CN110703668A - Anti-pinch control method for lifting cabinet and lifting cabinet with anti-pinch function - Google Patents

Anti-pinch control method for lifting cabinet and lifting cabinet with anti-pinch function Download PDF

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Publication number
CN110703668A
CN110703668A CN201911106881.4A CN201911106881A CN110703668A CN 110703668 A CN110703668 A CN 110703668A CN 201911106881 A CN201911106881 A CN 201911106881A CN 110703668 A CN110703668 A CN 110703668A
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China
Prior art keywords
lifting
cabinet
motor
rotating speed
state
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CN201911106881.4A
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Chinese (zh)
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不公告发明人
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Himeck (guangzhou) Industrial Co Ltd
CMECH Guangzhou Industrial Ltd
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Himeck (guangzhou) Industrial Co Ltd
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Priority to CN201911106881.4A priority Critical patent/CN110703668A/en
Publication of CN110703668A publication Critical patent/CN110703668A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
    • A47B77/00—Kitchen cabinets
    • A47B77/04—Provision for particular uses of compartments or other parts ; Compartments moving up and down, revolving parts
    • A47B77/08—Provision for particular uses of compartments or other parts ; Compartments moving up and down, revolving parts for incorporating apparatus operated by power, including water power; for incorporating apparatus for cooking, cooling, or laundry purposes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/03—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses an anti-pinch control method for a lifting cabinet and the lifting cabinet with the anti-pinch function1(ii) a When the lifting cabinet is in a second state, acquiring a second rotating speed R of the motor2(ii) a Judging the second rotating speed R2Whether or not it is less than the safe rotation speed R0(ii) a If so, controlling the lifting frame to stop working or move reversely; wherein the first rotation speed R1The safe rotating speed R is negatively related to the lifting load on the lifting frame0At the first rotation speed R1With a predetermined safety threshold RdThe difference of (a). The invention can further avoid the clamping injury of the lifting cabinet caused by different actual loads.

Description

Anti-pinch control method for lifting cabinet and lifting cabinet with anti-pinch function
Technical Field
The invention relates to the technical field of storage cabinets, in particular to an anti-pinch control method for a lifting cabinet and the lifting cabinet with an anti-pinch function.
Background
With the development of urbanization, most houses adopt a small house type structure. In order to ensure a sufficient storage space, people often utilize the free space above the house, for example, people can place an automatically lifting cabinet in the upper space of the house, the automatically lifting cabinet comprises a cabinet body with an open bottom, a lifting frame which can extend out from the bottom opening of the cabinet body is arranged in the cabinet body, and the lifting frame is driven by a motor to ascend or descend.
Wherein, in the process of ascending or descending of the lifting frame, if meeting resistance or obstacles, the lifting frame stops moving. The specific method for realizing the functions is as follows: setting a maximum weight value lifted by the motor, and testing to obtain a current value corresponding to the motor when the lifted weight reaches the value, wherein the current value is assumed to be 10 mA; and in the rising process, when the current value of the motor reaches 10mA, the motor is controlled to stop or rotate reversely, so that the clamping injury is avoided.
However, in practical use, the load of the lifting frame is changed, and the current value for setting the stop or reverse rotation of the trigger motor is fixed; that is, the lighter the weight of the crane is, the greater the pressure (pressure applied to the human body by the crane) applied to the human body when being gripped is, so that the current value of the motor can reach the preset value. Therefore, a pinch may still be caused using the above-described method.
Disclosure of Invention
The invention aims to provide a lifting cabinet anti-pinch control method which can further avoid pinching caused by different actual loads of a lifting cabinet.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the anti-pinch control method of the lifting cabinet comprises the following steps:
when the lifting cabinet is in a first state, acquiring a first rotating speed R of the motor1；
When the lifting cabinet is in a second state, acquiring a second rotating speed R of the motor2；
Judging the second rotating speed R2Whether or not it is less than the safe rotation speed R0；
If so, controlling the lifting frame to stop working or move reversely;
wherein the first rotation speed R1The safe rotating speed R is negatively related to the lifting load on the lifting frame0At the first rotation speed R1With a predetermined safety threshold RdThe difference of (a).
