Vehicle-mounted forklift and control method thereof

Abstract

The invention discloses a truck-mounted forklift and a control method thereof.The truck-mounted forklift comprises a base, a bearing wheel mechanism and a first driving part, the bearing wheel mechanism comprises a fixing base and walking supporting legs, the walking supporting legs are symmetrically and fixedly arranged on the fixing base, the two walking supporting legs penetrate through limiting grooves correspondingly and extend to the outer side of the base, and the first driving part is arranged on the base and is connected with the bearing wheel mechanism; the first driving piece drives the fixing base to move, so that the walking supporting legs move in the limiting grooves in the length direction of the limiting grooves. The first driving piece drives the bearing wheel mechanism to advance or retract with the frame as the center, manual pulling and pulling of the bearing wheel mechanism are avoided, the truck-mounted forklift can automatically go deep into a carriage or move out of the deep position of the carriage, potential safety hazards caused by manual operation are avoided, and the working efficiency is improved. And the whole climbing process can be stable and uniform in speed through electric driving, and it is guaranteed that goods cannot be damaged.

Description

Technical Field

[0001] The present invention relates to the technical field of forklifts, in particular to a truck-mounted forklift and its control method. Background Art

[0002] A truck-mounted forklift is one that follows a freight truck and can unstack the goods on a pallet from the truck carriage and transport them to a fixed position on the ground, or transport and stack the goods on a pallet on the ground onto the truck carriage. The truck-mounted forklift can climb onto the truck carriage. However, when the truck-mounted forklift needs to enter deep into the carriage, the driver needs to manually pull and extend the load-bearing wheel mechanism during the process of getting on and off the vehicle to avoid the carriage floor. For example, the authorized publication number CN113860219B discloses a truck-mounted forklift for loading and unloading goods along with the vehicle and its working method, which records that "manually pull the third handle outwards to slide out the support rod so that the end of the support rod does not exceed the front side of the main frame. Press the down button again, and the main frame continues to move up. When the fork arm reaches the lowest point of the main frame, release the down button and push the support rod inwards so that the support wheel contacts the carriage panel. Then press the up button, and the fork arm will lift the goods and separate them from the panel by a small distance. Hold the second handle and push the forklift into the carriage so that the goods are placed in a suitable position, and at the same time, the forklift completes the action of getting on the vehicle."

[0003] This process requires the driver to operate the lifting mechanism back and forth and manually pull and extend the support rod, consuming a lot of physical strength of the driver and being extremely inconvenient to operate;

[0004] Secondly, the driver also needs to hold the second handle and push the forklift into the carriage so that the driving wheels enter the carriage. However, under the influence of the self-weight of the truck-mounted forklift, the process of manually pulling the truck-mounted forklift into or out of the carriage is time-consuming and laborious. During the process of getting on and off the vehicle, affected by factors such as improper operation and vehicle instability, the truck-mounted forklift often tilts from the truck, posing a great safety hazard to the operators. Summary of the Invention

[0005] The purpose of the present invention is to provide a truck-mounted forklift and its control method to solve the problems in the prior art. The load-bearing wheel mechanism can automatically extend and retract, and can drive the driving wheel mechanism into the carriage, realizing the full-automatic climbing of the truck-mounted forklift, reducing manpower, and reducing the working risk.

[0006] The present invention provides a truck-mounted forklift, including:

[0007] A base, on which limiting grooves are symmetrically provided;

[0008] A load-bearing wheel mechanism, which includes a fixed seat and walking legs. The walking legs are symmetrically fixed on the fixed seat, and the two walking legs respectively penetrate through the limiting grooves and extend to the outside of the base;

[0009] The first driving member is arranged on the base, and the output end of the first driving member is connected to the fixing seat. The first driving member drives the fixing seat to move, thereby causing the walking leg to move along its length direction in the limiting groove.

[0010] In the vehicle-mounted forklift as described above, preferably, load-bearing wheels are respectively provided on the two walking legs, a second driving member is provided on the fixed seat, an output end of the second driving member is connected to at least one of the load-bearing wheels, and the second driving member drives the load-bearing wheels to rotate.

[0011] In the vehicle-mounted forklift as described above, preferably, the first driving member includes an electric push rod and a first motor, the first motor is arranged on the base, the input end of the electric push rod is connected to the first motor, and the output end of the electric push rod is connected to the fixing seat.

[0012] A vehicle-mounted forklift as described above, wherein preferably, the second driving member includes an electromagnetic clutch, a first sprocket, a chain, a reducer and a second motor, wherein: the electromagnetic clutch is arranged on one side of the load-bearing wheel, the side of the electromagnetic clutch facing away from the load-bearing wheel is connected to the sprocket, the reducer is arranged on the fixed seat, the second motor is arranged on the reducer, the reducer includes a second sprocket, one end of the chain is connected to the first sprocket, and the other end of the chain passes through the limiting groove and is connected to the second sprocket.

