All-wheel braking system and counterbalanced forklift truck

Abstract

The present invention relates to the technical field of forklift trucks. Disclosed are an all-wheel braking system and a counterbalanced forklift truck. The all-wheel braking system comprises a driving electric motor, a first electromagnetic brake, a driving axle assembly, driving wheels, a driving pedal braking assembly, steering electric motors, second electromagnetic brakes, steering axle assemblies, steering wheels, etc. By means of the provision of the first electromagnetic brake on the driving electric motor and the provision of the second electromagnetic brakes at the positions of the steering wheels, the present application can realize stable braking of all the four wheels of the forklift truck whether in a manual driving mode or an automatic control mode, thereby improving the safety of the driving and parking processes of the forklift truck. Moreover, by means of the additional provision of encoders in the electric motors, the accuracy and reliability of truck operation are improved. The system can also be compatible with both manual driving and automatic control modes, thereby expanding the usage of the forklift truck and allowing a single truck to serve dual purposes.

Description

A full-wheel braking system and counterbalanced forklift TECHNICAL FIELD

[0001] The present application relates to the technical field of forklifts, in particular to a full-wheel braking system and counterbalanced forklift. BACKGROUND

[0002] The counterbalanced forklift is a common industrial handling vehicle, and its design feature is to install a counterweight at the tail of the vehicle body to offset the weight of the goods and maintain the stability of the vehicle during handling. The main components of the counterbalanced forklift include: power device, transmission device, steering device, hydraulic system, braking device, and counterweight, etc. With the continuous deepening of the new energy process, new energy forklifts have also begun to be gradually used.

[0003] Currently, the battery forklifts on the market are mainly driven forward by the motor-driven axle assembly. The braking system of the forklift mainly drives the brake hydraulic pump to brake the wheel hub of the vehicle through the running pedal braking system. The parking function is mainly realized by the hand brake parking braking system to brake the wheel hub of the driving wheel. The rear axle assembly usually only has steering function and does not have braking function. This braking mode cannot effectively ensure the safety of personnel and property on some dangerous road surfaces with small friction coefficient or in some high braking requirement emergency working conditions. Moreover, this braking system is only suitable for manual driving control work and cannot replace manual work after AGV body modification. However, with the substantial increase in labor costs and the increase in labor intensity, the market demand for intelligent control forklifts is increasing today, and there is an urgent need for dual-mode control forklifts that can be manually controlled and automatically controlled. TECHNICAL PROBLEM

[0004] The technical problem solved by the present application is that the existing battery forklift braking system cannot effectively ensure the safety of personnel and property on some dangerous road surfaces with small friction coefficient or in some high braking requirement emergency working conditions. Moreover, this braking system is only suitable for manual driving control work and cannot replace manual work after AGV body modification. However, with the substantial increase in labor costs and the increase in labor intensity, the market demand for intelligent control forklifts is increasing today, and there is an urgent need for dual-mode control forklifts that can be manually controlled and automatically controlled. TECHNICAL SOLUTION

[0005] The purpose of the present application can be achieved by the following technical solutions:

[0006] A kind of all-wheel brake system, comprising: controller;Driving foot pedal brake assembly, the driving foot pedal brake assembly is connected with the controller;Drive axle assembly, the drive axle assembly includes drive axle assembly, drive wheel, drive motor and first electromagnetic brake, the drive wheel is rotationally arranged in the two ends of the drive axle assembly, the drive motor is fixedly installed on the drive axle assembly, the first electromagnetic brake is arranged on the drive motor, and is connected with the controller;Steering axle assembly, the steering axle assembly includes steering axle assembly, steering wheel and steering motor, the steering motor is fixedly arranged on the steering axle assembly, for driving the steering wheel steering, second electromagnetic brake is arranged on the steering wheel, and the second electromagnetic brake is connected with the controller.

[0007] In one aspect of the present application: the first electromagnetic brake is arranged at the tail end of the drive motor.

[0008] In one aspect of the present application: the steering wheel is rotatably connected with the steering support, and the drive gear of the steering motor is drivingly connected with the steering support.

