Wheel steering angle compensation mechanism and forklift

Abstract

The utility model provides a wheel steering angle compensation mechanism and forklift, including the wheel and be used for installing the wheel carrier and the fixed mount of the wheel, the wheel carrier includes the rotary part, the fixed mount is installed at the upper end of the rotary part, the wheel rotates around the axis of the rotary part relative to the fixed mount; the device further comprises a compensation assembly, the compensation assembly comprises a linkage disc and a detector, the linkage disc and the rotating part are concentrically installed, the linkage disc synchronously rotates along with the rotating part, the linkage disc is round, the surface of the linkage disc is provided with a plurality of hollow fan-shaped sections with different angles, the circle center of each hollow fan-shaped section coincides with the circle center of the linkage disc, and the detector is arranged on the linkage disc. The detector is installed on the fixing frame and used for detecting the hollow fan-shaped section on the linkage disc. According to the compensation mechanism, by means of cooperative work of the hollow fan-shaped section on the linkage disc and the detector, accurate monitoring of the steering angle of the wheels of the forklift is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of forklifts, and particularly relates to a wheel steering angle compensation mechanism and a forklift. Background Art

[0002] When a forklift is driving dynamically, especially in situations that require emergency turning, it is crucial to ensure that the angles of the rotating wheel frames of the wheels are consistent. If there are differences in the angles between the wheel frames, this is usually caused by several reasons, including manufacturing errors, response time delays in the system, or the gradual increase of accumulated errors during long-term use. These angular inconsistencies will directly affect the performance of the forklift, especially in terms of stability and maneuverability. Affected stability may cause the forklift to shake or tilt during driving, while poor maneuverability may make it difficult for the operator to precisely control the driving direction of the forklift. Currently, although there are some technologies for compensating for the inconsistencies in the wheel frame angles, the application of these technologies is usually limited to adjusting only at the beginning or end of the turning process, and cannot continuously perform real-time compensation during the turning process. During the entire turning process of the forklift, there will still be problems with inconsistent angles. Content of the Utility Model

[0003] In order to solve all or part of the above-mentioned problems of the prior art, the utility model provides a wheel steering angle compensation mechanism and a forklift. This mechanism can compensate the steering angle of the wheel in real time to improve the performance of the forklift during the turning process.

[0004] To achieve the above purpose, the utility model provides the following technical solutions:

[0005] A wheel steering angle compensation mechanism includes a wheel, a wheel frame and a fixed frame for installing the wheel. The wheel frame includes a rotating part, and the fixed frame is installed at the upper end of the rotating part. The wheel rotates relative to the fixed frame around the axis of the rotating part. The compensation mechanism further includes a compensation component, which includes a linkage disk and a detector. The linkage disk is concentrically installed with the rotating part and rotates synchronously with the rotating part. The linkage disk is circular, and its surface is provided with a plurality of hollow sector segments at different angles. The center of each hollow sector segment coincides with the center of the linkage disk. The detector is installed on the fixed frame for detecting the hollow sector segments on the linkage disk. This compensation mechanism realizes the precise monitoring of the steering angle of the forklift wheel by the cooperation of the hollow sector segments on the linkage disk and the detector. Each sector segment represents a specific steering angle, and the detector can identify these angles in real time, so as to ensure continuous monitoring of the wheel steering.

[0006] Between adjacent hollow sector segments is a solid area. As the linkage disk rotates, the detector successively passes through the hollow sector segments and the solid area. The alternating pattern of the hollow sector segments and the solid area provides a clear angular identification for the detector. The detector can determine the exact steering angle of the wheel by recognizing the transition from the solid area to the hollow sector segment or vice versa.

[0007] There are 8 hollow sector segments with different angles on the linkage disk, and the angles of the hollow sector segments increase successively; the starting angle of the hollow sector segment is set at 10°, and the remaining angles increase by 5° in sequence. The sector segments with different angles allow for precise control of the wheel steering angle. Each sector segment corresponds to a specific steering angle, enabling the steering of the wheel to be adjusted according to a predetermined angle.

[0008] There are two zero positions marked on the linkage disk. Position A is on one side of the hollow sector segment with the smallest angle, and the angle corresponding to the hollow sector segment is 10°; Position B is set at a position symmetric to Position A about the center of the linkage disk and is on one side of the hollow sector segment with an angle of 15°. When it is necessary to adjust the wheel steering angle, the adjustment can start quickly from Position A or B. These two positions provide the nearest angular reference, reducing the rotation distance and thus improving the response speed.

[0009] Starting from Position A, the hollow sector segments with angles of 10°, 25°, 45°, and 30° are arranged in a counterclockwise direction in sequence. Starting from Position B, the hollow sector segments with angles of 15°, 35°, 40°, and 20° are arranged in a counterclockwise direction in sequence, and the included angle between adjacent two hollow sector segments is 17.5°. The design of the fixed included angle helps to reduce the errors accumulated in multiple steering operations and ensures accuracy in long-term operations.