[0013] A vehicle-mounted forklift as described above, wherein, preferably, an outer door frame is provided on the base, a lifting mechanism is provided on the outer door frame, the lifting mechanism includes a fork frame and a lifting drive unit, the lifting drive unit is used to drive the fork frame to move on the outer door frame, and the size of the fork frame is adapted to the walking legs.

[0014] A vehicle-mounted forklift climbing mechanism as described above, wherein, preferably, a driving wheel mechanism is symmetrically arranged at the bottom of the base, and a controller is provided on the base, and the controller is electrically connected to the first driving member, the second driving member, the electromagnetic clutch, the lifting mechanism and the driving wheel mechanism respectively.

[0015] The present invention also provides a control method for a vehicle-mounted forklift, comprising:

[0016] S1: monitors vehicle driving potential signal C1:

[0017] When 2.5V<C1≤5V and C1 changes from small to large, the vehicle moves forward;

[0018] When 0V<C1<2.5V and C1 changes from large to small, the vehicle moves backward;

[0019] S2: Monitor the retraction request signal C2 and the retraction speed limit signal C3 of the load wheel mechanism:

[0020] The load wheel mechanism includes a fixed seat and walking legs. The walking legs are symmetrically fixed on the fixed seat. The two walking legs are respectively arranged through the base along the length direction. Load wheels are respectively arranged on the two walking legs. The first motor is arranged on the base. The input end of the electric push rod is connected to the first motor, and the output end of the electric push rod is connected to the fixed seat;

[0021] When C2 = 1 and C3 = 0, the first motor drives the electric push rod to push the fixed seat away from the base;

[0022] When the distance between the load wheel and the base is less than or equal to 100 mm, C3 = 1, and the load wheel mechanism retracts at a reduced speed;

[0023] S3: Monitor the extension request signal C4 and the extension speed limit signal C5 of the load wheel mechanism:

[0024] When C4 = 1 and C5 = 0, the first motor drives the electric push rod to pull the fixed seat close to the base;

[0025] When the distance between the fixed seat and the base is less than or equal to 100 mm, C5 = 1, and the load wheel mechanism extends at a reduced speed;

[0026] S4: Monitor the signal C6 for the load wheel mechanism to drive the vehicle forward and the signal C7 for the load wheel mechanism to drive the vehicle backward:

[0027] An electromagnetic clutch is arranged on one side of any one of the load wheels. A speed reducer is arranged on the fixed seat. One side of the speed reducer is connected to the second motor, and the other side of the speed reducer is connected to the electromagnetic clutch;

[0028] When C6 = 1, the electromagnetic clutch is energized, and the second motor drives the load wheel to rotate to execute the vehicle to move forward;

[0029] When C7 = 1, the electromagnetic clutch is energized, and the second motor drives the load wheel to rotate to execute the vehicle to move backward.

[0030] For a control method of a forklift on a vehicle as described above, preferably, in step S1, when moving forward, the target speed of the traction motor in the drive wheel mechanism is:

[0031] n 牵引1 = ((C1 - 2.5) / 2.5) * n max ,

[0032] where: n 牵引1 is the target speed of the traction motor for the vehicle to move forward, nmax is the traction motor speed corresponding to the maximum vehicle speed;

[0033] The target speed of the traction motor when moving backward is:

[0034] n 牵引2 =((2.5-C1) / 2.5)*n max ,

[0035] Among them, n 牵引2 is the target speed of the traction motor when the vehicle is moving backward, n max is the traction motor speed corresponding to the maximum vehicle speed;

[0036] In the above-mentioned vehicle-mounted forklift control method, preferably, in step S2, the retraction speed of the load-bearing wheel mechanism is:

[0037] V 后缩 =n1*L / (i1*K),

[0038] Among them, V 后缩 is the retraction speed of the load-bearing wheel mechanism, n1 is the target speed of the first motor when the load-bearing wheel mechanism is retracted, n1=K1*n 额定1 , K1 is the first motor speed coefficient when the load-bearing wheel mechanism is retracted, n 额定1 is the rated speed of the first motor, L is the pitch of the electric push rod screw nut, i1 is the electric push rod speed ratio, and K is the unit conversion coefficient;

[0039] The deceleration and retraction speed of the load-bearing wheel mechanism is:

[0040] V 减速后缩 =K2*V 后缩 ,

[0041] Among them, V 减速后缩 is the deceleration and retraction speed of the load-bearing wheel mechanism, K2 is the deceleration coefficient;

[0042] In step S3, the forward extension speed of the load-bearing wheel mechanism is:

[0043] V 前伸 =n2*L / (i1*K),

[0044] Among them, V 前伸 is the forward extension speed of the load-bearing wheel mechanism, n2 is the target speed of the first motor when the load-bearing wheel mechanism extends forward, n2=K3*n 额定1 , K3 is the speed coefficient of the first motor when the load-bearing wheel mechanism extends forward;

