be rotated a certain angle to make them parallel to the tipping axis; in the conversion method from the transverse stacking condition model to the transverse operating condition model, the gantry lifting height is adjusted from the highest to 300mm, and it is adjusted from the loaded state to the unloaded state.

[0086] S206: Obtain simulation results, force variation curves of forklift tires during the tipping process. In the longitudinal working condition, when the force on the rear wheel is zero, the tipping angle is the simulation result; in the lateral working condition, when the force on the front wheel away from the tipping axis is zero, the tipping angle is the simulation result.

[0087] S207: Tire deformation will cause the relative angle of the whole vehicle to change. In the longitudinal working condition, the relative deformation of the front and rear wheels is obtained according to the tire force and the tire static load curve, and the angle to be corrected is calculated in combination with the bridge distance. In the lateral working condition, the relative deformation of the left and right wheels is obtained according to the tire force and the tire static load curve, and the angle to be corrected is calculated in combination with the wheelbase; the simulation results are corrected.

[0088] In the design stage, the static load curve of the tire can be obtained by establishing a finite element model of the tire and analyzing it; in the prototype stage, the static load curve of the tire can be obtained through experiments.

[0089] This solution can solve the problem of large errors in theoretical stability calculations during the design phase of forklifts, especially the stability of high-gantry forklifts, where the relative errors between the results of theoretical calculations and actual vehicle tests are large; this solution can solve the problems of high cost and dangerous tests on forklift stability during the prototype phase, as well as the problem of setting the forklift load curve.

[0090] In order to better introduce the simulation method, the stability analysis method is described below using an 8-ton electric forklift as an example. The forklift has a load capacity of 8 tons, a load center distance of 600mm, a two-stage mast with a lifting height of 3 meters, a wheelbase of 2250mm, a front wheel track of 1623mm, a rear wheel track of 1464.5mm, and a maximum front and rear tilt angle of 5 degrees and 10 degrees. The free radius of the front and rear wheels is 424mm and 353mm respectively.

[0091] In this embodiment, a geometric model can be established in a 3D software to determine the relative position relationship between the vehicle and the origin, where: the zero position in the height direction is selected on the ground, the zero position in the front and rear directions is selected at the center of the front axle, and the zero position in the left and right directions is selected on the left and right symmetric planes of the forklift. The geometric model established in this solution includes: the geometric models of the frame, door frame, overhead guard, front axle, rear axle, tires, tilt cylinder and other components. In the process of establishing the door frame model, the gap between the channel steel and the roller should be considered, and a tilting platform should be established. Please refer to Figure 3 , Figure 3 A schematic diagram of a forklift model and a tilting platform model provided in an embodiment of the present application.

[0092] This embodiment can import the geometric model of each component into the multi-body dynamics simulation software, and locate it according to the coordinate system in the three-dimensional geometry and import it into the software. This embodiment can also set the properties of the components and assign them to each component according to the actual material properties. After the setting is completed, confirm the mass of the whole vehicle, the horizontal distance of the center of mass relative to the center of the front axle, the vertical distance of the center of mass relative to the center of the front axle, and the left and right distance of the center of mass relative to the longitudinal center plane of the whole vehicle to ensure that these parameters are consistent with the design results. If not consistent, you can add a mass block and adjust it according to the mass size and position.

[0093] During the design phase of the vehicle, the mass and center of mass of each component are combined to form the mass and center of mass of the vehicle. The total mass is M, and the masses of each component are m1, m2, m3, etc., so M = m1+ m2+ m3 +…+m n ; The front-to-rear distance of the vehicle's center of mass relative to the center of the front axle is set to L, and the height distance is set to H. The front-to-rear distance of the center of mass of each component relative to the center of the front axle is set to L1, L2, L3, …, and the height distance is set to H1, H2, H3, …, so M×L=m1×L1 + m2×L2+ m3×L3+…, M×H=m1×H1 + m2×H2+ m3×H3+…, and then the values ​​of L and H are obtained.

[0094] During the prototype stage of the whole vehicle, the mass of the whole vehicle and the relative position of the center of mass are obtained through weighing and center of mass measurement tests.

[0095] In this embodiment, the connection between the various components can be established in the following manner:

[0096] Determine the hinge position and create points.

