Automatic deviation correction control method for lateral movement of single-drive omni-directional reach forklift

Abstract

The invention discloses a single-drive omni-directional reach forklift lateral running automatic deviation rectification control method, which comprises a vehicle main body, a controller, a driving mechanism, a front driven mechanism and a rear driven mechanism, a fluted disc speed measuring device is used for detecting the real-time rotating speed of a front driven wheel and the real-time rotating speed of a driving wheel, and the rotating speed data of the driving wheel and the front driven wheel are collected through the controller; the rotating speed collected by the driving motor and the rotating speed collected by the fluted disc speed measuring device on the front driven wheel are converted into the real-time advancing speed of the driving wheel and the real-time advancing speed of the front driven wheel, the real-time advancing speed of the driving wheel and the real-time advancing speed of the front driven wheel are compared through the controller, and therefore the real-time deflection angle of the front driven wheel is measured and calculated. The front driven wheel is rectified through the first driving assembly of the front driven wheel, it is ensured that the front driven wheel runs along a straight line, automatic rectification in the vehicle running process is achieved under the condition that a single driving motor is used, and the economical efficiency of the device is improved.

Description

Technical Field

[0001] The invention relates to the technical field of deviation correction control, and in particular to a method for automatic deviation correction control for a single-drive full-forward-moving forklift lateral movement. Background Art

[0002] The full-reach forklift has driving modes such as straight travel, side travel, diagonal turning and rotation on the spot, which is convenient for carrying and stacking long materials in a small space. It is more suitable for stone, aluminum profiles, steel pipes, wood and other fields.

[0003] However, in a narrow space, the straightness of the forklift is required to be high. According to the force analysis of the vehicle, the best state is that the tires on each fulcrum of the forklift have the function of steering and driving, so that each fulcrum has the main force to ensure the straightness of the vehicle. But obviously, according to this method, the cost of the vehicle will be very high and not very economical. Obviously, reducing the number of drive motors of the forklift can control the cost well, but reducing the number of drive motors will affect the straightness of the vehicle. Summary of the invention

[0004] The object of the present invention is to provide a method for controlling the lateral automatic deviation correction of a single-drive full-forward-moving forklift, so as to solve the technical problem in the prior art of how to realize the autonomous deviation correction of the forklift chassis while using fewer drive motors.

[0005] The technical problem to be solved by the present invention can be achieved by the following technical solutions:

[0006] A method for automatically correcting the lateral movement of a single-drive full-forward-moving forklift, comprising:

[0007] Step 1: The controller collects the rotation speed measured on the driving motor and the rotation speed of the front driven wheel respectively.

[0008] Step 2: Convert the rotation speed collected from the driving motor and the rotation speed collected from the front driven wheel into the real-time forward speed of the driving wheel and the front driven wheel.

[0009] Step 3: Measure the deviation angle of the front driven wheel based on the difference in real-time speed between the driving wheel and the front driven wheel.

[0010] Step 4: Correct the deviation of the front driven wheel through the driving assembly of the front driven wheel.

[0011] As a further solution of the present invention: the real-time rotation speed of the front driven wheel and the driving wheel is detected by a toothed disc speed measuring device.

[0012] As a further solution of the present invention: the rotational speed data of the driving wheel and the front driven wheel are collected through the controller, the rotational speed collected on the driving motor and the rotational speed collected by the geared disc speed measuring device on the front driven wheel are converted into the real-time forward speed of the driving wheel and the front driven wheel, and the real-time forward speed of the driving wheel and the real-time forward speed of the front driven wheel are compared through the controller to calculate the real-time deflection angle of the front driven wheel.

[0013] As a further solution of the present invention: control component 1 is started by a controller, and control component 1 drives steering sprocket 2 to rotate. The rotation of steering sprocket 2 can drive steering sprocket 1 to rotate through a chain, thereby offsetting the deflection angle of the front driven wheel and ensuring that the front driven wheel travels in a straight line.

