CN-121974269-A - Three-way crawler-type three-way forklift system

CN121974269ACN 121974269 ACN121974269 ACN 121974269ACN-121974269-A

Abstract

The invention aims to solve the technical problems of poor running stability, low operation efficiency, low environmental adaptability and low bearing performance in the prior art, and provides a three-way crawler-type three-way forklift system; the forklift truck comprises a control module, a crawler traveling module, a steering execution module, a work execution module and a safety detection module, wherein the control module is electrically connected with the crawler traveling module, the steering execution module and the safety detection module, is provided with an anti-tipping model, a hydraulic synchronous control model and a differential steering model and is used for carrying out instruction issuing and state coordination, the crawler traveling module is used for driving a forklift to advance, retreat or steer, the steering execution module is used for controlling the work execution module to carry out steering, traversing and lifting actions, the work execution module is used for carrying and taking and placing goods, and the safety detection module is used for monitoring forklift truck running state information and work execution module state information and feeding back to the control module to carry out state coordination work.

Inventors

ZHANG LIQIANG
XU ZHIPENG
WANG XIAOFAN
Cao Hupo
HAN HAIWEI

Assignees

西安航天赛能自动化科技有限公司

Dates

Publication Date: 20260505
Application Date: 20251225

Claims (10)

1. The utility model provides a three-dimensional crawler-type three-way fork truck system which characterized in that: the device comprises a control module, a crawler walking module, a steering execution module, a work execution module and a safety detection module; the control module is respectively and electrically connected with the crawler walking module, the steering execution module and the safety detection module, and is internally provided with an anti-tipping model and a differential steering model for instruction issuing and state coordination; The crawler traveling module is used for driving the forklift to move forwards, backwards or turn, and comprises a left crawler and a right crawler; the steering execution module is used for controlling the operation execution module to steer, transversely move and lift; The operation execution module is used for bearing and picking and placing goods; The safety detection module is used for monitoring the forklift running state information and the operation execution module state information and feeding back the forklift running state information and the operation execution module state information to the control module for carrying out state coordination work; the anti-tipping model is used for completing the posture adjustment operation of the forklift in cooperation with the safety detection module, the crawler traveling module and the steering execution module; the differential steering control model is used for adjusting the speed ratio of the left crawler to the right crawler so as to realize steering action of the crawler walking module.
2. A three-way tracked three-way forklift system according to claim 1, wherein: The steering execution module comprises a universal hinge frame, and a rotation execution unit and a translation execution unit which are connected to the universal hinge frame; The rotary execution unit comprises a rotary driving motor, and the output end of the rotary driving motor is connected with the job execution module and used for controlling the job execution module to rotate; The translation execution unit comprises a transverse movement driving motor and two lifting hydraulic cylinders, wherein the transverse movement driving motor is used for driving the operation execution module to translate along the horizontal direction, and the two lifting hydraulic cylinders synchronously act and are used for driving the operation execution module to translate along the vertical direction.
3. A three-way tracked three-way forklift system according to claim 2, wherein: The anti-tipping model comprises a first information acquisition link, a gesture resolving link, a risk judging link, a first control instruction generating link, an instruction output and feedback link which are connected in sequence; the first information acquisition link is used for receiving the forklift posture information and the load information acquired by the safety detection module; the attitude calculation link carries out data calculation on the received attitude information and the load information of the forklift based on a preset attitude reference value to obtain the deviation amount of the current attitude and the target attitude of the forklift; The risk judging link judges whether the tipping risk value is higher than a preset risk threshold value based on the deviation amount; the first control instruction generation link generates an anti-tipping control instruction based on the risk judgment result; The command output and feedback link is used for sending out a rollover alarm, sending the rollover prevention control command to the crawler traveling module and the steering execution module, controlling the forklift to decelerate, adjusting the deflection angle of the operation execution module to adjust the posture of the forklift, and simultaneously feeding back the posture-adjusted forklift posture information and load information to the control module.
4. A three-way tracked three-way forklift system according to claim 2, wherein: The steering execution module takes a preset kinematic model as an execution basis to carry out steering operation; The preset kinematic model is as follows: ; wherein: The transverse displacement amount of the operation execution module is used; the length of the universal hinge frame is the length of the universal hinge frame; The deflection angle of the operation execution module; A transverse reference distance for a track in the track travel module; is the inclination angle of the crawler belt in the crawler belt walking module.
5. A three-way tracked three-way forklift system according to claim 2, wherein: The control module is also provided with a hydraulic synchronous control model; The hydraulic synchronous control model comprises a second information acquisition link, a PID operation link and a second control instruction generation link which are sequentially connected, wherein the hydraulic synchronous control model is used for synchronously controlling the two lifting hydraulic cylinders by matching with the safety detection module; The second information acquisition link is used for receiving the gesture information of the operation execution module acquired by the safety detection module; the PID operation link carries out synchronous deviation calculation based on the received attitude information of the operation execution module, and converts a calculation result into a control signal of the hydraulic valve; and the second control command generation link transmits control signals of the hydraulic valves to the two lifting hydraulic cylinders to synchronously control the two lifting hydraulic cylinders.
6. A three-way tracked three-way forklift system according to claim 2, wherein: the left crawler and the right crawler of the crawler traveling module are driven by a bivariate plunger pump and a radial motor, and are provided with a hydraulic automatic compensation type tensioning mechanism for adjusting the crawler tension within a stroke tolerance of +/-200 mm; The left crawler belt and the right crawler belt adopt a double lug rubber+304 stainless steel insert configuration, and the grounding area of the single-side crawler belt is 1.5m multiplied by 0.35m.
7. The three-way tracked three-way forklift system of claim 6, wherein: The differential steering control model comprises a command input link, a third information acquisition link, a working condition judgment link, a speed difference operation link and a third control command generation link which are connected in sequence; the instruction input link is used for inputting a target steering angle; The third information acquisition link is used for receiving the rotation speed information of the left crawler belt and the right crawler belt acquired by the safety detection module; the working condition judging link judges whether the current working condition meets the steering condition or not based on the target steering angle and the forklift running state information acquired by the safety detection module; the speed difference operation link carries out speed difference operation based on the received rotating speed information of the left crawler belt and the right crawler belt to respectively obtain target rotating speeds of the left crawler belt and the right crawler belt; And the third control instruction generation link generates a steering control instruction based on the target rotating speeds of the left crawler belt and the right crawler belt and sends the steering control instruction to the crawler belt walking module.
8. The three-way tracked three-way forklift system of claim 6, wherein: The bearings used for driving the crawler belt to roll in the crawler belt walking module adopt key self-lubricating bearings, and wear sensors are embedded in the key self-lubricating bearings.
9. A three-way tracked three-way forklift system according to claim 1, wherein: the safety detection module comprises a sensor module and an obstacle avoidance module; The sensor module is used for collecting the posture information of the forklift, the load information and the posture information of the operation execution module in real time and feeding back the posture information of the forklift or the posture information of the operation execution module to the control module; The obstacle avoidance module is used for collecting environment information of the forklift in real time and feeding the environment information back to the control module.
10. A three-way tracked three-way forklift system according to claim 1, wherein: The safety detection module further comprises a dynamic configuration device; The dynamic configuration device comprises a balancing weight for preventing the center of gravity of the forklift from shifting, and the weight of the balancing weight is 15% of the weight of the whole forklift.

