Industrial vehicle controller

Abstract

The utility model relates to the technical field of vehicle controllers, in particular to an industrial vehicle controller. Comprising a shell, an internal integrated function module arranged in the shell and an interface assembly arranged on the surface of the shell, and the internal integrated function module comprises a walking control module used for driving a motor to move forwards and backwards; the steering control module is used for controlling the deflection angle of the driving wheel; the lifting control module is used for receiving feedback signals of the height sensor; and the logic control module is internally provided with programmable control logic. The industrial vehicle controller provided by the utility model integrates three functional modules of walking, steering and lifting, has high integration, and also has the advantages of high working efficiency, long service life, wide application range, good stability and firmness, simplicity in operation, convenience in use and the like.

Description

Technical Field

[0001] This utility model relates to the field of vehicle controller technology, and in particular to an industrial vehicle controller. Background Technology

[0002] In existing industrial vehicle control systems, the functions of walking, steering, and lifting are typically implemented by multiple independent controllers.

[0003] Chinese patent CN105540492B discloses an omnidirectional hydrostatic forklift control system, relating to the field of automatic control technology for engineering vehicles. It aims to solve problems related to synchronous control, power matching, and stepless speed regulation of each wheel in a forklift transmission system using hydrostatic transmission technology. The system includes a travel controller, a motor drive controller, electro-hydraulic proportional valves for the left and right front wheels, electro-hydraulic proportional valves for the left and right rear wheels, hydraulic motors for the left and right front and rear wheels, left and right front wheels, left and right rear wheels, speed sensors for the left and right front and rear wheels, a left operating handle, a right operating handle, a display instrument, a battery, a pump station motor, a lighting circuit, an operation and display circuit, a steering indicator circuit, a lifting electro-hydraulic proportional electromagnet, a lifting cylinder, a tilting electro-hydraulic proportional valve, and a tilting cylinder.

[0004] However, this technical solution has the following problems:

[0005] Functional dispersion: Walking, steering, and lifting functions are controlled by different modules, making system design and maintenance complex;

[0006] Large size: Multiple controllers occupy limited space, restricting the optimization of vehicle layout;

[0007] High coordination difficulty: The communication efficiency between controllers with distributed functions is low, which affects the smoothness and accuracy of operation;

[0008] Higher cost: The manufacture, installation and commissioning of multiple independent controllers increases the overall cost of the vehicle. Utility Model Content

[0009] The purpose of this invention is to address the shortcomings of existing technologies by providing an industrial vehicle controller. By integrating the three functional modules of walking, steering, and lifting into one unit, the controller achieves a high degree of integration, simplifies vehicle design and wiring, and improves work efficiency.

[0010] To achieve the above objectives, this utility model provides the following technical solution:

[0011] An industrial vehicle controller includes: a housing, an internally integrated functional module disposed inside the housing, and an interface assembly disposed on the surface of the housing, wherein the internally integrated functional module includes:

[0012] The walking control module is responsible for driving the motor to move forward and backward.

[0013] Steering control module, used to control the deflection angle of the drive wheels;

[0014] The lifting control module is used to receive feedback signals from height sensors (such as rope encoders); and

[0015] The logic control module has built-in programmable control logic.

[0016] Preferably, the modules are connected and coordinated via a data bus.

[0017] Preferably, the interface component includes:

[0018] An input terminal is disposed on one side of the outer surface of the housing and is used to receive signals from a handle or other input device;

[0019] Output terminals, located on one side of the input terminals, are used to connect to the travel, steering, and lifting motors, and output control signals; and

[0020] A programming interface is provided on one side of the output terminal and supports external tools for programming and updating the logic control module.

[0021] Preferably, the internally integrated functional module has a built-in protection module.

[0022] Preferably, when used alone, the controller can independently complete the functions of walking, steering and lifting. In multi-controller collaborative mode, it can achieve efficient communication and coordinated operation through an external main control module.

[0023] Preferably, the walking control module has a built-in acceleration / deceleration control algorithm.

[0024] Preferably, the steering control module has a built-in steering angle control algorithm.

[0025] Preferably, the boost control module has a built-in dynamic load compensation algorithm.

[0026] Preferably, the back of the housing is provided with several mounting holes for fixing the controller to the vehicle chassis.

[0027] Preferably, the outer casing is made of high-strength aluminum alloy.

[0028] The beneficial effects of this utility model are as follows:

[0029] (1) This utility model integrates walking, steering and lifting functions into a single controller, which simplifies vehicle design and wiring. The three-in-one controller has a modular design, and the walking, steering and lifting functions operate independently, which is convenient for maintenance and upgrading. Each module is connected through a high-speed bus and can perform tasks independently, while also having the ability to operate collaboratively. It is simple to operate and easy to use, ensuring efficient and real-time data transmission and adapting to complex industrial environments.

[0030] (2) This utility model has built-in programmable control logic in the logic control module, which can customize the operation logic as needed to meet special functional requirements. Functional expansion can be achieved without additional hardware. Users can flexibly set different working modes and adjust parameters through programming tools to improve adaptability and application range.

