CN114688242A - Reversing control mechanism - Google Patents
Reversing control mechanism Download PDFInfo
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- CN114688242A CN114688242A CN202210289175.3A CN202210289175A CN114688242A CN 114688242 A CN114688242 A CN 114688242A CN 202210289175 A CN202210289175 A CN 202210289175A CN 114688242 A CN114688242 A CN 114688242A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/18—Preventing unintentional or unsafe shift, e.g. preventing manual shift from highest gear to reverse gear
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H3/00—Mechanisms for operating contacts
- H01H3/02—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch
- H01H3/16—Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch adapted for actuation at a limit or other predetermined position in the path of a body, the relative movement of switch and body being primarily for a purpose other than the actuation of the switch, e.g. for a door switch, a limit switch, a floor-levelling switch of a lift
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention relates to the technical field of limit protection, and aims to provide a reversing control mechanism to solve the technical problem that a limit switch in the prior art is prone to limit failure due to stroke errors caused by angle errors when the limit switch is opened and closed in the limit protection. The reversing control mechanism comprises a limit switch, a reciprocating motion piece, a driving mechanism for driving the reciprocating motion piece and a controller, the controller is used for receiving a limit signal of the limit switch to control the driving mechanism, and the limit switch comprises a forward limit switch and a reverse limit switch; the reciprocating element is provided with a forward movement limit position I and a reverse movement limit position I; when the reciprocating motion piece moves to the forward movement limit position, the forward limit switch correspondingly sends a forward limit signal, and when the reciprocating motion piece moves to the reverse movement limit position, the reverse limit switch sends a reverse limit signal. The controller has a first control mode and a second control mode, and the first mode and the second mode are both used for monitoring the position of the reciprocating piece which reciprocates.
Description
Technical Field
The invention relates to the technical field of limiting protection, in particular to a reversing control mechanism.
Background
When motor drive is rotatory or linear motion equipment, in order to prevent to set up and rotate excessive or satisfy actual movement distance requirement, need carry out spacing protection in to equipment, equipment after carrying out spacing protection can carry out reciprocating motion in certain settlement distance. The boss is used for triggering the limit switch, and the limit switch is a common mechanical limit protection scheme and is particularly suitable for severe environments such as oil pollution. When the boss moves to the limit position, the microswitch is triggered to disconnect the control signal, so that protection is realized.
A common limit switch structure is shown in fig. 1, and the limit switch includes a housing, a base, and a conductive structure disposed in the housing, where the conductive structure includes different conductive loops, so that conductive circuits in different postures can be switched on and off, and different pose signals can be emitted. As shown in fig. 1, in the case where the lever arm 16 obliquely extends out of the limit switch, the front end of the lever arm 16 is used for setting a roller (not shown in the figure), the roller can slide on different matching surfaces, the switch 10 can be pressed when the force applied to the roller changes, the switch 10 presses the movable plate 18 to move through the inward effective stroke of the switch 10, so that the movable plate 18 extrudes the elastic plate 19, and the elastic plate 19 drives the electrical contact 17 to separate and switch the states of the normally open port and the normally closed port, thereby realizing the circuit conversion of the limit switch.
The invention patent with the publication number of CN106992086B discloses a rotary type micro-motion limit switch, which comprises a base, a first movable component, a second movable component and a movable contact piece component, wherein the first movable component, the second movable component and the movable contact piece component are arranged in the base and are mutually linked, two ends of the second movable component are respectively abutted against the first movable component and the movable contact piece component, the first movable component moves along the axial direction of the first movable component and drives one end of the second movable component abutted against the first movable component to swing, and the second movable component pushes the movable contact piece component to rotate around a fulcrum of the movable contact piece component and a connector assembly or an adapter assembly. Because the turning block can be at certain angle of movable rod internal rotation, the switch action parameter can be improved in turning block boss and the contact of casing side boss, and the power balance can be formed earlier than between second movable assembly and the movable contact piece subassembly in the power balance position appearing with the second movable assembly, can effectually prevent that the power balance from appearing when the contact piece subassembly rotates and leading to the switch outage or go up the scintillation phenomenon for rotary type fine motion limit switch is more sensitive, safe and reliable.
According to the improvement of the limit switch and the optimization of the structure of the limit switch, the limit switch is widely applied to the protection of equipment movement, but when the limit switch is used for the limit protection of two-way movement equipment, a certain angle error exists when the effective closing state and the effective opening state of the switch contacts are switched due to the stroke clearance of the limit switch, namely the effective opening position and the effective closing position of the limit switch are not on the same point, so that the movement position precision of the equipment after the equipment is switched is limited. As shown in fig. 2, taking the rotation angle limit as an example, before and after the limit is triggered in the reversing process, when the roller 11 on the limit switch is in the sliding fit process with the moving part, when the roller 11 is in the position for controlling the normal open and the normal close of the limit switch from the triggering to the switching state, an angle error α usually exists due to the stroke of the roller 11. In the mechanical switch type triggering limit, no matter in a forward switching state or a reverse switching state, an angle alpha between the roller 11 and a matching triggering position theoretically appears, and when the roller moves forward and backward, the numerical value of the alpha is theoretically equal. However, because the roller of the limit switch has displacement error and the lever arm and the roller also have a matching angle, the limit switch may not be triggered in place or be triggered to fail due to the error during operation. Theoretically, the stroke error can be improved by changing the chamfer angle of the boss, the height of the boss and the effective stroke of the travel switch, but the improvement degree is limited, and the opening and closing angle error of a single limit switch is difficult to completely eliminate. When the single limit switch is not triggered in place and fails, the limit protection of the equipment also directly fails, so that the equipment rotates excessively, and the running risk of the equipment is caused.
