A power steering control system for a warehouse truck

Abstract

The utility model discloses a warehousing car is with power steering control system, including frame and setting transmission on the frame, transmission power connection has drive wheel group, drive wheel group power connection has steering device and steering power device, the steering device includes steering wheel and with the steering wheel power connection's torsion bar, the torsion bar with drive wheel group power connection is used for driving drive wheel group steering, steering power device with torsion bar power connection, and the application obtains drive wheel position and steering tendency, and the power mechanism system realizes the protection to drive wheel steering end, and reduces drive wheel and turns to the end impact limiting device.

Description

Technical Field

[0001] This utility model relates to the field of steering technology, specifically a power steering control system for warehouse vehicles. Background Technology

[0002] Currently, power steering systems in warehouse vehicles are equipped with steering wheel limiting mechanisms. At the end of the steering process, when the drive wheels approach the limiting device, if the hand force applied to the steering wheel is large, coupled with the assistance from the power steering system, the steering wheel will hit the limiting mechanism at the end, causing damage to mechanical and electronic components and preventing the vehicle from operating normally. When both the hand force provided by the operator and the assistance provided by the power steering system are large at the end of the steering process, turning the steering wheel in the opposite direction requires overcoming a lot of resistance, and the operator will clearly feel that the steering wheel is too heavy, making the vehicle difficult to control. Utility Model Content

[0003] The purpose of this invention is to provide a power steering control system for warehouse vehicles to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A power steering control system for a warehouse vehicle includes a frame and a transmission device mounted on the frame. The transmission device is poweredly connected to a drive wheel set, and the drive wheel set is poweredly connected to a steering device and a power steering device.

[0006] The steering device includes a steering wheel and a torsion bar that is powered to the steering wheel. The torsion bar is powered to the drive wheel assembly for driving the drive wheel assembly to steer.

[0007] The steering assist device is powered by the torsion bar.

[0008] As a further embodiment of this utility model: a torque sensor and an angle sensor are provided on the torsion bar, and the torque sensor and the angle sensor are connected to a power assist system controller via wire signals. The power assist system controller is connected to the power assist device.

[0009] As a further embodiment of this utility model: the assist device includes an assist motor, which is poweredly connected to the torsion bar through a reduction structure.

[0010] As a further embodiment of this utility model: the power steering system controller is connected to the vehicle instrument panel, the vehicle instrument panel is connected to the vehicle controller, and the power steering system controller, the vehicle instrument panel, and the vehicle controller are connected to the vehicle power supply.

[0011] Compared with the prior art, the beneficial effects of this utility model are as follows: This application uses an angle sensor to detect the steering angle and rotation direction of the steering wheel in real time, converts them into the position of the drive wheel, and the power assist mechanism system, combined with the end protection curve and the power assist participation curve, provides corresponding assistance in real time, thereby protecting the end of the drive wheel's steering and reducing the impact of the drive wheel on the limit device at the end; as the drive wheel rotates back from the end, the power assist mechanism system, combined with the end protection curve and the power assist participation curve, continuously increases the assistance, reduces the feeling of heaviness when operating the steering wheel, and makes the operation of the steering wheel smoother and less strenuous. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the assist system in this embodiment;

[0013] Figure 2 This is the end-protection array curve for this embodiment;

[0014] Figure 3 This embodiment helps to improve the participation lineup curve;

[0015] In the diagram: 1-Chassis, 2-Transmission device, 3-Steering wheel, 4-Torque bar, 5-Torque sensor, 6-Angle sensor, 7-Power steering system controller, 8-Power steering motor, 9-Reduction mechanism, 10-Vehicle instrument panel, 11-Vehicle controller, 12-Drive wheel set, 13-Vehicle power supply. Detailed Implementation

[0016] 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.

[0017] Please see Figure 1-3 In this embodiment of the present invention, a power steering control system for a warehouse vehicle includes a frame 1 and a transmission device 2, a steering wheel 3, a torsion bar 4, a power steering controller 7, a power steering motor 8, a vehicle instrument panel 10, a vehicle controller 11, and a vehicle power supply 13 mounted on the frame 1. The steering wheel 3 is connected to the input shaft of the torsion bar 4. The torsion bar is equipped with a torque sensor 5 and an angle sensor 6. The output shaft of the torsion bar 4 is connected to the transmission device 2. The power steering motor 8 is equipped with a reduction mechanism 9. The reduction mechanism 9 is connected to the output shaft of the torsion bar 4. The vehicle controller 11, the power steering controller 7, the vehicle instrument panel 10, and the vehicle power supply 13 are electrically connected. The vehicle power supply 13 supplies power to the vehicle.