[0097] This embodiment can create a fixed pair. For two parts that are fixedly connected together, a fixed pair is used to connect them. When creating a fixed pair, select the two parts to be connected and select the connection position. The combination of parts connected by a fixed pair may include: a frame and a drive axle, a steering axle body and a rear axle transverse cylinder, and a load and a fork in a mast;

[0098] This embodiment can create a revolute pair. A revolute pair is used between two parts that can rotate relative to each other. When creating a revolute pair, select the two parts to be connected and select the connection position. The setting of the working plane helps to confirm the direction of the revolute pair. The working plane is generally the left-right symmetric plane of the forklift. The combination of parts connected by the revolute pair may include: front wheel and drive axle, frame and steering axle body, frame and outer mast;

[0099] This embodiment can create a translational pair. For the tilting cylinder, lifting cylinder and rear axle transverse cylinder, their telescopic motion is generally set as a translational pair. The setting method is: when creating a translational pair, select the two components to be connected, determine the connection position, and select the direction of cylinder telescopic (determine the telescopic direction through two points). The combination of components connected by a translational pair may include: a lifting cylinder barrel and a lifting cylinder shaft, a tilting cylinder barrel and a tilting cylinder shaft, a rear axle transverse cylinder barrel and a rear axle transverse cylinder shaft.

[0100] The creation of other copies is similar to the setting method of the above-mentioned connection copy.

[0101] In addition to the setting of the connection pair, the contact between the components also needs to be set. Therefore, it is necessary to define the contact between the tire and the tilting table, and the contact between the portal channel and the roller.

[0102] Contact should be set between the tires of the forklift and the tilting table, and between the channel steel and roller of the mast, to simulate the actual situation of the whole vehicle as much as possible. Contact setting method: select two entities in contact, set contact stiffness, set damping value and friction parameters, etc. The contact stiffness of the mast channel steel and roller is obtained according to the deformation of the mast. The deformation of the mast can be obtained through finite element simulation analysis or through experiments.

[0103] During the design stage of the whole vehicle, the deformation results of the forklift mast can be obtained through finite element simulation analysis of the mast. The specific process is as follows: first determine the analysis conditions. For the longitudinal full-load stacking stability condition, the mast needs to be in a vertical state, fully loaded and lifted to the top. Other stability conditions will have different mast states; then simplify the mast geometry, eliminate the gap between the mast channel steel and the roller according to the actual contact between the channel steel and the roller after the mast is loaded and lifted, mesh the mast geometry, and connect the various components of the mast by welding or binding; set constraints and loading boundary conditions for the finite element model, and then perform solution analysis; obtain the deformation results of the mast through post-processing.

[0104] During the prototype stage of the whole vehicle, the deformation of the middle position of the gantry backstop under various working conditions can be obtained through experiments. A plumb bob is hung in the middle position of the backstop to measure the front and rear changes and left and right changes of the plumb bob relative to the ground in the initial and final states of the gantry, thereby obtaining the deformation of the gantry.

[0105] The contact stiffness and damping data between the tire and the ground are set to achieve rapid convergence of the multi-body dynamics simulation. In addition to connection and contact, this embodiment can also set the chain system of the gantry. The chain structure of the gantry is simulated using a chain system in the multi-body dynamics software. The system is created as follows: set the two anchor points of the chain; then set the sprocket properties; then set the sprocket, including the sprocket position and connection; set the chain properties and connection points, create the chain; and complete the creation of the chain system. See Figure 4 , Figure 4 A schematic structural diagram of a forklift gantry chain system provided in an embodiment of the present application.

[0106] The following describes the driver setup process:

[0107] The drive setting method for the left and right lifting cylinders is: select the translation drive and select the corresponding kinematic pair. After the drive is established, for the stacking condition of the forklift, set its drive function. The drive function is a step function. Within a period of time, the displacement changes from the initial value to the maximum value. For the running condition, the drive function is zero. The step function indicates: within a period of time, the change of parameters such as displacement or angle from a certain initial value to another terminal value.

[0108] The setting method of the left and right tilt cylinder drive is similar to that of the lifting cylinder drive. For the longitudinal full-load stacking condition, the drive function is zero. For the longitudinal full-load operating condition, the lateral full-load stacking condition and the lateral no-load operating condition, a step drive function needs to be set. Within a period of time, the displacement of the tilt cylinder shrinks from the initial value to the minimum value.

[0109] In addition, the drive settings of the left and right front wheels are set to zero and do not rotate.

[0110] The rotation drive setting method of the tilting table is: select the rotation drive, select the corresponding kinematic pair; after the drive is established, set its drive function. The drive function is a step function, and the rotation angle changes from the initial zero position to the maximum value within a period of time.