Disclosure of Invention
The invention aims to provide a reversing control mechanism to solve the technical problem that a limit switch in the prior art is prone to limit failure due to stroke errors caused by angle errors when the limit switch is opened and closed in a limiting protection mode.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a reversing control mechanism comprises a limit switch, a reciprocating motion piece, a driving mechanism for driving the reciprocating motion piece and a controller, wherein the controller is used for receiving a limit signal of the limit switch to control the driving mechanism; the reciprocating element is provided with a forward movement limit position I and a reverse movement limit position I, when the reciprocating element moves to the forward movement limit position, the forward limit switch correspondingly sends a forward limit signal, and when the reciprocating element moves to the reverse movement limit position, the reverse limit switch sends a reverse limit signal; the controller is provided with a first control mode and a second control mode, wherein the first control mode is used for monitoring the position of the reciprocating part moving in the forward direction to enable the forward limiting switch to be in a forward limiting monitoring state, and the second control mode is used for monitoring the position of the reciprocating part moving in the reverse direction to enable the reverse limiting switch to be in a reverse limiting monitoring state; the control method executed by the controller in the first mode comprises the following steps: monitoring and judging a positive limit signal sent by a positive limit switch; if the forward limiting signal jumps to be effective, triggering a direction switching signal I to control the driving mechanism, so that the driving mechanism drives the reciprocating motion piece to switch from forward motion to reverse motion, and if the forward limiting signal jumps to be effective and then jumps to be ineffective, switching the control mode to be a mode II; the control method executed by the controller in the mode two comprises the following steps: monitoring and judging a reverse limit signal sent by a reverse limit switch; if the reverse limiting signal jumps to be effective, a direction switching signal II is triggered to control the driving mechanism, the driving mechanism drives the reciprocating motion piece to switch from reverse motion to forward motion, and if the reverse limiting signal jumps to be effective and then jumps to be ineffective, the control mode is switched to be the mode I.
Has the advantages that: limit switch through two different positions, and set up with limit switch matched with just, the backward movement extreme position, single limit switch only triggers one-way spacing protection, thereby no longer need consider reciprocating motion spare to cross limit switch's delay time when judging that spacing signal is effective, thereby eliminate the stroke error that causes because of limit switch's gyro wheel stroke and angle error when the switching-over, not only protect limit switch, make the triggering of switching-over more accurate simultaneously, thereby can improve equipment's spacing protection effect. Compared with the prior art in which a single limit switch is adopted to carry out limit control in two directions, the invention improves the position precision of reciprocating motion part control and effectively avoids angle errors.
Preferably, the reciprocating element is also provided with a forward movement limit position two and a reverse movement limit position two, the distance between the forward movement limit position one and the reverse movement limit position one is smaller than the distance between the forward movement limit position two and the reverse movement limit position two, when the reciprocating element moves to the forward movement limit position one and the reverse movement limit position two, the forward limit switches correspondingly send forward limit signals, and when the reciprocating element moves to the reverse movement limit position one and the forward movement limit position two, the reverse limit switches correspondingly send reverse limit signals; the control method executed by the controller in the first mode further comprises the following steps: monitoring and judging a reverse limit signal sent by a reverse limit switch; after triggering the direction switching signal I, if the reverse limiting signal is effective, starting forward redundant safety protection and stopping the machine; under the condition that a first direction switching signal is not triggered, if a reverse limiting signal is effective, starting forward redundant safety protection, and stopping; the control method executed by the controller in the second mode further comprises the following steps: monitoring and judging a positive limit effective signal sent by a positive limit switch; after triggering the direction switching signal II, if the forward limiting signal is effective, starting reverse redundancy safety protection and stopping the machine; and under the condition that the direction switching signal II is not triggered, if the forward limiting signal is effective, starting reverse redundancy safety protection and stopping. Two limit switches can utilize another limit switch to carry out redundancy protection when one of them limit switch became invalid or motor trouble, through setting up just, reverse movement extreme position two, avoid limit switch to move to just, reverse movement extreme position one time because of the unfavorable consequence that the spacing became invalid and cause to further promote the reliability of the spacing protection of equipment.
Preferably, the reciprocating member is a linear member. The device which does linear reciprocating motion is effectively protected in a limiting way.
Preferably, the reciprocating member is a rotary member. The equipment which rotates and reciprocates is effectively limited and protected.
Preferably, reciprocating motion spare is the reversing wheel, and the periphery of reversing wheel is provided with the boss, and the boss includes: the first forward switch switching boss and the second forward switch switching boss are positioned on the same circumference and arranged at intervals in the circumferential direction, and the forward limit switch is positioned between the first forward switch switching boss and the second forward switch switching boss; the first reverse switch switching boss and the second reverse switch switching boss are positioned on the same circumference and arranged at intervals, and the reverse limit switch is positioned between the first reverse switch switching boss and the second reverse switch switching boss; the distance between first forward switch switches boss and the first reverse switch and switches the boss and is less than the distance between second forward switch switches boss and the second reverse switch and switches the boss, and first forward switch switches the boss and moves to the position that triggers forward limit switch and constitutes forward removal extreme position one, and second forward switch switches the boss and moves to the position that triggers forward limit switch and constitutes forward removal extreme position two, and first reverse switch switches the boss and moves to the position that triggers reverse limit switch and constitutes reverse removal extreme position one, and second reverse switch switches the boss and moves to the position that triggers reverse limit switch and constitutes reverse removal extreme position two. Two limit switches correspond two switching bosss respectively, and when one of them limit switch became invalid, another limit switch can accomplish the limit circuit with the switching boss that corresponds rather than the position and switch, and all lie in same circumference position with the switching boss of one side, protect limit switch effectively, compact structure, the cooperation is firm.