[0014] A single-drive full-forward-moving forklift lateral automatic deviation correction control device comprises a vehicle body, a vehicle chassis is fixedly connected to the lower part of the vehicle body, a driving mechanism is fixedly installed on one side of the lower end surface of the vehicle body, a rear follower mechanism is fixedly installed on the other side of the lower end surface of the vehicle body, two extension frames are symmetrically arranged and fixedly connected on one end surface of the vehicle body, and a front follower mechanism is fixedly installed on both extension frames.

[0015] As a further solution of the present invention: the driving mechanism includes a driving wheel fixedly mounted on the vehicle chassis, a driving motor for driving the driving wheel to rotate, and a driving steering assembly for driving the driving wheel to turn.

[0016] As a further solution of the present invention: the front driven mechanism includes a front driven wheel, a steering assembly and a driving assembly 1 for driving the steering assembly; the front driven wheel, the steering assembly and the driving assembly 1 are fixedly mounted on an extension frame; the steering assembly includes a steering sprocket 1, a chain and a steering sprocket 2; the steering sprocket 2 is fixedly mounted on the driving end of the driving assembly; the steering sprocket 1 is fixedly mounted on the steering driving end of the front driven wheel; the chain is sleeved on the steering sprocket 1 and the steering sprocket 2.

[0017] As a further solution of the present invention: the rear driven mechanism includes a rear driven wheel, a steering assembly and a drive assembly 2 for driving the steering assembly; the rear driven wheel, the steering assembly and the drive assembly 2 are all fixedly mounted on the vehicle chassis; the steering assembly includes a steering sprocket 1, a chain and a steering sprocket 2; the steering sprocket 2 is fixedly mounted on the driving end of the drive assembly; the steering sprocket 1 is fixedly mounted on the steering driving end of the rear driven wheel; the chain is sleeved on the steering sprocket 1 and the steering sprocket 2.

[0018] As a further solution of the present invention: a sprocket speed measuring device for detecting the rotation speed of the front driven wheel is fixedly connected to the extension frame, and a sprocket speed measuring device for detecting the driving wheel is fixedly installed on the vehicle chassis.

[0019] As a further solution of the present invention: a controller is fixedly connected to the vehicle body, and the drive component 1, the drive component 2, the drive motor and the drive steering component are all electrically connected to the controller.

[0020] Beneficial effects of the present invention:

[0021] The present invention detects the real-time rotational speed of the front driven wheel and the driving wheel through a toothed disc speed measuring device, collects the rotational speed data of the driving wheel and the front driven wheel through a controller, converts the rotational speed collected on the driving motor and the rotational speed collected by the toothed disc speed measuring device on the front driven wheel into the real-time forward speed of the driving wheel and the front driven wheel, compares the real-time forward speed of the driving wheel with the real-time forward speed of the front driven wheel through the controller, thereby calculating the real-time deflection angle of the front driven wheel, starts control component one through the controller, and control component one drives steering sprocket two to rotate. The rotation of steering sprocket two can drive steering sprocket one to rotate through a chain, thereby offsetting the deflection angle of the front driven wheel, ensuring that the front driven wheel travels in a straight line, and realizing automatic deviation correction during vehicle travel when a single driving motor is used, which is beneficial to improving the economy of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] Figure 1 The overall three-dimensional structure of the present invention is shown in FIG. Figure 1 ;

[0024] Figure 2 The overall three-dimensional structure of the present invention is shown in FIG. Figure 2 ;

[0025] Figure 3 The force analysis of the driving wheel, the front driven wheel and the rear driven wheel during the driving process of the present invention is as follows: Figure 1 .

[0026] In the figure: 1. front driven wheel; 2. toothed disc speed measuring device; 3. steering sprocket wheel 1; 4. chain; 5. steering sprocket wheel 2; 6. drive assembly 1; 7. rear driven wheel; 8. drive assembly 2; 9. drive motor; 10. drive steering assembly; 11. drive wheel; 12. vehicle body; 13. controller; 14. extension frame; 100. drive mechanism; 200. front driven mechanism; 300. rear driven mechanism. DETAILED DESCRIPTION

[0027] 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.