[0045] The deceleration and extension speed of the load-bearing wheel mechanism is:

[0046] V 减速前伸 =K4*V 前伸 ,

[0047] Among them, V 减速前伸 is the forward extension speed of the carrier wheel mechanism before deceleration, and K4 is the forward extension deceleration coefficient;

[0048] For a control method of a forklift truck on a vehicle as described above, preferably, in step S4, the forward driving speed of the vehicle is:

[0049] V 前进 = n3 * PI * D / (i2 * K),

[0050] Among them: V 前进 is the forward driving speed of the carrier wheel driving the vehicle, n3 is the target speed of the second motor when the carrier wheel drives the vehicle forward, n3 = K5 * n 额定2 , K5 is the speed coefficient of the second motor when the carrier wheel drives the vehicle forward, n 额定2 is the rated speed of the second motor; PI is the pi, D is the diameter of the carrier wheel, and i2 is the reduction ratio of the reducer;

[0051] The reverse driving speed of the vehicle is:

[0052] V 后退 = n4 * PI * D / (i2 * K),

[0053] Among them, V 后退 is the reverse driving speed of the carrier wheel driving the vehicle, n4 is the target speed of the second motor when the carrier wheel drives the vehicle backward, n = K6 * n 额定2 , and K6 is the speed coefficient of the second motor when the carrier wheel drives the vehicle backward.

[0054] Compared with the prior art, the present invention drives the carrier wheel mechanism to move forward or retract around the vehicle frame through the first driving member, avoiding manual pulling of the carrier wheel mechanism, and drives any carrier wheel to rotate through the second driving member to make the forklift truck on the vehicle move forward or backward, so as to realize that the driving wheel mechanism is drawn into the carriage or moved out of the carriage, and the operation is more labor-saving. This application can make the forklift truck on the vehicle automatically penetrate into the interior of the carriage or move out from the depth of the carriage, avoiding potential safety hazards caused by manual operation, and the whole climbing process can be made stable and uniform through electric drive, ensuring that the goods will not be damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 is a perspective view of a forklift truck on a vehicle provided by an embodiment of the present invention;

[0056] Figure 2 is a top view of the first driving member driving the carrier wheel mechanism close to the base provided by an embodiment of the present invention;

[0057] Figure 3It is a top view of the first driving member driving the carrier wheel mechanism away from the base provided by the embodiment of the present invention.

[0058] Explanation of reference numerals:

[0059] 10 - Base, 11 - Limit groove;

[0060] 20 - Fixed seat, 21 - Traveling leg, 22 - Carrier wheel;

[0061] 30 - First motor, 31 - Electric push rod;

[0062] 40 - Electromagnetic clutch, 41 - First sprocket, 42 - Chain, 43 - Second sprocket, 44 - Reducer, 45 - Second motor.

[0063] 50 - Outer door frame, 51 - Fork carriage, 52 - Lifting drive unit;

[0064] 60 - Driving wheel mechanism;

[0065] 70 - Controller. Specific embodiments

[0066] The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0067] See Figure 1 -3, the present invention provides a forklift truck for vehicle, including a base 10, a carrier wheel mechanism and a first driving member, wherein:

[0068] Limit grooves 11 are symmetrically formed on the base 10. The carrier wheel mechanism includes a fixed seat 20 and traveling legs 21. The traveling legs 21 are symmetrically fixed on the fixed seat 20, and the two traveling legs 21 respectively penetrate through the limit grooves 11 and extend to the outside of the base 10. In the embodiment provided by the present application, the limit grooves 11 can connect the carrier wheel mechanism with the base 10. When moving the carrier wheel mechanism, the limit grooves 11 also have a certain guiding effect, enabling the traveling legs 21 to move in the limit grooves 11 to avoid deviation.

[0069] The first driving member is provided on the base 10 , and the output end of the first driving member is connected to the fixing seat 20 . The first driving member fixing seat 20 moves, thereby causing the walking leg 21 to move along the length direction thereof in the limiting slot 11 . During the process of getting on and off the vehicle, the truck forklift needs to move the load-bearing wheel mechanism back and forth relative to the base 10 to avoid the car floor. The first driving member is fixed on the base 10, and the output end of the first driving member is connected to the fixed seat 20. When the truck forklift is in driving state, the front end of the walking leg 21 is away from the base 10, and the fixed seat 20 is close to the base 10. During the process of getting on and off the vehicle, the first driving member drives the fixed seat 20 to move, and the walking leg 21 moves in the limiting groove 11 along the length direction of the walking leg 21, so that the front end of the walking leg 21 moves from away from the base 10 to close to the base 10, or the front end of the walking leg 21 moves from close to the base 10 to away from the base 10, so as to avoid the car floor. The load-bearing wheel mechanism is driven to move by the first driving member, which eliminates the tediousness of manual pulling and saves time and effort.