[0031] (3) This utility model provides overload protection, limit protection and dynamic parameter adjustment functions by integrating a built-in protection module into the internal functional module, thereby improving the safety and reliability of vehicle use. Specifically, it provides short circuit protection, overload protection and limit protection functions, and monitors and protects the motor and related mechanical structures in real time during equipment operation to ensure the safety and stability of the equipment.

[0032] (4) When used alone, the controller of this utility model can independently complete the functions of walking, steering and lifting; in the multi-controller collaborative mode, it can achieve efficient communication and coordinated operation through an external main control module (such as VCU) to meet the operation requirements of complex industrial vehicles.

[0033] In summary, this utility model integrates three functional modules—walking, steering, and lifting—into one unit, exhibiting high integration and advantages such as high work efficiency, long service life, wide applicability, good stability and robustness, simple operation, and ease of use. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0035] Figure 2 This is a structural block diagram of the internal integrated functional modules of this utility model;

[0036] Figure 3 This is a schematic diagram of the control principle of this utility model. Detailed Implementation

[0037] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0038] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0039] Example

[0040] like Figure 1-3 As shown, this embodiment provides an industrial vehicle controller, including: a housing 1, an internally integrated functional module 2 disposed inside the housing 1, and an interface component 3 disposed on the surface of the housing 1. The internally integrated functional module 2 includes:

[0041] The walking control module 21 is responsible for driving the forward and backward movements of the motor and supports speed adjustment;

[0042] Steering control module 22 is used to control the deflection angle of the drive wheels to accurately realize steering operation;

[0043] The lifting control module 23 is used to receive feedback signals from height sensors (such as rope encoders), adjust the operation of the lifting motor, and realize the lifting action of the forks or platform; and

[0044] The logic control module 24 has built-in programmable control logic, which can be customized to meet special functional requirements. Functional expansion can be achieved without additional hardware. Users can flexibly set different working modes and adjust parameters through programming tools to improve adaptability and application range.

[0045] The walking, steering, and lifting functions are integrated into a single controller, simplifying vehicle design and wiring. This controller has a high degree of integration and a modular design, allowing the walking, steering, and lifting functions to operate independently, which facilitates maintenance and upgrades.

[0046] Meanwhile, the controller is internally divided into three independent modules: walking, steering, and lifting, which can be connected to the corresponding actuators (motors) respectively.

[0047] In this embodiment, the control precision is improved by using height feedback signals; and the walking and steering are made more flexible by adjusting the handle signals.

[0048] In this embodiment, the modules are connected and coordinated through the data bus 25, enabling them to perform tasks independently while also having the ability to operate collaboratively, ensuring efficient and real-time data transmission and adapting to complex industrial environments.

[0049] In this embodiment, the interface component 3 includes: an input terminal 31 disposed on one side of the outer surface of the housing 1, an output terminal 32 disposed on one side of the input terminal 31, and a programming interface 33 disposed on one side of the output terminal 32. The input terminal 31 is used to receive signals from a handle or other input devices; the output terminal 32 is used to connect to a walking, steering, and lifting motor and output control signals; the programming interface 33 supports external tools to program and update the logic control module 24.

[0050] In this embodiment, the internal integrated functional module 2 has a built-in protection module 26, which provides overload protection, limit protection and dynamic parameter adjustment functions to improve the safety and reliability of vehicle use. Specifically, it has short circuit protection, overload protection and limit protection functions, and monitors and protects the motor and related mechanical structures in real time during equipment operation to ensure the safety and stability of the equipment.

[0051] In this embodiment, when used alone, the controller can independently complete the functions of walking, turning and lifting. In the multi-controller collaborative mode, it can achieve efficient communication and coordinated operation through the external main control module 4.

[0052] In this embodiment, the controller can be widely used in industrial vehicles (such as forklifts, high-bay order pickers, etc.) and other equipment. In single-function equipment (such as equipment that only needs to move and lift), a single controller can be installed to complete all functions. In multi-function equipment, multiple controllers can work together through the CAN bus. For example, in a high-bay order picker, a controller is installed on the front wheel and the rear wheel respectively, and they are coordinated by an external main control module 4 (such as VCU) to achieve more complex multi-wheel drive, precise steering and platform height adjustment. It has good scalability and compatibility and is widely applicable to various industrial application scenarios.

[0053] In this embodiment, the walking control module 21 has a built-in acceleration / deceleration control algorithm 211, the steering control module 22 has a built-in steering angle control algorithm 221, and the lifting control module 23 has a built-in dynamic load compensation algorithm 231. The adjustment algorithms ensure the smoothness of driving, steering, and lifting, and optimize the operating experience.

[0054] In this embodiment, the back of the housing 1 is provided with a plurality of mounting holes 11 for fixing the controller to the vehicle chassis.