[0009] In one aspect of the present application: the stator of the second electromagnetic brake is fixedly arranged on the steering support, and the rotor is mounted on the hub of the steering wheel.

[0010] In one aspect of the present application: a rotary support is arranged between the steering support and the steering axle assembly.

[0011] In one aspect of the present application: an encoder is arranged in the drive motor.

[0012] In one aspect of the present application: an encoder is arranged in the steering motor.

[0013] In one aspect of the present application: the driving foot pedal brake assembly comprises a brake pedal and an analog switch.

[0014] A counterbalanced forklift truck comprising the all-wheel brake system as described above.

[0015] In one aspect of the present application: before the controller controls the drive electromagnetic brake and the steering wheel second electromagnetic brake to brake, the controller controls the drive motor to apply reverse torque to reduce speed. Advantages

[0016] Advantages of the present application:

[0017] The application sets the first electromagnetic brake on the driving motor, and sets the second electromagnetic brake on the steering wheel position, so that the forklift four-wheel stable full-wheel braking can be realized in the manual driving mode or the automatic control mode, and the safety of the forklift driving and parking process is improved. Meanwhile, the encoder is installed in the motor, so that the accuracy and reliability of the vehicle operation are improved. The application can be compatible with the manual driving and the automatic control two modes, the use of the forklift is expanded, and one machine is used for two purposes. The AGV forklift can be modified by externally installing the navigation sensor, and then is widely applied to various intelligent warehousing, carrying, stacking and other scenes, so that the manual work is replaced, the cost is reduced and the efficiency is improved.

[0018] Additional aspects and advantages of the application will be described in the following description, some of which will be apparent from the following description, or will be learned from the practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above and / or additional aspects and advantages of the application will become apparent and be readily understood from the following description, taken in connection with the accompanying drawings, in which:

[0020] Fig. 1 is a structural schematic diagram of the whole counterbalance forklift according to the application;

[0021] Fig. 2 is a structural schematic diagram of the driving axle assembly according to the application;

[0022] Fig. 3 is a structural schematic diagram of the steering axle assembly according to the application.

[0023] The reference signs in the drawings are as follows: 10, driving axle assembly; 11, first electromagnetic brake; 12, driving motor; 13, driving wheel; 14, driving axle assembly; 20, driving pedal brake assembly; 30, steering axle assembly; 31, steering motor; 32, steering axle assembly; 33, slewing support; 34, steering support; 35, second electromagnetic brake; 36, steering wheel; 37, driving gear. Best mode of the application

[0024] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0025] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right and the like, is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0026] In the description of the present application, one or more is meant to be one or more, more than two is meant to be two or more, greater than, less than, more than, etc. are understood to not include the number, above, below, within, etc. are understood to include the number. If the first, second is described, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the sequence of indicated technical features.

[0027] Please refer to FIGS. 1-3, the present application is a kind of all-wheel brake system and balance heavy fork truck, including drive motor 12, first electromagnetic brake 11, drive axle assembly 14, drive wheel 13, travel foot pedal brake assembly 20, steering motor 31, second electromagnetic brake 35, steering axle assembly 32, slewing support 33, steering bracket 34, drive wheel 13, drive gear 37 etc. First electromagnetic brake 11 is fixed by screw coupling in the tail end of drive motor 12, the input end of drive axle assembly 14 is fixed by screw in the front end of drive motor 12, and two drive wheels 13 are fixed by screw in the two ends of drive axle assembly 14. Travel foot pedal brake assembly 20 can be fixed by screw in the front part of fork truck body, which is convenient for manual operation. The stator of the second electromagnetic brake 35 in the position of steering wheel 36 is installed by screw on the vertical plate of steering bracket 34, and the rotor of the electromagnetic brake of steering wheel 36 is fixed by screw on the hub of steering wheel 36. Steering motor 31 is installed on the upper plate of steering axle assembly 32, drive gear 37 is fixed by screw on the output shaft of steering motor 31 through the transmission of the muscle, the upper end of slewing support 33 is fixed by screw with steering axle assembly 32, and the lower end is installed by screw coupling on the upper plate of slewing wheel frame. Steering wheel 36 is fixed on the support shaft of steering bracket 34 by bearing. Embodiment of the present application