[0070] After the load-bearing wheel mechanism enters the carriage, if the truck-mounted forklift needs to enter the interior of the carriage, or go down from the interior of the carriage, it is necessary to manually push the truck-mounted forklift to move the drive wheel mechanism 60 into or out of the carriage. Due to the large weight of the truck-mounted forklift, manual pulling poses an operational risk. In this application, load-bearing wheels 22 are respectively provided on the two walking legs 21, and a second driving member is provided on the fixed seat 20. The output end of the second driving member is connected to at least one load-bearing wheel 22, and the second driving member drives the load-bearing wheel 22 to rotate. By driving at least one load-bearing wheel 22 to rotate by the second driving member, the load-bearing wheel 22 moves forward or backward, thereby bringing the drive wheel mechanism 60 into or out of the carriage, greatly improving the flexibility of the truck-mounted forklift in loading and unloading scenarios, without relying on manual push, reducing the labor intensity of the operator, and improving work efficiency. In addition, since the horizontal plane of the lowest end of the base 10 is higher than the horizontal plane of the lowest end of the load-bearing wheel 22, when the load-bearing wheel mechanism moves to the front end of the walking leg 21 close to the base 10, the walking leg 21 will not disengage from the limiting groove 11. However, in order to better avoid the floor of the carriage, the bottom of the base 10 can be recessed inward so that at least part of the walking leg 21 and the load-bearing wheel 22 can be moved into the base 10. The specific structure is not limited here.

[0071] In one possible implementation, see Figure 2As shown in Fig. -3, the first driving member includes an electric push rod 31 and a first motor 30. The first motor 30 is arranged on the base 10. The input end of the electric push rod 31 is connected to the first motor 30, and the output end of the electric push rod 31 is connected to the fixing seat 20. The first motor 30 can be fixed in the middle of the base 10 or at a position close to the edge. In the embodiment provided in the present application, the first motor 30 is fixed at a position close to the edge of the base 10. The electric push rod 31 pushes the fixing seat 20, which can drive the two walking legs 21 to move simultaneously. The electric push rod 31 has a high positioning accuracy and can accurately control the moving distance and position of the fixing seat 20 according to actual requirements. The first motor 30 can accurately adjust the telescopic amount of the electric push rod 31 according to preset parameters, so that the load wheel mechanism can accurately reach the specified position. In addition, the first driving member can also be a cylinder or other transmission mechanisms, as long as the output end has the function of reciprocating linear motion, which is not limited here.

[0072] In a feasible implementation manner, refer to Figure 2 As shown in Fig. -3, the second driving member includes an electromagnetic clutch 40, a first sprocket 41, a chain 42, a speed reducer 44 and a second motor 45, where: the electromagnetic clutch 40 is arranged on one side of the load wheel 22, and the side of the electromagnetic clutch 40 facing away from the load wheel 22 is connected to the sprocket. The speed reducer 44 is arranged on the fixing seat 20, and the second motor 45 is arranged on the speed reducer 44. The speed reducer 44 includes a second sprocket 43. One end of the chain 42 is connected to the first sprocket 41, and the other end of the chain 42 passes through the limit groove 11 and is connected to the second sprocket 43. In the embodiment provided in the present application, the second motor 45 is used as the power source. The second motor 45 is directly installed on the speed reducer 44 to transmit power to the speed reducer 44. The speed reducer 44 can reduce the speed and increase the torque. The chain 42 is wound around the second sprocket 43 and the first sprocket 41 to form a transmission connection. The first sprocket 41 is connected to the electromagnetic clutch 40. When the electromagnetic clutch 40 is energized and engaged, the rotation of the first sprocket 41 drives the electromagnetic clutch 4 to rotate together, and the electromagnetic clutch 40 further transmits power to the load wheel 22, causing the load wheel 22 to start rotating; when the electromagnetic clutch 40 is de-energized and disengaged, the rotation of the first sprocket 41 will not be transmitted to the load wheel 22, and the load wheel 22 stops rotating. The setting of the electromagnetic clutch 40 enables the rotation of the load wheel 22 to be flexibly controlled. When the load wheel 22 of the forklift truck does not need to rotate, the power supply of the electromagnetic clutch 40 can be cut off to separate the load wheel 22 from the power transmission system, avoiding unnecessary rotation and improving the flexibility and safety of operation.

