Steering wheel set with encoder and fork lift truck

Abstract

The utility model relates to the technical field of encoder, and specifically disclose a kind of steering wheel group and fork truck with encoder, the steering wheel group includes fixed seat, steering motor, steering gear, wheel body and encoder, wheel body is rotatably arranged below fixed seat by steering gear, steering motor is fixed on the top of fixed seat, and it is connected with steering gear, encoder includes encoder main body and locating plate, encoder main body is fixed on fixed seat by locating plate, and encoder main body is equipped with the detection gear that can be engaged with steering gear, encoder main body can be moved along the radial direction of steering gear by locating plate, to adjust the interval between detection gear and steering gear, then when there is assembly error in steering gear, steering gear and / or detection gear appears abrasion, the interval between the two can be adjusted by adjusting the position of detection gear, improve detection accuracy.

Description

Technical Field

[0001] This utility model relates to the technical field of steering wheel sets, and specifically to a steering wheel set with an encoder and a forklift. Background Technology

[0002] As a core piece of equipment in industrial material handling, the precision and reliability of the steering system of forklifts directly affect operational safety and efficiency. Traditional forklift steering systems typically rely on a steering motor controller to receive the steering wheel angle signal, which in turn controls the steering wheel deflection via the steering motor. An encoder is installed at the motor to form a closed-loop feedback. However, existing technologies still have significant drawbacks:

[0003] 1. Due to gear backlash and wear, there is a certain discrepancy between the output angle of the steering motor and the rotation angle of the steering wheel. If only the rotation angle of the steering motor output shaft is measured, the final steering wheel rotation angle will not be accurate and will have low precision.

[0004] Second, encoders are generally rigidly fixed, meaning the distance between the detection gear and the gear being detected on the encoder is fixed. If gear wear or assembly errors occur, the meshing clearance between the two gears may become narrower or wider, which will affect the accuracy of the signal and may even cause the gears to jam. Utility Model Content

[0005] This utility model addresses the aforementioned problems. Its purpose is to provide a steering wheel assembly and forklift with an encoder. The encoder directly detects the rotation angle of the steering gear, which improves the detection accuracy. It also allows adjustment of the distance between the detection gear and the steering gear, further enhancing the accuracy of the detection and facilitating assembly.

[0006] To achieve the above objectives, this utility model provides a steering wheel assembly with an encoder, including a fixed base, a steering motor, a steering gear, and a wheel body. The wheel body is rotatably disposed below the fixed base via the steering gear. The steering motor is fixed above the fixed base and connected to the steering gear. The assembly also includes:

[0007] The encoder includes an encoder body and a positioning plate. The encoder body is fixed to the fixed base by the positioning plate, and the encoder body is provided with a detection gear that can mesh with the steering gear.

[0008] The encoder body can be moved radially along the steering gear via the positioning plate to adjust the distance between the detection gear and the steering gear.

[0009] According to the above-described steering wheel assembly with encoder, the fixed base is provided with a positioning circular hole, and the positioning plate is provided with a positioning elongated hole that can communicate with the positioning circular hole. A positioning bolt can be inserted into the communicating hole between the positioning elongated hole and the positioning circular hole.

[0010] According to the above-described steering wheel assembly with encoder, the fixed seat is provided with a limiting groove, the limiting groove is arranged radially on the fixed seat along the steering gear, the positioning plate is movably engaged in the limiting groove, and can move along the arrangement direction of the limiting groove.

[0011] According to the above-described steering wheel assembly with encoder, multiple positioning round holes and multiple positioning elongated holes are provided, and the multiple positioning elongated holes correspond one-to-one with the multiple positioning round holes.

[0012] According to the above-described steering wheel assembly with an encoder, the diameter of the positioning circular hole is equal to the width of the positioning elongated hole.

[0013] According to the above-described steering wheel assembly with an encoder, the encoder body also includes a rotating shaft and a counter. The rotating shaft is rotatably mounted on the positioning plate. The detection gear is fixed on the lower end of the rotating shaft. The counter is fixed on the positioning plate and is used to monitor the number of rotations of the rotating shaft.

[0014] According to the above-described steering wheel assembly with an encoder, the diameter ratio of the detection gear to the steering gear is 1:10.

[0015] According to the above-described steering wheel assembly with encoder, the output shaft of the steering motor can pass through the fixed base and be located below the fixed base, and a transmission gear is provided at the bottom end of the output shaft of the steering motor, the transmission gear meshing with the steering gear.