[0111] The drive of the rear axle transverse cylinder is similar to the setting method of the lifting cylinder drive. When the longitudinal working condition stability analysis is performed, the drive function is set to 0. When the lateral working condition stability analysis is performed, in response to the rear wheel steering, the displacement of the rear axle transverse cylinder is calculated according to the rotation angle of the rear wheel. Its drive function is a step function. Within a period of time, the displacement changes from the initial value to the final value.

[0112] The conversion process between the working condition models is as follows:

[0113] The horizontal full-load stacking simulation model can be modified from the vertical full-load stacking simulation model, mainly by making the following three modifications.

[0114] The first aspect: the rotation of the tilting table: the tilting table rotates a certain angle around the vertical axis , select the tilting table that needs to be rotated, and then select a point to rotate it around the vertical axis by a certain angle.

[0115] The formula for calculating the angle value is:

[0116] ;

[0117] In the above formula, It indicates the rotation angle of the tilting platform, L1 indicates the front wheelbase, and L2 indicates the wheelbase.

[0118] Second aspect: The rear wheels are turned: the turning angle is consistent with the rotation angle of the tilting platform, and after the rotation, the state is in the state required by the standard. The rear axle transverse cylinder is set to drive, and after the drive is running, the whole vehicle reaches the state required by the standard. Figure 5 , Figure 5 A schematic diagram of a horizontal simulation model setting provided in an embodiment of the present application.

[0119] The third aspect: The mast tilts backward to the bottom: the tilt cylinder drive function is set from zero to a step function. Within a period of time, the displacement of the tilt cylinder shrinks from the initial value to the minimum value, that is, the forklift mast tilts backward to the bottom. The conversion of the longitudinal full-load stacking working condition simulation model to the longitudinal full-load running working condition simulation model: the lifting cylinder drive function is set to zero. The conversion of the horizontal full-load stacking working condition simulation model to the horizontal empty-load running working condition simulation model: the mass of the stacked goods is set to zero, the goods are deleted or their mass attributes are set to zero; the left and right lifting cylinder drive functions are set to zero.

[0120] The vehicle stability simulation results can show the dynamic process of the vehicle tipping over, as well as the tipping angle of the vehicle at the moment of tipping over. The multi-body dynamics software post-processing module is used to demonstrate the critical state of the vehicle tipping over, and the change of the contact force between the tire and the tipping platform as the tipping angle increases can be shown in the form of a graph. Figure 6 , Figure 6 A schematic diagram of a simulation scenario provided by an embodiment of the present application, for the longitudinal full-load stacking condition and the longitudinal full-load running condition, the contact force between the rear wheel and the tilting table is zero at the moment, and the tilting angle at this moment is the tilting limit of the two conditions. For the lateral full-load stacking condition and the lateral unloaded running condition, the contact force between the front wheel on the side away from the tilting axis and the tilting table is zero at the moment, and the tilting angle at this moment is the tilting limit of the two conditions.

[0121] See also Figure 7 and Figure 8 , Figure 7 A schematic diagram of the relationship between tire force and tilt angle provided in an embodiment of the present application, Figure 7 The ordinate is the contact force of the tire, and the abscissa represents the tilt angle, such as Figure 7 As shown, when the inclination angle is 6.652 degrees, the contact force of the tire is 0; Figure 8 A schematic diagram of the relationship between tire force and time provided in an embodiment of the present application, Figure 8 The vertical axis represents the contact force of the tire, and the horizontal axis represents time.

[0122] Tire deformation will cause the relative angle of the vehicle to change. For longitudinal full-load stacking conditions and longitudinal full-load operating conditions, the load on the front wheel will slowly increase as the vehicle slowly tipps over. During this process, the pressure on the front wheel will increase, while the load on the rear wheel will gradually become zero as the vehicle slowly tipps over. During this process, the pressure on the rear wheel will decrease until it reaches zero. According to the tire force change and the tire static load curve, the relative deformation of the front and rear wheels is obtained, and the angle to be corrected is calculated in combination with the bridge spacing. The change in tire force from the initial state to the moment the vehicle tipped over resulted in a relative deformation of the front wheel of +p (mm), a relative deformation of the rear wheel of -n (mm), and a front and rear axle spacing of L (mm). The angle change caused by the tire is: .

[0123] .