[0073] As a preferred method, refer to Figure 1As shown in FIG. -3, the first driving member and the second driving member are not arranged on the same side. If the first driving member is arranged on the right side of the base 10, the second driving member is connected to the left carrier wheel 22. The purpose is that the first driving member is mainly used to drive the carrier wheel mechanism to move back and forth on the base 10, and the second driving member is used to drive the carrier wheel 22 to rotate. By arranging them on both sides respectively, when the electric push rod 31 pushes the fixed seat 20, the chain 42 connected to the carrier wheel 22 on the other side can play a role of guiding and limiting. The two driving systems can work together to make the device structure more stable. In addition, in order to enable the output end of the electric push rod 31 to be connected to the fixed seat 20, the reduction gearbox can be installed on the fixed seat 20, and due to the horizontal arrangement of the first sprocket 41 and the second sprocket 43 connected by the chain 42, the shapes of the two walking legs 21 and the fixed seat 20 can be adjusted accordingly. The specific structure is not limited herein.

[0074] In this embodiment, as shown in Figure 1 FIG. -3, an outer door frame 50 is provided on the base 10, and a lifting mechanism is provided on the outer door frame 50. The outer door frame 50 is used to install the lifting mechanism, and the lifting mechanism controls the lifting of goods. The lifting mechanism in this embodiment can be any one in the prior art.

[0075] Further, as shown in Figure 1 FIG. -3, the lifting mechanism includes a fork carriage 51 and a lifting drive unit 52. The lifting drive unit 52 is used to drive the fork carriage 51 to move on the outer door frame 50. The size of the fork carriage 51 is adapted to the walking leg 21. One side of the fork carriage 51 facing the carrier wheel 22 is recessed inward to adapt to the shape of the walking leg 21. The purpose is that when the fork carriage 51 descends to the lowest point, it can completely cover the walking leg 21, so as to facilitate inserting the pallet of the goods.

[0076] Further, as shown in Figure 2 FIG. -3, a driving wheel mechanism 60 is provided at the middle position of the bottom of the base 10. The driving wheel mechanism 60 is used to drive the forklift truck to move or turn. The driving wheel mechanism 60 can be any one in the prior art. In this embodiment, a single driving wheel mechanism is adopted. When the carrier wheel mechanism enters the carriage, the driving wheel in the driving wheel mechanism 60 still remains outside the carriage. When it is necessary to move the driving wheel in or out, the forklift truck needs to be manually pulled. In this embodiment, the second driving member drives the carrier wheel 22 to rotate, and the driving wheel is brought into or out of the carriage by the forward and backward movement of the carrier wheel 22, avoiding the danger of manual operation.

[0077] As shown in Figure 1As shown in FIGS. -3, a controller 70 is provided on the base 10. The controller 70 is electrically connected to the first driving member, the second driving member, the electromagnetic clutch 40, the lifting mechanism, and the driving wheel mechanism 60 respectively. By controlling each driving unit through the controller 70, precise control, improved safety, increased work efficiency, and convenient fault diagnosis can be achieved.

[0078] Based on the above embodiments, the working process of the present invention is as follows:

[0079] 1. The on-vehicle forklift climbs from the ground to the inside of the truck carriage:

[0080] The controller 70 controls the lifting mechanism to lift the goods to a height higher than the carriage. The first motor 30 is driven to drive the electric push rod 31 to push the fixed seat 20 away from the base 10. The walking leg 21 moves in the limit groove 11 and stops when the bearing wheel 22 approaches the base 10. The lifting mechanism is controlled to continue rising. When the lowest surface of the bearing wheel 22 is higher than the carriage, the first motor 30 is driven to drive the electric push rod 31 to retract, so that the fixed seat 20 approaches the base 10 and the walking leg 21 moves into the carriage. During the movement, the electromagnetic clutch 40 is powered off to make the bearing wheel 22 immovable. When the bearing wheel mechanism enters the carriage, the electromagnetic clutch 40 is powered on. The controller 70 controls the second motor 45 to rotate forward. The bearing wheel 22 rotates under the action of the second motor 45, the speed reducer 44, the second sprocket 43, the chain 42, the first sprocket 41, and the electromagnetic clutch 40, so as to drive the driving wheel mechanism 60 into the carriage interior;

[0081] 2. The on-vehicle forklift descends from the inside of the carriage to the ground:

[0082] The controller 70 controls the electromagnetic clutch 40 to be powered on and controls the second motor 45 to rotate reversely. The bearing wheel 22 rotates reversely to drive the on-vehicle forklift to move towards the edge of the carriage and stops until the driving wheel mechanism 60 leaves the carriage. The electromagnetic clutch 40 is cut off. The controller 70 controls the first motor 30 to drive the electric push rod 31 to push the fixed seat 20 to the side away from the base 10 and stops when the bearing wheel 22 approaches the base 10. The lifting mechanism is driven to lower the bearing wheel mechanism to near the lower surface of the carriage and stops. The first motor 30 is driven to drive the electric push rod 31 to retract until the fixed seat 20 approaches the base 10 and stops. The lifting mechanism is driven to continue descending until the bearing wheel mechanism and the driving wheel mechanism 60 reach the ground.

