CN-115723840-B - Steering control system and steering method capable of realizing continuous switching of omni-directional forklift

CN115723840BCN 115723840 BCN115723840 BCN 115723840BCN-115723840-B

Abstract

The invention provides a steering control system and a steering method capable of realizing continuous switching of an omnidirectional forklift, comprising a steering wheel mechanism, a steering wheel, an integrated handle, a main controller and driving equipment, wherein the steering wheel and the integrated handle are combined to control the forklift to steer, and the steering wheel mechanism capable of freely rotating is matched to control the running mode of the whole forklift very intuitively, the integrated handle is adjusted to switch the steering mode, the steering wheel is switched without stopping, so that the operation difficulty of a driver is greatly reduced, the driving flexibility of the safety and the omnidirectional forklift and the transferring efficiency are improved, the running speed of the steering wheel is independently controlled by the accelerator, the speed of each steering wheel can be respectively controlled in each mode, the steering speed is completely consistent in each mode, and the driving comfort and the driving safety are improved.

Inventors

XUE JIN
HU FEI

Assignees

合肥搬易通科技发展有限公司

Dates

Publication Date: 20260505
Application Date: 20221103

Claims (3)

1. The steering method capable of realizing continuous switching of the omnidirectional forklift is characterized by comprising the following steering control system for steering, wherein the steering control system comprises the following components: The steering wheel mechanism can be independently controlled to rotate and is provided with at least three groups, and the steering wheel mechanism is provided with steering wheels and an accelerator for driving the steering wheel to rotate; The steering wheel is internally provided with an encoder, and the encoder is electrically connected with the main controller and is used for collecting a rotation signal of the steering wheel and sending the rotation signal to the main controller; the integrated handle is electrically connected with the main controller and is used for providing a switching signal for the main controller and controlling the running mode of the whole vehicle, wherein the running mode comprises a straight running mode, a lateral running mode, an in-situ rotation mode and a diagonal mode; the main controller is electrically connected with the driving device, collects signals provided by the integrated handle and the encoder, and controls the driving device; The driving device is electrically connected with the steering wheel mechanisms, and the single device drives the single steering wheel mechanism and controls the steering of each steering wheel mechanism respectively; the steering wheel mechanism also comprises a transmission chain and a steering motor, the steering motor applies steering torque to the rotating wheels through the transmission chain, and the driving equipment adopts a steering motor controller; the steering wheel mechanism further comprises an angle sensor, wherein the angle sensor is arranged on the rotating wheel and is electrically connected with the main controller and used for measuring the rotation angle of the rotating wheel; The steering method decomposes the motion of the forklift into a translation vector which translates around a forklift rotation center point and a rotation vector which rotates around the forklift rotation center point, and switches the mode of the whole forklift without stopping through an integrated handle, and the mode of the steering method comprises the following steps: the main direction of the translation vector is automatically changed into the direction parallel to the X axis of the forklift, the direction is fixed, the size is unchanged, the rotation vector is automatically zeroed at first, and then the size and the direction of the rotation vector are controlled through a steering wheel; a lateral mode, namely changing the main direction of the translation vector into the direction vertical to the Y-axis direction of the forklift, fixing the direction, keeping the size unchanged, automatically zeroing the rotation vector, and controlling the size and the direction of the rotation vector through a steering wheel; In-situ rotation mode, the steering wheel is continuously operated, the turning instant center enters the projection plane of the car body until the turning instant center is close to the rotation center, and the in-situ rotation mode is automatically entered; and in the diagonal mode, the direction and the size of the translation vector are kept unchanged in the original mode, the rotation vector is automatically zeroed at first, and then the direction of the translation vector is controlled through a steering wheel.
2. The steering method capable of realizing continuous switching of the omnidirectional forklift according to claim 1, wherein the integrated handle comprises four buttons including a front button, a rear button, a left button, a right button and a middle button, the front button and the rear button are started to control the whole forklift to be in a straight running mode or in-situ rotation mode, the left button and the right button are started to control the whole forklift to be in a lateral running mode or in-situ rotation mode, and the middle button is started to control the whole forklift to be in an inclined running mode.
3. The steering method capable of realizing continuous switching of the omnidirectional forklift according to claim 1, wherein the integrated handle is provided with an upper, lower, left and right four-way reset operating lever, the operating lever is controlled to be in a straight running mode or in-situ rotation mode when pushed forwards and backwards, and is controlled to be in a sideways running mode or in-situ rotation mode when pushed leftwards and rightwards, and is controlled to be in a diagonal running mode when being in a middle neutral position.