[0028] like Figure 1-Figure 2 As shown, a method for automatic lateral deviation correction control of a single-drive full-forward-moving forklift includes the following steps:

[0029] Step 1: The controller 13 collects the rotation speed measured on the driving motor 9 and the rotation speed of the front driven wheel 1 respectively;

[0030] Step 2: Convert the rotation speed collected by the driving motor 9 and the rotation speed collected by the front driven wheel 1 into the real-time forward speed of the driving wheel 11 and the front driven wheel 1;

[0031] Step 3: Measure the deviation angle of the front driven wheel 1 according to the difference in real-time speed between the driving wheel 11 and the front driven wheel 1;

[0032] Step 4: Correct the deviation of the front driven wheel 1 through the driving component 1 6 of the front driven wheel 1.

[0033] The real-time rotation speed of the front driven wheel 1 and the driving wheel 11 is detected by the toothed disc speed measuring device 2. The principle of the toothed disc speed measurement is to install an annular toothed device (toothed disc) on the end of the rotating shaft of the hydropower unit. The toothed disc speed measuring device is composed of a toothed disc speed sensor and a corresponding speed signal processor circuit. When the unit rotates, a pulse signal (i.e., a series of square waves) reflecting the unit speed is generated by a proximity or photoelectric sensor. The pulse width is measured by a single-chip microcomputer (or intelligent instrument), and the unit speed is calculated (the speed is calculated from the frequency generated by the square wave).

[0034] The rotational speed data of the driving wheel 11 and the front driven wheel 1 are collected through the controller 13, and the rotational speed collected on the driving motor 9 and the rotational speed collected by the sprocket speed measuring device 2 on the front driven wheel 1 are converted into the real-time forward speed of the driving wheel 11 and the front driven wheel 1. The real-time forward speed of the driving wheel 11 and the real-time forward speed of the front driven wheel 1 are compared through the controller 13 to calculate the real-time deflection angle of the front driven wheel.

[0035] The control component 16 is started by the controller 13, and the control component 16 drives the steering sprocket 2 5 to rotate. The rotation of the steering sprocket 2 5 can drive the steering sprocket 1 3 to rotate through the chain 4, thereby offsetting the deflection angle of the front driven wheel 1 and ensuring that the front driven wheel 1 travels in a straight line.

[0036] like Figure 1-Figure 2As shown, a single-drive full-forward moving forklift lateral automatic deviation correction control device includes a vehicle body 12, a driving mechanism 100 is fixedly installed on one side of the lower end surface of the vehicle body 12, a rear follower mechanism 300 is fixedly installed on the other side of the lower end surface of the vehicle body 12, and two extension frames 14 are symmetrically arranged and fixedly connected on one side end surface of the vehicle body 12, and a front follower mechanism 200 is fixedly installed on both extension frames 14.

[0037] In some specific implementations, a vehicle chassis is fixedly connected below the vehicle body 12 .

[0038] The driving mechanism 100 includes a driving wheel 11 fixedly mounted on the vehicle chassis, a driving motor 9 for driving the driving wheel 11 to rotate, and a driving steering assembly 10 for driving the driving wheel 11 to steer.

[0039] The front driven mechanism 200 includes a front driven wheel 1, a steering assembly and a driving assembly 6 for driving the steering assembly. The front driven wheel 1, the steering assembly and the driving assembly 6 are fixedly mounted on the extension frame 14. The steering assembly includes a steering sprocket 1 3, a chain 4 and a steering sprocket 2 5. The steering sprocket 2 5 is fixedly mounted on the driving end of the driving assembly. The steering sprocket 1 3 is fixedly mounted on the steering driving end of the front driven wheel 1. The chain 4 is sleeved on the steering sprocket 1 3 and the steering sprocket 2 5.

[0040] The rear driven mechanism 300 includes a rear driven wheel 7, a steering assembly and a drive assembly 2 8 for driving the steering assembly. The rear driven wheel 7, the steering assembly and the drive assembly 2 8 are all fixedly mounted on the vehicle chassis. The steering assembly includes a steering sprocket 1 3, a chain 4, and a steering sprocket 2 5. The steering sprocket 2 5 is fixedly mounted on the driving end of the drive assembly. The steering sprocket 1 3 is fixedly mounted on the steering driving end of the rear driven wheel 7. The chain 4 is sleeved on the steering sprocket 1 3 and the steering sprocket 2 5.