[0083] The present invention also provides a control method for the on-vehicle forklift, which can be used to control the above-mentioned on-vehicle forklift. The control method includes:

[0084] S1: Monitoring the vehicle driving potential signal C1:

[0085] When 2.5V < C1 ≤ 5V and C1 increases from small to large, the vehicle is driven forward;

[0086] When 0V < C1 < 2.5V and C1 decreases from a large value, the vehicle travels backward.

[0087] In this embodiment, the drive wheel mechanism includes a traction motor, a reduction gearbox, and drive wheels. When the vehicle travels forward or backward, the traction motor drives the drive wheels to rotate through the reduction gearbox.

[0088] In step S1, when moving forward, the target speed of the traction motor in the drive wheel mechanism is:

[0089] n 牵引1 = ((C1 - 2.5) / 2.5) * n max ,

[0090] where: n 牵引1 is the target speed of the traction motor for the vehicle to travel forward, and n max is the speed of the traction motor corresponding to the maximum traveling speed of the vehicle;

[0091] When moving backward, the target speed of the traction motor is:

[0092] n 牵引2 = ((2.5 - C1) / 2.5) * n max ,

[0093] where n 牵引2 is the target speed of the traction motor for the vehicle to travel backward, and n max is the speed of the traction motor corresponding to the maximum traveling speed of the vehicle.

[0094] S2: Monitor the retraction request signal C2 of the carrier wheel mechanism and the retraction speed limit signal C3 of the carrier wheel mechanism:

[0095] In this embodiment, the carrier wheel mechanism includes a fixed seat and walking legs. The walking legs are symmetrically fixed on the fixed seat. The two walking legs are respectively arranged through the base along the length direction. Carrier wheels are respectively arranged on the two walking legs. The first motor is arranged on the base. The input end of the electric push rod is connected to the first motor, and the output end of the electric push rod is connected to the fixed seat;

[0096] When C2 = 1 and C3 = 0, the first motor drives the electric push rod to push the fixed seat away from the base;

[0097] When the distance between the carrier wheel and the base is less than or equal to 100mm, C3 = 1, and the carrier wheel mechanism decelerates and retracts, that is, when the electric push rod pushes the fixed seat to an approaching limit state away from the base, it decelerates. When the distance between the carrier wheel and the base is less than or equal to 100mm, C3 = 1, and the carrier wheel mechanism decelerates and retracts;

[0098] In step S2, the retraction speed of the carrier wheel mechanism is:

[0099] V后缩 = n1 * L / (i1 * K),

[0100] Wherein, V 后缩 is the retraction speed of the carrier wheel mechanism, n1 is the target rotational speed of the first motor when the carrier wheel mechanism retracts, n1 = K1 * n 额定1 , K1 is the rotational speed coefficient of the first motor when the carrier wheel mechanism retracts, K1 = 0.8, n 额定1 is the rated rotational speed of the first motor, L is the pitch of the screw nut of the electric push rod, i1 is the speed ratio of the electric push rod, K is the unit conversion coefficient, K = 60;

[0101] The decelerated retraction speed of the carrier wheel mechanism is:

[0102] V 减速后缩 = K2 * V 后缩 ,

[0103] Wherein, V 减速后缩 is the decelerated retraction speed of the carrier wheel mechanism, K2 is the retraction deceleration coefficient, K2 = 0.3.

[0104] S3: Monitor the forward extension request signal C4 of the carrier wheel mechanism and the forward extension speed limit signal C5 of the carrier wheel mechanism:

[0105] When C$4 = 1$ and C$5 = 0$, the first motor drives the electric push rod to pull the fixed seat closer to the base;

[0106] When the distance between the fixed seat and the base is less than or equal to 100 mm, C$5 = 1$, and the carrier wheel mechanism decelerates during forward extension;

[0107] In step S3, the forward extension speed of the carrier wheel mechanism is:

[0108] V 前伸 = n2 * L / (i1 * K),

[0109] Wherein, V 前伸 is the forward extension speed of the carrier wheel mechanism, n2 is the target rotational speed of the first motor when the carrier wheel mechanism extends forward, n2 = K2 * n 额定1 , K3 is the rotational speed coefficient of the first motor when the carrier wheel mechanism extends forward, K3 = 0.9;

[0110] The decelerated forward extension speed of the carrier wheel mechanism is:

[0111] V 减速前伸 = K4 * V 前伸 ,

[0112] Wherein, V 减速前伸 is the decelerated forward extension speed of the carrier wheel mechanism, K4 is the forward extension deceleration coefficient, and K4 is taken as 0.4.

[0113] S4: Monitor the signal C6 for driving the vehicle forward by the carrier wheel mechanism

[0114] An electromagnetic clutch is provided on one side of any load-bearing wheel, a speed reducer is provided on the fixed seat, one side of the speed reducer is connected to the second motor, and the other side of the speed reducer is connected to the electromagnetic clutch;

[0115] When C6 = 1, the electromagnetic clutch is energized, and the second motor drives the load-bearing wheel to rotate, causing the vehicle to move forward, thereby dragging the drive wheel mechanism to climb from outside the truck carriage onto the truck carriage;

[0116] When C7 = 1, the electromagnetic clutch is energized, and the second motor drives the load-bearing wheel to rotate, causing the vehicle to move backward, thereby disengaging the drive wheel mechanism from the carriage.