According to the anti-pinch control method of the lifting cabinet, the first rotating speed R of the motor, which is negatively related to the lifting load on the lifting frame, is acquired when the lifting cabinet is in the first state1And acquiring a second rotating speed R of the motor when the lifting cabinet is in a second state2And further according to the first rotational speed R1With a predetermined safety threshold RdThe difference of (A) to obtain a safe rotation speed R0And then by applying a second rotational speed R2And a safe rotation speed R0Comparing, and judging whether to control the lifting frame to stop working or move reversely; due to the safe rotation speed R0Is a first rotating speed R negatively related to the lifting load on the lifting frame1And a predetermined safety threshold RdSo that each time the second speed R is reached2Less than the safe rotation speed R0The lifting frame is controlled to stop or move reversely at the moment, so that the human body can be prevented from being subjected to overlarge clamping force.
Further, the anti-pinch control method further comprises the following steps:
when the starting time length of the motor is not more than a preset time value, judging that the lifting cabinet is in a first state;
otherwise, the lifting cabinet is judged to be in the second state.
In one embodiment, when the lifting cabinet is in the first state, the first rotating speed R of the motor is obtained1The method specifically comprises the following steps: when the lifting cabinet is in a first state and the starting time of the motor reaches the preset time value, acquiring the rotating speed value of the motor as the first rotating speed R1。
Further, the anti-pinch control method further comprises the following steps:
when the distance moved by the lifting frame after the lifting frame is started at any height is not greater than a first preset distance value, judging that the lifting cabinet is in a first state;
otherwise, the lifting cabinet is judged to be in the second state.
In one embodiment, when the lifting cabinet is in the first state, the first rotating speed R of the motor is obtained1The method specifically comprises the following steps: when the lifting cabinet is in a first state and the distance moved by the lifting frame after the lifting frame is started at any height reaches a first preset distance value, acquiring the rotating speed value of the motor as the first rotating speed R1。
In another embodiment, when the lifting cabinet is in the first state, the first rotating speed R of the motor is obtained1The method specifically comprises the following steps: when the lifting cabinet is in a first state and the moving distance of the lifting frame after the lifting frame is started at any height reaches a second preset distance value, starting to record the rotating speed value of the motor in real time until the moving distance of the lifting frame after the lifting frame is started at any height reaches a first preset distance value, and obtaining a first real-time rotating speed set;
selecting the rotating speed value with the most frequent occurrence from the first real-time rotating speed set as the first rotating speed R1；
Wherein the second preset distance value is smaller than the first preset distance value.
Specifically, when the lifting cabinet is in the second state, the second rotating speed R of the motor is obtained2The method specifically comprises the following steps: when the lifting cabinet is in a second state, the rotating speed value of the motor is recorded in real time and is used as a second rotating speed R of the motor2。
This embodiment still provides a cubical switchboard with prevent pressing from both sides and hinder function, the cubical switchboard includes the cabinet body, sets up crane on the cabinet body, and drive the motor that the crane rises or descends, this cubical switchboard still includes:
a first acquisition module for acquiring the motor when the lifting cabinet is in a first stateFirst rotational speed R1；
A second obtaining module for obtaining a second rotating speed R of the motor when the lifting cabinet is in a second state2；
MCU control module for judging the second rotation speed R2Whether or not it is less than the safe rotation speed R0If yes, generating a stall signal;
the direct current motor driving module is connected with the MCU control module and used for controlling the motor of the lifting cabinet to stop rotating or reversely rotate according to the stop rotating signal;
wherein the first rotation speed R1The safe rotating speed R is negatively related to the lifting load on the lifting frame0At the first rotation speed R1With a predetermined safety threshold RdThe difference of (a).
This embodiment still provides a cubical switchboard with prevent pressing from both sides and hinder function, and it includes:
a memory for storing program instructions;
and the processor is used for calling the program instruction stored in the memory and executing the anti-pinch control method of the lifting cabinet according to the obtained program.
The embodiment also provides a computer-readable storage medium, on which computer-executable instructions are stored, and the computer-executable instructions are used for causing the computer to execute the anti-pinch control method for the elevator cabinet.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic flow chart illustrating a method for controlling an elevator cabinet to prevent pinching in accordance with embodiment 1 of the present invention;
FIG. 2 is a circuit connection block diagram of the lifting cabinet with anti-pinch function according to the embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a method for controlling an elevator cabinet according to an embodiment 2 of the present invention;
fig. 4 is a schematic flow chart illustrating a method for controlling pinch resistance of a lifting cabinet according to embodiment 3 of the present invention.