[0028] Working principle of the present application:

[0029] The balanced counterbalanced forklift truck comprises a drive axle assembly 10, a running pedal brake assembly 20, a steering axle assembly 30, etc. The drive axle assembly 10 comprises a drive motor 12, a first electromagnetic brake 11, a drive axle assembly 14, and two drive wheels 13. The drive axle assembly 10 is provided with not only the conventional running pedal brake assembly 20, but also the first electromagnetic brake 11 arranged at the tail of the drive motor 12. By arranging the first electromagnetic brake 11 at the drive motor 12, the running and parking brake functions of the two front drive wheels 13 can be realized in the automatic mode. In the manual mode, the first electromagnetic brake 11 can be used for auxiliary braking of the drive wheels 13. Meanwhile, the drive motor 12 is built-in with an encoder, and the distance traveled by the drive motor 12 can be monitored in real time through the calculation of the transmission ratio, so as to improve the accuracy of the forklift operation and realize the accurate control of the two front drive wheels 13.

[0030] The steering axle assembly 30 comprises a steering motor 31, a steering axle assembly 32, a rotary support, a steering support 34, a second electromagnetic brake 35, a steering wheel 36, a drive gear 37, etc. The rear steering axle assembly 30 comprises two steering wheels 36, which are controlled by corresponding steering motors 31 respectively, and each steering wheel 36 is provided with a second electromagnetic brake 35. By arranging a second electromagnetic brake 35 between the steering wheel 36 and the steering support 34, the independent braking of each steering wheel 36 can be realized. The stator of the second electromagnetic brake 35 is fixed on the steering support 34, and the rotor part is mounted on the hub of the steering wheel 36. Through the on-off and analog control of the second electromagnetic brake 35, the different braking torque control of the steering wheel 36 can be realized.

[0031] The steering wheel 36, the drive wheel 13 and their assemblies in the application all have the braking function, and the front drive axle assembly 10 is provided with two braking systems, one of which is the running pedal brake assembly 20, and the other of which is the first electromagnetic brake 11 arranged at the tail of the drive motor 12. Thus, the compatibility of the manual driving mode and the automatic control mode can be realized.

[0032] In the manual driving mode, the running pedal brake assembly 20 is responsible for the main braking function of the front drive wheels 13, and the first electromagnetic brake 11 at the tail of the drive motor 12 and the second electromagnetic brake 35 of the steering wheel 36 realize the braking function of the drive wheels 13 and the steering wheels 36 simultaneously under the control of the control system (which can be a PLC controller). The brake pedal of the running pedal brake assembly 20 is provided with an analog switch, and when the driver steps on the brake pedal, the control system can control the suction force of the second electromagnetic brake 35 on the steering wheel 36 according to the change of the pedal angle to realize different braking torques.

[0033] Specifically, when the artificial brake pedal is stepped on, the running pedal brake assembly 20 can perform the running main brake function on the two drive wheels 13 of the drive axle assembly 10, and under the control of the control system, the analog switch on the pedal controls the control of the reverse thrust torque of the driving motor 12 through the angle change to reduce the speed of the drive wheel 13, and the first electromagnetic brake 11 controls the auxiliary brake of the front two drive wheels 13 through the driving axle assembly 14, and the rear steering axle assembly 30 two steering second electromagnetic brakes 35 control the running brake of the two steering wheels 36 through the pedal angle change under the control of the control system.

[0034] When parking, the control system controls the first electromagnetic brake 11 and the second electromagnetic brake 35 of the rear steering wheel 36 to brake the drive wheel 13 and the steering wheel 36 respectively to realize the safe and reliable full-wheel running and parking brake function in the artificial control mode.

