阅读说明：本技术 三轮转向控制系统 (Three-wheel steering control system ) 是由 潘小军 于 2020-05-21 设计创作，主要内容包括：本发明公开了一种三轮转向控制系统,包括：后轮转向模块,后轮转向模块包括后轮转向子控制器和后轮转向电机,后轮转向子控制器与后轮转向电机连接；左前轮转向模块,左前轮转向模块包括左前轮转向子控制器和左前轮转向电机,左前轮转向子控制器与左前轮转向电机连接；右前轮转向模块,右前轮转向模块包括右前轮转向子控制器和右前轮转向电机,右前轮转向子控制器与右前轮转向电机连接；主控制器,主控制器与后轮转向子控制、左前轮转向子控制器和右前轮转向子控制器电性连接；方向盘编码器,方向盘编码器与主控制器连接。其三轮转向控制系统的三个车轮均可以转向,提高了叉车灵活性,缩小转弯半径。(The invention discloses a three-wheel steering control system, comprising: the rear wheel steering module comprises a rear wheel steering controller and a rear wheel steering motor, and the rear wheel steering controller is connected with the rear wheel steering motor; the left front wheel steering module comprises a left front wheel steering controller and a left front wheel steering motor, and the left front wheel steering controller is connected with the left front wheel steering motor; the right front wheel steering module comprises a right front wheel steering sub-controller and a right front wheel steering motor, and the right front wheel steering sub-controller is connected with the right front wheel steering motor; the main controller is electrically connected with the rear wheel steering controller, the left front wheel steering controller and the right front wheel steering controller; the steering wheel encoder is connected with the main controller. Three wheels of the three-wheel steering control system can steer, so that the flexibility of the forklift is improved, and the turning radius is reduced.)

1. A three-wheel steering control system, comprising:

the rear wheel steering module comprises a rear wheel steering controller, a rear wheel steering motor and a rear wheel, wherein the rear wheel steering controller is connected with the rear wheel steering motor, and the rear wheel steering motor drives the rear wheel to rotate;

the left front wheel steering module comprises a left front wheel steering controller, a left front wheel steering motor and a left front wheel, the left front wheel steering controller is connected with the left front wheel steering motor, and the left front wheel steering motor drives the left front wheel to rotate;

the right front wheel steering module comprises a right front wheel steering sub-controller, a right front wheel steering motor and a right front wheel, the right front wheel steering sub-controller is connected with the right front wheel steering motor, and the right front wheel steering motor drives the right front wheel to rotate;

the main controller is electrically connected with the rear wheel steering controller, the left front wheel steering controller and the right front wheel steering controller;

the steering wheel encoder is arranged on the steering wheel and connected with the main controller to transmit the angle rotation signal of the steering wheel to the main controller.

2. The three-wheel steering control system according to claim 1, further comprising a touch display screen, wherein the touch display screen displays the state parameters of the forklift, and the touch display screen is connected with the main controller to realize human-computer interaction.

3. The three-wheel steering control system according to claim 2, wherein the touch-sensitive display screen has an interface for a mode selection module disposed thereon.

4. The three-wheel steering control system according to claim 2, wherein the touch-sensitive display screen is provided with an interface of real-time positions of the rear wheel, the left front wheel and the right front wheel.

5. The three-wheel steering control system of claim 1, further comprising a mode selection module that includes one or more of a straight-going rear-wheel steering mode, a side-going two-front-wheel wrap-angle steering mode, a diagonal steering mode, a pivot-swivel mode, and an all-wheel steering mode.

6. The three-wheel steering control system according to claim 5, wherein the control method of the side-traveling two-front-wheel wrap angle steering mode includes the steps of:

s1, the main controller controls the rear wheel, the left front wheel and the right front wheel to rotate clockwise by 90 degrees;

s2, rotating the steering wheel to enable the rotation angle of the steering wheel to be m, wherein m is less than or equal to 20 degrees, and transmitting the rotation signal of the steering wheel to the main controller by the steering wheel encoder;

and S3, controlling the left front wheel and the right front wheel to rotate by the main controller, wherein the left front wheel rotates by an angle m anticlockwise, and the right front wheel rotates by an angle m clockwise.