Detailed Description
In order to better illustrate the invention, the invention is described in further detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 1, the embodiment further provides an anti-pinch control method for a lifting cabinet, where the lifting cabinet includes a cabinet body, a lifting frame disposed on the cabinet body, and a motor driving the lifting frame to ascend or descend, and the method includes the following steps:
s100: when the starting time length of the motor is not more than a preset time value, judging that the lifting cabinet is in a first state; otherwise, judging that the lifting cabinet is in a second state;
for example, the preset time value is 2s, the starting time of the motor at a certain moment is 1s, and the lifting cabinet is determined to be in the first state. It should be noted that the starting time of the motor refers to a time length value of the motor which continuously works.
S200: when the lifting cabinet is in a first state and the starting time of the motor reaches the preset time value, acquiring the rotating speed value of the motor as the first rotating speed R1；
S300: when the lifting cabinet is in a second state, the rotating speed value of the motor is recorded in real time and is used as a second rotating speed R of the motor2；
S400: judging the second rotating speed R2Whether or not it is less than the safe rotation speed R0；
S500: if so, controlling the lifting frame to stop working or move reversely;
wherein the first rotation speed R1The safe rotating speed R is negatively related to the lifting load on the lifting frame0At the first rotation speed R1With a predetermined safety threshold RdThe difference of (a).
For example, the preset time value is 2s, and when the starting time of the motor is 1s, the rising time is judgedThe descending cabinet is in a first state, and then when the starting time of the motor is 2s, the rotating speed value of the motor at the moment is obtained and is used as a first rotating speed R1；
Assuming a first speed of rotation R1A safety threshold R is preset for 5000 turnsdIs 500 revolutions, thus obtaining a safe rotation speed R0At 4500 revolutions (5000-0At the first rotation speed R1With a predetermined safety threshold RdThe difference of (d);
when the starting time of the motor is longer than 2s, the lifting cabinet is judged to be in the second state, and the rotating speed value of the motor is recorded in real time and serves as the second rotating speed R2(ii) a Assuming that the second rotation speed R is set when the starting time of the motor is 5s2For 4400 turns, the MCU control module judges the second rotating speed R2Less than the safe rotation speed R0Judging that the lifting frame meets the resistance and generating a stalling signal; and the direct current motor driving module controls the motor to stop rotating or reverse rotating according to the stop rotating signal so as to control the lifting frame to stop working or move reversely.
It should be noted that the preset safety threshold is related to the inherent characteristics of the motor. For example, according to the inherent characteristics of a certain motor, the motor speed can be reduced by 500 revolutions by measuring that 1N of force is applied; applying 2N force to reduce the rotation speed of the motor by 1200 revolutions; when the preset safety threshold of the motor is set to be 500 revolutions, the lifting frame of the lifting cabinet provided with the motor stops when meeting 1N resistance in the lifting process, namely, the pressure on the human body is only 1N at most if the lifting frame is clamped, no matter what the actual load of the lifting frame is. In a similar way, when the preset locked-rotor speed threshold of the motor is set to be 1200 revolutions, the lifting frame of the lifting cabinet provided with the motor stops when additionally meeting 2N resistance in the lifting process, namely, the pressure applied to the human body is only 2N at most if the lifting frame is clamped, and no matter what the actual load of the lifting frame is.
In addition, no matter what the weight of the cabinet body of the lifting cabinet and the lifting frame is, as long as a preset safety threshold is set, the pressure on the human body when the human body is clamped by the lifting frame is always a pressure value corresponding to the preset safety threshold.
As shown in fig. 2, which is a circuit connection block diagram of the lifting cabinet according to the embodiment of the present invention, the lifting cabinet includes an MCU control module 100, a dc motor driving module 200 connected to the MCU control module, and a motor 300 connected to the dc motor driving module.