[0016] The aforementioned steering wheel assembly with encoder further includes a drive motor. The wheel body is configured as a drive wheel, and the drive motor is fixed on the mounting base and used to supply power to the wheel body.

[0017] A forklift, comprising:

[0018] Vehicle body;

[0019] The steering wheel assembly with encoder described above is arranged at the bottom of the vehicle body.

[0020] This utility model has the following beneficial effects:

[0021] 1. By directly mounting the encoder on one side of the steering gear, it can directly measure the rotation angle of the steering gear, that is, directly measure the rotation angle of the wheel body, avoiding the influence of gear meshing accuracy and improving detection accuracy;

[0022] 2. The encoder body can move radially along the steering gear and adjust the distance between the detection gear and the steering gear. Therefore, when there are assembly errors in the steering gear, or when the steering gear and / or the detection gear are worn, the distance between the detection gear and the steering gear can be kept consistent by adjusting the position of the detection gear, thereby improving the precision measurement accuracy.

[0023] 3. A limiting groove is provided on the fixed base, which can limit the movement direction of the positioning plate and prevent the encoder body from shifting. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the embodiment;

[0025] Figure 2 This is a schematic diagram of the encoder structure in an embodiment;

[0026] Figure 3 This is a partially enlarged structural diagram of the mounting base in the embodiment.

[0027] In the picture:

[0028] 100. Fixing base; 110. Positioning hole; 120. Limiting groove;

[0029] 200. Steering motor; 210. Transmission gear;

[0030] 300. Steering gear;

[0031] 400. Wheel body;

[0032] 500. Encoder; 510. Encoder body; 511. Detection gear; 512. Rotating shaft; 513. Counter; 520. Positioning plate; 521. Positioning elongated hole;

[0033] 600. Drive motor. Detailed Implementation

[0034] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0035] like Figure 1-3 As shown, a steering wheel assembly with an encoder includes a fixed base 100, a steering motor 200, a steering gear 300, a wheel body 400, and an encoder 500. The encoder 500 is used to monitor the rotation angle of the wheel body 400 and feed it back to the vehicle body for judging and adjusting the steering angle.

[0036] In this embodiment, since the steering wheel assembly is used on a forklift, the fixed base 100 is fixedly installed on the forklift body. The wheel 400 is rotatably disposed below the fixed base 100 via the steering gear 300. The rotation refers to the steering gear 300 driving the wheel 400 to rotate horizontally, thereby adjusting the forward direction of the wheel 400 and realizing the overall steering of the forklift. Of course, in addition to rotating horizontally with the steering gear 300, the wheel 400 can also rotate on its own axis, that is, rotate vertically, to drive the entire forklift. The steering motor 200 is fixed above the fixed base 100 and connected to the steering gear 300. That is, the steering motor 200 drives the steering gear 300 to rotate, and the steering gear 300 drives the wheel 400 to rotate synchronously, thereby realizing the steering of the forklift.

[0037] Specifically, the encoder 500 includes an encoder body 510 and a positioning plate 520. The encoder body 510 is fixed to the fixed base 100 via the positioning plate 520. The encoder body 510 is equipped with a detection gear 511 that meshes with the steering gear 300. Since the rotation angle of the wheel 400 is consistent with the rotation angle of the steering gear 300, the encoder body 510 can directly detect the rotation angle of the steering gear 300 through the detection gear 511, thereby directly measuring the steering angle of the wheel 400. This avoids errors caused by intermediate transmission components and improves detection accuracy. The positioning plate 520 can be moved radially along the steering gear 300 to adjust the distance between the detection gear 511 and the steering gear 300. When the distance between the steering gear 300 and the detection gear 511 is too small, the detection gear 511 can be driven to move away from the steering gear 300 to increase the distance between them. When the distance between the steering gear 300 and the detection gear 511 is too large, the detection gear 511 can be driven to move closer to the steering gear 300 to reduce the distance between them. This ensures the accuracy of the encoder body 510 in detecting the rotation angle of the steering gear 300.

[0038] In this embodiment, the initial distance between the detection gear 511 and the steering gear 300 may be affected by the wear of the steering gear 300 and / or the detection gear 511. Once one or both wear out, the distance between the detection gear 511 and the steering gear 300 will increase. The initial distance between the detection gear 511 and the steering gear 300 may also be affected by the assembly tolerance of the steering gear 300. Since the assembly of any component has an allowable tolerance range, it is impossible to completely avoid assembly tolerance. However, the existence of assembly tolerance will affect the distance between the detection gear 511 and the steering gear 300. If the distance is too large, the detection gear 511 will not be driven when the steering gear 300 rotates initially. If the distance is too small, the steering gear 300 will not be able to rotate smoothly. Both of these will affect the detection of the rotation angle of the steering gear 300.

