CN-117360607-B - Detection method for steering force of forklift steering wheel

CN117360607BCN 117360607 BCN117360607 BCN 117360607BCN-117360607-B

Abstract

The application provides a detection system and method for steering force of a forklift steering wheel, comprising the steps of collecting steering torque of the steering wheel, collecting input voltage of a steering motor, calibrating the rotating speed of the steering wheel by adjusting the magnitude of the input voltage of the steering motor, detecting the rotating number of the steering wheel, obtaining time required by rotating the steering wheel for one turn according to the rotating speed of the steering wheel, setting positive and negative rotating time of the steering motor according to the time, and obtaining the steering force of the steering wheel in positive and negative rotation under different rotating speed conditions. The application fully considers the influence of the rotating speed of the steering wheel on the steering force, and accurately detects the steering force when the steering wheel rotates positively and negatively at different rotating speeds.

Inventors

SUN LIANGSHAN
XU XIAOHONG
YANG YANG
HE XIXIN
LI YAN

Assignees

安徽合力股份有限公司

Dates

Publication Date: 20260508
Application Date: 20231027

Claims (6)

1. A detection method of steering force of a forklift steering wheel is characterized by comprising the following steps: (1) Collecting steering torque T Steering wheel of a steering wheel; (2) Collecting an input voltage U steering motor of a steering motor; (3) Calibrating the rotating speed V Steering wheel of the steering wheel by adjusting the input voltage U steering motor of the steering motor; (4) Detecting the rotation number N Steering wheel of the steering wheel, obtaining time t Steering wheel required by one turn of the steering wheel according to the rotation speed V Steering wheel of the steering wheel, and setting the forward and reverse rotation time of the steering motor according to t Steering wheel ; (5) According to F Steering wheel =T Steering wheel /r Steering wheel , the steering force of the steering wheel during forward and reverse rotation under different rotation speed conditions is obtained, wherein r Steering wheel is the radius of the steering wheel.
2. The method of claim 1, wherein the steering torque of the steering wheel in step (1) is acquired by a torque sensor mounted on a steering column of the steering wheel.
3. The detecting method according to claim 1, wherein the input voltage of the steering motor in the step (2) is obtained by collecting the output voltage of a motor speed regulator, a voltage-regulating adjusting knob is arranged on the motor speed regulator, and the rotating speed of the steering wheel is regulated by rotating the adjusting knob.
4. The detection method according to claim 3, wherein the calibration result of the rotation speed V Steering wheel of the steering wheel in the step (3) is as follows: 。
5. the method of claim 3, wherein the steering wheel is rotated in a forward direction when the positive pole of the steering motor is connected to the positive pole of the output power of the motor governor, and the steering wheel is rotated in a reverse direction when the positive pole of the steering motor is connected to the negative pole of the output power of the motor governor.
6. The method of claim 1, wherein U steering motor is positive and U steering motor is negative, indicating that the steering wheel is rotating in a forward direction; When the steering torque T Steering wheel is positive, it indicates that the steering wheel is rotating forward, and when the steering torque T Steering wheel is negative, it indicates that the steering wheel is rotating backward.

Description

Detection method for steering force of forklift steering wheel Technical Field The invention relates to a forklift, in particular to a system and a method for detecting steering force of a forklift steering wheel. Background In recent years, along with the rapid development of economy in China, various industries such as large infrastructure construction, wharfs, goods yards, manufacturing industries, tourist attractions, logistics centers and the like pull out like spring bamboo shoots after raining, and fork trucks are widely applied. However, because the working environment is relatively poor, load operation is usually carried out in open air or a narrow space, the requirements on the safety performance of the forklift are relatively high, for example, the requirements in the special equipment safety technical Specification are that the hand operating force applied to the steering wheel during steering is 6N-20N, the difference between the left steering force and the right steering force is not more than 5N, and the hand operating force applied to the steering wheel during steering is not more than 150N when a mechanical steering vehicle is adopted. Therefore, the steering force of the steering wheel is an important performance index of the forklift and is a direct representation of the steering performance of the vehicle, and the result of the steering force directly influences the market competitiveness of the forklift. It is very important to be able to accurately measure the steering force of the steering wheel. The existing detection method of the steering force of the steering wheel of the forklift uses a steering angle torque meter arranged on the steering wheel, and the steering force is detected by rotating the steering wheel by hands of an operator. The method is characterized in that the steering wheel is manually operated, the rotating speed of the steering wheel cannot be accurately controlled, the rotating speed of the steering wheel has a large influence on the steering force, and the consistency and normalization of test results and the follow-up accurate analysis and improvement are finally influenced. Disclosure of Invention The invention aims to provide a system and a method for detecting steering force of a forklift steering wheel, which can accurately control the rotating speed and the steering time of the steering wheel, display the change of the steering force in the whole process and finally realize the accurate detection of the steering force of the forklift steering wheel. In order to meet the requirements, the technical scheme of the invention is as follows: A detection method of steering force of a forklift steering wheel comprises the following steps: (1) Collecting steering torque T Steering wheel of a steering wheel; (2) Collecting an input voltage U steering motor of a steering motor; (3) Calibrating the rotating speed V Steering wheel of the steering wheel by adjusting the input voltage U steering motor of the steering motor; (4) Detecting the rotation number N Steering wheel of the steering wheel, obtaining time t Steering wheel required by one turn of the steering wheel according to the rotation speed V Steering wheel of the steering wheel, and setting the forward and reverse rotation time of the steering motor according to t Steering wheel ; (5) According to F Steering wheel =T Steering wheel /r Steering wheel , the steering force of the steering wheel during forward and reverse rotation under different rotation speed conditions is obtained, wherein r Steering wheel is the radius of the steering wheel. Further, in the step (1), the steering torque of the steering wheel is acquired through a torque sensor installed on the steering column of the steering wheel. Further, in the step (2), the input voltage of the steering motor is obtained by collecting the output voltage of a motor speed regulator, and the motor speed regulator is provided with a voltage regulating adjusting knob, and the rotating speed of the steering wheel is regulated by rotating the adjusting knob. Preferably, the calibration result of the rotation speed V Steering wheel of the steering wheel in step (3) is as follows: preferably, when the positive pole of the steering motor is communicated with the positive pole of the output power supply of the motor speed regulator, the steering wheel rotates positively, and when the positive pole of the steering motor is communicated with the negative pole of the output power supply of the motor speed regulator, the steering wheel rotates reversely. Further, when U steering motor is positive, it indicates that the steering wheel is rotating forward, and when U steering motor is negative, it indicates that the steering wheel is rotating backward; When the steering torque T Steering wheel is positive, it indicates that the steering wheel is rotating forward, and when the steering torque T Steering wheel is negative, it indicates that the