7. The three-wheel steering control system according to claim 5, wherein the control method of the all-wheel steering mode includes the steps of:

s1, rotating the steering wheel to enable the rotation angle of the steering wheel to be ZHIJAODU1, and transmitting a rotation signal of the steering wheel to the main controller by the steering wheel encoder;

s2, the main controller controls the rear wheel clockwise rotation angle ang1, the left front wheel clockwise rotation angle ang2 and the right front wheel clockwise rotation angle ang 3:

ang1 ═ INT _ TO _ REAL (ZHIJAODU1)/10, x ═ b/TAN (ABS (ang1) × 3.14/180) -c, ABS being the absolute value,

ang2 ═ ABS (ATAN (a/(d + e + g + x)). times.180/3.14), ABS is absolute, ATAN is the arctan function,

ang3＝ABS(ATAN(a/(g+x))*180/3.14)，

wherein, a is 627.9; b is 1062.1; c is 867; d is 673; e-699; g is 158; and y is 1600.

8. The three-wheel steering control system according to claim 5, wherein the control method of the straight-traveling rear-wheel steering mode includes the steps of:

s1, rotating the steering wheel, wherein the steering wheel encoder transmits a steering wheel rotation signal to the main controller;

and S2, controlling the rear wheel steering by the main controller.

9. The three-wheel steering control system according to claim 5, wherein the control method of the crab steer mode includes the steps of:

s1, rotating the steering wheel, and transmitting a rotation signal of the steering wheel to the main controller by the steering wheel encoder;

s2, the main controller controls the rear wheel, the left front wheel and the right front wheel to rotate by the same angle n, wherein n is more than or equal to-180 degrees and less than or equal to 180 degrees.

10. The three-wheel steering control system according to claim 5, wherein the pivot turn mode control method comprises the steps of:

s1, the main controller controls the rear wheel to rotate 90 degrees, the left front wheel to rotate 45 degrees and the right front wheel to rotate 45 degrees.

Technical Field

The invention relates to the technical field of forklifts, in particular to a three-wheel steering control system.

Background

At present, for a three-pivot electric forklift, three wheels are a rear wheel, a left front wheel and a right front wheel, and a steering mode for driving the rear wheel to steer is generally adopted at present. The turning mode has large turning radius and large channel radius when planning a warehouse, thereby causing the waste of storage space.

Disclosure of Invention

The invention aims to provide a three-wheel steering control system, three wheels of the three-wheel steering control system can be steered, the flexibility of a forklift is improved, and the turning radius is reduced.

In order to solve the above technical problem, the present invention provides a three-wheel steering control system, including:

the rear wheel steering module comprises a rear wheel steering controller, a rear wheel steering motor and a rear wheel, wherein the rear wheel steering controller is connected with the rear wheel steering motor, and the rear wheel steering motor drives the rear wheel to rotate;

the left front wheel steering module comprises a left front wheel steering controller, a left front wheel steering motor and a left front wheel, the left front wheel steering controller is connected with the left front wheel steering motor, and the left front wheel steering motor drives the left front wheel to rotate;

the right front wheel steering module comprises a right front wheel steering sub-controller, a right front wheel steering motor and a right front wheel, the right front wheel steering sub-controller is connected with the right front wheel steering motor, and the right front wheel steering motor drives the right front wheel to rotate;

the main controller is electrically connected with the rear wheel steering controller, the left front wheel steering controller and the right front wheel steering controller;

the steering wheel encoder is arranged on the steering wheel and connected with the main controller to transmit the angle rotation signal of the steering wheel to the main controller.

Preferably, the forklift further comprises a touch display screen, the touch display screen displays the state parameters of the forklift, and the touch display screen is connected with the main controller to achieve man-machine interaction.

Preferably, an interface of a mode selection module is arranged on the touch display screen.

Preferably, the touch display screen is provided with an interface of real-time positions of the rear wheel, the left front wheel and the right front wheel.