[0124] For the lateral fully loaded stacking condition and the lateral unloaded running condition, the load on the front wheel on the side far from the tipping axis will gradually decrease to zero as the vehicle slowly tips over, and the pressure on the front wheel on this side will become smaller and smaller until it reaches zero; the load on the front wheel on the side close to the tipping axis will gradually increase as the vehicle slowly tips over, and the pressure on the front wheel on this side will become larger and larger during this process. According to the tire force change and the tire static load curve, the relative deformation of the left and right front wheels is obtained, and the correction angle is calculated in combination with the front axle track. The relative deformation of the left front wheel caused by the change in tire force from the initial state to the moment the vehicle tips over -d l (mm), relative deformation of the right front wheel + d r (mm), front axle track M (mm), the angle change caused by the tire is .

[0125] .

[0126] The static load curve of the tire can be obtained in the following ways: For the design stage, a finite element model of the tire is established, the tire model is meshed, its constraints and loading conditions are set, and nonlinear analysis is performed on it to obtain the static load curve of the tire.

[0127] For the prototype stage, the static load curve of the tire is obtained through testing. Fig. 9 , Fig. 9 This is a schematic diagram of a static load curve of a tire provided in an embodiment of the present application, where the horizontal axis represents the load and the vertical axis represents the sinking amount.

[0128] By increasing the load of the longitudinal fully loaded stacking condition, the tipping angle obtained by simulation is consistent with the angle required by the stability test. Then the weight obtained by subtracting the standard load from the load is the remaining load. By changing the lifting height and load size of the simulation model mast, a series of simulation results of working conditions can be obtained. The load curve of the forklift can be obtained by plotting the series of simulation results into a curve.

[0129] This solution adopts the method of multi-body dynamics simulation, taking into account the influence of the deformation of the mast and tire on stability, and the simulation results are highly accurate. This solution can be used in the design and prototype stages of the whole vehicle, has a wide range of applications, can reduce tests, and has high accuracy. This solution uses the finite element simulation method to obtain the deformation of the forklift mast and forklift tires. The lateral stability simulation model and the longitudinal stability simulation model of the forklift vehicle can be converted to each other. The chain of the forklift mast is simulated using a chain system. This solution can obtain the remaining load and load curve of the forklift by using this method.

[0130] This solution takes into account the deformation of the forklift gantry structure, the gap between the gantry channel steel and the roller, and the rigid deformation of the gantry as a whole, making the simulation results accurate. This solution considers the influence of the relative deformation of the tires during the rollover process on the center of mass position of the vehicle. Considering this influence, the simulation results are corrected to obtain more accurate simulation results. By using this method, an accurate vehicle load curve can be obtained, which can avoid a large number of stability tests.

[0131] A forklift stability simulation analysis system provided in an embodiment of the present application may include:

[0132] A modeling module, used to establish a working condition model of a target forklift in the simulation software; wherein the working condition model includes a forklift model and a tilting platform model in a preset working condition, and the forklift model is arranged on the upper surface of the tilting platform model;

[0133] A simulation module, used to perform a stability simulation test using the working condition model to obtain a tipping angle of the forklift model; wherein the stability simulation test is used to test the state of the forklift model at various tilt angles, the tilt angle being the angle between the upper surface of the tilting platform model and the horizontal plane, and the tipping angle being the tilt angle when the forklift model is in a tipping critical state;

[0134] The result output module is used to determine the component deformation information of the forklift model when it is in the critical state of overturning, and to correct the overturning angle in combination with the component deformation information to obtain the stability detection result of the target forklift.

[0135] In this embodiment, a working condition model including a forklift model and a tilting platform model is established in the simulation software, and the above working condition model is used to perform a stability simulation test to obtain the tipping angle of the forklift model. In this embodiment, the tipping angle is corrected in combination with the deformation information of the components when the forklift model is in a critical state of tipping, so as to obtain a stability test result. In the above process, the stability of the forklift is automatically tested by the simulation software, which not only considers the overall movement of the forklift, but also pays attention to the deformation of the components of the forklift model. Correcting the tipping angle in combination with the deformation information of the components can improve the accuracy of the stability test results, and ensure that the stability test results can truly reflect the performance of the forklift in actual use. Therefore, this solution can accurately and efficiently test the stability of the forklift.