[0010] The detector is located above the solid area, and the detector light is on. When it is above the hollow sector segment, the detector light is off. The different signal displays provide an intuitive identification method, enabling the detector to quickly identify the steering state of the wheel.

[0011] It also includes a controller electrically connected to the detector. Each time the detector passes through a hollow sector segment, the controller compares the actual steering angle of the wheel carrier with the preset original angle. When a deviation in the steering angle is detected, the controller automatically adjusts the wheel to compensate for the angular error. This continuous monitoring and correction mechanism ensures the accuracy of the wheel steering angle and effectively reduces the stability and controllability problems caused by inconsistent steering angles.

[0012] The wheel carrier further includes two support arms connected to the rotating part, and the wheel is mounted on the two wheel carrier arms through a wheel axle; the fixed frame is fixedly connected to the vehicle body. The wheel carrier and the wheel can rotate relative to the fixed frame and the vehicle body.

[0013] A transmission member connected to an external power source is provided on the rotating part; the transmission member is a large gear ring provided on the rotating part, and the large gear ring and an external speed reduction mechanism form a transmission pair, and the transmission pair is input with rotational speed by a motor. Thus, precise control and response of the steering angle of the wheel are achieved.

[0014] The present utility model also provides a forklift truck, and the wheels of the forklift truck are integrated with the above-mentioned wheel steering angle compensation mechanism, so that the forklift truck can be more stable and easier to operate when making an emergency turn or traveling at a high speed.

[0015] The present utility model has at least the following beneficial effects:

[0016] 1) By designing hollow sector segments with different angles on the linkage disk and setting the zero position, the steering of the wheel can be precisely adjusted according to a predetermined angle. Each sector segment corresponds to a specific steering angle, providing highly precise steering control. The cooperative work of the detector and the controller realizes the real-time monitoring and automatic adjustment of the wheel steering angle, ensuring that the wheel always maintains the correct steering angle during driving.

[0017] 2) Every time the detector passes through a hollow sector segment, the controller will perform an angle comparison. When it detects that there is a deviation between the actual steering angle and the preset angle, the controller will automatically adjust the wheel to compensate for the angle error. This automatic correction mechanism effectively reduces the vehicle stability problems caused by inconsistent steering angles. The continuous monitoring and correction mechanism of the compensation mechanism effectively improves the accuracy of the wheel steering angle, thereby enhancing the overall performance and safety of the forklift truck. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the specific embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following described drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0019] Figure 1 It is a schematic structural diagram of a wheel steering angle compensation mechanism according to Embodiment 1 of the present utility model.

[0020] Figure 2 It is a design angle diagram of different hollow sector segments on the linkage disk in Embodiment 1 of the present utility model and the pulse diagram corresponding to these angles.

[0021] Figure 3 This is a partial structural schematic diagram of the forklift in Embodiment 2 of the present utility model.

[0022] Reference numerals: 1 - wheel; 2 - wheel carrier; 201 - rotating part; 3 - fixed frame; 4 - linkage disc; 5 - detector. Detailed implementation manners

[0023] Next, the technical solutions in the specific embodiments of the present utility model will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0024] The implementation of the present utility model will be described in detail below in conjunction with specific embodiments.

[0025] Embodiment 1

[0026] In the embodiment of the present utility model, with reference to Figures 1 - 3 as shown, a wheel steering angle compensation mechanism is provided. The mechanism mainly includes a wheel 1, a wheel carrier 2, and a fixed frame 3. The wheel carrier 2 consists of a rotating part 201 and two support arms. These two support arms are connected to the rotating part 201, and the wheel 1 is installed on the support arms through a wheel axle. The upper end of the rotating part 201 is connected to the fixed frame 3, and the fixed frame 3 is fixed to the vehicle body, allowing the wheel 1 to rotate relative to the fixed frame 3 around the axis of the rotating part 201. In order to drive the wheel 1, the rotating part 201 is equipped with a transmission part connected to an external power source. This transmission part is a large gear ring, which is installed on the rotating part 201 and forms a pair of transmission pairs with an external reduction mechanism. The motor drives this large gear ring by inputting a rotational speed, thereby driving the rotation of the wheel 1.