Preferably, the steering control device further comprises a mode selection module, wherein the mode selection module comprises one or more of a straight rear wheel steering mode, a side two front wheel wrap angle steering mode, a diagonal steering mode, a pivot rotation mode and an all-wheel steering mode.

Preferably, the control method of the side-traveling two-front-wheel wrap angle steering mode includes the steps of:

s1, the main controller controls the rear wheel, the left front wheel and the right front wheel to rotate clockwise by 90 degrees;

s2, rotating the steering wheel to enable the rotation angle of the steering wheel to be m, wherein m is less than or equal to 20 degrees, and transmitting the rotation signal of the steering wheel to the main controller by the steering wheel encoder;

and S3, controlling the left front wheel and the right front wheel to rotate by the main controller, wherein the left front wheel rotates by an angle m anticlockwise, and the right front wheel rotates by an angle m clockwise.

Preferably, the control method of the all-wheel steering mode includes the steps of:

s1, rotating the steering wheel to enable the rotation angle of the steering wheel to be ZHIJAODU1, and transmitting a rotation signal of the steering wheel to the main controller by the steering wheel encoder;

s2, the main controller controls the rear wheel clockwise rotation angle ang1, the left front wheel clockwise rotation angle ang2 and the right front wheel clockwise rotation angle ang 3:

ang1 ═ INT _ TO _ REAL (ZHIJAODU1)/10, x ═ b/TAN (ABS (ang1) × 3.14/180) -c, ABS being the absolute value,

ang2 ═ ABS (ATAN (a/(d + e + g + x)). times.180/3.14), ABS is absolute, ATAN is the arctan function,

ang3＝ABS(ATAN(a/(g+x))*180/3.14)，

wherein, a is 627.9; b is 1062.1; c is 867; d is 673; e-699; g is 158; and y is 1600.

Preferably, the control method of the straight rear wheel steering mode includes the steps of:

s1, rotating the steering wheel, wherein the steering wheel encoder transmits a steering wheel rotation signal to the main controller;

and S2, controlling the rear wheel steering by the main controller.

Preferably, the control method of the crab steer mode includes the steps of:

s1, rotating the steering wheel, and transmitting a rotation signal of the steering wheel to the main controller by the steering wheel encoder;

s2, the main controller controls the rear wheel, the left front wheel and the right front wheel to rotate by the same angle n, wherein n is more than or equal to-180 degrees and less than or equal to 180 degrees.

Preferably, the control method of the pivot rotation mode includes the steps of:

s1, the main controller controls the rear wheel to rotate 90 degrees, the left front wheel to rotate 45 degrees and the right front wheel to rotate 45 degrees.

The invention has the beneficial effects that:

1. in the invention, three wheels of the three-wheel steering control system can steer, so that the flexibility of the forklift is improved, the turning radius is reduced, and long materials in a narrow channel can be transported by a straight steering mode and a side steering mode.

2. The three wheels of the invention are provided with independent steering sub-controllers and steering motors, and the steering control precision is high.

3. The invention improves the operation efficiency of the forklift and lightens the operation intensity.

Drawings

FIG. 1 is a schematic view of a three-wheel steering control system of the present invention;

FIG. 2 is a side-traveling two-front-wheel wrap-angle steering mode straight-traveling switching side shape initial position;

FIG. 3 shows the vehicle traveling inside the tunnel in the side-traveling two-front-wheel wrap-angle steering mode;

FIG. 4 shows a state where the entire vehicle is carrying long materials in the passage in the side-traveling two-front-wheel wrap-angle steering mode;

FIG. 5 is a body attitude display in an all-wheel steering mode;

FIG. 6 is the steering attitude of the forklift in the straight-ahead rear-wheel steering mode;

FIG. 7 is a body posture display in a crab state;

FIG. 8 is a body attitude display in pivot mode.

Detailed Description

The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.