Preferably, the limit switch is a mechanical limit switch. Compared with a limit switch such as an electronic induction type or a photoelectric type, the mechanical limit switch formed by the mechanical mechanism can save cost and can also quickly perform on-off limit protection.
Preferably, the limit switch comprises a lever arm which can swing to realize the state switching of the limit switch, and a roller which is used for contacting with the reciprocating member is arranged on the lever arm. The lever arm can carry out the atress oppression through lever principle to the switch when the atress, makes limit switch its inside intercommunication circuit, and the gyro wheel of connection on the lever arm can carry out sliding fit and carry out the atress transmission with reciprocating motion spare effectively, simple structure, and it is convenient to set up.
Preferably, the forward limit switch and the reverse limit switch are arranged in parallel along the axial direction of the reversing wheel. The limit switches arranged in parallel are convenient to install, compact in structure and close in matching.
Preferably, the boss is provided with a guide slope surface which is used for contacting with the limit switch in the movement direction of the reciprocating member to guide the limit switch to switch the on-off state, and the guide slope surface is an inclined surface. The guide slope is arranged on the boss, the normally closed end of the limit switch can be disconnected along with the slope change of the slope, the purpose of limiting protection is achieved, and damage to the limit switch is reduced. The linear distance or the angle distance between the switch switching bosses on the reciprocating motion piece can be obtained according to the working distance or the angle of actual limit protection.
Preferably, the drive mechanism is a drive motor. The driving motor is common electric control equipment, is very convenient to install and operate, can provide larger driving force, and can effectively drive the reciprocating motion piece.
Drawings
FIG. 1 is a schematic diagram of a limit switch in the prior art;
FIG. 2 is a schematic diagram of an angle error of a limit switch roller during limit protection in the prior art;
fig. 3 is a schematic structural diagram of a reversing wheel and a limit switch in embodiment 1 of the reversing control mechanism provided by the invention;
FIG. 4 is a schematic structural diagram of the limit switch of FIG. 3;
fig. 5 is a schematic view of the roller movement state when the reversing wheel is switched from reverse rotation to forward rotation in embodiment 1 of the reversing control mechanism (the transverse arrow in the figure is the rotation direction of the reversing wheel);
fig. 6 is a schematic view of the roller motion state when the reverse rotation is switched to the reverse rotation in embodiment 1 of the reversing control mechanism (the horizontal arrow in the figure is the rotation direction of the reverse rotation wheel);
FIG. 7 is a schematic diagram of the roller reversing position of the reversing wheel in case of failure of the forward limit switch in embodiment 1 of the reversing control mechanism (the arrow in the figure is the rotating direction of the reversing wheel);
FIG. 8 is a schematic view of the reversing position of the idler wheel when the reversing limit switch is failed in the reversing control mechanism in embodiment 1 (the arrow in the figure is the rotating direction of the reversing wheel);
FIG. 9 is a logic block diagram of a limit monitoring and control circuit in embodiment 1 of the commutation control mechanism;
FIG. 10 is a waveform diagram of a limit signal, a direction switch signal, and a redundancy protection signal under normal commutation;
FIG. 11 is a diagram of a normal redundant protection trigger waveform when the driving mechanism is abnormal and the limit switch is normal;
FIG. 12 is a waveform of the normal redundant protection trigger when the driving mechanism is normal and the normal limit switch is abnormal;
FIG. 13 is a logic diagram of forward limit monitoring and redundancy protection processing;
FIG. 14 is a reverse redundancy protection trigger waveform when the limit switch is normal due to an abnormal driving mechanism;
FIG. 15 is a diagram of a reverse redundancy protection trigger waveform when the driving mechanism is normal and the reverse limit switch is abnormal;
FIG. 16 is a logic block diagram of a reverse limit monitoring and redundancy protection process.
Description of reference numerals:
1. a reversing wheel; 2. a positive limit switch; 3. a reverse limit switch; 4. a first forward switch switching boss; 5. a first reversing switch switching boss; 6. a second forward switch switching boss; 7. a second reverse switch switching boss; 8. guiding the slope surface; 9. a terminal; 10. a switch; 11. a roller; 12. a support; 13. a base; 14. a positive limit switch roller; 15. a reverse limit switch roller; 16. a lever arm; 17. an electrical contact; 18. a movable piece; 19. an elastic sheet.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, which may be present, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, elements recited by the phrases "comprising an … …," or the like, do not exclude the presence of such elements, processes, or methods.
In the description of the invention, unless expressly stated or limited otherwise, the terms "mounted", "connected" and "connected" when used in this context are to be construed broadly, as for example they may be fixedly connected, releasably connected or integrally connected; can be mechanically or electrically connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art from specific situations.
In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the term "provided" may be used in a broad sense, for example, the object provided may be a part of the body, or may be arranged separately from the body and connected to the body, and the connection may be detachable or non-detachable. The specific meaning of the above terms in the present invention can be understood by those skilled in the art from specific situations.
The present invention will be described in further detail with reference to examples.
The specific embodiment 1 of the reversing control mechanism provided by the invention is as follows:
in this embodiment, the reversing control mechanism includes a limit switch, a reciprocating member, a driving mechanism for driving the reciprocating member, and a controller connected to the limit switch for receiving a signal from the limit switch, and the controller is configured to receive the limit signal from the limit switch to control the driving mechanism to control a motion state of the reciprocating member. In this embodiment, the limit switches are mechanical limit switches, and as shown in fig. 3, two mechanical limit switches are arranged in parallel, one of the two mechanical limit switches is a forward limit switch 2, and the other is a reverse limit switch 3. The two mechanical limit switches are fixedly arranged in the reversing control mechanism and do not reciprocate along with the reciprocating part.