The lifting cabinet includes the cabinet body, sets up crane on the cabinet body, and the drive the crane rises or the motor that descends, and this lifting cabinet still includes:
a first obtaining module for obtaining a first rotating speed R of the motor when the lifting cabinet is in a first state1；
A second obtaining module for obtaining a second rotating speed R of the motor when the lifting cabinet is in a second state2；
MCU control module for judging the second rotation speed R2Whether or not it is less than the safe rotation speed R0If yes, generating a stall signal;
the direct current motor driving module is connected with the MCU control module and used for controlling the motor of the lifting cabinet to stop rotating or reversely rotate according to the stop rotating signal;
wherein the first rotation speed R1The safe rotating speed R is negatively related to the lifting load on the lifting frame0At the first rotation speed R1With a predetermined safety threshold RdThe difference of (a).
Specifically, the lifting cabinet further comprises: the first acquisition module and the second acquisition module are rotating speed detection devices connected with the motor;
the rotating speed detection device is used for detecting and outputting a rotating pulse signal of the motor; in some possible embodiments, the rotation speed detecting device includes a magnet disposed on the motor and rotating synchronously with the motor, and a hall sensor 410 cooperating with the magnet.
The anti-pinch control method of the lifting cabinet and the lifting cabinet with the anti-pinch function of the embodiment acquire the first rotating speed R of the motor, which is negatively related to the lifting load on the lifting frame, when the lifting cabinet is in the first state1Is obtained when the lifting cabinet is in the second stateSecond speed of rotation R of the electric machine2And further according to the first rotational speed R1With a predetermined safety threshold RdThe difference of (A) to obtain a safe rotation speed R0And then by applying a second rotational speed R2And a safe rotation speed R0Comparing, and judging whether to control the lifting frame to stop working or move reversely; due to the safe rotation speed R0Is a first rotating speed R negatively related to the lifting load on the lifting frame1And a predetermined safety threshold RdSo that each time the second speed R is reached2Less than the safe rotation speed R0The lifting frame is controlled to stop or move reversely at the moment, so that the human body can be prevented from being subjected to overlarge clamping force.
In practical application, the pressure on the human body when the human body is clamped by the lifting frame can be further reduced by adjusting the preset safety threshold value, so that the resistance sensitivity of the lifting frame can be adjusted.
This embodiment still provides a cubical switchboard with prevent pressing from both sides and hinder function, and it includes:
a memory for storing program instructions;
and the processor is used for calling the program instruction stored in the memory and executing the anti-pinch control method of the lifting cabinet according to the obtained program.
The embodiment also provides a computer-readable storage medium, on which computer-executable instructions are stored, and the computer-executable instructions are used for causing the computer to execute the anti-pinch control method for the elevator cabinet.
Example 2
This embodiment is substantially the same as embodiment 1, and is mainly different from embodiment 1 in that the first rotation speed R is obtained in this embodiment1The specific method of (a) is different.
As shown in fig. 3, the embodiment provides a control method for preventing a lifting cabinet from being pinched, the lifting cabinet includes a cabinet body, a lifting frame disposed on the cabinet body, and a motor driving the lifting frame to ascend or descend, the method includes the following steps:
s101: when the distance moved by the lifting frame after the lifting frame is started at any height is not greater than a first preset distance value, judging that the lifting cabinet is in a first state; otherwise, judging that the lifting cabinet is in a second state;
s201: when the lifting cabinet is in a first state and the distance moved by the lifting frame after the lifting frame is started at any height reaches a first preset distance value, acquiring the rotating speed value of the motor as the first rotating speed R1；
S300: when the lifting cabinet is in a second state, the rotating speed value of the motor is recorded in real time and is used as a second rotating speed R of the motor2；
S400: judging the second rotating speed R2Whether or not it is less than the safe rotation speed R0；
S500: if so, controlling the lifting frame to stop working or move reversely;
wherein the first rotation speed R1The safe rotating speed R is negatively related to the lifting load on the lifting frame0At the first rotation speed R1With a predetermined safety threshold RdThe difference of (a).
For example, the first preset distance value is 10 mm; distance D moved after the lifting frame is started at any height1When the height is 8mm, the lifting cabinet is judged to be in a first state, and then D1The rotating speed value of the motor at the moment is obtained as a first rotating speed R when the rotating speed is 10mm1；
Suppose when D1When the rotating speed is 10mm, the rotating speed value of the motor is 5000 revolutions, and then the first rotating speed R15000 turns; assuming a preset safety threshold RdIs 500 revolutions, thus obtaining a safe rotation speed R0At 4500 revolutions (5000-0At the first rotation speed R1With a predetermined safety threshold RdThe difference of (d);
when D is present1When the rotating speed is larger than 10mm, the lifting cabinet is judged to be in the second state, and the rotating speed value of the motor is recorded in real time and is taken as the second rotating speed R2(ii) a Suppose when D1At 100mm, the second rotation speed R2For 4400 turns, the MCU control module judges the second rotating speed R2Less than the safe rotation speed R0Then judge the craneGenerating a stall signal when the vehicle is blocked; and the direct current motor driving module controls the motor to stop rotating or reverse rotating according to the stop rotating signal so as to control the lifting frame to stop working or move reversely.