[0117] In step S4, the forward driving speed of the vehicle is:

[0118] V 前进 = n3 * PI * D / (i2 * K),

[0119] where: V 前进 is the forward driving speed of the vehicle driven by the load-bearing wheel, n3 is the target speed of the second motor when the vehicle is driven forward by the load-bearing wheel, n3 = K5 * n 额定2 , K5 is the speed coefficient of the second motor when the vehicle is driven forward by the load-bearing wheel, K5 = 1, n 额定2 is the rated speed of the second motor; PI is the pi, D is the diameter of the load-bearing wheel, and i2 is the reduction ratio of the speed reducer.

[0120] The backward driving speed of the vehicle is:

[0121] V 后退 = n4 * PI * D / (i2 * K),

[0122] where, V 后退 is the backward driving speed of the vehicle driven by the load-bearing wheel, n4 is the target speed of the second motor when the vehicle is driven backward by the load-bearing wheel, n4 = K6 * n 额定2 , K6 is the speed coefficient of the second motor when the vehicle is driven backward by the load-bearing wheel, K6 = 0.7.

[0123] In this embodiment, the distance between the load-bearing wheel 22, the fixed seat 20 and the base 10 can be monitored by any one of the existing technologies, and no limitation is made here.

[0124] In this embodiment, the control of the lifting mechanism in steps S1 - S5 can be any one of the existing technologies and be coordinated according to the working process of the present invention, and no limitation is made here.

[0125] The structure, features and effects of the present invention have been described in detail based on the embodiments shown in the drawings. The above is only the preferred embodiment of the present invention, but the present invention is not limited to the scope of implementation shown in the drawings. Any changes made according to the concept of the present invention, or equivalent embodiments modified into equivalent changes, should still be within the protection scope of the present invention as long as they do not exceed the spirit covered by the specification and the drawings.

Claims

1. A forklift truck for vehicles, characterized in that, include: A base, wherein limiting grooves are symmetrically provided on the base; A load-bearing wheel mechanism, the load-bearing wheel mechanism comprising a fixed seat and walking legs, the walking legs being symmetrically fixed on the fixed seat, and the two walking legs respectively passing through the limiting slots and extending to the outside of the base; The first driving member is arranged on the base, and the output end of the first driving member is connected to the fixing seat. The first driving member drives the fixing seat to move, thereby causing the walking leg to move along its length direction in the limiting groove.

2. The forklift truck for vehicle according to claim 1, wherein: The two walking legs are respectively provided with load-bearing wheels, the fixing seat is provided with a second driving member, the output end of the second driving member is connected to at least one of the load-bearing wheels, and the second driving member drives the load-bearing wheels to rotate.

3. The forklift truck for vehicle according to claim 1, wherein The first driving member includes an electric push rod and a first motor. The first motor is arranged on the base. The input end of the electric push rod is connected to the first motor, and the output end of the electric push rod is connected to the fixing seat.

4. The forklift truck for vehicle according to claim 2, characterized in that, The second driving member includes an electromagnetic clutch, a first sprocket, a chain, a reducer and a second motor, wherein: the electromagnetic clutch is arranged on one side of the load-bearing wheel, the side of the electromagnetic clutch facing away from the load-bearing wheel is connected to the sprocket, the reducer is arranged on the fixed seat, the second motor is arranged on the reducer, the reducer includes a second sprocket, one end of the chain is connected to the first sprocket, and the other end of the chain passes through the limiting groove and is connected to the second sprocket.

5. The forklift truck for vehicle according to claim 1, wherein, An outer door frame is provided on the base, and a lifting mechanism is provided on the outer door frame. The lifting mechanism includes a fork frame and a lifting drive unit. The lifting drive unit is used to drive the fork frame to move on the outer door frame. The size of the fork frame is adapted to the walking legs.

6. The forklift truck for vehicle according to claim 5, wherein A driving wheel mechanism is provided at the middle position of the bottom of the base, and a controller is provided on the base. The controller is electrically connected to the first driving member, the second driving member, the electromagnetic clutch, the lifting mechanism and the driving wheel mechanism respectively.