As shown in fig. 4, the mechanical limit switch comprises a terminal 9 exposed outside, a switch 10, a bracket 12, a base 13, a roller 11 for rolling fit with the reciprocating member, and a lever arm 16 capable of swinging inside to switch the state of the limit switch, wherein the roller 11 is arranged at one end of the lever arm 16 extending out of the limit switch. The assembling method and the using method of the limit switch are both in the prior art, and are not described herein again.
As shown in fig. 3, the reciprocating member is a disc-shaped reversing wheel 1, the reversing wheel 1 can be driven by the driving mechanism to rotate around the center of the circle, the reversing wheel 1 can also change the rotating direction of the reversing mark after the reversing mark is triggered by the normally open contact of the mechanical limit switch, and thus the reversing is completed, that is, the reciprocating member is a rotating member. As shown in fig. 3, a switch switching boss is arranged on the outer periphery of the reversing wheel 1, and the switch switching boss is used for switching the on-off state of the limit switch, wherein the switch switching boss includes a first forward switch switching boss 4 and a second reverse switch switching boss 5, and the first forward switch switching boss and the second reverse switch switching boss correspond to the forward limit switch 2 on the same circumference. The switch switching boss further comprises a first reverse switch switching boss 7 and a second forward switch switching boss 6 of the reverse limit switch, and the first reverse switch switching boss and the second forward switch switching boss correspond to the reverse limit switch on the same circumference. First positive switch switches boss 4 and moves to the position that triggers positive limit switch 2 and has constituted forward movement extreme position one that the reversing wheel 1 can the forward movement, and similarly, second positive switch switches boss 6 and moves to the position that triggers positive limit switch 2 and has constituted forward movement extreme position two, and first reverse switch switches boss 7 and moves to the position that triggers reverse limit switch 3 and has constituted reverse movement extreme position one, and second reverse switch switches boss 5 and moves to the position that triggers reverse limit switch 3 and has constituted reverse movement extreme position two.
In this embodiment, each switch switching boss has a guiding slope 8 arranged on the circumference of the reversing wheel 1 in the rotation direction, the guiding slope 8 of each boss is an inclined surface, and the guiding slope 8 is used for contacting and matching with a roller 11 of the limit switch, so that the limit switch triggers an internal contact to generate level jump, thereby sending a signal.
As shown in fig. 3, the forward limit switch 2 is disposed between the first forward switch switching boss 4 and the second forward switch switching boss 6, the reverse limit switch 3 is disposed between the first reverse switch switching boss 7 and the second reverse switch switching boss 5, and the forward limit switch 2 and the reverse limit switch 3 are arranged in parallel in the axial direction of the commutating wheel 1. The reversing control mechanism further comprises a driving mechanism connected with the reversing wheel 1 and a controller connected with the driving mechanism, and the controller can receive the forward limiting signal and the reverse limiting signal so as to control the driving mechanism to rapidly switch the running state of the reversing wheel 1.
In this embodiment, the controller has a first control mode and a second control mode, the first control mode is used for monitoring the position of the reciprocating element moving in the forward direction to enable the forward limit switch 2 to be in the forward limit monitoring state, and the second control mode is used for monitoring the position of the reciprocating element moving in the reverse direction to enable the reverse limit switch 3 to be in the reverse limit monitoring state. As shown in the control circuit schematic diagram of the controller in fig. 9, the control circuit forms a shaping circuit of an input signal through a multichannel photoelectric coupler, a limit switch is normally opened, a normally closed end signal is arranged into a square wave signal with high and low levels, then the shaped positive and negative limit signals are sent into an IO port of a single chip microcomputer, the single chip microcomputer captures the signal by using the IO port, the high and low levels of the signal are distinguished, a driving control signal is generated through a limit protection logic, a driving mechanism is controlled to drive the motion state of a reciprocating motion member, and the control circuit can communicate with a computer through a serial port.
The forward limit switch (i.e. the forward detection microswitch in fig. 9) respectively sends forward limit signals one and two (shown as forward limit signals 1 and 2 in the drawings of each specification) when the switch is normally opened and normally closed, and the forward limit signals one and two are two signals with opposite levels, so that the forward limit signals one and two respectively represent that the forward limit signals are effective and the forward limit signals are ineffective when the forward limit signals are at a high level.
The reverse limit switch (i.e. the reverse detection microswitch in fig. 9) respectively sends a first reverse limit signal and a second reverse limit signal (shown as reverse limit signals 1 and 2 in the attached drawings of the specification) when the switch is normally opened and normally closed. The first and second reverse limit signals are two signals with opposite levels, so that the first and second reverse limit signals respectively represent that the reverse limit signals are valid and the reverse limit signals are invalid when the first and second reverse limit signals are at high levels.
In this embodiment, the distance between the first forward switch switching boss 4 and the second forward switch switching boss 6 is equal to the distance between the first reverse switch switching boss 7 and the second reverse switch switching boss 5, the first forward switch switching boss 4 and the first reverse switch switching boss 7 are staggered in the axial direction of the commutation wheel 1, and the second reverse switch switching boss 5 and the second forward switch switching boss 6 are also staggered in the axial direction of the commutation wheel 1. The distance between the first forward switch switching boss 4 and the first reverse switch switching boss 7 is smaller than the distance between the second forward switch switching boss 6 and the second reverse switch switching boss 5. When the reversing wheel 1 rotates forwards, the forward movement limit position I is the final limit position of the forward rotation of the reversing wheel 1, when the roller 11 of the forward limit switch 2 is matched with the inclined plane of the forward movement limit position I and moves upwards along the inclined plane, the level of the forward limit switch 2 jumps, the forward limit switch 2 sends a forward limit signal to the controller, the direction switching signal I is triggered, the controller controls the driving mechanism, the driving mechanism drives the reversing wheel 1 to switch from forward movement to reverse movement, and if the forward limit signal jumps to be effective and then jumps to be ineffective, the controller mode is switched to the mode two.