Referring to fig. 1, the present invention discloses a three-wheel steering control system, including:

the rear wheel steering module comprises a rear wheel steering controller, a rear wheel steering motor and a rear wheel, the rear wheel steering controller is connected with the rear wheel steering motor, and the rear wheel steering motor drives the rear wheel to rotate;

the left front wheel steering module comprises a left front wheel steering controller, a left front wheel steering motor and a left front wheel, the left front wheel steering controller is connected with the left front wheel steering motor, and the left front wheel steering motor drives the left front wheel to rotate;

the right front wheel steering module comprises a right front wheel steering sub-controller, a right front wheel steering motor and a right front wheel, the right front wheel steering sub-controller is connected with the right front wheel steering motor, and the right front wheel steering motor drives the right front wheel to rotate;

the main controller is electrically connected with the rear wheel steering controller, the left front wheel steering controller and the right front wheel steering controller;

the steering wheel encoder is arranged on the steering wheel and connected with the main controller to transmit the angle rotation signal of the steering wheel to the main controller.

Three wheels of the three-wheel steering control system can steer, so that the flexibility of the forklift is improved, and the turning radius is reduced. The steering motor is provided with an encoder which is connected into the steering controller and used for feeding back the rotation angle of the motor and the rotating speed of the motor, and the whole system forms a closed-loop control system, so that the precision is high and can be accurate to 0.1 degree.

The invention is pure electric steering, and has low steering energy consumption: traditional hydraulic steering control current is about 200A, and pure electric steering control current is only 16A under the full-load condition, compares hydraulic steering current and has reduced 10 times, more energy-conservation.

The invention has low noise when in work: the traditional hydraulic steering is mainly a steering system consisting of a pump motor and a gear pump, the pump motor needs to run at a high rotating speed during steering, and the noise is higher when the pump motor runs at the high rotating speed.

The forklift truck further comprises a touch display screen, the touch display screen displays the state parameters of the forklift truck, the touch display screen is connected with the main controller to achieve man-machine interaction, and an interface of real-time positions of the rear wheel, the left front wheel and the right front wheel is arranged on the touch display screen. According to the invention, a touch liquid crystal high-definition color display screen is adopted as a man-machine interaction, the display screen can dynamically display the state information of the vehicle and also can set key parameters of the vehicle, and a mode switching touch button is integrated.

The touch display screen is provided with an interface of a mode selection module, and the mode selection module comprises one or more of a straight rear wheel steering mode, a side-driving two-front-wheel wrap angle steering mode, an oblique steering mode, an in-situ rotation mode and an all-wheel steering mode. The touch display screen can display the positions of the three wheels in real time, when the wheels rotate, the wheels on the display screen also rotate along with the wheels, the displayed rotating angle corresponds to the actual rotating angle, the system is powered on and defaults to a straight rear wheel steering mode, if the side-driving mode switching is needed, a touch side-driving mode switching button on the display screen is clicked, and after the main controller receives a side-driving mode switching command sent by the display screen, the main controller controls the three wheels to rotate to 90 degrees, wherein the position is the initial position of the side-driving mode. If the diagonal mode needs to be switched, only the touch diagonal mode switching button on the display screen needs to be clicked, and after the main controller receives a diagonal mode switching command sent by the display screen, the main controller controls the three wheels to rotate to a 0-degree position, wherein the position is an initial position of the diagonal mode. If the all-wheel steering mode needs to be switched, the main controller controls the three wheels to rotate to a position of 0 degree after receiving an all-wheel steering mode switching command sent by the display screen by only clicking a touch all-wheel steering mode switching button on the display screen, wherein the position is the initial position of the all-wheel steering mode. If the pivot steering mode needs to be switched, only a touch pivot steering mode switching button on the display screen needs to be clicked, and after the main controller receives a pivot steering mode switching command sent by the display screen, the rear wheel is controlled to rotate to a 90-degree position, the left front wheel rotates to a 45-degree position, and the right front wheel rotates to a-45-degree position, wherein the position is the initial position of the pivot steering mode.

Referring to fig. 2-4, the side-driving two-front-wheel wrap angle steering mode is mainly applied to long material handling, when the length of the handled materials exceeds 6 meters, the whole vehicle can laterally run into a channel, the channel width is greatly reduced, and the warehouse space utilization rate is improved, and the control method of the mode comprises the following steps:

s1, the main controller controls the rear wheel, the left front wheel and the right front wheel to rotate 90 ° clockwise, referring to fig. 2, the straight-ahead side-shape initial position is changed, and the three wheels are all at 90 °.