7. A control method for a forklift truck on a vehicle, characterized in that, include: S1: monitors vehicle driving potential signal C1: When 2.5V<C1≤5V and C1 changes from small to large, the vehicle moves forward; When 0V<C1<2.5V and C1 changes from large to small, the vehicle moves backward; S2: Monitor the load-bearing wheel mechanism retraction request signal C2 and the load-bearing wheel mechanism retraction speed limit signal C3: The load-bearing wheel mechanism includes a fixed seat and walking legs, the walking legs are symmetrically fixed on the fixed seat, the two walking legs are respectively arranged on the base along the length direction, and the two walking legs are respectively provided with load-bearing wheels, the first motor is provided on the base, the input end of the electric push rod is connected to the first motor, and the output end of the electric push rod is connected to the fixed seat; When C2=1 and C3=0, the first motor drives the electric push rod to push the fixing seat away from the base; When the distance between the load-bearing wheel and the base is less than or equal to 100 mm, C3 = 1, and the load-bearing wheel mechanism decelerates and retracts; S3: Monitor the load-bearing wheel mechanism extension request signal C4 and the load-bearing wheel mechanism extension speed limit signal C5: When C4=1 and C5=0, the first motor drives the electric push rod to pull the fixing seat close to the base; When the distance between the fixed seat and the base is less than or equal to 100mm, C5=1, the load-bearing wheel mechanism slows down and extends forward; S4: Monitoring the forward driving signal C6 of the vehicle driven by the load-bearing wheel mechanism and the backward driving signal C7 of the vehicle driven by the load-bearing wheel mechanism: An electromagnetic clutch is provided on one side of any load-bearing wheel, a reducer is provided on the fixed seat, one side of the reducer is connected to the second motor, and the other side of the reducer is connected to the electromagnetic clutch; When C6=1, the electromagnetic clutch is energized, and the second motor drives the load-bearing wheel to rotate, causing the vehicle to move forward; When C7=1, the electromagnetic clutch is energized, and the second motor drives the load-bearing wheel to rotate, causing the vehicle to move backward.

8. The control method of a truck mounted forklift according to claim 7, characterized in that: In step S1, when moving forward, the target speed of the traction motor in the driving wheel mechanism is: n 牵引1 = ((C1 - 2.5) / 2.5) * n max , Where: n 牵引1 is the target rotational speed of the traction motor for the vehicle to move forward, and n max is the rotational speed of the traction motor corresponding to the maximum driving speed of the vehicle; The target speed of the traction motor when moving backward is: n 牵引2 = ((2.5 - C1) / 2.5) * n max , where n 牵引2 is the target rotational speed of the traction motor when the vehicle is moving backward, and n max is the rotational speed of the traction motor corresponding to the maximum driving speed of the vehicle.

9. The control method of a truck mounted forklift according to claim 7, characterized in that: In step S2, the retraction speed of the load-bearing wheel mechanism is: V 后缩 = n1 * L / (i1 * K), Among them, V 后缩 is the retraction speed of the carrier wheel mechanism, n1 is the target rotational speed of the first motor when the carrier wheel mechanism retracts, n1 = K1 * n 额定1 , K1 is the rotational speed coefficient of the first motor when the carrier wheel mechanism retracts, n 额定1 is the rated rotational speed of the first motor, L is the pitch of the screw nut of the electric push rod, i1 is the speed ratio of the electric push rod, and K is the unit conversion coefficient; The deceleration and retraction speed of the load-bearing wheel mechanism is: V 减速后缩 = K2 * V 后缩 , Among them, V 减速后缩 is the retraction speed after the reduction of the carrier wheel mechanism, and K2 is the retraction deceleration coefficient; In step S3, the forward extension speed of the load-bearing wheel mechanism is: V 前伸 = n2 * L / (i1 * K), Among them, V 前伸 is the forward speed of the carrier wheel mechanism, n2 is the target speed of the first motor when the carrier wheel mechanism extends forward, and n2 = K3 * n 额定1 , where K3 is the speed coefficient of the first motor when the carrier wheel mechanism extends forward; The deceleration and extension speed of the load-bearing wheel mechanism is: V 减速前伸 = K4 * V 前伸 , Among them, V 减速前伸 is the forward extension speed of the carrier wheel mechanism before deceleration, and K4 is the forward extension deceleration coefficient.

10. The control method of a truck mounted forklift according to claim 7, characterized in that: In step S4, the vehicle's forward speed is: V 前进 = n3 * PI * D / (i2 * K), Where: V 前进 is the forward driving speed of the vehicle driven by the load wheels, n3 is the target speed of the second motor when the vehicle driven by the load wheels moves forward, n3 = K5 * n 额定2 , K5 is the speed coefficient of the second motor when the vehicle driven by the load wheels moves forward, n 额定2 is the rated speed of the second motor, PI is the pi, D is the diameter of the load wheels, i2 is the reduction ratio of the reducer; The vehicle's reverse speed is: V 后退 = n4 * PI * D / (i2 * K), Among them, V 后退 is the backward driving speed of the vehicle driven by the carrier wheel, n4 is the target rotational speed of the second motor when the vehicle driven by the carrier wheel travels backward, n4 = K6 * n 额定2 , and K6 is the rotational speed coefficient of the second motor when the vehicle driven by the carrier wheel travels backward.

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