[0039] Furthermore, in order to achieve the movable positioning of the positioning plate 520 on the fixed base 100, a positioning circular hole 110 is provided on the fixed base 100, and a positioning elongated hole 521 that can communicate with the positioning circular hole 110 is provided on the positioning plate 520. The length of the positioning elongated hole 521 should be greater than the diameter of the positioning circular hole 110. A positioning bolt can be inserted into the communicating hole between the positioning elongated hole 521 and the positioning circular hole 110 to fix the position of the positioning plate 520. However, after the positioning bolt is removed, the positioning plate 520 can be moved, so that the positioning elongated hole 521 corresponds to the positioning circular hole 110 at different positions. As long as the positioning circular hole 110 does not disengage from the positioning elongated hole 521, the position of the positioning plate 520 can be adjusted within the length range of the positioning elongated hole 521, and the position of the positioning plate 520 can be infinitely adjusted.

[0040] Furthermore, in order to limit the movement direction of the positioning plate 520 and prevent it from shifting laterally, a limiting groove 120 is provided on the fixed base 100. The limiting groove 120 is arranged on the fixed base 100 along the radial direction of the steering gear 300. The positioning plate 520 is movably locked in the limiting groove 120 and can move along the arrangement direction of the limiting groove 120. That is, the two sides of the limiting groove 120 limit the positioning plate 520 from shifting laterally. In this embodiment, the arrangement direction of the positioning elongated hole 521 is the same as the arrangement direction of the limiting groove 120. The movement of the positioning plate 520 along the direction of the limiting groove 120 can ensure that the positioning elongated hole 521 is always connected to the positioning circular hole 110.

[0041] Of course, in this embodiment, in order to ensure the stability of the positioning plate 520, multiple positioning round holes 110 and multiple positioning elongated holes 521 are provided. The multiple positioning elongated holes 521 correspond one-to-one with the multiple positioning round holes 110. Positioning bolts can be inserted into the connecting holes of the multiple positioning elongated holes 521 and the multiple positioning round holes 110 respectively, so as to achieve complete positioning of the positioning plate 520 on the fixed base 100 and ensure its installation stability.

[0042] Furthermore, the diameter of the positioning circular hole 110 is equal to the width of the positioning elongated hole 521, which can further improve the positioning stability of the positioning plate 520 and prevent the positioning plate 520 from shifting laterally.

[0043] Specifically, the encoder body 510 also includes a rotating shaft 512 and a counter 513. The rotating shaft 512 is rotatably mounted on the positioning plate 520. The detection gear 511 is fixed on the lower end of the rotating shaft 512, while the counter 513 is fixed on the positioning plate 520 and is used to monitor the number of rotations of the rotating shaft 512. In this embodiment, the counter 513 is sleeved on the outer side of the upper end of the rotating shaft 512. When the detection gear 511 is driven to rotate by the steering gear 300, one rotation of the detection gear 511 will drive the rotating shaft 512 to rotate one rotation. Therefore, the counter 513 can monitor the rotation angle of the detection gear 511 by monitoring the number of rotations of the rotating shaft 512. One rotation is 360°. The rotation angle of the steering gear 300 can be inferred from the rotation angle of the detection gear 511, which can be calculated by its diameter ratio.

[0044] In this embodiment, the diameter ratio of the detection gear 511 to the steering gear 300 is 1:10, that is, the steering gear 300 can drive the detection gear 511 to rotate ten times when it rotates one revolution. The rotation angle of the steering gear 300 can be calculated based on this ratio.

[0045] Furthermore, in order to drive the steering gear 300, the output shaft of the steering motor 200 can pass through the fixed base 100 and be located below the fixed base 100. A transmission gear 210 is provided at the bottom end of the output shaft of the steering motor 200. The transmission gear 210 meshes with the steering gear 300. When the steering motor 200 is working, it drives its output shaft to rotate. The output shaft drives the transmission gear 210 to rotate, and then the transmission gear 210 drives the steering gear 300 to rotate.

[0046] Of course, in this embodiment, the wheel 400 is set as a drive wheel, that is, it is electrically driven. In order to supply power to the electric drive structure of the wheel 400, a drive motor 600 is also included. The drive motor 600 is fixed on the fixed base 100 and is used to supply power to the wheel 400, so as to ensure that the wheel 400 can continuously rotate and drive the forklift to move.