As shown in fig. 10, the waveform diagram of the limit switch signal and the commutation signal under the normal commutation condition is shown, wherein, when the commutation wheel 1 rotates forward, the controller is in a first control mode, the forward limit switch 2 is in a forward motion limit monitoring state, when the roller 11 of the forward limit switch 2 contacts with the inclined plane on the forward movement limit position one, the normally open and normally closed contacts in the forward limit switch 2 generate level jump due to the lever arm 16 being driven by the roller 11 to be raised, the forward limit signal jumps to high level, the control method executed by the controller at this moment is that the forward limit signal one sent by the forward limit switch 2 is monitored and judged, namely the forward limit signal jump is effective, the first direction switching signal is triggered, the controller controls the driving mechanism to make the reciprocating motion piece driven by the driving mechanism to switch from the forward motion to the reverse motion, after the short distance of the inclined plane, namely the roller 11 of the limit switch triggers the stroke, the forward limit switch 2 is switched back to a low level, at the moment, the reversing wheel 1 starts to move reversely, the controller is switched to a control mode II, the reverse limit switch 3 enters a reverse movement limit monitoring state, when the roller 11 of the reverse limit switch 3 contacts an inclined plane on a reverse movement limit position I, a normally open contact and a normally closed contact in the reverse limit switch 3 generate level jumping due to the fact that the roller 11 drives a lever arm 16 to be raised, a reverse limit signal jumps to a high level, the controller executes a control method that the reverse limit signal I sent by the reverse limit switch 3 is monitored and judged, namely the reverse limit signal jumps to be effective, a direction switching signal II is triggered, the controller controls the driving mechanism, the driving mechanism drives the reciprocating motion piece to switch from the reverse motion to the forward motion, after the short distance of the inclined plane, namely the roller 11 of the limit switch triggers a stroke, the reverse limit switch 3 is switched back to a low level, at the moment, the reversing wheel 1 starts to move in the forward direction, the controller is switched to a first control mode, the forward limit switch 2 enters a forward movement limit monitoring state again, and the reciprocating is a waveform diagram of the limit switch signal and the reversing signal under the normal reversing condition.
As shown in fig. 10, when the controller is in the first control mode, the first forward limit signal of the forward limit switch 2 is a forward limit valid signal, the forward limit valid signal is at a low level when the reversing wheel 1 normally moves forward, the forward limit switch 2 is switched to a high level when the reversing is triggered at the first forward movement limit position, the forward limit switch 2 simultaneously has a second forward limit signal, the second forward limit signal is a forward limit invalid signal, the forward limit invalid signal is at a high level when the reversing wheel 1 normally moves forward, the forward limit of the reversing wheel 1 is invalid at the moment, the forward limit switch 2 is switched to a low level when the reversing is triggered at the first forward movement limit position, the forward limit invalid signal is invalid, and the reversing wheel 1 reverses. When the controller is in a control mode II, a reverse limit signal I of the reverse limit switch 3 is a reverse limit effective signal, the reverse limit effective signal is at a low level when the reversing wheel 1 normally moves in a reverse direction, the reverse limit effective signal is switched to a high level when the reverse limit switch 3 triggers reversing at a reverse movement limit position I, the reverse limit switch 3 is provided with a reverse limit signal II, the reverse limit signal II is a reverse limit invalid signal, the reverse limit invalid signal is at a high level when the reversing wheel 1 normally moves in a reverse direction, the reversing wheel 1 is normally limited and invalid at the moment, the reverse limit invalid signal is switched to a low level when the reverse limit switch 3 triggers reversing at a reverse movement limit position I, the reverse limit invalid signal is invalid, and the reversing wheel 1 rotates forwards. Therefore, the forward limiting signal II and the reverse limiting signal II are both limiting invalid signals, and the two limiting invalid signals are used for avoiding the redundant protection false triggering of the reversing control mechanism.
In this embodiment, the controller of the steering control mechanism can also start redundant safety protection and directly stop the steering wheel in operation. The triggering conditions of the redundant safety protection are generally two conditions: (1) when the driving mechanism is abnormal, the driving mechanism cannot drive the reversing mechanism to perform reversing operation; (2) the limit switch is damaged, and a limit signal cannot be sent out after the limit switch reaches the movement limit position of the limit switch; when any one of the two conditions exists, the controller can control the reversing driving mechanism to stop, so that redundant protection is realized. The redundancy protection control method executed by the controller in the first control mode comprises the following steps: monitoring and judging a reverse limit signal sent by the reverse limit switch 3; after triggering the direction switching signal I, if the reverse limiting signal is effective, starting forward redundant safety protection and stopping the machine; and under the condition that the first direction switching signal is not triggered, if the reverse limiting signal is effective, starting forward redundant safety protection and stopping. The control method executed by the controller in the second control mode comprises the following steps: monitoring and judging a positive limit effective signal sent by the positive limit switch 2; after triggering the direction switching signal II, if the forward limiting signal is effective, starting reverse redundancy safety protection, and stopping the machine; and under the condition that the direction switching signal II is not triggered, if the forward limiting signal is effective, starting reverse redundancy safety protection and stopping.