[0055] In this embodiment, the controller is an integrated design. The housing 1 is made of high-strength aluminum alloy material, which has waterproof, dustproof and shockproof functions, effectively avoiding equipment damage. It is suitable for complex industrial environments and ensures reliability in harsh industrial environments.

[0056] In this embodiment, the working principle of the walking control module 21 is as follows: the controller receives the forward and backward movement signal of the operating handle, adjusts the speed of the drive motor through the logic control module 24 to realize the forward and backward movement of the vehicle; and achieves linear speed control by proportionally adjusting the pushing amplitude of the handle to the speed of the drive motor.

[0057] In this embodiment, the controller receives the operator's handle signal through the walking control module 21 and parses the forward and backward commands; the handle push and pull signal is converted into a voltage signal, which is processed by the walking control module 21 to generate a PWM signal to drive the walking motor; the walking control module 21 has an embedded acceleration and deceleration control algorithm 211, which can smoothly adjust the motor power when starting or stopping to avoid vehicle shaking and ensure driving stability; at the same time, the walking control module 21 can monitor the motor current in real time to avoid overload.

[0058] In this embodiment, the steering control module 22 works as follows: the controller receives the left and right deflection signals from the operating handle and adjusts the steering angle of the drive wheels according to the deflection amplitude; and the deflection angle of the drive wheels is realized by the steering motor to ensure that the vehicle can turn smoothly at different radii.

[0059] In this embodiment, the steering module in the controller receives left and right steering commands input from the handle and generates a target steering angle through built-in logic calculation; the control signal is transmitted to the steering motor to drive the drive wheel to deflect; the steering control module 22 adopts the steering angle control algorithm 221 to monitor the data fed back by the steering angle sensor in real time and dynamically adjust the motor output to ensure accurate steering without overshoot; at the same time, the controller has a limit protection function to prevent the steering angle from exceeding the limit value of the mechanical structure.

[0060] In this embodiment, the working principle of the lifting control module 23 is as follows: the controller receives the feedback signal from the height sensor and determines the current position of the platform or forks in real time; and controls the lifting motor to perform rising or falling actions according to the control signal of the operating handle, while providing overload protection and limit protection functions.

[0061] In this embodiment, to ensure the smoothness and safety of the lifting process, the lifting control module 23 has a built-in dynamic load compensation algorithm 231, which automatically adjusts the output power according to the current load to avoid mechanical damage caused by excessive speed or overload. In addition, when the lifting reaches the limit height or the minimum height, the lifting control module 23 automatically stops the motor and issues a prompt signal.

[0062] In this embodiment, the working principle of the logic control module 24 is as follows: the controller has built-in programming logic, which can set different operation logic modes according to user needs; it supports dynamic adjustment of key parameters such as speed, steering angle and lifting speed to meet the needs of various working environments.

[0063] Of course, the controller has a built-in programming interface 33, which allows users to customize the operating logic and parameter settings through software tools; for example, users can program the walking speed curve, steering sensitivity, or speed limit range during the process; the controller also supports optimizing operations under different working conditions by changing the logic.

[0064] In addition, the controller can be adapted to a variety of industrial vehicles to meet the operational needs of different scenarios, and is highly flexible.

[0065] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An industrial vehicle controller, characterized in that, include: The housing, an internally integrated functional module disposed inside the housing, and an interface assembly disposed on the surface of the housing, wherein the internally integrated functional module includes: The walking control module is responsible for driving the motor to move forward and backward. Steering control module, used to control the deflection angle of the drive wheels; The lifting control module is used to receive feedback signals from the height sensor; and The logic control module has built-in programmable control logic.

2. The industrial vehicle controller according to claim 1, characterized in that, The modules are connected and coordinated via a data bus.

3. An industrial vehicle controller according to claim 1, characterized in that, The interface component includes: An input terminal is disposed on one side of the outer surface of the housing and is used to receive signals from a handle or other input device; Several output terminals are located on one side of the input terminals and used to connect to the travel, steering, and lifting motors to output control signals; and A programming interface is provided on one side of the output terminal and supports external tools for programming and updating the logic control module.

4. An industrial vehicle controller according to claim 1, characterized in that, The internal integrated functional module has a built-in protection module.

5. An industrial vehicle controller according to claim 1, characterized in that, When used alone, this controller can independently perform walking, steering, and lifting functions. In multi-controller collaborative mode, it achieves efficient communication and coordinated operation through an external main control module.

6. An industrial vehicle controller according to claim 1, characterized in that, The walking control module has a built-in acceleration and deceleration control algorithm.

7. An industrial vehicle controller according to claim 1, characterized in that, The steering control module has a built-in steering angle control algorithm.

8. An industrial vehicle controller according to claim 1, characterized in that, The boost control module incorporates a dynamic load compensation algorithm.

9. An industrial vehicle controller according to claim 1, characterized in that, The back of the housing has several mounting holes for fixing the controller to the vehicle chassis.

10. An industrial vehicle controller according to claim 1, characterized in that, The outer shell is made of high-strength aluminum alloy.

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