[0018] Please see Figure 2 , Figure 3When the drive wheel angle is less than or equal to 85° (absolute value), and the drive wheel is not in the end protection zone, the power steering controller controls the motor to provide power assistance Fmax (absolute value). When the steering wheel is rotated clockwise, Fmax takes a positive value; when the steering wheel is rotated counterclockwise, Fmax takes a negative value.

[0019] When the drive wheel angle is greater than 85° (absolute value), the drive wheel position is in the end protection zone; when the steering wheel rotation direction is consistent with the drive wheel running direction, combined with the end protection formation curve, the assist participation formation curve, the assist controller controls the motor, and linearly reduces the assist Fmax (absolute value) at maximum efficiency to the assist Fmin (absolute value) at minimum efficiency.

[0020] When the drive wheel angle is greater than 85° (absolute value), the drive wheel position is in the end protection zone; when the steering wheel rotation direction is inconsistent with the drive wheel running direction, combined with the end protection formation curve, the assist participation formation curve, the assist controller controls the motor, and linearly increases the assist Fmin (absolute value) at the minimum efficiency to the assist Fmax (absolute value) at the maximum efficiency.

[0021] A power steering control method for a warehouse vehicle first determines the zero-position state of the drive wheels. The zero-position state of the drive wheels refers to the position where the drive wheel position coincides with the axle of the vehicle. When the drive wheel position is in the zero-position state, a zero-position information command is sent through the vehicle instrument panel. After receiving the command, the power steering controller and the vehicle controller memorize the drive wheel position. Once the zero-position position of the drive wheels is determined, the above operation does not need to be repeated.

[0022] The control method includes the following steps:

[0023] S1. Obtain the drive wheel angle θ1 and determine whether the drive wheel is in the steering end protection zone. If not, proceed to S2; if yes, proceed to S3. In this embodiment, the steering angle θ1 of the drive wheel is in the range of -90° to +90°. Clockwise rotation of the steering wheel is positive, and counterclockwise rotation is negative. The angle range of the end protection zone is 0-5°. For clockwise rotation, the steering angle θ1 of the drive wheel in the end protection zone is +85° to +90°; for counterclockwise rotation, the steering angle θ1 of the drive wheel in the end protection zone is -85° to -90°.

[0024] S2. When the hand force F0 is applied to the steering wheel and the drive wheel is not in the end protection zone, the power assist controller controls the motor to provide maximum efficiency assistance Fmax (absolute value) and executes S1.

[0025] S3. Obtain the steering wheel rotation direction and the trend of the driving wheel angle θ1. If the absolute value of the driving wheel angle θ1 is increasing, execute S4; if the absolute value of the driving wheel angle θ1 is decreasing, execute S5.

[0026] S4. When the hand force F0 is applied to the steering wheel, the angle of the drive wheel is located in the end protection zone of the clockwise direction or the end protection zone of the counterclockwise direction, and the steering increases. According to the combined end protection curve and the power assist participation curve, the drive wheel gradually approaches the end of the steering. The power assist system outputs power assist F linearly decreases until the power assist Fmin at the minimum efficiency, which reduces the end steering speed and executes S1.

[0027] S5. When the hand force F0 is applied to the steering wheel, the angle of the drive wheel is located in the end protection zone of the clockwise direction or the end protection zone of the counterclockwise direction, and the steering gradually decreases. According to the combined end protection curve and the power assist participation curve, the drive wheel gradually moves away from the end of the steering. The power assist system will linearly increase the power assist F until the maximum efficiency power assist Fmax is reached. The power assist is increased, the steering wheel turning weight feeling is reduced, and S1 is executed.

[0028] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0029] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A power steering control system for a warehouse truck, characterized by, It includes a frame (1) and a transmission device (2) mounted on the frame (1), wherein the transmission device (2) is powered to a drive wheel set (12), and the drive wheel set (12) is powered to a steering device and a steering assist device; The steering device includes a steering wheel and a torsion bar (4) that is powered to the steering wheel. The torsion bar (4) is powered to the drive wheel assembly (12) for driving the drive wheel assembly (12) to steer. The steering assist device is poweredly connected to the torsion bar (4).

2. The power steering control system for a warehouse truck according to claim 1, wherein The torsion bar (4) is equipped with a torque sensor (5) and an angle sensor (6). The torque sensor (5) and the angle sensor (6) are connected to the power assist system controller (7) via wire signals. The power assist system controller (7) is connected to the power assist device.

3. The power steering control system for a warehouse truck according to claim 1, wherein The assist device includes an assist motor (8), which is poweredly connected to the torsion bar (4) through a reduction structure (9).

4. The power steering control system for a warehouse truck according to claim 1, wherein The power steering system controller (7) is connected to the vehicle instrument panel (10), the vehicle instrument panel (10) is connected to the vehicle controller (11), and the power steering system controller (7), the vehicle instrument panel (10), and the vehicle controller (11) are connected to the vehicle power supply (13).

Images