[0136] Furthermore, it also includes:

[0137] The parameter setting module is used to establish corresponding geometric models for the components of the target forklift before establishing the working condition model of the target forklift in the simulation software, and import the geometric models into the simulation software; it is also used to set the simulation parameters of the geometric model in the simulation software; wherein the simulation parameters include physical properties, connection relationships, contact relationships and drive modes.

[0138] Furthermore, the process of setting the simulation parameters of the geometric model in the simulation software by the parameter setting module includes: setting the contact parameters between the channel steel geometric model and the roller geometric model in the simulation software; wherein the contact parameters include contact stiffness, damping value and friction parameters, and the contact stiffness is determined according to the deformation of the gantry geometric model, and the gantry geometric model includes the channel steel geometric model and the roller geometric model.

[0139] Furthermore, it also includes:

[0140] A deformation setting module is used to determine the deformation of the gantry geometric model by means of finite element simulation analysis before setting the contact parameters between the channel steel geometric model and the roller geometric model in the simulation software; wherein, during the finite element simulation analysis, the distance between the channel steel geometric model and the roller geometric model is determined according to the contact condition, and the contact condition is used to describe whether the channel steel geometric model is in contact with the roller geometric model.

[0141] Furthermore, the simulation module uses the operating condition model to perform a stability simulation test, and the process of obtaining the tipping angle of the forklift model includes: controlling the forklift model to operate on the tilting platform model according to the preset operating condition, and adjusting the inclination angle of the tilting platform model; determining whether the contact force between the target tire geometry model of the forklift model and the tilting platform model is 0; if so, determining that the forklift model is in a critical state of tipping; and setting the inclination angle of the forklift model when it is in the critical state of tipping as the tipping angle.

[0142] Furthermore, if the preset working condition is a longitudinal full-load stacking condition or a longitudinal full-load operating condition, the result output module determines the component deformation information of the forklift model when it is in the critical state of tipping, and the process of correcting the tipping angle in combination with the component deformation information includes: determining the relative deformation of the front wheels and the relative deformation of the rear wheels when the forklift model is in the critical state of tipping; wherein the relative deformation of the front wheels is used to represent the difference in deformation of the front wheels in the critical state of tipping and the horizontal state, respectively, and the relative deformation of the rear wheels is used to represent the difference in deformation of the rear wheels in the critical state of tipping and the horizontal state, respectively, and the horizontal state refers to the state of the forklift model when the inclination angle of the tipping platform model is 0°; and correcting the tipping angle according to the relative deformation of the front wheels, the relative deformation of the rear wheels and the bridge distance.

[0143] Furthermore, if the preset working condition is a lateral fully loaded stacking condition or a lateral unloaded operating condition, the result output module determines the component deformation information of the forklift model when it is in the critical state of tipping, and the process of correcting the tipping angle in combination with the component deformation information includes: determining the relative deformation of the left front wheel and the relative deformation of the right front wheel when the forklift model is in the critical state of tipping; wherein the relative deformation of the left front wheel is used to represent the difference in deformation of the left front wheel in the critical state of tipping and the horizontal state, respectively, and the relative deformation of the right front wheel is used to represent the difference in deformation of the right front wheel in the critical state of tipping and the horizontal state, respectively, and the horizontal state refers to the state of the forklift model when the inclination angle of the tipping platform model is 0°; and correcting the tipping angle according to the relative deformation of the left front wheel, the relative deformation of the right front wheel and the wheelbase.

[0144] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, which will not be repeated here.

[0145] The present application also provides a storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0146] The present application also provides an electronic device, which may include a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps provided in the above embodiment may be implemented. Of course, the electronic device may also include various network interfaces, power supplies and other components.

[0147] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of this application.

[0148] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A forklift stability simulation analysis method, characterized in that: include: Establishing a working condition model of a target forklift in the simulation software; wherein the working condition model includes a forklift model and a tilting platform model in a preset working condition, and the forklift model is arranged on the upper surface of the tilting platform model; The working condition model is used to perform a stability simulation test to obtain a tipping angle of the forklift model; wherein the stability simulation test is used to test the state of the forklift model at various tilt angles, the tilt angle being the angle between the upper surface of the tilting platform model and the horizontal plane, and the tipping angle being the tilt angle when the forklift model is in a tipping critical state; The component deformation information of the forklift model when it is in the critical state of tipping is determined, and the tipping angle is corrected in combination with the component deformation information to obtain a stability detection result of the target forklift.