[0027] Specifically, assume that the reduction ratio from the motor output shaft to the large gear ring is A. This means that the rotation of the motor shaft is transmitted to the wheel carrier 2 through the reduction mechanism, achieving a rotation with a reduction ratio of A. The rotation ratio between the wheel carrier 2 and the steering wheel is 1:4, that is, the steering wheel rotates 4 circles corresponding to 1 circle of rotation of the wheel carrier 2. The rotary incremental encoder installed inside the steering wheel outputs 64 pulses per revolution. Therefore, 256 pulses need to be output when the wheel carrier 2 rotates one circle. Through these pulse signals, the number of pulses generated per 1° rotation of the motor shaft can be calculated, that is, (256 * A) / 360°. In this way, the rotation angle of the motor shaft can be accurately calculated by the number of pulses. In practical applications, due to factors such as manufacturing errors, response time lags, and cumulative errors, the angles of the wheel carriers 2 on the left and right sides of the vehicle may not be consistent at the same time point. Therefore, it is necessary to continuously compensate the angles during the working process to ensure the angle consistency of all wheel carriers 2.

[0028] In order to achieve precise compensation for the steering angle of the wheel 1, the present utility model also specially designs a compensation component, which consists of two parts: a linkage disk 4 made of metal and a detector 5. The linkage disk 4 is concentrically installed with the rotating part 201, which can ensure that the linkage disk 4 rotates synchronously with the rotating part 201. The linkage disk 4 is circularly designed, and its surface is provided with a plurality of hollow sector segments with different angles. The center of each sector segment is consistent with the center of the linkage disk 4, forming a regular distribution pattern. The detector 5 is installed on the fixed frame 3, and its main function is to continuously monitor the hollow sector segments on the linkage disk 4 that rotate synchronously with the wheel 1, and indicate the steering state of the wheel 1 through the on and off states of the lights. When the wheel 1 rotates, the linkage disk 4 rotates accordingly, while the detector 5 and the fixed frame 3 remain stationary. In the design of the linkage disk 4, a solid area is designed between each hollow sector segment. When the detector 5 is above the solid area, its light is on; when the detector 5 moves above any hollow sector segment, the light goes off. This change in the light provides an intuitive indication for easily identifying the current steering angle of the wheel 1. In addition, the detector 5 is also electrically connected to the controller, which is responsible for processing the data provided by the detector 5 in real time. When the detector 5 sweeps across the hollow sector segment, there will be obvious changes in the angle and the number of pulses. Even if the accuracy of the controller is limited, it can accurately capture these changes to avoid misinterpreting the signals. Whenever the detector 5 passes through a hollow sector segment, the controller will compare the actual steering angle of the wheel carrier 2 with the preset original angle. If a deviation is detected between the actual steering angle and the preset angle, the controller will automatically trigger an adjustment mechanism to make necessary adjustments to the wheel 1 to compensate for this angle error.

[0029] In this embodiment, a total of eight hollow sector segments with different angles are specifically formed on the linkage disk 4, and the angles of the hollow sector segments increase sequentially. The starting angle of these hollow sector segments is set at 10°, and each subsequent sector segment increases by 5° compared to the previous one. For the convenience of accurate measurement and reference, two special zero positions, namely position A and position B, are defined on the linkage disk 4. Position A is set at the edge of the hollow sector segment with the smallest angle, and the angle of this sector segment is exactly 10°. Position B is symmetric to position A with respect to the center line of the linkage disk 4, and it is located at the edge of the hollow sector segment with an angle of 15°. This symmetric layout helps improve the accuracy and consistency of measurement. Looking counterclockwise from position A, the angles of the sequentially arranged hollow sector segments are 10°, 25°, 45°, and 30° respectively. Similarly, starting from position B in the counterclockwise direction, the angles of the sequentially arranged sector segments are 15°, 35°, 40°, and 20°. The angular difference between each adjacent hollow sector segment remains 17.5°. Such a design allows the detector 5 to accurately measure the steering angle of the wheel 1 by identifying different angles. The two zero positions of position A and position B are set, so that in actual operation, it is possible to quickly rotate to the zero position from any position without having to rotate a large circumferential distance. Taking Figure 2 position A as an example, if the wheel 1 is currently at point C, the wheel 1 only needs to be rotated counterclockwise by a small angle to align with position A, instead of having to rotate clockwise by a large angle back to the starting zero position. This design significantly reduces the adjustment distance and time for the wheel 1 to move from a non-zero position to the zero position, improving the flexibility and efficiency of the operation.

[0030] When the linkage disk 4 rotates clockwise from point A to point E, it will sequentially pass through points 1, 2, 3, 4, 5, and 6 on the disk. Each conversion point from the solid area to the hollow area is a correction and compensation point. On the pulse diagram, corresponding characteristic points exist at these positions, enabling the disk to perform six compensation corrections during the rotation from point A to point E. Such a design ensures that the left and right wheel carriers 2 can reach the target position E synchronously and accurately. Once reaching point E, if re-calibration of the zero point is required, the system will select point B as the new zero point from the vicinity of point E for subsequent operation and control.