Example 3
This embodiment is substantially the same as embodiments 1 and 2, and the main difference is that this embodiment obtains the first rotation speed R1The specific method of (a) is different.
As shown in fig. 4, the embodiment further provides a control method for preventing pinch injury of a lifting cabinet, where the lifting cabinet includes a cabinet body, a lifting frame disposed on the cabinet body, and a motor driving the lifting frame to ascend or descend, and the method includes the following steps:
s101: when the distance moved by the lifting frame after the lifting frame is started at any height is not greater than a first preset distance value, judging that the lifting cabinet is in a first state; otherwise, judging that the lifting cabinet is in a second state;
s202: when the lifting cabinet is in a first state and the moving distance of the lifting frame after the lifting frame is started at any height reaches a second preset distance value, starting to record the rotating speed value of the motor in real time until the moving distance of the lifting frame after the lifting frame is started at any height reaches the first preset distance value, and obtaining a first real-time rotating speed set; selecting the rotating speed value with the most frequent occurrence from the first real-time rotating speed set as the first rotating speed R1(ii) a Wherein the second preset distance value is smaller than the first preset distance value.
S300: when the lifting cabinet is in a second state, the rotating speed value of the motor is recorded in real time and is used as a second rotating speed R of the motor2；
S400: judging the second rotating speed R2Whether or not it is less than the safe rotation speed R0；
S500: if so, controlling the lifting frame to stop working or move reversely;
wherein the first rotation speed R1The safe rotating speed R is negatively related to the lifting load on the lifting frame0At the first rotation speed R1With a predetermined safety threshold RdThe difference of (a).
For example, the first preset distance value is 10mm, and the second preset distance value is 5 mm; distance D moved after the lifting frame is started at any height1When the height is 3mm, the lifting cabinet is judged to be in a first state, and then D1Starting to record and acquire the rotating speed value of the motor in real time when the rotating speed value is 5mm until D1Is 10 mm;
suppose at D1In the process of increasing from 5mm to 10mm, the recorded rotating speed values (first real-time rotating speed set) are as follows: 4800 turns, 5100 turns, 5000 turns, 4900 turns, 5000 turns, and 5000 turns; in the first set of real-time rotational speeds, the rotational speed value which occurs most frequently is 5000 revolutions, so that 5000 revolutions are taken as the first rotational speed R1；
Note that the first rotational speed R1Or may be an average of all the speed values in the first real-time speed set.
Assuming a preset safety threshold RdIs 500 revolutions, thus obtaining a safe rotation speed R0At 4500 revolutions (5000-0At the first rotation speed R1With a predetermined safety threshold RdThe difference of (d);
when D is present1When the rotating speed is larger than 10mm, the lifting cabinet is judged to be in a second state, and the rotating speed value of the motor is recorded in real time and is taken as a second rotating speed R2(ii) a Suppose when D1At 100mm, the second rotation speed R2For 4400 turns, the MCU control module judges the second rotating speed R2Less than the safe rotation speed R0Judging that the lifting frame meets the resistance and generating a stalling signal; and the direct current motor driving module controls the motor to stop rotating or reverse rotating according to the stop rotating signal so as to control the lifting frame to stop working or move reversely.
It should be noted that, no matter the preset time value of embodiment 1, or the first preset distance value and the second preset distance value in embodiments 2 and 3, the specific values thereof do not represent the limitation of the present invention, and the rotation speed of the motor after the crane is raised or lowered can be stably determined by the factors such as the inherent characteristics of the motor.
Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The present invention is not limited to the above-described embodiments, and various modifications and variations of the present invention are intended to be included within the scope of the claims and the equivalent technology of the present invention if they do not depart from the spirit and scope of the present invention.