S2, rotating the steering wheel to enable the rotation angle of the steering wheel to be m, wherein m is less than or equal to 20 degrees, and transmitting the rotation signal of the steering wheel to the main controller by the steering wheel encoder;

s3, the main controller controls the left front wheel and the right front wheel to rotate, wherein the left front wheel rotates anticlockwise by an angle m, the right front wheel rotates clockwise by an angle m, and the figure 3 shows that the whole vehicle runs in the channel. Fig. 4 shows the state that the whole vehicle carries long materials in the channel.

Referring to fig. 5, the vehicle body posture is shown in the all-wheel steering mode. The steering wheel is rotated in an all-wheel steering mode, the three wheels rotate in a specific functional relation, and compared with a straight-going mode, the turning radius is reduced by 25%, so that the flexibility of the forklift is greatly improved. The control method of the mode comprises the following steps:

s1, rotating the steering wheel to enable the rotation angle of the steering wheel to be ZHIJAODU1, and transmitting a rotation signal of the steering wheel to the main controller by the steering wheel encoder;

s2, the main controller controls the rear wheel clockwise rotation angle ang1, the left front wheel clockwise rotation angle ang2 and the right front wheel clockwise rotation angle ang 3:

ang1 ═ INT _ TO _ REAL (ZHIJAODU1)/10, x ═ b/TAN (ABS (ang1) × 3.14/180) -c, ABS being the absolute value,

ang2 ═ ABS (ATAN (a/(d + e + g + x)). times.180/3.14), ABS is absolute, ATAN is the arctan function,

ang3＝ABS(ATAN(a/(g+x))*180/3.14)，

wherein, a is 627.9; b is 1062.1; c is 867; d is 673; e-699; g is 158; and y is 1600.

Referring to fig. 6, the steering posture of the forklift in the straight-driving rear-wheel steering mode is shown. The straight-going rear wheel steering mode is a traditional steering mode, the steering wheel is rotated to control the steering of the rear wheels, the turning radius of the vehicle is large in the mode, the angle of the two front wheels is fixed, the guidance is good, the running speed of the vehicle can be more than 12Km/h, and the straight-going rear wheel steering mode can be used for fast running in a large channel. The control method of the mode comprises the following steps:

s1, rotating the steering wheel, and transmitting a steering wheel rotation signal to the main controller by the steering wheel encoder;

and S2, controlling the rear wheel steering by the main controller.

Referring to fig. 7, the posture of the vehicle body is shown in a state of being inclined. In the oblique steering mode, when the steering wheel is rotated, the three wheels rotate at the same angle, and the posture of the vehicle body is kept unchanged in the driving process. In the process of carrying long materials, the continuous switching from straight running to side running can be realized, and the working efficiency of the forklift is greatly improved. The mode is characterized in that the posture of the vehicle body can be freely adjusted while the vehicle body tilts and moves; various kinds of posture angle-changing attachment works are also moved in a short distance. The application scene is as follows: the warehouse rack is suitable for the working condition that the middle of the warehouse is open and the periphery of the rack is distributed by the wall; the working conditions of more branch channels in the warehouse, relatively larger channel margin and higher stacking frequency are adopted.

The control method of the diagonal steering mode comprises the following steps:

s1, rotating the steering wheel, and transmitting a rotation signal of the steering wheel to the main controller by the steering wheel encoder;

s2, the main controller controls the rear wheel, the left front wheel and the right front wheel to rotate by the same angle n, wherein n is more than or equal to-180 degrees and less than or equal to 180 degrees.

Referring to fig. 8, in the pivot rotation mode, three wheels keep a fixed angle, so that the pivot rotation of the forklift in the passageway can be realized, and the control method of the pivot rotation mode comprises the following steps:

s1, the main controller controls the rear wheel to rotate 90 degrees, the left front wheel to rotate 45 degrees and the right front wheel to rotate 45 degrees.

The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.