As shown in fig. 10, if all the components of the reversing driving mechanism are normal, the redundant safety protection signal is in a low-level non-triggered state. When the redundancy protection is triggered, as shown in fig. 11 and 12, taking the redundancy protection of the forward motion of the reversing wheel 1 as an example for specific explanation, in fig. 11, the reversing wheel 1 rotates forward, the driving mechanism is abnormal and the limit switch works normally, when the reversing wheel 1 rotates forward to a moment that the forward limit switch 2 reaches the forward movement limit position, the forward limit signal changes to high level by one jump, the forward limit signal changes to low level by two jumps, the forward limit effective signal triggers, the controller obtains the direction switching signal one, however, because of the abnormality of the driving mechanism, the reversing wheel 1 can still rotate forward, when the roller 11 of the reversing wheel 1 rotating forward to the reverse limit switch 3 contacts with the inclined plane of the forward movement limit position two, the reverse limit signal changes to high level by one jump, the reverse limit signal changes to low level by two jumps, the reverse limit signal at this moment is received by the controller, the controller starts the forward redundancy safety protection, the forward redundant safety protection signal is at a high level, and the controller controls the reversing mechanism to stop. In fig. 12, the reversing wheel 1 rotates forwards, the driving mechanism is normal but the forward limit switch 2 fails, when the reversing wheel 1 rotates forwards to the forward limit switch 2 and reaches the forward movement limit position, the forward limit switch 2 has no jump, the forward limit signals one and two have no change, the reversing wheel 1 rotates forwards continuously, when the roller 11 of the reversing wheel 1 rotating forwards to the reverse limit switch 3 contacts with the inclined plane of the forward movement limit position two, the reverse limit signal one jumps to high level, the reverse limit signal two jumps to low level, the reverse limit signal at this time is received by the controller, the controller starts the forward redundant safety protection, the forward redundant safety protection signal is high level, and the controller controls the reversing mechanism to stop.
In this embodiment, as shown in a logic block diagram of a control mode one shown in fig. 13, when the monitoring state is in the forward limit monitoring state, the forward limit switch 2 first determines whether the forward limit signal jumps to the high level, if the forward limit signal jumps to the high level, the forward limit switch sends a direction switching signal one, and then, if the forward limit signal jumps back to the low level, the direction is successfully reversed, and the monitoring state is in the reverse limit monitoring state. If the forward limit signal I does not jump back to the low level after the transmission of the direction switching signal I, the direction switching signal I is continuously transmitted, and meanwhile, under the condition that the forward limit signal keeps the high level, if the reverse limit signal I jumps to the high level, the controller immediately starts the forward redundancy protection and cuts off the power supply of the driving mechanism. During forward limit monitoring, no matter which state the forward limit signal is, as long as reverse limit signal is received by the controller, then represent that reverse limit switch is started by the anomaly and make reverse limit signal effective, explain that the switching-over control mechanism breaks down promptly, the controller can carry out forward redundancy protection immediately, control switching-over control mechanism and shut down. The logic of the reverse limit monitoring and the redundancy protection processing is the same as that of the forward limit monitoring and the redundancy protection.
When the reverse rotation wheel 1 rotates reversely, as shown in fig. 14 to 16, corresponding to the second control mode, the redundant protection triggering conditions and the process are the same as the manner and the process of the forward rotation, which are only the changes in the position and the direction, and are not described in detail again.
As shown in fig. 5, when the reversing wheel 1 rotates clockwise, the forward limit switch 2 is in a forward limit monitoring state, as shown in the rotation sequence of the limit switch roller 11 on the periphery of the reversing wheel 1 in fig. 5, along with the forward rotation of the reversing wheel 1 shown by a horizontal arrow in the figure, the rollers 11 of the two limit switches gradually enter different postures from a parallel overlapping state, the first forward switch switching boss 4 and the forward limit switch roller 14 gradually approach and contact, the forward limit switch roller 14 changes the height of an inner lever arm 16 thereof along with the ascending of the inclined surface of the first forward switch switching boss 4, so that the jump occurs in the forward limit switch 2, the forward limit switch 2 sends a forward limit signal one, after the roller 11 reaches a vertex along the inclined surface, the direction switching signal one is effective, the driving mechanism controls the reversing wheel 1 to rotate reversely, at this time, because of the dislocation between the first forward switch switching boss 4 and the second reverse switch switching boss 5, the interval still exists between reverse limit switch 3 and the second reverse switch switching boss 5, reverse limit switch 3 is not triggered and can not trigger redundant protection, the reversing wheel 1 is switched into the final reverse rotation state shown in figure 5 by the forward rotation of the driving mechanism, so that the limit protection function is realized, the rollers 11 of the two limit switches return to the parallel state on the periphery of the reversing wheel 1 again, the reversing wheel 1 rotates reversely, and the reverse limit switch 3 enters the limit monitoring state.
Similarly, as shown in fig. 6, when the reversing wheel 1 rotates clockwise, the reverse limit switch 3 enters a limit monitoring state, as shown in the rotation sequence of the limit switch roller 11 on the periphery of the reversing wheel 1 in fig. 6, along with the reverse rotation of the reversing wheel 1 shown by a horizontal arrow in the figure, the rollers 11 of the two limit switches gradually enter different postures from a parallel overlapped state, the first reverse switch switching boss 7 and the reverse limit switch roller 15 gradually approach and contact, the reverse limit switch roller 15 changes the height of an inner lever arm 16 thereof along with the lifting of the inclined surface of the first reverse switch switching boss 7, so that the reverse limit switch 3 jumps, the reverse limit switch 3 sends a reverse limit signal one, after the roller 11 reaches a vertex along the inclined surface, the direction switching signal two takes effect, the driving mechanism controls the reversing wheel 1, because at this time, the first reverse switch switching boss 7 and the second forward switch switching boss 6 are dislocated, the interval still exists between forward limit switch 2 and the second forward switch switching boss 6, and forward limit switch 2 is not triggered and can not trigger redundant protection, and actuating mechanism drive reversing wheel 1 is by the reversal switching to the final corotation state that shows in figure 6 to realize the spacing protection function, and two limit switch's gyro wheel 11 returns the state that parallels on reversing wheel 1 periphery again, and reversing wheel 1 corotation, forward limit switch 2 gets into spacing monitoring state.