2. The forklift stability simulation analysis method according to claim 1, characterized in that: Before establishing the working condition model of the target forklift in the simulation software, it also includes: Establishing corresponding geometric models for components of the target forklift, and importing the geometric models into the simulation software; The simulation parameters of the geometric model are set in the simulation software; wherein the simulation parameters include physical properties, connection relationships, contact relationships and driving methods.

3. The forklift stability simulation analysis method according to claim 2, characterized in that: Setting the simulation parameters of the geometric model in the simulation software includes: The contact parameters between the channel steel geometric model and the roller geometric model are set in the simulation software; wherein the contact parameters include contact stiffness, damping value and friction parameters, the contact stiffness is determined according to the deformation of the portal frame geometric model, and the portal frame geometric model includes the channel steel geometric model and the roller geometric model.

4. The forklift stability simulation analysis method according to claim 3, characterized in that: Before setting the contact parameters between the channel steel geometric model and the roller geometric model in the simulation software, the method further includes: The deformation of the gantry geometric model is determined by finite element simulation analysis; wherein, during the finite element simulation analysis, the distance between the channel steel geometric model and the roller geometric model is determined based on the contact condition, and the contact condition is used to describe whether the channel steel geometric model is in contact with the roller geometric model.

5. The forklift stability simulation analysis method according to claim 1, characterized in that: The stability simulation test is performed using the working condition model to obtain the tipping angle of the forklift model, including: Controlling the forklift model to operate on the tilting platform model according to the preset working conditions, and adjusting the tilting angle of the tilting platform model; Determining whether the contact force between the target tire geometry model of the forklift model and the tilting platform model is 0; If yes, it is determined that the forklift model is in a critical state of tipping; The tilt angle of the forklift model when it is in a critical state of tipping is set as the tipping angle.

6. The forklift stability simulation analysis method according to claim 1, characterized in that: If the preset working condition is a longitudinal full-load stacking working condition or a longitudinal full-load running working condition, determining component deformation information of the forklift model when it is in the tipping critical state, and correcting the tipping angle in combination with the component deformation information, including: Determine the relative deformation of the front wheels and the relative deformation of the rear wheels when the forklift model is in the tipping critical state; wherein the relative deformation of the front wheels is used to represent the difference between the deformation of the front wheels in the tipping critical state and the horizontal state, and the relative deformation of the rear wheels is used to represent the difference between the deformation of the rear wheels in the tipping critical state and the horizontal state, and the horizontal state refers to the state of the forklift model when the inclination angle of the tipping platform model is 0°; The rollover angle is corrected according to the relative deformation of the front wheels, the relative deformation of the rear wheels and the bridge distance.

7. The forklift stability simulation analysis method according to claim 1, characterized in that: If the preset working condition is a transverse fully loaded stacking working condition or a transverse unloaded operating condition, determining component deformation information of the forklift model when it is in the tipping critical state, and correcting the tipping angle in combination with the component deformation information, including: Determine the relative deformation of the left front wheel and the relative deformation of the right front wheel when the forklift model is in the critical state of tipping; wherein the relative deformation of the left front wheel is used to represent the difference between the deformation of the left front wheel in the critical state of tipping and the horizontal state, and the relative deformation of the right front wheel is used to represent the difference between the deformation of the right front wheel in the critical state of tipping and the horizontal state, and the horizontal state refers to the state of the forklift model when the inclination angle of the tipping platform model is 0°; The rollover angle is corrected according to the relative deformation of the left front wheel, the relative deformation of the right front wheel and the wheelbase.

8. A forklift stability simulation analysis system, characterized in that: include: A modeling module, used to establish a working condition model of a target forklift in the simulation software; wherein the working condition model includes a forklift model and a tilting platform model in a preset working condition, and the forklift model is arranged on the upper surface of the tilting platform model; A simulation module, used to perform a stability simulation test using the working condition model to obtain a tipping angle of the forklift model; wherein the stability simulation test is used to test the state of the forklift model at various tilt angles, the tilt angle being the angle between the upper surface of the tilting platform model and the horizontal plane, and the tipping angle being the tilt angle when the forklift model is in a tipping critical state; The result output module is used to determine the component deformation information of the forklift model when it is in the critical state of overturning, and to correct the overturning angle in combination with the component deformation information to obtain the stability detection result of the target forklift.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps of the forklift stability simulation analysis method according to any one of claims 1 to 7 are implemented.

10. A storage medium, characterized in that: The storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the forklift stability simulation analysis method according to any one of claims 1 to 7 are implemented.

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