Description

Steering control system and steering method capable of realizing continuous switching of omni-directional forklift Technical Field The invention relates to the technical field of forklift control, in particular to a steering control system and a steering method capable of realizing continuous switching of an omni-directional forklift. Background The forklift is an industrial carrying vehicle, and is a wheeled carrying vehicle for carrying out loading and unloading, stacking and short-distance transportation operation on finished pallet cargoes, and is convenient to use, simple to operate, widely applied to various transportation fields, at present, if the traditional forklift is not aligned with the placing position of cargoes when carrying cargoes, the forklift needs to be poured out a distance, after the direction is adjusted, the forklift is put into the container for carrying out cargoes, so that the forklift cannot transversely move or obliquely move, the problems of inflexibility in steering and large rotation limitation exist, and in order to solve the problem of inflexibility in steering of the traditional forklift, the omnidirectional forklift can realize the multi-directional operation modes such as integral lateral movement and oblique movement. The existing running modes of the existing omnidirectional forklift mainly comprise a straight running mode, a side running mode, a diagonal running mode and an in-situ rotation mode, when the modes are switched, the steering wheels have different angles and speed change relations under the modes due to different steering instantaneous center change tracks, when the modes are switched, the switching needs to be carried out, the existing control mode is to drive in a backward direction, namely, when the straight running is left and the side running is right, the steering wheel is controlled to be opposite to the forward direction, the confusion of a driver on the running direction and the posture of a vehicle body is easily caused, the requirements on the proficiency of the driver are higher, the driving feeling and the safety are poor, Therefore, be hard upon improves the steering mode of the current omni-directional forklift, and the invention aims to design a steering control system which can be convenient to operate and realize continuous switching of the omni-directional forklift without stopping. Disclosure of Invention The invention aims to provide a steering control system and a steering method capable of realizing continuous switching of an omnidirectional forklift so as to solve the problems in the background art. In order to achieve the above purpose, the present invention provides the following technical solutions: a steering control system capable of implementing continuous switching of an omni-directional forklift, comprising: The steering wheel mechanism can be independently controlled to rotate and is provided with at least three groups, and the steering wheel mechanism is provided with steering wheels and an accelerator for driving the steering wheels to rotate; The steering wheel is internally provided with an encoder, and the encoder is electrically connected with the main controller and is used for collecting a rotation signal of the steering wheel and sending the rotation signal to the main controller; the integrated handle is electrically connected with the main controller and is used for providing a switching signal for the main controller and controlling the running mode of the whole vehicle, wherein the running mode comprises a straight running mode, a lateral running mode, an in-situ rotation mode and a diagonal mode; the main controller is electrically connected with the driving device, collects signals provided by the integrated handle and the encoder, and controls the driving device; And the driving device is electrically connected with the steering wheel mechanisms, and the single device drives the single steering wheel mechanism to respectively control the steering of each steering wheel mechanism. In one embodiment, the steering wheel mechanism further comprises a transmission chain and a steering motor, the steering motor applies steering torque to the rotating wheels through the transmission chain, and the driving device adopts a steering motor controller. In one embodiment, the integrated handle comprises four buttons including a front button, a rear button, a left button, a right button and a middle button, when the front button and the rear button are started, the whole vehicle is controlled to be in a straight running mode or in-situ rotation mode, when the left button and the right button are started, the whole vehicle is controlled to be in a sideways running mode or in-situ rotation mode, and when the middle button is started, the whole vehicle is controlled to be in a diagonal running mode. In one embodiment, the integrated handle adopts a four-way reset operating lever with an upper direction, a lower direction, a