As shown in fig. 7, in the forward limit monitoring state, when the forward limit switch 2 fails or the driving mechanism fails, the reverse wheel 1 rotates clockwise and will continue to rotate forward when the forward limit switch roller 14 reaches the highest point of the inclined surface of the first forward switch switching boss 4, when the reverse wheel 1 rotates forward to the point where the reverse limit switch roller 15 contacts the second reverse switch switching boss 5, the reverse limit switch 3 sends a reverse limit signal in the forward limit monitoring state, the controller starts forward redundant safety protection and stops, and at this time, the rollers 11 of the two limit switches are overlapped on the boss on the periphery of the reverse wheel 1.
As shown in fig. 8, in the reverse limit monitoring state, when the reverse limit switch 3 fails or the driving mechanism fails, the reverse wheel 1 rotates clockwise and continues to rotate reversely when the reverse limit switch roller 15 reaches the highest point of the inclined surface of the first reverse switch switching boss 7, when the reverse wheel 1 rotates reversely until the forward limit switch roller 14 contacts with the second forward switch switching boss 6, the forward limit switch 2 sends a forward limit signal in the reverse limit monitoring state, the controller starts reverse redundant safety protection and stops, and at this time, the rollers 11 of the two limit switches coincide on the boss on the periphery of the reverse wheel 1.
In the embodiment, the driving mechanism for driving the reversing wheel 1 to rotate is a driving motor, and in other embodiments, an air cylinder or an oil cylinder is used as the driving mechanism. The double-limit switch strategy can not only correspond to the boss inclined plane for triggering reversing respectively, so that the angle error existing when the same limit switch triggers reversing is effectively avoided, meanwhile, the effect of redundancy protection can also be played, the reliability of the limit protection device is further improved, the defect of limit protection of equipment is overcome, and the precision of motion control of the equipment is improved. The reversing control mechanism in the embodiment is simple in structure composition, the boss structure can be further designed and installed on a rotating shaft of the driving motor or a linear displacement table, and the two-way limit switch is designed into a whole, so that the reversing control mechanism is convenient to fix and install and apply.
The specific embodiment 2 of the reversing control mechanism provided by the invention is as follows:
the difference from the embodiment 1 is that in the embodiment 1, the reciprocating member is a rotary member, and the rotary member is a reversing wheel 1. In this embodiment, the reciprocating member is a linear member, for example, the linear member may be a slider sliding on a linear rail.
The specific embodiment 3 of the reversing control mechanism provided by the invention is as follows:
the difference from the embodiment 1 is that in the embodiment 1, a boss is integrally arranged on the reversing wheel 1, two opposite side surfaces of the boss in the movement direction of the reciprocating member are slope surfaces, and the boss protrudes out of the reversing wheel 11. In this embodiment, the slope structure is a groove disposed on the outer circumferential surface of the reversing wheel, the roller of the limit switch of the groove can slide in cooperation with the groove bottom of the groove, the groove wall of the groove is set to be a slope, and when the roller of the limit switch moves to the groove wall slope of the groove, the normally-closed end of the limit switch is turned to be in a disconnected state, so that the reversing signal is sent to the controller. In other embodiments, the boss is separately attached to the reciprocating member.
The specific embodiment 4 of the reversing control mechanism provided by the invention is as follows:
the difference from the embodiment 1 is that in the embodiment 1, two opposite side surfaces of the boss in the movement direction of the reciprocating member are slope surfaces, and the slope surfaces are inclined surfaces. In this embodiment, the slope surface is an arc surface.
The specific embodiment 5 of the reversing control mechanism provided by the invention is as follows:
the difference from the embodiment 1 is that in the embodiment 1, the reciprocating member is a disc-shaped reversing wheel 1. In this embodiment, the reversing wheel is in an elliptical or fan-shaped structure.
Finally, it should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and not intended to limit the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and equivalents can be made in the technical solutions described in the foregoing embodiments without inventive effort, or some technical features of the present invention may be substituted with equivalents. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A reversing control mechanism comprises a limit switch, a reciprocating motion piece, a driving mechanism for driving the reciprocating motion piece and a controller, wherein the controller is used for receiving a limit signal of the limit switch to control the driving mechanism, and is characterized in that the limit switch comprises a forward limit switch (2) and a reverse limit switch (3); the reciprocating element is provided with a forward movement limit position I and a reverse movement limit position I, when the reciprocating element moves to the forward movement limit position, the forward limit switch (2) correspondingly sends a forward limit signal, and when the reciprocating element moves to the reverse movement limit position, the reverse limit switch (3) sends a reverse limit signal;
the controller is provided with a first control mode and a second control mode, wherein the first control mode is used for monitoring the position of the reciprocating part moving in the forward direction to enable the forward limiting switch (2) to be in a forward limiting monitoring state, and the second control mode is used for monitoring the position of the reciprocating part moving in the reverse direction to enable the reverse limiting switch (3) to be in a reverse limiting monitoring state;
the control method executed by the controller in the first mode comprises the following steps: monitoring and judging a forward limiting signal sent by the forward limiting switch (2); if the forward limiting signal jumps to be effective, triggering a direction switching signal I to control the driving mechanism, so that the driving mechanism drives the reciprocating motion piece to switch from forward motion to reverse motion, and if the forward limiting signal jumps to be effective and then jumps to be ineffective, switching the control mode to a mode II;
the control method executed by the controller in the mode two comprises the following steps: monitoring and judging a reverse limit signal sent by the reverse limit switch (3); if the reverse limiting signal jumps to be effective, a direction switching signal II is triggered to control the driving mechanism, the driving mechanism drives the reciprocating motion piece to switch from reverse motion to forward motion, and if the reverse limiting signal jumps to be effective and then jumps to be ineffective, the control mode is switched to be the mode I.