Claims (10)

1. The anti-pinch control method of the lifting cabinet is characterized in that the lifting cabinet comprises a cabinet body, a lifting frame arranged on the cabinet body and a motor for driving the lifting frame to ascend or descend, and the method comprises the following steps:
when the lifting cabinet is in a first state, acquiring a first rotating speed R of the motor1；
When the lifting cabinet is in a second state, acquiring a second rotating speed R of the motor2；
Judging the second rotating speed R2Whether or not it is less than the safe rotation speed R0；
If so, controlling the lifting frame to stop working or move reversely;
wherein the first rotation speed R1The safe rotating speed R is negatively related to the lifting load on the lifting frame0At the first rotation speed R1With a predetermined safety threshold RdThe difference of (a).
2. The method of claim 1, wherein the anti-pinch control method further comprises the steps of:
when the starting time length of the motor is not more than a preset time value, judging that the lifting cabinet is in a first state;
otherwise, the lifting cabinet is judged to be in the second state.
3. Method according to claim 2, characterized in that said first speed of rotation R of said motor is obtained when the lift cabinet is in the first state1The method specifically comprises the following steps:
when the lifting cabinet is in a first state and the starting time of the motor reaches the preset time value, acquiring the rotating speed value of the motor as the first rotating speed R1。
4. The method of claim 1, wherein the anti-pinch control method further comprises the steps of:
when the distance moved by the lifting frame after the lifting frame is started at any height is not greater than a first preset distance value, judging that the lifting cabinet is in a first state;
otherwise, the lifting cabinet is judged to be in the second state.
5. Method according to claim 4, characterized in that said first speed R of the motor is obtained when the lift cabinet is in the first state1The method specifically comprises the following steps:
when the lifting cabinet is in a first state and the distance moved by the lifting frame after the lifting frame is started at any height reaches a first preset distance value, acquiring the rotating speed value of the motor as the first rotating speed R1。
6. Method according to claim 4, characterized in that said first speed R of the motor is obtained when the lift cabinet is in the first state1The method specifically comprises the following steps:
when the lifting cabinet is in a first state and the moving distance of the lifting frame after the lifting frame is started at any height reaches a second preset distance value, starting to record the rotating speed value of the motor in real time until the moving distance of the lifting frame after the lifting frame is started at any height reaches the first preset distance value, and obtaining a first real-time rotating speed set;
selecting the rotating speed value with the most frequent occurrence from the first real-time rotating speed set as the first rotating speed R1；
Wherein the second preset distance value is smaller than the first preset distance value.
7. Method according to any of claims 1-6, characterized in that said second speed R of the motor is obtained when the lift cabinet is in the second state2The method specifically comprises the following steps:
when the lifting cabinet is in a second state, the rotating speed value of the motor is recorded in real time and is used as a second rotating speed R of the motor2。
8. The utility model provides a lifting cabinet with prevent pressing from both sides and hinder function, a serial communication port, lifting cabinet includes the cabinet body, sets up crane on the cabinet body, and drive the motor that the crane rises or descends, this lifting cabinet still includes:
a first obtaining module for obtaining a first rotating speed R of the motor when the lifting cabinet is in a first state1；
A second obtaining module for obtaining a second rotating speed R of the motor when the lifting cabinet is in a second state2；
MCU control module for judging the second rotation speed R2Whether or not it is less than the safe rotation speed R0If yes, generating a stall signal;
the direct current motor driving module is connected with the MCU control module and used for controlling the motor of the lifting cabinet to stop rotating or reversely rotate according to the stop rotating signal;
wherein the first rotation speed R1The safe rotating speed R is negatively related to the lifting load on the lifting frame0At the first rotation speed R1With a predetermined safety threshold RdThe difference of (a).
9. The utility model provides a cubical switchboard with prevent pressing from both sides and hinder function which characterized in that includes:
a memory for storing program instructions;
a processor for calling the program instructions stored in the memory and executing the anti-pinch control method of the elevator cabinet according to the obtained program.
10. A computer-readable storage medium having computer-executable instructions stored thereon for causing a computer to perform the method of claim 1-7.
CN201911106881.4A 2019-11-13 2019-11-13 Anti-pinch control method for lifting cabinet and lifting cabinet with anti-pinch function Pending CN110703668A (en)

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Application publication date: 20200117