[0041] In some specific implementations, a sprocket speed measuring device 2 for detecting the rotation speed of the front driven wheel 1 is fixedly connected to the extension frame 14 , and a sprocket speed measuring device 2 for detecting the rotation speed of the driving wheel 11 is fixedly installed on the vehicle chassis.

[0042] In some specific embodiments, a controller 13 is fixedly connected to the vehicle body 12 , and the drive component 1 6 , the drive component 2 8 , the drive motor 9 and the drive steering component 10 are all electrically connected to the controller 13 .

[0043] In some specific implementations, the drive component 1 6 and the drive component 2 8 are both AC steering motors.

[0044] In order to facilitate the understanding of the embodiments of this solution by those skilled in the art, the working principle of this solution is briefly described in combination with specific application scenarios:

[0045] like Figure 3 As shown in the figure, when the forklift is traveling sideways, the driving wheel generates the main force. When the forklift is traveling, the front driven wheel will be subjected to a large lateral force. When the ground adhesion coefficient is small, it will affect the start of the forklift. When traveling or braking, it will cause the whole vehicle to deflect clockwise, thereby affecting the straightness of the whole vehicle. The front driven wheel deflects an angle α, so that the travel adjustment center moves on the vertical line of the driving wheel. When the travel adjustment center is at infinity, the front driven wheel is in a horizontal state. In this way, the distance between the travel adjustment center and the driving wheel can be adjusted by fine-tuning the angle α to offset the clockwise deflection of the whole vehicle and ensure the straightness of the whole vehicle.

[0046] The real-time rotation speed of the front driven wheel 1 and the driving wheel 11 is detected by the toothed disc speed measuring device 2. The principle of toothed disc speed measurement is to install an annular toothed device (toothed disc) on the end of the rotating shaft of the hydropower unit. The toothed disc speed measuring device is composed of a toothed disc speed sensor and a corresponding rotation speed signal processor circuit. When the unit rotates, a pulse signal (i.e., a series of square waves) reflecting the unit rotation speed is generated by a proximity or photoelectric sensor. The pulse width is measured by a single-chip microcomputer (or intelligent instrument), and the unit rotation speed is calculated (the rotation speed is calculated by the frequency generated by the square wave). The rotation speed data of the driving wheel 11 and the front driven wheel 1 are processed by the controller 13. The rotation speed collected by the driving motor 9 and the rotation speed collected by the toothed disc speed measuring device 2 on the front driven wheel 1 are converted into the real-time forward speeds of the driving wheel 11 and the front driven wheel 1, and the real-time forward speeds of the driving wheel 11 and the front driven wheel 1 are compared through the controller 13 to calculate the real-time deflection angle of the front driven wheel, and the control component 16 is started through the controller 13, and the control component 16 drives the steering sprocket 2 5 to rotate. The rotation of the steering sprocket 2 5 can drive the steering sprocket 3 to rotate through the chain 4, thereby offsetting the deflection angle of the front driven wheel 1 and ensuring that the front driven wheel 1 travels along a straight line.

[0047] Several embodiments of the present invention are described in detail above, but the embodiments of the present invention are not limited thereto and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A method for automatic side deviation correction control of a single-drive full-forward forklift, characterized in that: include: S1: The controller (13) collects the rotation speed measured on the driving motor (9) and the rotation speed of the front driven wheel (1); S2: converting the rotation speed collected by the driving motor (9) and the rotation speed collected by the front driven wheel (1) into the real-time forward speed of the driving wheel (11) and the front driven wheel (1); S3: measuring the deviation angle of the front driven wheel (1) according to the difference in real-time speed between the driving wheel (11) and the front driven wheel (1); S4: Correcting the deviation of the front driven wheel (1) through the driving assembly 1 (6) of the front driven wheel (1).

2. The method for automatic lateral deviation correction control of a single-drive full-forward reach forklift according to claim 1, characterized in that: The real-time rotation speed of the front driven wheel (1) and the driving wheel (11) is detected by a toothed disc speed measuring device (2).