2. The reversing control mechanism according to claim 1, wherein the reciprocating member further has a forward movement limit position two and a reverse movement limit position two, the distance between the forward and reverse movement limit positions one is smaller than the distance between the forward and reverse movement limit positions two, when the reciprocating member moves to the forward movement limit position one and the reverse movement limit position two, the forward limit switches (2) respectively send out forward limit signals, and when the reciprocating member moves to the reverse movement limit position one and the forward movement limit position two, the reverse limit switches (3) respectively send out reverse limit signals; the control method executed by the controller in the first mode further comprises the following steps: monitoring and judging a reverse limit signal sent by the reverse limit switch (3); after triggering the direction switching signal I, if the reverse limiting signal is effective, starting forward redundant safety protection and stopping the machine; under the condition that the first direction switching signal is not triggered, if the reverse limiting signal is effective, the forward redundant safety protection is started, and the machine is stopped;
the control method executed by the controller in the second mode further comprises the following steps: monitoring and judging a positive limit effective signal sent by the positive limit switch (2); after triggering the direction switching signal II, if the forward limiting signal is effective, starting reverse redundancy safety protection and stopping the machine; and under the condition that the direction switching signal II is not triggered, if the forward limiting signal is effective, starting reverse redundancy safety protection and stopping.
3. The reversing control mechanism of claim 1, wherein said reciprocating member is a linear member.
4. The reversing control mechanism of claim 1, wherein said reciprocating member is a rotating member.
5. The reversing control mechanism according to claim 3, characterized in that the reciprocating member is a reversing wheel (1), and the periphery of the reversing wheel (1) is provided with a boss, and the boss comprises: the switch comprises a first forward switch switching boss (4) and a second forward switch switching boss (6) which enable a forward limit switch (2) to switch on-off states, and a first reverse switch switching boss (7) and a second reverse switch switching boss (5) which enable a reverse limit switch (3) to switch on-off states, wherein the first forward switch switching boss (4) and the second forward switch switching boss (6) are positioned on the same circumference and are arranged at intervals in the circumferential direction, and the forward limit switch (2) is positioned between the first forward switch switching boss (4) and the second forward switch switching boss (6); the first reverse switch switching boss (7) and the second reverse switch switching boss (5) are positioned on the same circumference and are arranged at intervals, and the reverse limit switch (3) is positioned between the first reverse switch switching boss (7) and the second reverse switch switching boss (5); the distance between the first forward switch switching boss (4) and the first reverse switch switching boss (7) is smaller than the distance between the second forward switch switching boss (6) and the second reverse switch switching boss (5), the first forward switch switching boss (4) moves to the position triggering the forward limit switch (2) to form the forward movement limit position I, the second forward switch switching boss (6) moves to the position triggering the forward limit switch (2) to form the forward movement limit position II, the first reverse switch switching boss (7) moves to the position triggering the reverse limit switch (3) to form the reverse movement limit position I, and the second reverse switch switching boss (5) moves to the position triggering the reverse limit switch (3) to form the reverse movement limit position II.
6. The commutation control mechanism of any one of claims 1-5, wherein the limit switches are mechanical limit switches.
7. Reversing control mechanism according to claim 6, characterized in that the limit switch comprises a lever arm (16) which can be swung for switching the state of the limit switch, the lever arm (16) being provided with a roller (11) for contact with the reciprocator.
8. The reversing control mechanism according to any one of claims 1-5, characterized in that the forward limit switch (2) and the reverse limit switch (3) are arranged side by side in the axial direction of the reversing wheel (1).
9. The reversing control mechanism according to claim 5, characterized in that the boss has a guide ramp (8) for guiding the limit switch to switch on and off states in contact with the limit switch in the direction of movement of the reciprocator, the guide ramp (8) being an inclined surface.
10. The commutation control mechanism of any one of claims 1-5, wherein the drive mechanism is a drive motor.
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| CN112551300A (en) * | 2020-12-08 | 2021-03-26 | 上海三菱电梯有限公司 | Elevator safety protection system |
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| WO2010074375A1 (en) * | 2008-12-24 | 2010-07-01 | Kim In-Seok | Forward/reverse rotation control device for drilling machine |
| CN211878445U (en) * | 2020-03-23 | 2020-11-06 | 北京三力创科技发展有限公司 | Control protection circuit of electric film rolling device |
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Effective date of registration: 20240423 Address after: 471000 in Zhuoyang science and Technology Park, Qinling Road, Jianxi District, Luoyang area, China (Henan) pilot Free Trade Zone, Luoyang City, Henan Province Patentee after: LUOYANG SHIJU INTELLIGENT TECHNOLOGY Co.,Ltd. Country or region after: China Address before: No.263, Kaiyuan Avenue, Luolong District, Luoyang City, Henan Province Patentee before: HENAN University OF SCIENCE AND TECHNOLOGY Country or region before: China |