[0031] The compensation mechanism of the present utility model can determine the precise position and angle of the detector 5 corresponding to the linkage disk 4 by detecting the hollow sector segments on the linkage disk 4 through the detector 5. The on / off change of the light of the detector 5 corresponds to the detection of the solid area and the hollow area. Each time the state of the light changes, the controller will compare the actual angle and the number of pulses of the wheel carrier 2 and perform necessary angle compensation to ensure the angular consistency of the left and right wheel carriers 2. Although such compensation cannot achieve absolute consistency, the error can be controlled within an extremely small range to meet the requirements of practical applications.

[0032] Embodiment 2

[0033] The present utility model also provides a forklift truck, which is characterized by adopting the wheel steering angle compensation mechanism described in Embodiment 1. The integrated application of this compensation mechanism significantly improves the accuracy and reliability of the forklift truck during the steering operation. By installing this compensation mechanism on the forklift truck wheels, it can ensure that the angle deviation of the wheel 1 during the steering process is compensated in a timely manner, thereby improving the operation stability and driving safety of the forklift truck.

[0034] In summary, the wheel steering angle compensation mechanism and the forklift truck of the present utility model, through precise steering control, real-time monitoring and automatic adjustment mechanisms, as well as effective connection with an external power source, significantly improve the operation performance and safety of the forklift truck, enabling the forklift truck to maintain good stability and maneuverability under various driving conditions.

[0035] It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present utility model, several improvements and modifications can still be made to the present utility model, and these improvements and modifications also fall within the scope of protection of the claims of the present utility model.

Claims

1. A wheel steering angle compensation mechanism, characterized in that It includes a wheel (1), a wheel carrier (2) for mounting the wheel (1), and a fixing bracket (3). The wheel carrier (2) includes a rotating part (201). The fixing bracket (3) is mounted at the upper end of the rotating part (201). The wheel (1) rotates relative to the fixing bracket (3) about the axis of the rotating part (201). It further includes a compensation assembly. The compensation assembly includes a linkage disc (4) and a detector (5). The linkage disc (4) is concentrically mounted with the rotating part (201) and rotates synchronously with the rotating part (201). The linkage disc (4) is circular, and its surface is provided with a plurality of hollow sector segments at different angles. The center of each hollow sector segment coincides with the center of the linkage disc (4). The detector (5) is mounted on the fixing bracket (3) for detecting the hollow sector segments on the linkage disc (4).

2. The compensation mechanism according to claim 1, characterized in that, The area between adjacent hollow sector segments is a solid area. As the linkage disc (4) rotates, the detector (5) sequentially passes through the hollow sector segments and the solid areas.

3. The compensation mechanism according to claim 2, wherein There are 8 hollow sector segments with different angles on the linkage disc (4), and the angles of the hollow sector segments increase sequentially. The starting angle of the hollow sector segment is set to 10°, and the other angles increase by 5° sequentially.

4. The compensation mechanism according to claim 3, wherein, Two zero positions are marked on the linkage disc (4). Position A is on one side of the hollow sector segment with the smallest angle, and the corresponding angle of the hollow sector segment is 10°. Position B is set at a position symmetric to position A about the center of the linkage disc (4) and is on one side of the hollow sector segment with an angle of 15°.

5. The compensation mechanism according to claim 4, characterized in that, Starting from position A, hollow sector segments with angles of 10°, 25°, 45°, and 30° are sequentially arranged in the counterclockwise direction. Starting from position B, hollow sector segments with angles of 15°, 35°, 40°, and 20° are sequentially arranged in the counterclockwise direction, and the included angle between adjacent two hollow sector segments is 17.5°.

6. The compensation mechanism according to claim 2, characterized in that, The detector (5) is located above the solid area. When the detector (5) is above the hollow sector segment, the detector (5) lights up. When the detector (5) is above the solid area, the detector (5) lights out.

7. The compensation mechanism according to claim 1, wherein It further includes a controller electrically connected to the detector (5). Each time the detector (5) passes through a hollow sector segment, the controller compares the actual steering angle of the wheel carrier (2) with a preset original angle. When a deviation in the steering angle is detected, the controller automatically adjusts the wheel (1) to compensate for the angle error.

8. The compensation mechanism according to claim 1, characterized in that The wheel carrier (2) further includes two support arms connected to the rotating part (201). The wheel (1) is mounted on the two support arms of the wheel carrier (2) through a wheel axle. The fixing bracket (3) is fixedly connected to the vehicle body.

9. The compensation mechanism according to claim 1, characterized in that A transmission member connected to an external power source is provided on the rotating part (201). The transmission member is a large gear ring provided on the rotating part (201). The large gear ring and an external reduction mechanism form a transmission pair, and the transmission pair is input with rotational speed by a motor.

10. A forklift, characterized in that, The wheel (1) of the forklift integrates the wheel steering angle compensation mechanism according to any one of claims 1-9.

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