[0047] Specifically, a forklift includes a vehicle body and a steering wheel assembly with an encoder 500 as described above. The steering wheel assembly is arranged at the bottom of the vehicle body. In this embodiment, the steering wheel assembly is arranged at the rear of the vehicle body. Universal wheels are provided on both sides of the front of the vehicle body to provide rolling support for the vehicle body.

[0048] In this embodiment, a steering wheel assembly with an encoder 500 and a forklift are disclosed. The steering wheel assembly includes a fixed base 100, a steering motor 200, a steering gear 300, a wheel body 400, and an encoder 500. The wheel body 400 is rotatably disposed below the fixed base 100 via the steering gear 300. The steering motor 200 is fixed above the fixed base 100 and connected to the steering gear 300. The encoder 500 includes an encoder body 510 and a positioning plate 520. The encoder body 510 is fixed to the fixed base 100 via the positioning plate 520, and the encoder body 510 is provided with... There is a detection gear 511 that can mesh with the steering gear 300. The encoder body 510 can move radially along the steering gear 300 via the positioning plate 520 to adjust the distance between the detection gear 511 and the steering gear 300. Since the encoder body 510 can move radially along the steering gear 300 and adjust the distance between the detection gear 511 and the steering gear 300, when there is an assembly error in the steering gear 300, or when the steering gear 300 and / or the detection gear 511 are worn, the detection accuracy can be improved by adjusting the position of the detection gear 511 and adjusting the distance between the two.

[0049] The technical solution of this utility model has been described in detail above with reference to the accompanying drawings. The described embodiments are used to help understand the concept of this utility model. The specific embodiments described herein are merely illustrative examples of the spirit of this utility model. Those skilled in the art to which this utility model pertains can make various modifications or additions to the described specific embodiments or use similar methods to replace them, but without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0050] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0051] Furthermore, in this utility model, the use of terms such as "first," "second," and "a" is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0052] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0053] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

Claims

1. A steering wheel assembly with an encoder, comprising a fixed base, a steering motor, a steering gear, and a wheel body, wherein the wheel body is rotatably disposed below the fixed base via the steering gear, and the steering motor is fixed above the fixed base and connected to the steering gear, characterized in that, Also includes: An encoder includes an encoder body and a positioning plate. The encoder body is fixed to the fixed base by the positioning plate, and the encoder body is provided with a detection gear that can mesh with the steering gear. The encoder body can be moved radially along the steering gear via the positioning plate to adjust the distance between the detection gear and the steering gear.

2. A steering wheel assembly with an encoder according to claim 1, characterized in that, The fixed base is provided with a positioning round hole, and the positioning plate is provided with a positioning elongated hole that can communicate with the positioning round hole. A positioning bolt can be inserted into the communication hole between the positioning elongated hole and the positioning round hole.

3. A steering wheel assembly with an encoder according to claim 2, characterized in that, The fixed base is provided with a limiting groove, which is arranged radially on the fixed base along the steering gear. The positioning plate is movably engaged in the limiting groove and can move along the arrangement direction of the limiting groove.

4. A steering wheel assembly with an encoder according to claim 2, characterized in that, Multiple positioning round holes and multiple positioning elongated holes are provided, and the multiple positioning elongated holes correspond one-to-one with the multiple positioning round holes.

5. A steering wheel assembly with an encoder according to claim 4, characterized in that, The diameter of the positioning circular hole is equal to the width of the positioning elongated hole.

6. A steering wheel assembly with an encoder according to claim 1, characterized in that, The encoder body also includes a rotating shaft and a counter. The rotating shaft is rotatably mounted on the positioning plate. The detection gear is fixed on the lower end of the rotating shaft. The counter is fixed on the positioning plate and is used to monitor the number of rotations of the rotating shaft.

7. A steering wheel assembly with an encoder according to claim 6, characterized in that, The diameter ratio of the detection gear to the steering gear is 1:

10.

8. A steering wheel assembly with an encoder according to claim 1, characterized in that, The output shaft of the steering motor can pass through the fixed base and is located below the fixed base. A transmission gear is provided at the bottom end of the output shaft of the steering motor, and the transmission gear meshes with the steering gear.

9. A steering wheel assembly with an encoder according to claim 1, characterized in that, It also includes a drive motor, the wheel body is configured as a drive wheel, the drive motor is fixed on the fixed base, and is used to supply power to the wheel body.

10. A forklift, characterized in that, include: Vehicle body; The steering wheel assembly with encoder as described in any one of claims 1-9, wherein the steering wheel assembly is arranged at the bottom of the vehicle body.

Images