3. The method for automatic lateral deviation correction control of a single-drive full-forward reach forklift according to claim 1, characterized in that: The speed data of the driving wheel (11) and the front driven wheel (1) are collected by the controller (13), and the speed collected by the driving motor (9) and the speed collected by the gear wheel speed measuring device (2) on the front driven wheel (1) are converted into the real-time forward speed of the driving wheel (11) and the front driven wheel (1). The real-time forward speed of the driving wheel (11) and the real-time forward speed of the front driven wheel (1) are compared by the controller (13), so as to calculate the real-time deflection angle of the front driven wheel.

4. The method for automatic lateral deviation correction control of a single-drive full-forward reach forklift according to claim 1, characterized in that: The control component 1 (6) is started by the controller (13), and the control component 1 (6) drives the steering sprocket 2 (5) to rotate. The rotation of the steering sprocket 2 (5) can drive the steering sprocket 1 (3) to rotate through the chain (4), thereby offsetting the deflection angle of the front driven wheel (1), ensuring that the front driven wheel (1) travels along a straight line.

5. A single-drive full-forward forklift automatic lateral deviation correction control device, used to implement the single-drive full-forward forklift automatic lateral deviation correction control method according to claims 1-4, characterized in that: The vehicle comprises a vehicle body (12), a vehicle chassis being fixedly connected below the vehicle body (12), a driving mechanism (100) being fixedly mounted on one side of the lower end surface of the vehicle body (12), a rear driven mechanism (300) being fixedly mounted on the other side of the lower end surface of the vehicle body (12), two extension frames (14) being symmetrically arranged and fixedly connected on one side end surface of the vehicle body (12), and a front driven mechanism (200) being fixedly mounted on both extension frames (14).

6. The automatic lateral deviation correction control device for a single-drive full-forward-moving forklift according to claim 5, characterized in that: The driving mechanism (100) comprises a driving wheel (11) fixedly mounted on a vehicle chassis, a driving motor (9) for driving the driving wheel (11) to rotate, and a driving steering assembly (10) for driving the driving wheel (11) to steer.

7. The automatic lateral deviation correction control device for a single-drive full-forward-moving forklift according to claim 5 is characterized in that: The front driven mechanism (200) comprises a front driven wheel (1), a steering assembly and a driving assembly (6) for driving the steering assembly. The front driven wheel (1), the steering assembly and the driving assembly (6) are fixedly mounted on an extension frame (14). The steering assembly comprises a steering sprocket (3), a chain (4) and a steering sprocket (5). The steering sprocket (5) is fixedly mounted on a driving end of the driving assembly. The steering sprocket (3) is fixedly mounted on a steering driving end of the front driven wheel (1). The chain (4) is sleeved on the steering sprocket (3) and the steering sprocket (5).

8. The automatic lateral deviation correction control device for a single-drive full-forward-moving forklift according to claim 5, characterized in that: The rear driven mechanism (300) comprises a rear driven wheel (7), a steering assembly and a second driving assembly (8) for driving the steering assembly. The rear driven wheel (7), the steering assembly and the second driving assembly (8) are all fixedly mounted on a vehicle chassis. The steering assembly comprises a first steering sprocket (3), a chain (4) and a second steering sprocket (5). The second steering sprocket (5) is fixedly mounted on a driving end of the driving assembly. The first steering sprocket (3) is fixedly mounted on a steering driving end of the rear driven wheel (7). The chain (4) is sleeved on the first steering sprocket (3) and the second steering sprocket (5).

9. The automatic lateral deviation correction control device for a single-drive full-forward-moving forklift according to claim 5, characterized in that: A toothed disc speed measuring device (2) for detecting the rotation speed of the front driven wheel (1) is fixedly connected to the extension frame (14), and a toothed disc speed measuring device (2) for detecting the rotation speed of the driving wheel (11) is fixedly installed on the vehicle chassis.

10. The automatic lateral deviation correction control device for a single-drive full-forward-moving forklift according to claim 5, characterized in that: A controller (13) is fixedly connected to the vehicle body (12); the drive component 1 (6), the drive component 2 (8), the drive motor (9) and the drive steering component (10) are all electrically connected to the controller (13).

Images