Description

Three-way crawler-type three-way forklift system Technical Field The invention relates to a forklift system, in particular to a three-way crawler-type three-way forklift system. Background Under the working conditions of logistics transportation and warehousing operation, the wheel type three-way forklift and the traditional crawler transportation equipment are two main stream equipment, but have obvious technical defects, and the prior patent technology has not formed effective breakthrough. The steering mechanism of the wheel type three-way forklift depends on a precise gear set, so that annual maintenance cost is up to 2000 dollars, the wheel type three-way forklift is limited by a structure, particularly when the width of a vehicle body is 1.2m, the minimum turning radius of the wheel type three-way forklift is not less than 1.8m, the required channel width is required to reach more than 2.5m, the space utilization rate is low, meanwhile, the ground specific pressure of a tire exceeds 120kPa, the slip rate of the wheel type three-way forklift on uneven ground such as sand stone exceeds 15%, and the ground adaptability is poor. However, the conventional crawler carrying device, such as a cattler TL1055 type crawler loader, has the problem of insufficient steering flexibility, the steering radius is required to be 3.5m, the lifting height is limited to be within 3m, and the problem of asynchronous hydraulic driving system is easy to cause eccentric wear of the crawler, so that the service life of the crawler is reduced by 40%. In addition, the related patent technology US20210086921A1 still adopts a Mecanum wheel structure, the equipment bearing capacity is low, the load cannot exceed 1t, and the carrying requirement of medium and heavy goods is difficult to meet. The technical defects cause poor system operation stability, and severely restrict the efficiency, environmental adaptability and bearing performance of logistics transportation operation. Disclosure of Invention The invention aims to solve the technical problems of poor running stability, low operation efficiency, low environmental adaptability and low bearing performance in the prior art, and provides a three-way crawler-type three-way forklift system. In order to achieve the above purpose, the technical scheme provided by the invention is as follows: the three-way crawler-type three-way forklift system is characterized in that: the device comprises a control module, a crawler walking module, a steering execution module, a work execution module and a safety detection module; the control module is respectively and electrically connected with the crawler walking module, the steering execution module and the safety detection module, and is internally provided with an anti-tipping model and a differential steering model for instruction issuing and state coordination; The crawler traveling module is used for driving the forklift to move forwards, backwards or turn, and comprises a left crawler and a right crawler; the steering execution module is used for controlling the operation execution module to steer, transversely move and lift; The operation execution module is used for bearing and picking and placing goods; The safety detection module is used for monitoring the forklift running state information and the operation execution module state information and feeding back the forklift running state information and the operation execution module state information to the control module for carrying out state coordination work; the anti-tipping model is used for completing the posture adjustment operation of the forklift in cooperation with the safety detection module, the crawler traveling module and the steering execution module; the differential steering control model is used for adjusting the speed ratio of the left crawler to the right crawler so as to realize steering action of the crawler walking module. Further, the steering execution module comprises a universal hinge frame, and a rotation execution unit and a translation execution unit which are connected to the universal hinge frame; The rotary execution unit comprises a rotary driving motor, and the output end of the rotary driving motor is connected with the job execution module and used for controlling the job execution module to rotate; The translation execution unit comprises a transverse movement driving motor and two lifting hydraulic cylinders, wherein the transverse movement driving motor is used for driving the operation execution module to translate along the horizontal direction, and the two lifting hydraulic cylinders synchronously act and are used for driving the operation execution module to translate along the vertical direction. Further, the anti-tipping model comprises a first information acquisition link, a gesture resolving link, a risk judging link, a first control instruction generating link, an instruction output and feedback link which are connected in sequence; the