[0035] In the automatic control mode, when the control system (controller / control center) issues a running brake instruction, the first electromagnetic brake 11 brakes the two drive wheels 13 through the driving axle assembly 14 (indirectly through the internal gear pair of the driving axle assembly 14 to brake the drive wheels 13), and the two second electromagnetic brakes 35 of the steering axle assembly 30 brake the two steering wheels 36 respectively. When parking, the first electromagnetic brake 11 and the second electromagnetic brake 35 of the steering wheel 36 brake the drive wheel 13 and the steering wheel 36 respectively under the instruction of the control system, thereby realizing the automatic mode full-wheel braking and parking function. The whole brake system is intelligent, safe and reliable.

[0036] In summary, whether in the artificial driving mode or in the automatic control mode, the normal control of the forklift (including running, braking, and cargo handling and stacking) can be realized separately, thereby realizing one machine with two purposes without affecting each other. And the driving motor 12 and the steering motor 31 are both equipped with precise encoders, which are more accurate, safer and more flexible than traditional forklifts, and can be applied more widely. Further, during braking, the driving motor 12 can be controlled by the control system to recycle energy, realize regenerative energy braking, reduce energy consumption, and prolong the battery life of the forklift. Specifically, before the control system controls the driving electromagnetic brake and the second electromagnetic brake 35 of the steering wheel 36 to brake, the control system controls the driving motor 12 to apply a reverse torque to reduce the speed and recycle the generated current to realize energy regeneration, thereby reducing energy loss.

[0037] The above describes one embodiment of the application in detail, but the content described is only the preferred embodiment of the application and cannot be considered as limiting the scope of the application. Any equivalent changes and improvements made within the scope of the application should still be included in the scope of the claims of the application.

Claims

1. An all-wheel braking system, characterized in that: include: Controller; A driving foot pedal brake assembly (20), the driving foot pedal brake assembly (20) being connected to the controller; A drive axle assembly (10), the drive axle assembly (10) comprising a drive axle assembly (14), a drive wheel (13), a drive motor (12) and a first electromagnetic brake (11), the drive wheel (13) being rotatably arranged at both ends of the drive axle assembly (14), the drive motor (12) being fixedly mounted on the drive axle assembly (14), and the first electromagnetic brake (11) being arranged on the drive motor (12) and connected to the controller; A steering axle assembly (30) includes a steering axle assembly (32), a steering wheel (36), and a steering motor (31). The steering motor (31) is fixedly arranged on the steering axle assembly (32) and is used to drive the steering wheel (36) to steer. A second electromagnetic brake (35) is provided on the steering wheel (36), and the second electromagnetic brake (35) is connected to the controller.

2. The all-wheel braking system according to claim 1, characterized in that: The first electromagnetic brake (11) is arranged at the tail end of the drive motor (12).

3. The all-wheel braking system according to claim 2, characterized in that: The steering wheel (36) is rotationally engaged with the steering bracket (34), and the driving gear (37) of the steering motor (31) is drivingly connected to the steering bracket (34).

4. The all-wheel braking system according to claim 3, characterized in that: The stator of the second electromagnetic brake (35) is fixedly arranged on the steering bracket (34), and the rotor is mounted on the hub of the steering wheel (36).

5. The all-wheel braking system according to claim 4, characterized in that: A rotary support member (33) is provided between the steering bracket (34) and the steering axle assembly (32).

6. The all-wheel braking system according to claim 5, characterized in that: An encoder is provided in the driving motor (12).

7. The all-wheel braking system according to claim 6, characterized in that: An encoder is provided in the steering motor (31).

8. The all-wheel braking system according to claim 7, characterized in that: The vehicle foot pedal brake assembly (20) comprises a brake pedal and an analog switch.

9. A counterbalanced forklift, characterized in that: The invention comprises an all-wheel braking system according to any one of claims 1 to 8.

10. The counterbalanced forklift according to claim 9, characterized in that: Before the controller controls the driving electromagnetic brake and the second electromagnetic brake (35) of the steering wheel (36) to brake, the controller controls the driving motor (12) to apply reverse torque to reduce the speed.

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